JPS62103223A - Steering mechanism of omni-directionally moving car - Google Patents

Abstract

PURPOSE:To provide possibility of converting into car mode etc. by setting belts over follower and driving pulleys mounted on a plurality of steering shafts, converting a wheel or wheels in omnidirectional mode through rotation of the driving pulley, and by sliding the driving pulley. CONSTITUTION:The body 20 of an omnidirectional moving car is provided with follower pulleys 24a-24d at the upper part of four steering shafts 21a-21d. In the middle of the body 20, driving pulleys 33a, 33b are installed at the upper part of a supporting shaft 35, and slided and rotated by a motion driver device 34. Two belts 41, 42 are set over these driving pulleys 33a, 33b and follower pulleys 24a-24d. The tension of each belt 41, 42 is adjusted constant at all times by a tension adjusting device 43. The wheels 27a-27d are converted in omnidirectional mode by rotating the driving pulleys 33a, 33b, and into car mode etc. by sliding them.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention provides an omnidirectional moving device which is provided with at least three wheels (1-1) and travels by turning each wheel in an arbitrary direction.
1 (relating to the steering mechanism).

[Background of the invention] -・Generally! ((Movement 111 that runs on the floor using wheels)
This is 1: A heavy-duty vehicle that moves while steering the 11 wheels and changing the direction of the vehicle body. Well, all 11 (by changing the direction of the wheels and 1i without changing the direction of the 11 body? 1. Omni-directional movement that moves in all directions rearward, left, right, and diagonally. 5 For example, moving while changing direction even in a narrow space between desks such as an office robot, IL, and specified dirty rules 1
To1+Nonoi-/L,-2'$11箆-Nih child ratio-h
City travel is a move that requires sharp changes in direction! V
It is not suitable as such. Therefore, omnidirectional vehicles are used that move in all directions without changing the direction of the vehicle body by changing the direction of all wheels.

[First Prior Art] Conventionally, a steering mechanism for an omnidirectional vehicle as described above is constructed as shown in FIGS. 13(A) and 13(B). That is, in this type of steering mechanism, four steering shafts 2φ are provided on the vehicle body 1, and each bearing 3...Φ is located at the lower end of the steering shaft 2-φ.
At the same time, 11 wheels made of rubber tires, 4Φ, etc. are installed on the rotation 1 [waterfall], and a boot 95...fist is provided on a part of each steering shaft 2. By winding one heald 6 and rotating any one of the steering shafts 2 by a drive device (not shown), all the steering shafts 2 are rotated by a predetermined angle and the direction of each wheel 4 is changed. , it is designed to change the direction of travel. In this case, each +lj wheel 411a is driven by a drive motor (not shown) to travel in omnidirectional movement i1j.

However, in such a steering mechanism,
The rotation of one steering shaft 2 is transmitted to each steering shaft 2ΦΦφ by the belt 6, and all the +lj wheels 4... are simply changed in the rotational direction, so as shown in FIG. 14(A).
Omni-directional mode as shown in Figure (B) (7 wheels in which the car travels in a straight line in each direction) is jj (7 canters), but car mode as shown in Figure (B) (in which the car moves in a turning direction) functions), or rotation modes (mechanisms such as pivot rotation) as shown in FIG. 3(C).

[Second Prior Art] In addition to the above-mentioned steering mechanism, the first
As shown in Figure 5 (A) and (B), the two wheels 4 on the front side (right side in the figure) and the wheels 4 on the rear side (left side in the figure) operate separately. There is one divided into Units 7 and 8. That is, among these units 7.8,
The front unit 7 causes each driving shaft 9a of the drive device 9 provided on the lower surface of the vehicle body 1 to protrude toward one side of the vehicle body 1, and also causes the vehicle body 1 to rotate 0T1F, through bearings 9b.
A gA drive pulley 10 is provided on each drive shaft 9a that is attached to the drive shaft 9a and protrudes toward one side, and the drive pulley 10 is provided with a heel hll for transmitting its rotation to each pulley 5a, 5a of the right steering shaft 2a, 2a. The drive device 9
Accordingly, the front (right side) steering shafts 2a, 2a are appropriately rotated by the drive boob 910, which rotates F and reverses, and the direction of the wheels 4a, 4a is changed in a predetermined direction. On the other hand, similarly to the front unit 7 described above, the rear unit 8 also includes a drive device 12 and its driving shaft 1.
It consists of a drive pulley 13 provided on the drive pulley 2a, and a belt 14 that transmits its rotation to the pulleys 5b, 5b of the left steering shafts 2b, 2b.
The rotating and reversing drive boos 2b, 2b are appropriately rotated,
The direction of each wheel 4b, 4b is changed to a predetermined direction.

