JPS624631A - Rotating method and mechanism of tricycle - Google Patents

Abstract

PURPOSE:To make it possible to change direction in a narrow space, by making the axle of a wheel turn at 90 deg. and axles of the other two wheels at less than 90 deg. linking each other, in a horizontal plane, and turning the body of the tricycle around the intersection of the three axes of the axles. CONSTITUTION:Three wheels can rotate around the axes 10a-10c which are square to axles 17a-17c respectively, and the rotation center 14 is in a triangle including 10a, 10b, and 10c as the three apexes, keeping the rotation angle between the axles 17a and 17b at an angle theta less than 90 deg.. When the tricycle changes direction, the axis 11c is turned 90 deg. from the running direction, while the axles 17a and 17b are inclined theta to the rotation center 14, and then the tricycle is driven to direct a desired direction. In this way of movement, the change of direction can be performed in a minimum space specified by a maximum radius of the outline of the body from the rotation center 14.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method of rotating a car and its mechanism. More specifically, the present invention relates to a method and mechanism for rotating a vehicle that allows the vehicle to change direction in a narrow space with a simple structure.

[Conventional technology]

It is well known that in recent years, with the development of automobiles, the movement of people and goods by automobile has become extremely popular.

Special K: In the industrial world, various types of vehicles are used to transport goods.

For example, forklifts, automatic guided vehicles, etc. have been developed and put into practical use. Industrial vehicles are required to drive in particularly narrow spaces, and various types of wheels are used, such as three, four, and six wheels, and accordingly, various types of steering and drive mechanisms are used. have been proposed. As these conventional techniques.

For example, it is well known that driving functions differ depending on the configuration of the vehicle body, as stated in ``Automatic Transport Technology'' (published by Trikerazis) supervised by Mion Takano. An example of the configuration of the three wheels is shown in FIGS. 4(a) and 4(b). Figure (a) shows a system in which a rotating wheel (front wheel) 4 is rotated and steered in the direction of the arrow shown by a steering motor 2, and a fixed wheel 3 is driven by a drive motor 1 via a differential gear 5 to obtain running power. It is. Also, in FIG. 3), a steering motor 2 and a drive motor 1 are directly connected to a rotating wheel 4, and steering and driving are performed by the same wheel. FIG. 3(a) shows the rotating wheel 4 in FIG. 1 divided into two wheels rotating around a rotating shaft 8, and basically belongs to the format shown in FIG. 1(b). As is well known, such a three-wheeled vehicle has a simple structure and excellent steering stability.

[Problem that the invention seeks to solve]

However, the drawbacks are that the driving characteristics are different when moving forward and when going backwards, and the turning radius cannot be made very small.

For example, switching from forward to reverse (or vice versa), which is desired for automatic guided vehicles for cargo handling, requires changing the control of the unmanned steering because the travel trajectories are different, and the control circuit is unnecessarily complicated. have. As described above, the three-wheeled configuration is not good at switching between forward and forward travel, so at a place such as a dead end, for example, a 180-degree direction change is required. That is, as shown in FIG. 5(,), first, the rotary wheel 4 is rotated 90 degrees from when traveling straight (in the direction of arrow 50).
arrow 51). Next, the driving wheels are driven to rotate in the direction of arrow 52 about the rotation center 9 of the vehicle body located at the midpoint of the two fixed wheels 3, thereby changing direction by 180 degrees. Although the drive wheels are not specifically specified here, for example, the rotating wheel 4 is provided with a drive motor, or the two fixed wheels 3 are each provided with independent drive motors that rotate in opposite directions and rotate on their own axis. This is commonly done.

As is clear, when the car rotates on its axis, it rotates with radius R. This means that when changing direction, a space of at least radius R is required, and the width of the vehicle body W required when driving straight ahead is
Unless there is more space, you cannot turn around.

