JPH05319327A - Traveling device - Google Patents

Abstract

PURPOSE:To provide a traveling device whose running ability is excellent by supporting a driving mechanism in a hollow rotor provided with outer peripheral surface formed in a curve, rotating the rotor by operating the driving mechanism, and installing a weighing body where the center of gravity of the rotor is positioned lower than the supporting shaft. CONSTITUTION:A hollow rotor 2 is constituted of semi-spherical bodies 2a, 2b, driving gears 4 are fixed respectively at positions facing the right and left direction of the rotor 2, and supporting shafts 5 are inserted in supporting holes which are drilled in the respective driving gears 4. A pair of right and left auxiliary arms 29 are journaled at the edge part which protrudes in the outward direction of the rotor 2 of the supporting shaft 5, and an auxiliary wheel 31 is journaled at the other edge of the auxiliary arm 29. Besides, a driving mechanism which consists of a driving motor 16 and a decelerating mechanism 19 is supported at the supporting shaft 5 through a supporting member 6, a rotating shaft 7 is rotated by the driving motor 16, and a rotor 1 is rotated through the engagement of a connecting gear 9 with the driving gear 4. Moreover, a battery box 28 which is also used as a weight body is hung from the supporting member 6 to position the center of gravity of the rotor 1 lower than the supporting shaft 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling device.

[0002]

2. Description of the Related Art A conventional traveling device is, for example, a truck. Then, in order to improve the running force for overcoming a large obstacle in this truck, it is necessary to increase the diameter of the running tire.

However, if the diameter of the running tire is increased,
Since the vehicle body becomes higher accordingly, the center of gravity of the truck becomes unstable when trying to get over an obstacle. Therefore, a shovel car using a caterpillar has a low center of gravity and can secure a running force capable of overcoming a large obstacle.

[0004]

However, the turning of the shovel car using the caterpillar causes a lot of waste because the left and right caterpillars rotate in opposite directions.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a traveling device that has a running force capable of overcoming an obstacle and can turn efficiently.

[0006]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a hollow rotating body having a curved surface on its outer periphery, the curved surface being in contact with a running surface, and a rotatable body with respect to the rotating body. A support shaft that is inserted and supported; a drive mechanism that is supported and fixed to the support shaft inside the rotating body; a connecting mechanism that rotates the rotating body by the drive of the drive mechanism to rotate the traveling surface; The weight body is provided so as to be movable in the axial direction of the support shaft, and is positioned relative to the weight body that positions the center of gravity of the rotating body below the support shaft; The gist of the present invention is to include an auxiliary mechanism for preventing the rotation of the support shaft when the rotation is transmitted to the rotating body through the connecting mechanism by the driving of the drive mechanism.

[0007]

In the state where the support shaft rotatably inserted into and supported by the rotating body by the rotation of the weight body is kept parallel to the traveling surface, the rotation is driven by the drive mechanism to the rotating body through the connecting mechanism. When transmitted, the auxiliary mechanism prevents the support shaft from rotating. Therefore, the rotating body is rotated by the drive of the drive mechanism, and the rotating body makes a rotational traveling in which the rotating body travels straight with respect to the traveling surface. Since the weight body is located below the support shaft, the center of gravity of the rotating body is lowered, and the rotational traveling of the rotating body is stabilized. Therefore, it is possible to prevent a high center of gravity even when overcoming a large obstacle.

Further, when the weight body is moved in the axial direction of the support shaft, the position of the center of gravity of the rotating body is moved, and the support shaft is inclined with respect to the traveling surface. Therefore, the rotating body turns around the direction in which the weight body moves.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment embodying the present invention will now be described with reference to FIGS.
It will be described with reference to FIG. As shown in FIGS. 1 and 3, the rotating body 2 constituting the traveling device 1 is composed of a pair of hemispheres 2a and 2b which are hollow and are formed in a hemisphere shape. Further, the hemispheres 2a and 2b are formed with insertion holes 3 facing each other. Also, the hemisphere 2a,
A drive gear 4 is fixed to the inner surface of 2b so as to correspond to the insertion hole 3. Further, the drive gear 4 is provided with a support hole (not shown) communicating with the insertion hole 3 in a transparent manner.