However, in such a steering mechanism, the front unit 7 and the rear unit 8 move independently, so the omnidirectional mode shown in FIG. 14(A) and the car mode shown in FIG. 14(CB) are possible. However, the two wheels 4a, 4a of the front unit 7 or the rear unit 8
Two 1y.

Since the wheels 4b and 4b always move in synchronization, the rotation mode shown in FIG. 2(C) cannot be performed. Moreover, when in car mode, as shown in FIGS. 16(A) and 16(B), during a small V-radius turn
, 4b, there is a large angular difference between the transfer direction and the actual direction of movement.

Therefore, there is a problem in that resistance increases during running, a braking phenomenon occurs, and it is not possible to reduce the turning radius in practical use, making it impossible to make tight turns.

rlitIII row -Ll/j+1 This invention was made in consideration of the circumstances as stated in ``-'', and its LI-like features are a relatively simple structure, omnidirectional mode, car mode, and rotary mode. It is an object of the present invention to provide an omnidirectional steering mechanism that can have many types of direction change maneuvers such as mode modes, can run well, and has an extremely high degree of freedom in direction change.

[Summary of the Invention] This invention is based on the following: [In order to achieve the objective I, it is possible to rotate the vehicle body by providing a driven pulley on each of three or more steering shafts provided at one time. A driving pulley is slidably and rotatably provided on the vehicle body, a belt is wound around the driving pulley and the driven pulley, and the driving pulley is rotated by a moving drive means, thereby transmitting the rotation to each driven pulley. By converting each wheel to omnidirectional mode and sliding the drive pulley using the moving drive means, each driven pulley is appropriately rotated in accordance with the slide, and each JG wheel is set to car mode, rotary mode 5, etc.
'I.

[Configuration of Embodiment] Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 8.

FIGS. 1(A) to 1(C) show an omnidirectional moving type.

Four steering shafts 21a to 21d are rotatably provided in the vehicle body 20 of this omnidirectional vehicle through bearings 22, respectively, in the vicinity of the four shafts. Each of the steering shafts 21a to 21d has a cylindrical shape, and a wheel bearing 23 is provided at each end thereof, and driven pulleys 24a to 24d are provided at the two ends thereof. wheel bearing 2
311... indicates each steering shaft 21. It rotates together with a to 21d, and each sleeve 25... is attached to the inside thereof for rotation via a bearing 26, and the outer shaft 25... are respectively provided with wheels 27a to 27d, and the entire surface 1
1c28φ Lu Li Registry was destroyed. All 4 ■lj
28.e- has each steering shaft 21. a~21d
A bevel gear 31 rotates integrally with drive shafts 30a to 30d which are rotatably provided through a bearing 29 and a φ ring.
... are in mesh with each other, and when the drive shafts 30a to 30d are driven by a traveling drive device 32 to be described later, the bevel gear 3
The bevel gears 28... rotate through the wheels 1--, and this rotation is transmitted to the city shafts 25...-, and each of the wheels 27a to 2
7d rotates.

Furthermore, a moving drive device 34 is provided at the center of the vehicle body 20 to slide and rotate drive pulleys 33a and 33b. That is, the driving pulleys 33a and 33b are attached to the L portion of one support shaft 35. The moving drive device 34 includes a slider 36 that allows the support shafts 35 of the drive pulleys 33a and 33b to rotate, a pulley drive device 37 that rotates the support shaft 35, a movement mechanism 38 that slides the slider 36, and It consists of a slider drive device 39 that drives a moving mechanism 38. The slider 36 is slidably provided via a sleeve 41.41 on two kite supports 40.40 that extend across the opening 1'20a in the center of the vehicle body 20, and a support shaft 35 is provided at the center of the slider 36. is attached to the rotating port [residue] via a hair ring 35a.

