JPH0810005Y2 - Wheel unit - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a wheel unit of the present invention. More specifically, each of a plurality of wheels is independently driven and controlled, and a chassis is rotated, and front, rear, left and right are traveled. The present invention relates to improvement of wheels applied as the above wheels in vehicles such as a carrier vehicle and a work vehicle that enable a desired traveling mode such as curve traveling.

[Prior Art] Recently, in warehouse trucks, work vehicles, robot-like vehicles, etc., a plurality of wheels are arranged on a chassis, and each of the above wheels is independently driven and controlled. It has been proposed that a desired traveling mode such as turning traveling, front-rear, left-right traveling, and curving traveling on a chassis can be performed.

One of the conventional examples is Jitsukai 61-113102. That is, there is a pair of element wheels arranged in parallel with each other at a predetermined interval, and each of these two element wheels is controlled to rotate independently by a brake / key motor, and further, a central axis is used as a turning mechanism. The casing is rotatably attached to the casing, the casing is rotatably supported on the bottom of the chassis, a pair of wheels are arranged in the casing, and motors are provided on both sides outside the casing. The respective output shafts of the respective motors are connected to the respective wheels by penetrating the side plates of the casing and extending to the respective wheels inside.

Another prior art is simply wheel units,
It is found in Japanese Utility Model Publication No. 61-92580. That is, a sprocket is provided at the end of the wheel shaft, the rotation of the motor on the chassis is transmitted to the sprocket through a chain, and the shaft is rotated, and the gear train arranged in the wheel transmits the rotation to the wheel. It was made to let.

Yet another prior art is a wide roller,
Proposed in No. 40-7441. That is, the motor is arranged in a wheel such as an extremely wide roller so that the wheel is rotated.

According to the above-mentioned conventional technique, it has been found that there are problems in the following points.

That is, in the case of the technique of Japanese Utility Model Laid-Open No. 61-113102, by extending the output shaft of the motor outside the casing and attaching each of the element wheels to the tip, the motor output shaft has an extended length. The entire wheel unit was long in the left and right width.

In the case of No. 61-92580, the motor must be placed on the chassis even if it can be rotated around the center axis of rotation, and the space on the chassis can be saved. I wanted

In addition, in the case of the technology of Japanese Examined Patent Publication No. 40-7441, even if it can be turned around the turning center axis, the width of the wheels is extremely long because the motor is built in, and it is difficult to repair the motor. There was a problem.

[Problems to be solved by the invention] Therefore, the object of the present invention is to reduce the width between a pair of left and right wheels with the turning center axis in the space, and to provide a space above the chassis without placing a motor on the chassis. It is an object of the present invention to provide a wheel unit configured to be rotatable about a center axis of rotation, which is space-saving, is easy to maintain and repair a motor for driving wheels, is small, compact, and is easy to handle.

[Means for Solving the Problems] In order to solve the above object, the present invention has the following technical means.

That is, the present invention will be described with reference to the reference numerals in the accompanying drawings corresponding to the embodiments.
And a pair of element wheels 5a, 5b arranged in parallel around the turning center axis 3, and the two element wheels 5a, 5b are individually and independently rotationally controlled by an electric motor 6, and the turning is performed. In a unit that is configured to be able to turn about the central axis 3; on the side closer to the turning central axis 3 in each internal space 40 defined by the inner diameter surfaces 42 of the element wheels 5a and 5b. One side 41
, The bearing body 8 is arranged over the inner diameter surface 42 without protruding from the width A of each element wheel 5a, 5b, and between the outer peripheral surface of the bearing body 8 and the inner diameter surface 42 of each element wheel 5a, 5b. Bearings 11 are arranged to make each element wheel 5a, 5b rotatable with respect to each bearing body 8, and an electric motor 6 is arranged on the other side of each element wheel 5a, 5b opposite to the one side 41. Then, the output shaft 7 is passed through the inside space 40 without being exposed to the outside of each of the element wheels 5a, 5b, and is rotatably supported by the bearing body 8. The output shaft 7 is also attached to the output shaft 7. A pair of upper and lower internal spaces 40 meshing with the first gear 10a in the internal space 40.
The second gear 10b in the inside is rotatably supported by the gear shaft 12 supported by the bearing body 8, and the second gear 10b in the internal space 40 is the inner diameter surface 40 of each element wheel 5a, 5b. The wheel unit is configured so as to mesh with the internal gear 13 formed in the.