A pipe-shaped support shaft 5 is inserted through the insertion holes 3 formed in the hemispheres 2a and 2b and the support hole formed through the drive gear 4 so as to pass through the center point of the rotor 2. ing. Both ends of the support shaft 5 are in a state of being projected to the outside of the rotating body 2. The rotating body 2 is rotatably supported on the support shaft 5 via a drive gear 4. A control signal line of an external control device (propo, etc.) not shown is inserted from the outside of the rotating body 2 through the inside of the support shaft 5, and the control signal line is passed through a connection hole (not shown) provided in the support shaft 5. Is introduced inside the rotating body. still,
At both ends of the support shaft 5, a decorative material S covering the upper part of the rotating body 2 is provided.
Is attached and fixed.

At the center of the support shaft 5, there is provided a support member 6 which is bent in a U-shape in a plane. The support member 6 is composed of support pieces 6a and 6b that face each other and are fixed to the support shaft 5, and a connecting piece 6c that connects one ends of the support pieces 6a and 6b.

As shown in FIG. 4, a rotating shaft 7 is rotatably inserted and supported by the supporting pieces 6a and 6b of the supporting member 6. The rotary shaft 7 is rotatably supported by support brackets 7a and 7b fixed to the support shaft 5.
Further, connecting gears 9 are fixed to both ends of the rotary shaft 7, and the connecting gears 9 are in mesh with the drive gears 4 fixed to the hemispheres 2a and 2b. Further, a transmission gear 10 is fixed to the rotary shaft 7 between the support pieces 6a and 6b. The rotating shaft 7, the connecting gear 9 and the transmission gear 10 constitute a connecting mechanism.

A supporting member 6 in which the rotating shaft 7 is inserted and supported.
Gear support pieces 11a and 11b are fixed inside the support pieces 6a and 6b so as not to interfere with the rotation of the rotary shaft 7 so as to extend obliquely downward to the left.

A first reduction gear 12 is rotatably provided between the gear support pieces 11a and 11b located below the rotary shaft 7. The first reduction gear 12 is integrally formed with a first connection gear 12a.
2a is meshed with a transmission gear 10 fixed to the rotary shaft 7.

A second reduction gear 13 is rotatably provided between the gear support pieces 11a and 11b below the first reduction gear 12. A second connection gear 13a is integrally formed with the second reduction gear 13, and the second connection gear 13a is formed.
Is meshed with the first reduction gear 12.

Further, a third reduction gear 14 is rotatably provided between the gear support pieces 11a and 11b below the second reduction gear 13. A third connecting gear 14a is integrally formed with the third reduction gear 14, and the third connecting gear 14a is meshed with the second reduction gear 13.

A mounting portion 15 is integrally formed at the tip of the gear support piece 11b, and a rotary drive motor 16 is fixedly mounted on the outer surface of the mounting portion 15. The drive shaft 17 of the rotary drive motor 16 is inserted through a through hole (not shown) of the mounting portion 15 and is arranged between the gear support pieces 11a and 11b. A drive gear 18 is fixed to the drive shaft 17, and the drive gear 18 is meshed with the third reduction gear 14. Further, the drive gear 18, the first to third reduction gears 12 to 14 and the first to third connection gears 12a to 14a constitute a reduction mechanism 19.

The rotary drive motor 16 is connected to a control signal line connected to an external control device (not shown) inserted inside the rotary body 2. The rotation speed of the rotary drive motor 16 is controlled by the operation amount of the operation lever of the external control device. Further, the rotary drive motor 16 and the speed reduction mechanism 19 constitute a drive mechanism.

Therefore, when the drive gear 18 rotates clockwise by the drive of the rotary drive motor 16, the third reduction gear 1
The fourth and third connecting gears 14a rotate counterclockwise. The second reduction gear 13 and the second connection gear 13a are rotated by rotating the third connection gear 14a counterclockwise.
Is designed to rotate clockwise. And the second
The clockwise rotation of the connecting gear 13a causes the first reduction gear 12 and the first connecting gear 12a to rotate counterclockwise. The rotation of the first connecting gear 12a in the counterclockwise direction causes the rotation shaft 7 to rotate in the counterclockwise direction via the transmission gear 10. Therefore, the connecting gear 9 fixed to the rotary shaft 7 rotates clockwise, and the drive gear 4 fixed inside the hemispheres 2a and 2b rotates counterclockwise. Further, the reduction mechanism 19 allows the rotary shaft 7 to rotate with high torque.