The pulley drive device 37 includes a reducer 37a, a motor 37b,
It consists of an encoder 37c and the like, and is provided below the slider 36, and the lower end of the support shaft 35 is connected to its output shaft. The moving mechanism 38 consists of a pinion shaft 38b provided on the rotary shaft 17 via a bearing 38a on the slider 36, a pinion shaft 38c mounted on the north end of the shaft 38b, and rotated as one body. It consists of a kite shaft 40.40 and a rack 38d, which is provided in the horizontal direction and in which a pinion 38c is engaged, and the slider 36 is rotated by being engaged with either the pinion 38c or the rack 38d. Move in the arrow x, X direction (・[width direction of body 20).

The drive device 39 for slow/rlow operation includes a reducer 39a and a motor 39.
b, an encoder 39c, etc., and is provided at the do of the slider 36, and the do end of the binion shaft 38b is connected to its output shaft. Therefore, drive pulleys 33a, 33b
is rotated by the pulley drive device 37, and the pinion 3 of the moving mechanism 38 is rotated by the slider drive device 39.
8c is driven, and the slider 36 moves along the guide shaft 40.40, thereby moving in the direction of arrows x and x.

On the other hand, the driving pulleys 33a, 33b and the driven pulley 24
Belts 41 and 42 are wound around a to 24d. That is, the belt 41 has a drive pulley 33a and a driven pulley 24a.
, 24b, +iii side unit (Fig. 1 (A
), the directions of the wheels 27a, 27b are changed by rotating the respective steering shafts 21a, 21b on the right side). On the contrary, the belt 42 is wound around the drive pulley 33b and the driven pulleys 24c, 24d, and rotates each steering shaft 21c, 21d of the rear unit (left side in the figure) to change the direction of the wheels 27c, 27d. It has become.

In this case, drive pulleys 33a, 33b and 111 wheel 2
7a to 27d all have the same diameter and are set to the same size.

Further, each belt 41, 42 is adjusted by a tension adjusting device 43, 43 so that its tension is always constant. These tension adjustment devices +et43, 43 are the same, and here the tension adjustment device 43 of the front unit will be explained. This tension adjustment device 43 includes a rotating arm 43a rotatably attached to the steering shaft 21b, a carriage 43b provided at the tip of the rotating arm 43a, and a shaft 43b rotatably mounted via a bearing 43c. Consisting of a tension roller 43d provided and a coil spring 43e that always biases the one-turn arm 43a in the directions of arrows Y and Y', this coil spring 43e
By pulling the tension roller 43d toward the rotating arm 43a, the tension roller 43d is brought into elastic contact with the belt 41.

In addition, as shown in FIG.
32a, a motor 32b, and an encoder 32c, it rotates the drive shafts 30a to 3.0d in each of the steering shafts 21a to 21d via a differential unit 45, and drives each wheel 27a to 27d. There is. That is, each of the drive shafts 30a to 30d rotatably provided in each of the steering shafts 21a to 21d is provided with pulleys 46a to 46d at the northward protruding portions of the steering shafts 21a to 21d, respectively, and the front unit One end of each drive shaft 30a, 30b on the side has a full surface Ii.
t 47.47 are provided respectively. This umbrella 1i
! lj 47.47 is differential unit 4
The full teeth tj48, 48 provided at the tips of each of the output shafts 45a and 45a of 5 are in mesh with each other, thereby rotating the drive shafts 30a and 30b of the front unit, and the full teeth 11 (31 and 28 -c 11i wheel 27a,
Rotate 27b. On the other hand, each drive shaft 3 of the rear unit
0c and 30d are driven by two transmission belts 49 and 49 respectively wound around the upper pulleys 46c and 46d and the front unit pulleys 46a and 46b. Wheels 27c, 27d
It is designed to rotate.

[Operation of the embodiment] Next, the operation of the omnidirectional moving type steering mechanism configured as described above will be explained with reference to FIGS. 3 to 8.