On the other hand, the configuration of the four wheels is shown in Figure 4 (d), (6), (
Example f). These have at least two independent drive wheels, and as is clear from their configuration, the traveling trajectory is the same when traveling forward and when traveling backward. Therefore, when unmanned transportation is in danger, the traveling control is the same for both forward and backward movement, which has a good advantage. Also, even when changing direction by 180 degrees,
Unlike the three-wheel configuration, the center of rotation is the center of the vehicle body, so it is possible to perform so-called spin turns, making it possible to change direction in tight spaces. For example, taking the configuration shown in Figure 4(d) as an example, the change of direction is shown in Figures 5(b) and (c).
Show K. In order to smoothly spin and turn the rotating wheel 4', the axle and the rotating shaft 8 are generally separated by a distance d to provide an offset, as shown in FIG. 5(b). In the same figure (b), the fixed wheels 3vi are driven in the direction of the arrow 53 in the same direction (rotation direction as shown) and move straight. At that time, the rotary wheel 4' is in the position shown in FIG. 2(b) due to the offset effect. When performing a 180 degree direction change, the fixed wheels 3, which are drive wheels, are rotated in opposite directions, and a spin turn is made about the rotation center 9 as shown by the arrow 52 in FIG. 5(c). Although the four-wheel configuration has the advantage of being able to spin and turn and change direction in a minimal amount of space, it has the disadvantage that the rotating wheels, which are not equipped with a steering motor, disturb the running. I did it. For example, when the rotating wheel 4' that is not equipped with a steering motor as shown in FIGS. 4(d) and (a) does not have the above-mentioned off-serator (d=0), it is parallel (or almost parallel) to the sono-axle during a spin turn. ), the wheels of the rotary wheel 4' cannot rotate, and rather serve as a factor that prevents spin-turns. Also, if you add an offset and K so that it does not interfere with the spin turn, you will move forward.
Immediately after switching to reverse and starting driving, instability occurs.

For example, the rotating wheel 4' shown in FIG. 5(b) is indicated by the arrow 5.
This is the stable position when traveling in the direction of arrow 3, but it is the most unstable position when traveling in the opposite direction of arrow 54. Normally, immediately after starting traveling in the direction of arrow 54, the position is the most unstable position when traveling in the direction of arrow 54. Rotate 180 degrees. Therefore, at this time, even though the vehicle is traveling straight, the vehicle swings left and right by a width comparable to that of Off-Sera) d, resulting in unstable travel, albeit for a short period of time.

As mentioned above, if the rotating wheels are not equipped with steering motors, it will have a negative effect on the running, so it is also known as a prior art to equip all the wheels with steering motors as shown in FIG. 4(f). There is. However, it has the drawbacks of being complicated and expensive.

The conventional technology has been described above, but in short, a three-wheel configuration requires a relatively large space for rotation, and a four-wheel configuration requires rotation by spin-turn.
This had the disadvantage that running became unstable and the structure of the vehicle body became complicated.

The present invention eliminates these conventional drawbacks and provides a method and mechanism for rotating a tricycle that has a simple configuration and can change direction in a narrow space.VC:tt)

[A precautionary measure to resolve the gap]

The present invention aims at rotating the axles of one wheel at an angle of 90° in a horizontal plane from the parallel position when traveling in a straight line.
, rotate the axles of the other two wheels at an angle of 90 degrees or less, and change the attitude of the axles toward a point within a triangle with the pivot point of each wheel as the apex, so that the axis of each axle is A method for rotating a tricycle characterized by rotating the vehicle body around an intersection point as a center of rotation, and a method for rotating a tricycle, the vehicle body of the tricycle having three wheels each rotatably supported in a horizontal plane, and an axle for two of the three wheels. are connected so that they can tilt over a certain angle range from the same axis, and the other wheel is pivoted at a position on a straight line that passes through the midpoint of the axis connecting the pivot points of both wheels and is perpendicular to this. This is the tricycle's rotating mechanism.

A conceptual diagram of the present invention is shown in FIG. The figure (,) shows a state in which all three wheels are oriented in the direction 18a (t or 18b). That is basically three wheels 11m t nb.