A fixed shaft 20 is provided on the outer surface of the connecting piece 6c of the support member 6, and a fixed gear 21 is provided at the tip of the fixed shaft 20. A fixed shaft 22 is provided on the outer side surface of the fixed gear 21, and a crank-shaped bent connecting member 23 is provided at the tip of the fixed shaft 22 so as to be rotatable in the same direction as the axis of the support shaft 5. It is provided. A turning adjustment motor 24 is attached and fixed to the outer side of the base end of the connecting member 23, and an output shaft 25 of the turning drive motor 24 is inserted through a through hole 26 formed through the connecting member 23 so as to move toward the fixed gear 21. It is projected. The turning drive motor 24 is connected to a control signal line connected to an external control device (not shown) inserted inside the rotating body 2. And
The rotation speed of the turning drive motor 24 is controlled by the operation amount of the turning operation lever of the external control device.

A rotary gear 27 is attached and fixed to the output shaft 25, and the rotary gear 27 is in mesh with the fixed gear 21. A battery box 28 is provided at the lower end of the connecting member 23, and a battery (not shown) that also serves as a weight is housed in the battery box 28. Therefore, the center of gravity of the rotating body 2 is set to a position lower than the support shaft 5 due to the weight of the battery housed in the battery box 28. In addition, the battery box 28
Due to the weight of the battery inside, the battery box 28 is suspended from the traveling surface R, and at this time, the speed reduction mechanism 19 is balanced so as to be positioned diagonally downward to the left.
The battery is a power source for driving the rotary drive motor 16 and the swing drive motor 24.

When the turning drive motor 24 is driven to rotate the rotary gear 27, the fixed gear 21 moves the fixed shaft 2
2 is fixed to the rotary gear 27 and the fixed gear 21.
Due to this meshing relationship, the connecting member 23 and the battery box 28 rotate about the fixed shaft 22 as shown by the chain double-dashed line in FIG.

As shown in FIG. 6, when the rotary gear 27 rotates counterclockwise by the drive of the turning drive motor 24, the connecting member 23 and the turning drive motor 24 center on the fixed shaft 22 due to the meshing relationship with the fixed gear 21. It is designed to rotate counterclockwise. Then, the center of gravity of the rotating body 2 moves due to the weight of the battery in the battery box 28, and the supporting shaft 5
The right end of the is down.

When the rotary gear 27 is rotated clockwise by the drive of the rotary drive motor 24, the connecting member 23 and the rotary drive motor 24 are rotated clockwise about the fixed shaft 22. .. Then, the battery box 28
The center of gravity of the rotating body 2 is moved by the own weight of the battery inside, and the left end portion of the support shaft 5 is lowered.

Further, as shown in FIG. 1, auxiliary arms 29 constituting the auxiliary mechanism 3 are fixed to both ends of the support shaft 5 protruding to the outside of the rotating body 2. The auxiliary arm 29 is bent so as to become narrower toward the tip. An auxiliary shaft 30 is inserted and supported at the tips of the pair of auxiliary arms 29. The auxiliary arm 29 is fixed to the support shaft 5 so as to extend slightly obliquely downward to the right. Auxiliary wheels 31 are rotatably provided at both ends of an auxiliary shaft 30 protruding from both ends of the auxiliary arm 29.

Therefore, the rotation by the drive of the rotary drive motor 16 is transmitted to the connecting gear 9 through the reduction mechanism 19, the transmission gear 10 and the rotary shaft 7. At this time, the auxiliary mechanism 3
Otherwise, since the support shaft 5 is rotatably supported with respect to the drive gear 4, the support shaft 5, the reduction mechanism 19, the rotation shaft 7, and the connecting gear 9 may rotate with respect to the drive gear 4. The auxiliary mechanism 3 prevents the support shaft 5, the reduction mechanism 19, the rotating shaft 7 and the connecting gear 9 from rotating with respect to the drive gear 4, and assists the rotating body 2 to rotate with respect to the support shaft 5. It has become. Further, the auxiliary wheel 31 is the rotating body 2
When the car is rotating, it helps to prevent it from shaking left and right.