First, the case of omnidirectional mode will be explained.

In this case, as shown in FIG. 3(A), the drive pulley 3
3a and 33b are arranged at the center of the +li body 20 (7), that is, at the position where the diagonal lines connecting the respective steering shafts 21a to 21d intersect, and are moved! JJJ mechanism 38 and slider drive unit'j! Fixed by i39. In this state y8, the pulley drive device 37 connects the drive pulley 33 via the support shaft 35.
When a and 33b are rotated, all the steering shafts 21 a to 21 dc7) are driven in the same direction by each hel) 41.42.
Rotate the same amount as a and 33b. 1! When the driving pulleys 33a and 33b rotate by a predetermined angle of 0, each of the driven pulleys 24a to 24d also rotates by 0. When the driven pulleys 24a to 24d rotate in this manner, the respective steering shafts 21a to 21d also rotate, and all the wheels 27a to 27d rotate by 0 in the same direction as shown in FIG. 4. As a result, the traveling direction of the omnidirectional vehicle changes by yJ. When the wheels 27a to 27d are driven by the drive device 32, the omnidirectional vehicle travels in the set direction.

In this case, each of the wheels 27a to 27d turns 360 degrees around each of the steering shafts 21a to 21d, so that the omnidirectional vehicle can travel in all directions, left, right, and diagonal after Iin. In addition, the drive pulley 33
The rotation angle O of the wheels 27a and 33b is detected by the encoder 37c of the pulley drive device 37, and is controlled based on this detection signal, so that the orientation of each of the wheels 27a to 27d can be set accurately.

Next, the case of car mode will be explained. In this case, as shown in FIG. 3(B), the drive pulleys 33a, 33
b by a predetermined amount C distance) Wl in the direction of arrow X. That is, the slider drive device 39 rotates the pinion 38c of the moving mechanism 38, and the pinion 38c is moved to the rank 38d.
1- matched! By rolling on the island, the slider 36 moves in the direction of arrow X, and the drive pulleys 33a, 33b
move in the same direction. In this case, the drive boolean l) 33
The amount of movement (distance #) of a and 33b is the slider river drive device 39.
The encoder 39c detects the rotation j and g (rotation speed) of the pinion 38c, and this detection signal is used to control the rotation 7i1 based on the signal.
By controlling I, it is possible to accurately set I. Further, when the WJA movable pulleys 33a and 33b move, they are fixed by the pulley drive device 37, so the drive pulleys 33a and 33b move without rotating. When the drive pulleys 33a, 33b move in this way, each belt 41, 42 moves with this movement, and each driven pulley 24a to 24d is rotated as follows. That is, in the right front unit, the bell) 41 moves in the direction of arrow Z1 as the drive pulley 33a moves, and each driven pulley 24a,
24b are rotated in the same direction (clockwise), but the rotations of the driven pulleys 24a and 24b are different, with the rotation angle Oa of the driven pulley 24a being small and the rotation angle Ob of the driven pulley 24b being large. This is because the moving length of the bell 41 between the driving pulley 33a and the driven pulley 24a is short, and conversely, the moving length of the heald 41 between the driving pulley 33a and the driven pulley 24b is long. , the relationship is as shown in FIG. That is,
Figure 7 shows the length between the steering shafts 21a to 21d in the rearward direction of 1ij of the omnidirectional moving vehicle, and the length in the width direction as W.
When L/W is 2.0, the horizontal axis shows the drive pulley 33.
The movement j, I:WX of a and 33b is taken according to the vertical axis and the rotation angle of the rib pulleys 24a and 24b is 0x.
Rotation angle of a and 24b is 1'! This shows that although i0a and Ob gradually increase, the rotation angle ob changes more than the rotation angle O1. On the other hand, the drive pulley 33
a and the shortest distance casing l+ to be wound around each driven pulley 24a, 24b φh+i? ? tc t of C 31grA)
t) Yo(1 is also longer after being locked (state jfi7 in the same figure (B)), so the tension roller 43d of the tension adjustment device 43 resists the elastic force of the coil spring 43e and moves toward the arrow Y on the opposite side. Similarly, in the rear unit, due to the rotation of the drive pulley 33b, the heald 42 moves in the direction of arrow z2, which is opposite to that described in 4-4, and each driven pulley 24c,
24d in the same direction (counter lI+j direction). In this case as well, the driven pulley 24c and the driven pulley 24d are different in rotation, and the rotation angle Oc of the driven pulley 24c is smaller than the rotation angle Od of the driven pulley 24d. However, the rotation angle Or of the driven pulley 24c is equal to the rotation angle 0.0 of the driven pulley 24a of the front unit. Although the direction is opposite, the absolute value is the same, and the rotation angle 0.1 of the driven pulley 24d is similarly the same absolute value as the rotation angle Ob of the driven pulley 24b.