The vehicle body (not shown) is supported by 11c, and each wheel is attached to an axle 1
Rotating shafts 10m, 10b, 10c provided in a direction perpendicular to 7m, 17b, 17c, respectively
It is designed to be able to rotate around f. (Although the figure shows two wheels (ixa # llb + t), the two wheels share the axle and rotating shaft, and as is well known, the wheel is basically composed of one wheel. ) The center of rotation 14 is located within a triangle with three rotational axes 10a s 10b = 1Oc as vertices, and two axles 17m * 17
b makes an angle θ of 90″ or less with respect to the center of rotation 14.As can be seen from the direction of each wheel shown in the figure (,), the running direction of the car in this case is indicated by the arrow 18 (). ″ or 1
8b) is straight-line driving. Steering may be performed, for example, by rotating the rotating wheel lie at an appropriate angle about the rotating shaft 10c. Further, as described in the related art, the tricycle has different traveling trajectories when traveling forward and when traveling backward. Arrow 1
8m or the arrow 18b, it is free to choose whichever is the forward direction. The desired direction is selected as the forward direction and excessive steering control is performed.

FIG. 6(b) shows the state of the wheels when changing direction. The rotating wheel 11a rotates 90 degrees when driving straight, and the axles 17a y 1 of the other two wheels 11a and llb
7b Tilt by an angle θ less than or equal to t90c', and orient the two axles toward the center of rotation 14. Thereafter, the wheels equipped with drive motors (one of the three wheels, two wheels, or all of the three wheels, although not specified here) are driven to allow the vehicle to rotate and point in an appropriate direction. By such a rotation method, the vehicle body can be spin-turned (rotated on the spot) as shown by the arrow 19 with the vehicle body center 14 as the rotation center. In this manner, the present invention enables a tricycle to perform a spin turn, and to perform two direction changes in the minimum space defined by the maximum radius of the vehicle body as viewed from the center of rotation 14.

〔Example〕

Examples of the present invention are shown below.

(Embodiment 1) A first embodiment of the rotation mechanism is shown in FIGS. 2(a) and 2(b).

Two of the three wheels 11 a m llb are connected by a connecting portion 21 . One end of each axle 17m, 17b is locked in two arcuate grooves 22 provided in the connecting portion. The figure (,) shows the wheels in a straight-ahead state.

Figure (b) shows the wheels during a spin turn. That is, the wheel 11c rotates 90 degrees from the straight-ahead state, and the other two wheels 11
aellb, the connecting portion 21 is in the direction of the arrow 28m,
By moving in a straight line, each axle 17a.

One end of 17b is pulled along the groove 22, and the two axles are each tilted at an angle θ and directed towards the center of rotation 14. After this wheel state is achieved, a spin turn is performed.

After changing the direction to an appropriate direction, move the connecting portion 21 to the arrow 28b.
By moving the two wheels in parallel in the direction of
llb returns to the state shown in (,) in the same figure.

In addition, in order to prevent the axle from moving unnecessarily during spin-turns or straight-ahead driving, it is also possible to provide a stock/4' that operates by electromagnetic history, etc., and to fix the connecting portion 21 so that it does not move unnecessarily. Conceivable.

In this embodiment, the two wheels are connected, and the connecting portion 21 is reciprocated linearly in the direction passing through the vehicle body center 14.
It becomes a movable mechanism.

(Example 2) A second example according to the present invention is shown in FIGS. 3(a) and 3(b). In this embodiment, the two wheels 11a and 11b are connected by a rotation mechanism, and by rotating the rotation mechanism, the two wheels are turned into a cis-spin turn state in which they are traveling straight. Here, gears are used as the rotation mechanism,
The gears 31m and 31b with the same radius are the wheels 11, respectively.
m, llb, and the rotating shaft 10a s of the wheel
10b, it rotates in the same way.

These two gears 31a and 31b are further connected by two gears 30m and 30b having the same radius. The centers of the gears 30m and 30b are fixed to the vehicle body. The figure (,) shows the straight traveling state, and the figure (b) shows the spin turn state. 4 gears 30m, 30b e
31m + 31b, for example, gear 30&
When the gear 31 is rotated clockwise by a motor (not shown), the gear 31 rotates counterclockwise, and the wheel 11 rotates accordingly.
m also rotates counterclockwise. By tilting the axle at an angle θ, the direction of the axle is directed toward the center of rotation 14. At the same time, the wheel 11b is a gear 30b.

