JPH05270202A - Running wheel and moving device for running body using it - Google Patents

Abstract

PURPOSE:To provide a running wheel which can move in a direction orthogonally crossing a rolling direction (rotationally moving direction) and the moving device of a running body capable of controlling the position of the running body easily without any control based on the direction and the like. CONSTITUTION:Plural barrel shape rotary bodies 44 are installed in a direction orthogonally crossing the running direction of a wheel main body 41 rotatably on a periphery edge part in a periphery direction at some intervals and a running wheel whose wheel main body 41 and at least the parts in contact with the earth, of the barrel shape rotary bodies 44 are formed by a high friction material is provided. This is a moving device in which the running wheel driven by a pulse motor 47 is arranged on the running body.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling wheel used for moving a traveling body or the like, and a traveling body moving device capable of moving vertically and horizontally on a traveling surface having no track without changing its orientation (posture). It is a thing.

[0002]

2. Description of the Related Art For example, a robot, a manipulator, or the like is used when parts replacement, assembly, movement of an object, or the like is performed in an environment where an operator cannot enter.

A moving device using a traveling body with wheels for moving such a robot or manipulator vertically and horizontally is conceivable. For example, as this moving device, as shown in FIG. 5, traveling wheels 2 and 2 driven by motors (not shown) are attached to the left and right of a traveling body 1, and horizontal rotation control is performed by a motor (not shown). It is conceivable to use the manipulator 3 as described above as the transporting device A configured to be mounted on the upper portion of the traveling body 1.

In this moving device A, when an object (not shown) grasped by the hand portion 3a of the manipulator 3 is moved from the position 4 to the target position 5, first, the traveling body 1 is moved from the position (a) to (b). As shown in the figure, the direction is changed obliquely to the right and moved to the position (c), and then the manipulator 3 is horizontally rotated by an angle θ by a motor (not shown). As a result, the object grasped by the hand 3a is moved from the position 4 to the target position 5.

[0005]

In such a moving device A, in order to accurately control the movement of the object grasped by the hand 3a to the target position 5, the position of the traveling body 1 and the position of the hand 3a are accurately known. Although necessary, the orientation of the traveling body 1 and the orientation of the manipulator 3 are not constant.

Therefore, in order to accurately know the position of the traveling body 1 and the position of the hand 3a, the movement amount of the traveling body 1 and the orientation of the traveling body 1 with respect to an absolute reference and the orientation of the manipulator 3 with respect to the traveling body 1 are detected. Therefore, it is necessary to perform calculation based on this detection result.

However, there is a problem that the control by such detection and calculation is not easy because it becomes complicated by detecting the directions of the traveling body 1 and the manipulator 3.

This is because the wheels generally cannot move in the direction orthogonal to the rolling direction (rotating direction).

Therefore, the present invention is directed to a traveling wheel which can move in a direction orthogonal to the rolling direction (rotating direction).
Another object of the present invention is to provide a moving device for a traveling body that can easily control the position of the traveling body without performing control based on the direction and the like.

[0010]

In order to achieve this object, the invention according to claim 1 is such that a plurality of barrel-shaped rotating bodies can roll in a direction orthogonal to the traveling direction of the wheel body. It is characterized in that the traveling wheel is mounted on the peripheral portion of the main body at intervals in the circumferential direction, and at least portions of the wheel main body and the barrel-shaped rotating body which are grounding portions are made of a high friction material.

According to a second aspect of the present invention, wheel bodies of traveling wheels for forward and backward movement and lateral movement are mounted on a traveling body so as to be rollable on a traveling surface, and each of the wheel bodies is the traveling body. A plurality of barrel-shaped rotating bodies are rotatably provided by an electric drive means mounted on the wheel body so that they can roll on the running surface in a direction orthogonal to the running direction of the wheel bodies. Are mounted at intervals in the circumferential direction, at least portions of the wheel main body and the barrel-shaped rotating body that are ground portions are made of a high friction material, and control means for controlling the electric drive means are provided. It is characterized in that it is a moving device for a moving vehicle.

[0012]

According to this structure, the traveling wheel moves in the direction perpendicular to the axle as the wheel body rotates around the axle, and the barrel-shaped rotating body mounted on the wheel body is grounded. The traveling wheels are moved in the direction in which the axle extends.

Further, the traveling body is moved by driving the traveling wheel for forward and backward movement in the forward direction or the reverse direction by electric drive means in a state where the barrel-shaped rotating body of the traveling wheel for lateral movement is grounded on the traveling surface. Can be moved forward or backward. On the other hand, with the barrel-shaped rotating body of the traveling wheel for forward and backward movement grounded on the traveling surface, the traveling body is laterally moved by driving the traveling wheel for lateral movement in the forward or reverse direction by the electric drive means. Be done.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1, 10 is a traveling plate, 10a is a traveling surface of the traveling plate 10, and 11 is a rectangular frame-shaped traveling body disposed on the traveling surface 10a. This traveling body 11 is the left side plate 1.
1a, a right side plate 11b, a front side plate 11c, and a rear side plate 11d are formed in a rectangular frame shape. Front and rear movement devices 20, 21 and rear movement devices 22, 23 for front and rear movement are attached to front and rear portions of the side plates 11a, 11b, respectively.
1d includes a front lateral moving device 24 and a rear lateral moving device 2 for lateral movement.
5 is installed. Since each of the moving devices 20 to 25 has the same configuration, only the front moving device 20 will be described in detail, and the same parts as the front moving device 20 of the other moving devices 21 to 25 will be denoted by the same reference numerals. Is omitted.