[Operation] Based on the above configuration, when the electric motor 6 is rotated,
The rotation of the output shaft 7 of the electric motor 6 is controlled by the first gear train 10
The rotation of the output shaft 7 can be transmitted via the a and the second gear train 10b to the element wheels 5a and 5b rotatably attached via the bearing 11 around the bearing body 8, and the respective element wheels 5a,
5b can be rotated. Then, in a vehicle or the like to which the wheel unit is applied, if each of the element wheels 5a and 5b is rotated at the same number of revolutions, the vehicle or the like can be made to travel linearly in the front, rear, left, and right directions. Wheels 5a, 5b
By providing a difference in the number of revolutions of the vehicle, it is possible to freely drive the vehicle or the like such as turning and traveling in a curve.

Further, since the electric motors 6 are arranged outside the element wheels 5a and 5b, respectively, that is, the electric motors 6 are not located inside the wheels, the repair and maintenance are easy, and the elements are Beside the wheels 5a, 5b, even if arranged outside the
Since the output shaft 7 is in the inner space 40 of the wheels 5a, 5b, the distance L between the electric motors 6 of the pair of element wheels 5a, 5b is equal to the length of the two output shafts 7. Can be shortened. Further, as described above, the electric motor 6 is arranged beside each of the element wheels 5a and 5b and is not on the chassis 2, so that the space on the chassis 2 can be saved.

[Embodiment] Next, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIGS. 1 to 3 show a first embodiment, in which reference numeral 1 denotes a wheel unit main body, which is attached to a bottom surface of an undercarriage 2 or the like of a transport vehicle, a work vehicle, etc. to make a turning movement, a front-rear movement and a left-right movement. It enables a desired traveling mode such as curve traveling. A turning center shaft 3 is connected to the chassis 2 and a pair of element wheels are mounted on the turning center shaft 3 via a bearing 4.
5a and 5b are rotatably arranged in parallel. The turning center shaft 3 is a turning fixed center shaft 3a in this example, is fixedly held by the chassis 2, and the bearing 4 is a ball bearing 4. Further, reference numeral 23 is an outer peripheral surface of the turning fixed central shaft 3a. The element wheels 5a and 5b are mounted on the chassis 2
The ball bearing 4 can swivel around a swivel fixed central axis 3a that is fixedly held by the ball bearing 4.

Focusing on one element wheel 4a, the element wheel 4a
A bearing body 8 for bearing an output shaft 7 of the electric motor 6 and a gear shaft 12 to be described later is formed near the turning fixed central shaft 3a.

More specifically, the bearing body 8 does not protrude outward from one side 41 of the element wheels 5a and 5b in the inner space 40 near the turning fixed center axis 3a, that is, within the width A of the wheel 5a and is fixed turning. It is arranged on one side 41 near the central axis 3a so as to cover the inner diameter surface 42 of the wheel 5a. Then, the electric motor 6
Is an element wheel opposite to the side where the bearing body 8 is arranged.
In addition to being located on the side surface of 5a, an acceleration / deceleration gear 9 for transmitting the rotation of the electric motor 6 and an output shaft 7 are inside the element wheel 4a, and only the element wheel 5a and the electric motor 6 are visible from the outside. Is. The acceleration / deceleration gear 9 accelerates or decelerates the rotation speed from the electric motor 6, and the rotation output from the acceleration / deceleration gear 9 is transmitted to the output shaft 7, and the rotation output is transmitted to the bearing. It is transmitted to the element wheel 5a via the gear wheel 10a arranged inside the body 8. More specifically, the first gear 10a having the output shaft 7 as the center of rotation
And a second gear 10b that meshes with the first gear 10a with the gear shaft 12 passed through the bearing 8 as the center of rotation, and the two second gears 10b are the two of the element wheels 5a. It meshes with the internal gear 13 of the element wheel formed inside, and the bearing 11 around the bearing 8 smoothens the rotation of the element wheel 5a.