Next, the traveling device 1 configured as described above.
The action of will be described. First, the turning operation lever of an external control device (not shown) is operated to drive the turning drive motor 24. Then, the rotating gear 27 is rotated to rotate the connecting member 2
3 and the battery box 28 are rotated so that the connecting member 23 is orthogonal to the support shaft 5.

In this state, the support shaft 5 is held parallel to the traveling surface R. Therefore, the portion where the hemispheres 2a and 2b are joined to each other is in contact with the traveling surface R.

In this state, in order to cause the traveling device 1 to travel forward, the operation lever of the external control device is operated to drive the rotary drive motor 16. Then, as shown in FIG. 4, the drive gear 18 is rotated clockwise. Then, since the third reduction gear 14 and the third connection gear 14a rotate counterclockwise, the second reduction gear 13 and the second connection gear 13a rotate clockwise. Further, the first reduction gear 12 and the first connection gear 12a rotate counterclockwise by the clockwise rotation of the second reduction gear 13 and the second connection gear 13a.
Therefore, the transmission gear 10, the rotary shaft 7, and the connecting gear 9 rotate clockwise, so that the drive gear 4 tries to rotate counterclockwise.

At this time, since the support shaft 5 is rotatably supported with respect to the drive gear 4, the reduction mechanism 19, the rotary shaft 7 and the connecting gear 9 try to rotate clockwise around the drive gear 4. Inertia works. That is, the support shaft 5 tends to rotate clockwise. However, the support shaft 5 is fixed to the auxiliary arm 29, and the auxiliary arm 29 rotates clockwise around the support shaft 5. Then, the auxiliary shaft 30
The auxiliary wheel 31 rotatably mounted on the vehicle comes into contact with the running surface,
Prevent its rotation.

Therefore, the clockwise rotation of the connecting gear 9 is transmitted to the drive gear 4, and the rotating body 2 rotates counterclockwise about the support shaft 5 via the drive gear 4. As a result, the rotating body 2 travels forward and straight by rotation.

When the traveling device 1 is to be moved backward, the operation lever of the external control device is operated in the opposite manner to drive the rotary drive motor 16. And the drive gear 18
Rotate counterclockwise. Then, the gears 14 to 10 and 14a to 11a of the speed reduction mechanism 19 rotate in the opposite direction to the above.

Then, contrary to the above, the deceleration mechanism 19, the rotary shaft 7 and the connecting gear 9 are acted on by an inertial force to rotate counterclockwise in FIG. Therefore, the reduction mechanism 19, the rotary shaft 7, and the connecting gear 9 try to rotate counterclockwise about the drive gear 4, but the lower end of the front portion of the decorative material S mounted on the support shaft 5 (A in FIG. 2). (The part indicated by the arrow)
Contacts the traveling surface R and prevents its rotation.

Therefore, the counterclockwise rotation of the connecting gear 9 is transmitted to the drive gear 4, and the rotating body 2 is rotated by the drive gear 4.
Through the support shaft 5 in the clockwise direction. As a result, the rotating body 2 travels in the backward and straight directions by rotation.

Further, since the rotation speed of the rotary drive motor 16 is adjusted by the operation amount of the operation lever of the external control device, the rotation speed of the rotating body, that is, the traveling speed can be adjusted. And
When turning the traveling device 1 to the right, the turning drive motor 24 is driven by operating the turning adjustment lever of the external control device. Then, as shown in FIG. 6, the rotary gear 27 rotates counterclockwise, and the connecting member 23, the swing drive motor 24, and the battery box 28 rotate counterclockwise around the fixed shaft 22 in the axial direction of the support shaft 5. Rotate along. Therefore, the center of gravity of the rotating body 2 moves due to the own weight of the battery in the battery box 28, so that the right end portion of the support shaft 5 is lowered and the support shaft 5 is inclined with respect to the traveling surface R. Therefore, the position of the outer peripheral surface of the rotating body 2 in contact with the traveling surface R moves, and the rotating body 2 turns right around the right end portion side of the support shaft 5 as the turning center.