31b causes it to rotate clockwise, and similarly directs its axle to the center of rotation. In this way, the wheel is in a state where it can spin and turn. In this example, four gears are used, but two
It is obvious that the configuration may be an even number greater than or equal to 1.

Further, although the center of the gears 30a and 30b is shown as being placed on the straight line connecting the two rotation axes 10m and 10b in the figure, the same effect as in this embodiment can be obtained even if the center is placed in another position. Of course, it is possible to do so.

Also gears 30m, 30b, 31m, 31b
radius (r,.

As is generally known, the radius ratio of r2 # r3 # r4 may be determined from the moment L required to rotate the axle and the output of the drive motor that rotates the gear. Furthermore, it is of course not necessary to prevent the wheels from rotating more than necessary, for example, by an angle of 0 or more, and it goes without saying that, for example, the rotation angle of one of the gears should be detected by an encoder or the like.

Further, although this embodiment uses only gears, it is obvious that similar effects can be obtained by using other rotating mechanisms such as belts.

The mounting position of the travel drive motor is not specified, but this is only because conventional techniques can be used.

〔Effect of the invention〕

The present invention makes it possible to change the direction of a tricycle in a narrow space as described above.In particular, the shape of the vehicle body is close to a circle when viewed from above, and the center of rotation of the vehicle body is aligned with the center of the circle. It is possible to change direction without requiring extra space when changing direction.

Therefore, according to the present invention, the place where the vehicle can change direction is not limited, and the vehicle can change direction at any place on the road, thereby expanding its range of use.

For example, when the present invention is applied to an automatic guided vehicle, it has a simple structure and is capable of stable running and spin turns, so it can be easily miniaturized, and it can be used in narrow spaces, such as between desks in offices commonly seen. Multiple vehicles can be freely run vertically and horizontally along such a path. Furthermore, according to the present invention, it is possible to reduce the number of parts such as various sensors required for an automatic guided vehicle. In other words, in the past, vehicles were configured to allow for forward and backward movement without changing direction in order to provide maneuverability so that they could travel in narrow spaces, but to do so, it was necessary to install various sensors at the front and rear of the vehicle body. . For example, sensors for detecting a driving guide, sensors for detecting obstacles in front of the vehicle in the direction of travel, etc. must be provided at the front and rear of the vehicle body.

Therefore, the installation of these sensors hinders miniaturization and makes them expensive, but the present invention solves these problems all at once, increases mobility, and improves work efficiency. This has the effect of making it possible to achieve this goal.

[Brief explanation of drawings]

FIG. 1 is a conceptual diagram of the present invention, and FIGS. 2 and 3 are schematic diagrams of embodiments of the present invention, where 6) shows a straight traveling state and (b) shows a spin turn state. Figures 4(,) to (f), Figure 5(
a), (b), e, and (c) are diagrams showing the prior art. 1... Drive motor, 2... Steering motor, 3... Fixed wheel, 4e4, lla * llb r llc
””Rotating wheel, 8 e 10m. 10b, 10e-rotation axis, 9.14...rotation center, 17a. 17b * 17c ”・Axle, 21-・Connection part, 2
2--Ditch, 30m. 30b t 31m, 31b''・Gear patent applicant NEC Corporation (cL) Cb) Figure 1 (a) Cb) Figure 3 (θ) (f) Figure 4

Claims (2)

[Claims] (1) The axles of the three wheels on the tricycle body are set at an angle of 90° or less when the axles of one wheel are interlocked with each other and the axles of the other two wheels are interlocked with each other in a horizontal plane from the parallel position when traveling in a straight line. The rotation of a tricycle is characterized by rotating the vehicle at a point where the axes of each axle intersect as a center of rotation, changing the attitude of the axle toward a point within a triangle with the pivot point of each wheel as the apex, and rotating the vehicle body around the point where the axes of each axle intersect. Method. (2) The body of the tricycle is equipped with three wheels that are each rotatably supported on a horizontal plane, and the axles of two of the three wheels are connected so that they can tilt over a certain angular range from the same axis. A rotation mechanism for a tricycle, characterized in that one wheel is pivoted at a position on a straight line that passes through the midpoint of an axis connecting between pivot points and is perpendicular to the midpoint.