The bearing 11 around the bearing body 8 is a ball bearing 11. In addition, a bearing 24 is provided to smooth the rotation of the second gear 10b.
24 is a ball bearing.

Further, a brake liner surface 14a is formed on the bearing body 8 of the element wheel 5a, and the turning fixed central shaft 3a is formed.
Brake bodies 14b are provided on the upper and lower portions of the brake body, and the brake liner surface 14a and the brake bodies 14b form a brake mechanism. The brake mechanism is of an electric type, which is opened when energized, and when not energized, the brake body 14b is pressed against the brake liner surface 14a by a spring (not shown) or the like to apply a brake.

Although the configuration of one element wheel 5a has been described above, the configuration of the other element wheel 5b is similar to that of the element wheel 5a. Each of the electric motors 6 for rotating the element wheels 5a, 5b is configured to be driven while the rotation speed and the rotation direction thereof are individually controlled by the rotation drive control unit 15, and at that time point. The rotation speed and the rotation direction are detected by detection means (not shown) and fed back to the rotation drive control section via the signal circuit 16. Therefore, the element wheels 5a and 5b can rotate independently of each other.

The wheel unit body 1 thus configured is used by arranging four wheel unit bodies 1 on the bottom surface of the chassis 2 of a carrier vehicle, a work vehicle, etc., as shown in FIG.

Reference numeral 18 in the figure denotes a speed / direction indicator, which can be composed of, for example, a steering wheel and an accelerator when directly provided on the vehicle, and can be composed of a push button or the like when remotely performed. You can also

 The operation will be described with the above configuration.

The wheel unit main body 1 is used as an undercarriage 2 for a transport vehicle, a work vehicle, or the like.
Then, each electric motor 6 and the rotary drive controller 15 are connected by a power line 17.

As a result, the preparation for operation is completed, and the speed / direction instruction unit 18 is operated to start the operation.

That is, when it is desired to move the chassis 2 forward, the speed / direction indicator
If you set 18 forward and drive it, the rotation drive control unit 15
Causes all electric motors 6 to rotate in the forward direction at the same number of revolutions, so that the chassis 2 moves forward as shown by arrow A in FIG.
When the speed / direction indicator 18 is set to be driven backward and driven, the rotation drive controller 15 causes all the electric motors 6 to rotate to move the chassis 2 backward as shown by arrow B in FIG.

Also, when it is desired to traverse the chassis 2, the rotation drive control unit 15
Can cause the element wheels 5a and 5b to rotate in opposite directions by giving a difference in the number of rotations of the electric motor 6 or by rotating them in the opposite direction with respect to the other electric motors 6, respectively. That is, when the element wheels 5a and 5b are turned in the opposite directions to each other, the element wheels 5a and 5b turn about the turning fixed central axis 3a. Thus the element wheels
After turning 5a, 5b 90 degrees in this way, if all the electric motors 6 are made to rotate in the forward and reverse directions at the same number of revolutions, the chassis 2 becomes as indicated by arrows C, D in FIG. It can be moved laterally.

Further, as shown by an arrow E in FIG.
By rotating all the element wheels 5a, 5b in the same direction at the same rotation speed after turning, the chassis 2 can be turned on the spot.

Further, as shown by the arrow F in FIG.
If only a and 5b have different rotational speeds, the chassis 2 can be made to travel on a curve.

When the chassis 2 is caused to travel in the various traveling modes described above, the rotation speeds of the element wheels 5a and 5b and the rotation directions thereof are fed back to the rotation drive control section 15 via the signal circuit 16, so that the rotation direction control is performed. This can be all done automatically by the drive control unit 15, so that the operator can
It is only necessary to indicate the traveling direction and traveling speed of the.