Further, when the traveling device 1 is turned to the left, the turning drive lever 24 of the external control device is operated in reverse to the above operation to drive the turning drive motor 24. Then, the rotary gear 2
7 rotates clockwise, and the connecting member 23, the turning drive motor 24, and the battery box 28 rotate clockwise about the fixed shaft 22 along the axial direction of the support shaft 5. Therefore, the center of gravity of the rotating body 2 moves due to the weight of the battery in the battery box 28, so that the left end portion of the support shaft 5 is lowered and the support shaft 5
Is tilted with respect to the running surface. Therefore, the position of the outer peripheral surface of the rotating body 2 in contact with the traveling surface moves, and the rotating body 2
Turns left around the left end of the support shaft 5 as the turning center.

Therefore, the rotating body 2 corresponding to the conventional tire
Since the diameter of the vehicle can be increased, it is possible to improve the running ability to easily get over a large obstacle.
Further, even if the diameter of the rotating body 2 is increased, since the battery corresponding to the weight body is arranged below the support shaft 5, the center of gravity of the rotating body 2 can be lowered. As a result, the rotating body 2 can be brought into a stable state when overcoming an obstacle.

By rotating the battery box 28, which is a heavy body, the position of the center of gravity of the rotating body 2 can be easily changed. As a result, the turning operation of the traveling apparatus 1 can be easily performed, and the turning operation of the traveling apparatus 1 can be performed without waste, unlike the caterpillar. Further, the larger the amount of rotation of the battery box 28, the more rapidly the traveling device 1 can turn.

Further, unlike the conventional caterpillar, the traveling resistance of the traveling device 1 can be made smooth because the rotational resistance is small. Then, the auxiliary mechanism 3 can prevent the support shaft 5 from rotating. As a result, it is possible to reliably rotate the rotating body 2 and allow the traveling device 1 to travel. In this embodiment, the auxiliary wheel 31 of the auxiliary mechanism 3 is used.
Was provided in a state of being separated from the traveling surface,
It is also possible to set 1 to be in contact with the traveling surface.

In the present embodiment, the swing drive motor 24
The rotation of the rotating body 2 was performed by rotating the battery box 28 by moving the center of gravity of the rotating body 2 by driving the rotating body 2. The rotating drive motor 24 drives the battery box 28 to move to the support shaft 5. It is also possible to make it slide with respect to it and to move the center of gravity of the rotating body 2.

Further, in this embodiment, the hemispheres 2a and 2b are used.
Although the spherical rotating body 2 is composed of, it is also possible to change to an outer shape such as a rugby ball or an elliptical shape. That is, the curved surface that contacts the traveling surface may be formed on the rotating body 2.

[0042]

As described above in detail, according to the present invention,
It has the ability to run over obstacles and has an excellent effect of turning efficiently.

[Brief description of drawings]

FIG. 1 is a plan sectional view showing an internal structure of a traveling device according to the present invention.

FIG. 2 is a side view showing an outer shape of a traveling device.

FIG. 3 is a partial plan cross-sectional view showing the configuration of a reduction mechanism.

FIG. 4 is a partial side view showing the configuration of a speed reduction mechanism.

FIG. 5 is a cross-sectional view showing that a battery box provided with respect to a support shaft rotates.

FIG. 6 is a cross-sectional view showing that the battery box rotates and the support shaft tilts with respect to the traveling surface.

[Explanation of symbols]

2 ... Rotating body, 3 ... Auxiliary mechanism, 5 ... Support shaft, 7 ... Rotating shaft that constitutes a coupling mechanism, 9 ... Connection gear that constitutes a coupling mechanism,
DESCRIPTION OF SYMBOLS 10 ... Transmission gear which comprises a connection mechanism, 16 ... Rotation drive motor which comprises a drive mechanism, 19 ... Reduction mechanism which comprises a drive mechanism, 28 ... Battery box as a weight body

Claims (1)

[Claims] 1. A hollow rotating body having a curved surface on its outer periphery and in contact with the running surface, a support shaft rotatably inserted into and supported by the rotating body, and inside the rotating body. A drive mechanism that is supported and fixed to a support shaft; a coupling mechanism that rotates the rotating body by the drive of the drive mechanism to rotate the traveling surface; and a movable mechanism in the axial direction of the support shaft, A weight body for positioning the center of gravity of the rotary body below a support shaft; and a weight fixed to a support shaft protruding to the outside of the rotary body,
A traveling device comprising: an auxiliary mechanism that prevents rotation of the support shaft when the rotation is transmitted to the rotating body via the connecting mechanism by the driving of the drive mechanism.