As shown in FIGS. 3 and 4, the front moving device 20 is provided with axles 30 respectively fixed to the left side plate 11a at front and rear intervals and corresponding to the axles 30, respectively. It has traveling wheels 40.

The traveling wheel 40 is a disc-shaped wheel body 41.
The wheel body 41 has a boss portion 41a and notches 41b formed in the peripheral portion at intervals of 90 ° in the circumferential direction. Moreover, the traveling wheel 40 has the driven gear 42 fixed to the boss 41a, the radial line passing through the center of the notch 41b, and the axis orthogonal to the plane orthogonal to the axle 30 and the wheel body 41 in the notch 41b. Fixed support shaft 4
3 and a barrel-shaped rotating body 44 rotatably held by the support shaft 43 in the notch 41b. In addition, the barrel-shaped rotating body 44
Indicates that the curvature in the direction along the peripheral surface of the wheel body 41 is
It is set to be the same as the radius of curvature of 1.

As a result, the barrel-shaped rotating body 44 is moved to the traveling surface 1
In the state of being grounded at 0a, the traveling surface 1 is oriented in a direction orthogonal to the traveling direction of the wheel body 41 (direction in which the axle 30 extends).
It is provided so that it can roll on 0a. This wheel body 41
Also, at least the outer surface of the barrel-shaped rotating body 44, which is the ground contact portion, is formed of a high friction material such as rubber.

Further, the front moving device 40 has a drive gear 4 which meshes with the driven gears 42, 42 of the pair of traveling wheels 40, 40.
5 and a gear reduction device 4 fixed inside the left side plate 11a
6 and a pulse motor 47 for operating the gear reduction device 46
(Electric drive means). The drive gear 45 is fixed to the output shaft 46a of the gear reduction device 46. Further, the pulse motor 47 is a control device 4 having a built-in CPU.
Drive control is performed by the control unit 8 (control means), and the rotation thereof is transmitted to the traveling wheels 40 via the gear reduction device 46 and the drive gear 45.

Next, an example of control by the control device 48 and other configurations will be described.

(1) Manual operation of front, rear, left and right Operation panel of the control device 48 (not shown)
A forward movement switch, a backward movement switch, a left movement switch, a right movement switch, etc. are provided in the vehicle, and an operator operates these switches so that the respective movement devices 20 to 25 are controlled by the control device 48 as follows. It can also be controlled.

[Forward] When a forward movement switch (not shown) is pushed, the control device 48 rotationally drives and controls the pulse motor 47 of the lateral movement devices 24 and 25, and the pulse motor 4
7 rotations of the lateral movement devices 24, 25 of the gear reduction device 46,
It is transmitted to the traveling wheels 40 via the drive gear 45, and the barrel-shaped rotating bodies 44 of the traveling wheels 40 of the lateral movement devices 24 and 25 are grounded on the traveling surface 10a.

Thereafter, the control device 48 controls the front-side moving devices 20, 21 and the rear-side moving devices 22, 21 for the front-back movement.
The pulse motors 47 of 23 are synchronously operated in the normal direction,
The rotation of the pulse motor 47 is transmitted via the gear reduction device 46 and the drive gear 45 to the front-side moving devices 20 and 21 for moving back and forth.
And it transmits to each traveling wheel 40 of the rear side moving devices 22 and 23, and the traveling body 11 is advanced.

When the rearward movement switch (not shown) is pushed, the control device 48 rotationally drives and controls the pulse motor 47 of the lateral movement devices 24 and 25, and the pulse motor 4 is driven.
7 rotations of the lateral movement devices 24, 25 of the gear reduction device 46,
It is transmitted to the traveling wheels 40 via the drive gear 45, and the barrel-shaped rotating bodies 44 of the traveling wheels 40 of the lateral movement devices 24 and 25 are grounded on the traveling surface 10a.

After that, the control device 48 controls the front-side moving devices 20 and 21 and the rear-side moving devices 22 and 21 for the forward and backward movement.
Each pulse motor 47 of 23 is operated in reverse by synchronizing,
The rotation of the pulse motor 47 is transmitted via the gear reduction device 46 and the drive gear 45 to the front-side moving devices 20 and 21 for moving back and forth.
And it transmits to each traveling wheel 40 of rear side moving devices 22 and 23, and retreats traveling body 11.