When the six driven pulleys 24a to 24d rotate in this way,
Each of the steering shafts 21a to 21d also rotates in the same manner as described above, and as shown in FIG. 5, all +lj wheels 27a to 27d rotate in different directions by different angles. That is, the wheels 27a of the front unit rotate downward to the right by the same rotation angle Oa as the driven pulley 24a, and the wheels 27b rotate downward to the right by the same rotation angle ob as the driven pulley 24b. Each of the wheels 27a and 27b rotated in this way is located on a tangent to a circle centered on the turning center P of the omnidirectional movement i1j. Similarly, the small wheel 27c of the backup unit rotates downward to the left by the same rotation angle 0C (-Oa) as the driven pulley 24C, and the jli wheel 27d rotates to the left by the same rotation angle (lld (-(7b)) as the driven pulley 24d. They rotate downward, and are located on the tangent of a circle centered on the turning center P of the omnidirectional moving vehicle. Therefore, all 1i wheels 27a to 27d roll smoothly when the omnidirectional moving vehicle (() turns. At the same time, it rolls smoothly even if the turning radius is small. This is clear from Fig. 8. That is, Fig. 8 shows the steering @ 21a to 2
When the L/W between 1d is 2.0, the horizontal axis is the turning radius R, and the vertical axis is the angle of the wheels 27a, 27b, and as the turning radius becomes smaller, the angle of the wheels 27a, 27b changes. As the curves increase, the curves of this example shown by the solid lines Q+ and Q7 approach the ideal ones shown by the dotted line curves QJ and Qb, and the 1 point 'xJ line QX
shows the conventional one, which is far from the ideal one shown by the dotted line curves Qa and Qb. On the other hand, the corresponding small wheels 27a, 27c and wheels 27b, 27d after +iij are turned, -
Since the vehicle rolls on a turning trajectory, the omnidirectional vehicle can travel more smoothly. In addition, in the case described in 1-1, the drive pulleys 33a and 33b were moved to the -L side as shown in FIG. 3(B) to turn the omnidirectional moving vehicle to the right. may be moved downward to cause the omnidirectional vehicle to turn to the left.

Furthermore, the case of rotation mode will be explained.

In this case, as shown in FIG. 3(C), the drive pulley 3
3a and 33b are further moved in the direction of arrow X in the same manner as in the car mode described above. That is, the slider drive device 39 rotates the pinion 38c of the moving mechanism 38, and by rolling the pinion 38c while meshing with the rack 38d, the slider 36 is moved a predetermined distance (distance #) in the direction of the arrow X.
) W2 movement, and drive pulleys 33a and 33b are moved in the same direction. This moving fee (distance fa) W2 is the length for rotating each of the driven pulleys 24a to 24d so that the wheels 27a to 27d face each other,
It is detected by the motor/coder 39c of the slider drive device 39, and based on this detected 0 call, the rotation of the pinion 38c is 1.1.
By controlling , it is possible to set II: accurately. When the drive pulleys 33a, 33b move in this way, each belt 41, 42 moves with this movement,
Each driven pulley 24a to 24d is connected to 1. It rotates in the same way as in the car mode described above. Therefore, each of the driven pulleys 24a and 24b of the front unit on the A side rotates by rotation angles o1 and o2 larger than that of the Kermort. Also,
The tension roller 43d of the tension adjustment device 43 is also
Similarly, it moves in the direction of arrow Y against the elasticity of the coil spring 43e. -Ichiriki.