If the traveling direction and the traveling speed are previously determined, they can be programmed and input into a computer, so that the chassis 2 can be automatically driven unmanned.

In the above, since the electric motor 6 is not inside the wheels 5a or 5b, the electric motor 6 can be easily maintained and repaired.

Even if each electric motor 6 extends to the side of each wheel 5a, 5b, the internal space 4 defined by the inner diameter surface 42 of each wheel 5a, 5b.
Since the output shaft 7 of the electric motor 6 is included in 0, the distance L between the pair of left and right electric motors 6 is
Can be shortened by two lengths. Further, as described above, the electric motor 6 is arranged on the side surfaces of the wheels 5a and 5b and is not located on the chassis, so that the space on the chassis can be saved.

Next, a second embodiment will be described with reference to FIG. In this example, substantially the same parts as those in the first embodiment are omitted, and only different parts will be described. In the first embodiment, the turning center axis 3 is the turning fixed center axis 3a fixedly held on the chassis 2, and the element wheels are
When the 5a and 5b turn, they are turned around the turning fixed central axis 3a via the bearing 4, but in this example, the element wheels 5a and 5b are fixedly held on the turning central axis 3 and the turning center is set. The shaft 3 is a rotatable central shaft 3b that rotates, and accordingly, the element wheels 5a and 5b rotate as the rotatable central shaft 3b rotates. More specifically, a turning center bearing 19 is provided in the lower part of the chassis 2, and a head 3b of the turning center shaft 3b is provided inside the turning center bearing 19 via a head bearing 20.
A is adjacent. As a result, when the element wheels 5a, 5b try to turn due to the difference in the rotational speeds of the element wheels 5a, 5b,
The pivotable central shaft 3b connected to the element wheels 5a, 5b is rotated by the action of the head bearing 20 to pivot the element wheels 5a, 5b.

 The bearing 20 is a ball bearing.

Further, in the brake mechanism, a disc brake is adopted in this example, and more specifically, a disc plate 21 that rotates along with the pivotable central shaft 3b is fixed to the lower surface of the head 3bA of the pivotable central shaft 3b. A brake body 22 is provided for adhering and stopping the rotation of the disc plate 21. The disc brake mechanism is of an electric type and is released when energized, and when no electricity is applied, the brake body 22 is pressed against the disc plate 21 by a spring or the like to apply a brake.

That is, while the element wheels 5a, 5b are moving in a certain direction, the brake body 22 is pressed against the disc plate 21 and
The directions of 5a and 5b are locked, and the brake is released to rotate the element wheels 5a and 5b so that the element wheels 5a and 5b can turn when performing turning direction, curving, etc. When the vehicle makes a turn at an angle of, the turn is locked again, and a turn or a curve is made.

The brake mechanism may have a structure other than the mechanism used in the first and second embodiments, for example, a pin hole. Although the bearings 4, 11, 20, 24 are ball bearings, other bearings may be used.

By rotating the electric motor 6 as described above,
The rotation of the output shaft 7 of the electric motor 6 can be transmitted to the respective element wheels 5a, 5b via the first gear 10a and the second gear 10b, and the respective element wheels 5a, 5b can be rotated. it can. In a vehicle such as a transport vehicle or a work vehicle to which the wheel unit body 1 is applied, if the respective element wheels 5a and 5b are rotated at the same number of revolutions, the chassis 2 is linearly moved forward, backward, leftward and rightward. Each element wheel can be driven to 5
If the rotation speeds of a and 5b are made different, the chassis 2 can of course be made to turn, curve, etc., and the electric motor 6 for driving each wheel 5a, 5b is mounted on the chassis. In addition to occupying the space above the chassis when it is installed in the car, and avoiding the trouble of repairing and maintaining the electric motor when the electric motor is installed in an extremely wide roller, a pair of electric wheels for a pair of wheels is used. The distance L between the motors 6 can be shortened, the whole becomes extremely small and compact, and it is easy to handle.