[Left lateral movement] When a left lateral movement switch (not shown) is pressed, the control device 48 rotationally controls the pulse motor 47 of the moving devices 20 to 23 to rotate the pulse motor 47. 20-23 gear speed reducer 4
6, it transmits to the traveling wheel 40 via the drive gear 45, and the barrel-shaped rotary body 44 of each traveling wheel 40 of the moving devices 20-23 is grounded on the traveling surface 10a.

After that, the control device 48 synchronously causes the pulse motors 47 of the lateral movement devices 24 and 25 for lateral movement to operate in the forward direction in synchronization, and the rotation of the pulse motor 47 is rotated by the gear reduction device 46 and the drive gear. Lateral movement device 2 via 45
This is transmitted to the traveling wheels 40 of Nos. 4 and 25 and the traveling body 11 is moved to the left.

[Right lateral movement] When a right lateral movement switch (not shown) is pressed, the control device 48 rotationally controls the pulse motor 47 of the moving devices 20 to 23 to rotate the pulse motor 47. 20-23 gear speed reducer 4
6, it transmits to the traveling wheel 40 via the drive gear 45, and the barrel-shaped rotary body 44 of each traveling wheel 40 of the moving devices 20-23 is grounded on the traveling surface 10a.

Thereafter, the control device 48 causes the pulse motors 47 of the lateral movement devices 24 and 25 for lateral movement to operate in reverse in synchronization, and the rotation of the pulse motor 47 is reduced by the gear reduction device 46 and the drive gear 45. Lateral movement device 2 via
This is transmitted to the traveling wheels 40 of Nos. 4 and 25, and the traveling body 11 is moved to the right.

[Movement to Target Position] By mounting the manipulator M with the hand H as shown in FIG. 2 on the traveling body 11 as described above, the transported object is moved from the position 50 to the target position 51.
Can be moved up to.

In this case, the object H is held by the hand H of the manipulator M, and the control device 48 drives and controls the moving devices 20 to 25 as described above to move the traveling body 11 back and forth and left and right. By controlling
The traveling body 11 is controlled to move to the target position 51.

(2) Automatic movement by setting a target For example, the position 50,
The coordinates of 51 are input to the control device 48, or the positions of the positions 50 and 5 are previously stored in the ROM or the like of the control device 48.
When 1 is set and the start button (not shown) of the operation panel is turned on, the control device 48 controls each pulse motor 47 as in (1),
It is also possible to move the traveling body 11 to the target position.

[0033]

As described above, according to the first aspect of the present invention, the plurality of barrel-shaped rotating bodies are circumferentially spaced from each other in the circumferential direction so that the plurality of barrel-shaped rotating bodies can roll in the direction orthogonal to the traveling direction of the wheel body. Since the running wheel is mounted and at least the portion of the wheel body and the barrel-shaped rotating body that serves as the ground contact portion is formed of a high friction material, the direction in which the wheel body rolls (the direction in which it rotates) and this rolling motion It can be moved in a direction orthogonal to the direction.

According to a second aspect of the present invention, wheel bodies of traveling wheels for forward and backward movement and lateral movement are mounted on a traveling body so as to be rollable on a traveling surface, and each of the wheel bodies is the traveling body. A plurality of barrel-shaped rotating bodies are rotatably provided by an electric drive means mounted on the wheel body so that they can roll on the running surface in a direction orthogonal to the running direction of the wheel bodies. Are mounted at intervals in the circumferential direction, at least portions of the wheel main body and the barrel-shaped rotating body that are ground portions are made of a high friction material, and control means for controlling the electric drive means are provided. Since it is a moving device for the running body, the position of the running body can be easily controlled without performing control based on the direction or the like.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing a relationship between a traveling body including a moving device according to the present invention and a traveling plate.

FIG. 2 is an explanatory diagram showing a usage example of the traveling body shown in FIG.

3 is a partially enlarged plan view of the moving device shown in FIG.

FIG. 4 is a front view of the moving device of FIG.

FIG. 5 is an explanatory diagram showing an example of a traveling body.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Running plate 10a ... Running surface 20-25 ... Moving device 40 ... Running wheel 41 ... Wheel main body 44 ... Barrel-shaped rotating body 47 ... Pulse motor (electric drive means) 48 ... Control device (control means)

Claims (2)

[Claims] 1. A plurality of barrel-shaped rotating bodies are mounted at circumferential intervals in a peripheral portion of the wheel body so as to be rollable in a direction orthogonal to a traveling direction of the wheel body. A traveling wheel, wherein at least a portion of the rotating body that serves as a ground contact portion is formed of a high-friction material. 2. Wheel bodies of traveling wheels for forward and backward movement and lateral movement are mounted on a traveling body so as to be rollable on a traveling surface, and each wheel body is rotationally driven by an electric drive means mounted on the traveling body. A plurality of barrel-shaped rotating bodies that can be rolled so as to be rollable on the running surface in a direction orthogonal to the running direction of each wheel body are circumferentially mounted on the periphery of each wheel body at intervals. And at least a portion of the wheel body and the barrel-shaped rotating body that serves as a ground contact portion is formed of a high-friction material,
A moving device for a traveling body, comprising a control means for controlling the electric drive means.