Similarly, in the rear unit, the outer driven pulleys 24c and 24d rotate by a larger rotation angle of 01.04 than in the case of the Kermort. Also in this case, the rotation angle 03 of the driven pulley 24c
is opposite in direction to the rotation angle 01 of the driven pulley 24a of the front unit, but the absolute value is the same, and the driven pulley 24a
The rotation angle 04 of d has the same absolute value as the rotation angle 02 of the driven pulley 24b.

When each driven pulley 24a to 24d rotates in this way,
Each of the steering shafts 21a to 21d rotates in the same manner as the motor idS, and as shown in FIG. 6, all the wheels 27a to 27d rotate in different directions and at different angles. That is, the wheel 27a of the front unit rotates clockwise by the same rotation angle O1 as the driven pulley 24a, and the wheel 27b rotates clockwise downward by the same rotation angle 02 as the driven pulley 24b.

Similarly, the wheels 27c of the rear unit are connected to the secondary rib pulley 24.
Rotate downward to the left by the same rotation angle 03C-01) as c,
The middle degree wheel 27d has the same rotation angle 04(-) as the driven pulley 24d.
Rotate downward to the left by 02). Each of the wheels 27a to 27d rotated in this way is connected to the center of rotation (the tangent line -H of a circle centered on the omnidirectional movement 11 (center) O) of the omnidirectional movement iI. , and each wheel 27a-27d on the diagonal 5 faces IHl.Therefore, the omnidirectional movement Ilj pivots at that location about its center point 0.

At this time, all the JI wheels 27a to 27d are positioned on the tangent line of the circle centered on the center point 0, so they roll smoothly and the omnidirectional vehicle can be rotated well.

It should be noted that the present invention is not limited to the embodiments described above, but includes various modifications as shown in FIGS. 9 to 12, for example.

That is, FIGS. 9(A) and 9(B) show the driving pulleys 33a and 33b.
This drive pulley 33a, 3 shows a modification of the old structure of
3b are two rotating shafts 51.51 attached to the kite shafts 51 and 51, which are rotatable via bearings 50.50 on sliders 36 that slide while being guided by kite shafts 40.40, respectively.
It is located in the northern part of the country. Each of the rotating shafts 51, 51 is provided with a driven vehicle 52, 52, and this driven tooth 1t 52, 52 is provided with one drive shaft provided at the end of the output shaft of the pulley drive device 37. 53 middle school students are matched by 1. Therefore, driving surface 1 (53 and driven tooth 1
c52.52, each rotation shaft 51.51 is driven by the pulley drive device 37, and each drive pulley 33
a, 33b can be rotated.

io (A) and (B) show a modification of the tension adjustment device 60a, 60b.
The tension rollers 61a and stb move in accordance with the movement of the drive pulleys 33a and 33b (7), and the healds 41 and 42
The tension of the drive pulleys 33a, 33 is adjusted.
They are provided on both sides of b. The tension adjustment device 60a is located on the rear side of the vehicle body 20 (on the left side in the figure) and adjusts the tension of the belt 42 of the rear unit. That is, two guide shafts 62.6 are provided in the vehicle body 20 in a direction perpendicular to the moving direction of the drive boops 933a and 33b.
2 is provided, and this guide shaft 62.62 is provided with a first
A slider 63 is provided on the slide layer via a sleeve. A shaft 65 is attached to the side surface of this first slider 63.
One end of the rotating arm 66 is rotatably attached to the side of the second slider 67 (the other end is rotatably attached to the side of the second slider 67). The second slider 67 is a support plate 6 erected on the vehicle body 201-.
8.68 The hook is slidably provided on the kite shaft 69.69. l of this second slider 67
A support column 70 is installed on the x plane, and this support column 7
A tension roller 61a is rotatably provided on the upper part of 0. Further, a connecting column 71 is mounted on the lower surface of the first slider 63, and one end of an interlocking arm 72 is rotatably attached to a portion of the connecting column 71.