[Advantages of the Invention] As described in detail above, according to the present invention, when the electric motor is rotated, the rotation of the output shaft of the electric motor can be transmitted to each element wheel through the gear train, and each element wheel can be transmitted. In addition to being able to rotate the wheels, in a vehicle or the like to which the wheel unit body is applied, if each of the element wheels is rotated at the same number of revolutions, the vehicle or the like can be made to travel straight forward, backward, leftward and rightward. It is possible to obtain a desired traveling mode such as turning traveling or curving traveling of the vehicle by providing a difference in the number of rotations of the respective element wheels. Since the output shaft 7 of each electric motor 6 is arranged in the internal space 40 of each wheel 5a, 5b, the distance L between the pair of electric motors 6 for the wheels 5a, 5b is twice that of the output shaft. The length can be shortened and the electric motor must be on the chassis. However, since it is not completely inside the wheel, the space on the chassis can be saved and maintenance and repair are easy.

BRIEF DESCRIPTION OF THE DRAWINGS The attached drawings show an embodiment of the present invention, and FIGS. 1 to 3 show the first embodiment, and FIG.
FIG. 2 is a sectional side view, FIG. 3 is a top view of a one-sided cross section, and FIG.
FIG. 7 is a second embodiment, and is a front view of a cross section on one side, FIG. 5 is a control system explanatory diagram, and FIG. 6 is a traveling mode explanatory diagram. The reference numerals in the drawings are: 1 ... Wheel unit main body 2 ... Chassis 3 ... Turning center axis 3a ... Turning fixed center axis 3b ... Turnable center axis 3bA ... Turnable center axis head 4 ... Element Bearings for turning wheels 5a, 5b …… Element wheels 6 …… Electric motor 7 …… Output shaft 8 …… Bearing body 9 …… Increase / decrease gear 10 …… Gear train 10a …… First gear 10b …… Second gear 11 …… Bearing for rotation of element wheel 12 …… Gear shaft 13 …… Internal gear of element wheel 14a …… Brake liner surface 14b …… Brake body 15 of the first example …… Rotation drive controller

Claims (3)

[Scope of utility model registration request] 1. A turning center shaft 3 attached to a lower portion of a chassis 2.
A pair of element wheels arranged in parallel around the turning center axis 3.
In the unit having 5a, 5b, the two element wheels 5a, 5b are individually and independently rotated by an electric motor 6 and can be turned around the turning center axis 3; One side 41 of each inner space 40 defined by the inner diameter surfaces 42 of the respective element wheels 5a, 5b, which is closer to the turning center axis 3
, The bearing body 8 is arranged over the inner diameter surface 42 without protruding from the width A of each element wheel 5a, 5b, and between the outer peripheral surface of the bearing body 8 and the inner diameter surface 42 of each element wheel 5a, 5b. Bearings 11 are arranged to make each element wheel 5a, 5b rotatable with respect to each bearing body 8, and an electric motor 6 is arranged on the other side of each element wheel 5a, 5b opposite to the one side 41. Then, the output shaft 7 is passed through the inside space 40 without being exposed to the outside of each of the element wheels 5a, 5b, and is rotatably supported by the bearing body 8. The output shaft 7 is also attached to the output shaft 7. A pair of upper and lower internal spaces 40 meshing with the first gear 10a in the internal space 40.
The second gear 10b in the inside is rotatably supported by the gear shaft 12 supported by the bearing body 8, and the second gear 10b in the internal space 40 is the inner diameter surface 40 of each element wheel 5a, 5b. A wheel unit configured to mesh with an internal gear 13 formed on the wheel unit. 2. The turning center shaft 3 is a turning fixed center shaft 3a, and a bearing body 8 of each of the two element wheels 5a, 5b is turnable via a bearing 4 on an outer peripheral surface 23 thereof. The wheel unit according to claim 1, wherein: 3. The wheel unit according to claim 1, wherein the turning center shaft 3 is a turning center shaft 3b.