The other end of this interlocking arm 72 is connected to drive pulleys 33a and 33b.
The sleeve of the pulley drive device 37 that drives the rotary shaft is connected to the sleeve of the pulley drive device 37. Therefore, the drive pulleys 33a, 33b (7
) When the slider 36 moves from =t-c body 0 out of 20 bodies to its side, the interlocking arm 72 moves the first slider 63 along the guide axis 62.69[de·λ)-17-dl? ´＾ノ、
Letos, +1, T+-+++! Iτ7-ノ, 66 rotates around the shaft 65 to move the second slider 67 to the guide shaft 6.
9. In the opposite direction along 69 (drive pulleys 33a, 33
move away from b). Along with this, the tension roller 61a moves in the same direction, and the deflection of the belt 42 is adjusted in accordance with the movement X4 of the drive pulleys 33a and 33b.

On the other hand, the tension 3J adjustment device 60b on the opposite side
It is arranged on the front side (right side in the figure) and adjusts the tension of the heel 41 of the fi side unit. That is, -1(
The body 20 has two wooden guide shafts 73.73, similar to the double series.
A front slider 74 is provided on this guide shaft 73.73 so as to be slidable via a sleeve 74a.

A support column 75 is provided on the upper surface of this front slider 74 at 17. A tension roller 61b is rotatably attached to the L portion of the support column 75 via a bearing 76. Further, a connecting post 77 is provided on the front side of the front slider 74, and the - end of a connecting arm 78 is attached to the opposite end of the connecting post 77 at the 11th rotation position.

This −(I Ayu arm 7RL + flood 11 is used to move the front slider 74 in conjunction with the first slider 63 of the top unit, and the other end is the connecting column 7 of the first slider 63.
It is rotatably attached to the lower end of 1. However, 1
1; When the first slider 63 of the rear unit is pulled toward the tension adjustment device 60b of the i-side unit, the connecting arm 78 pushes the front slider 74 forward (to the right in the figure), and the front slider 74 a driving pulley 33a,
Move away from 33b. As a result, the tension roller 61b also moves in the same direction, and the tension of the belt 41 is adjusted according to the movement of the drive pulleys 33a, 33b. Therefore, such a tension adjustment device 60a
, 60b as well, the tension of the belt 41, 42 can be adjusted to 2J well, and the driven pulleys 24a to 24d and wheels 27a to 27d cannot be accurately rotated.

FIG. 11 shows a modification of the slider mechanism. In other words, this slider mechanism 80 is provided with a slider drive device (not shown) in the vehicle body 20, and rotates integrally with the output shaft 81 of this slider drive device. A rotating arm 82 is provided, and one end of a connecting arm 83 is attached to the tip of the rotating arm 82 with a pin 84 for rotation "T f7", and the other end is rotatably connected to the slider 36 with a pin 85. When the rotating arm 82 is rotated by the slider drive device,
With this rotation, the connecting arm 83 moves the slider 36 in the direction of the arrow along the guide shafts 40, 40. However, according to such a slider mechanism 80, the structure is simpler than that of the above-described embodiment, and the slider 36 can be moved accurately and well.

FIG. 12 shows an omnidirectional vehicle operating in only two modes: omnidirectional mode and rotation mode. That is, in this omnidirectional moving vehicle, the slider 36 moves only in one direction from approximately the center of the +ji body 20. Therefore, although the omnidirectional mode and the rotation mode are performed as in the above-described embodiment, the car mode only performs one-sided turning. That is, in the figure, since the slider 36 moves upward from the center, it only turns to the right. However, if the slider 36 is moved from the center to the left side, it is possible to make a left turn.

[Effects of the Invention] As explained above, according to the omnidirectional movement 1rL steering mechanism according to the present invention, the steering mechanism is driven by three or more steering shafts rotatably provided in 11 bodies. In addition to providing a pulley, a drive pulley is provided on the body (11) to slide and rotate, a belt is wound around this drive pulley and the driven pulley, and the drive pulley is rotated by a moving drive means, thereby controlling its rotation. is transmitted to each driven pulley to convert each +lj wheel to omnidirectional mode, and the driving pulley is slid by the moving drive means, so that each driven pulley is appropriately rotated in accordance with the sliding, and each +lj wheel is changed to an omnidirectional mode. Converts to car mode, rotation mode, etc., so it has a comparative internal structure.
For full direction mote, car mote, rotation mode, etc.
It is possible to run the vehicle in a good manner, and it is possible to obtain an extremely high degree of freedom in changing direction.

[Brief explanation of drawings]

1 to 8 show embodiments of the present invention.
Figure (A,) shows the plane IA of its omnidirectional movement 1j, Figure 1 (
B) is a broken side view of the main part, FIG. 1(C) is a sectional view taken along line A-A, FIG.
Figure CB) is the B-B sectional view, Figure 3 (A) is a diagram showing the omnidirectional mode, Figure 3 (B) is a diagram showing the Kerr mode state, Figure 3 (C) is in rotation mode! Figure 4 is a diagram showing the direction of the profit margin in omnidirectional mode, Figure 5 is a diagram showing the direction of the wheels in car mode,
Figure 6 is a diagram showing the orientation of the wheels in rotation mode;
Figure 7 is a diagram showing the relationship between the slide of the wJA dynamic pulley: 11 and the rotation angle of the driven pulley, and Figure 8 is a diagram showing the relationship between the slide of the wJA dynamic pulley: 11 and the rotation angle of the driven pulley. Figure 9 (A) I+Taku-kl+Boo11 tTr KM Imh k!*k, V4/
7"+ core 1u 4M 4-, -= + 417 part cross-sectional view, Figure 9 (B) is its CC sectional view, Figure 10 (A
) is a plan view showing a modified example of the tension adjustment device;
Figure (B) is a sectional view taken along line DD, Figure 11 is a top view of the main parts of the slider mechanism, Figure 12 is a front view of the inside of an omnidirectional vehicle that operates only in two modes, and Figures 13 to 16. 13(A) shows a conventional example, and FIG. 13(A) is a top view showing the first conventional example.
Figure 3 (B) is a sectional view taken along line E-E, Figure 14 (A) is a diagram showing the omnidirectional mode, Figure 14 (B) is a diagram showing the car mode, and Figure 14 (C) is a diagram showing the rotation mode. FIG. 15(A) is a front view of the second conventional example, FIG. 15(B) is a cross-sectional view taken along line FF, and FIG. 16(A) is a diagram showing the second conventional example. Diagram showing the orientation of the 11 wheels, Figure 16 (B)
is that private person: Figure. 20...rlL body, 21a-21d...
・Steering shaft, 24a to 24d... Driven pulley, 27a to 27d... + I wheel, 33a
, 33b...drive pulley, 34...movement drive device, 36...slider. 37... Pulley river drive device, 39...
Slider river drive device, 41.42...belt,
43.6°a, 60b...Tension adjustment device, 8o...Slider mechanism. Patent Applicant Casio Computer Co., Ltd. Agent Patent Attorney Machi 1) Masa Toshi Figure 1 (C) B) Top view in η-mode Fig. 3 (C) Low-nose Yoshi mode Ikko-Ikko figure Fig. 4 O-rate in all directions t-do One multifaceted Σ claw ten thousand times Fig. 6 Low-nose 3 mode F1 exclusive Wheel orientation! Show tl! 1C
-C@ Plane Figure 10 (A) Tension lesson! IE outfit! Plan view showing the deformation M (Fig. 10 CB)
Figure 2 Mobi's chisel and girder - A thousand-faced view of the four locomotives Futaguruma E-E
箭恭n'

Claims (1)

[Scope of Claims] A steering mechanism for an omnidirectional vehicle that is equipped with at least three or more wheels and that travels by changing the direction of each wheel, the steering mechanism being rotatably provided on the vehicle body, and each of the wheels located at the bottom of the vehicle. a driven pulley provided on the upper part of each rotatably mounted steering shaft; a control pulley slidably provided on the vehicle body and driven to rotate; and a moving drive means for moving and rotating the control pulley. , a belt that transmits the rotation of the control pulley to each driven pulley of the steering shaft; and a tension adjustment means that moves with the movement of the control pulley and always applies a constant tension to the belt. Steering mechanism for directional vehicles.