JPS6327214B2 - - Google Patents
Info
- Publication number
- JPS6327214B2 JPS6327214B2 JP58186230A JP18623083A JPS6327214B2 JP S6327214 B2 JPS6327214 B2 JP S6327214B2 JP 58186230 A JP58186230 A JP 58186230A JP 18623083 A JP18623083 A JP 18623083A JP S6327214 B2 JPS6327214 B2 JP S6327214B2
- Authority
- JP
- Japan
- Prior art keywords
- steering
- shaft
- wheel
- drive
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000007246 mechanism Effects 0.000 claims description 15
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 230000009467 reduction Effects 0.000 claims description 6
- 238000005299 abrasion Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000000843 powder Substances 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 208000008312 Tooth Loss Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/30—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Description
【発明の詳細な説明】
〔発明の技術分野〕
この発明は搬送車における車輪装置に関し、特
に車体下部に設けられて走行駆動及び舵取制御可
能な車輪装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a wheel device for a transport vehicle, and more particularly to a wheel device provided at the lower part of a vehicle body and capable of running drive and steering control.
例えば超LSI製造工場等のように、零点何ミク
ロンの微粒粉塵が存在するだけでも製品の歩止り
が低下してしまうといつた如く、塵埃の発生を極
度に嫌う所では、作業者がいること事態塵埃の発
生につながることから無人化することが必要であ
る。この無人化の為に遠隔操作等で自動操縦可能
な搬送車が利用されるが、その搬送車は通常ゴム
タイヤを用いた車輪により走行することで、その
操舵の際に床面との間で滑りが生じて摩耗粉が発
生し、特に車輪のいわゆる“据切り”（車体を停
止させたまま車輪の舵取りを行うこと）により激
しく摩耗粉が発生して、室内空気の汚染を招く不
都合があつた。
For example, in places such as VLSI manufacturing factories, where even the presence of fine dust of several microns at the zero point will reduce the yield of the product, there are workers who are extremely reluctant to generate dust. It is necessary to make it unmanned because it leads to the generation of dust. For this unmanned operation, transport vehicles that can be automatically operated by remote control etc. are used, but these transport vehicles usually run on wheels with rubber tires, so they do not slip between themselves and the floor when they are steered. This caused the generation of abrasion powder, and in particular, the so-called "stationary steering" of the wheels (steering the wheels while the vehicle was stationary) generated a large amount of abrasion powder, which caused the inconvenience of contaminating the indoor air. .
そこで最近では上記車輪の据切りの問題を解決
すべく特開昭57−4472号公報に示すような車輪装
置が考えられて来た。これはキヤスター輪の如く
垂直な舵取軸の中心軸線から外れた位置に車輪を
設けて、操舵時には該車輪が舵取軸を中心にその
回りを転がりながら移動して向きを変える構成
で、一般の据切りに比較して舵取り駆動力が小さ
くて済み、即ち車輪の床面に対する摩擦が少な
く、それだけ摩耗粉の発生も少なくできる効果が
ある。 Recently, a wheel device as shown in Japanese Patent Application Laid-open No. 57-4472 has been devised to solve the above-mentioned wheel stationary problem. This is a configuration in which wheels, such as caster wheels, are installed at positions off the central axis of a vertical steering shaft, and during steering, the wheels move and change direction around the steering shaft. Compared to the stationary steering system, the steering driving force is small, that is, there is less friction between the wheels and the floor surface, which has the effect of reducing the generation of wear particles.
しかしながら、上記特開昭57−4472号公報の車
輪装置では、車輪が回転フリーな遊動輪と異な
り、走行駆動系と操舵系との両方に関連している
ことから、操舵時に車輪が舵取り方向に向かつて
転がりながらもその回転角と進む距離が合わずに
滑りを生じる虞れがあり、この点何ら機構的な解
決がなされておらず、その滑りを防止しようとす
ると操舵毎に走行駆動系の回転制御を行う必要が
生じるなど非常に面倒であると考えられる。 However, in the wheel device disclosed in JP-A No. 57-4472, the wheels are connected to both the traveling drive system and the steering system, unlike free-wheeling wheels that rotate freely. Even if it rolls toward the target, the angle of rotation and the distance it travels may not match, causing it to slip, and there is no mechanical solution to this problem. This is considered to be very troublesome as it requires rotation control.
この発明は上記事情に鑑みなされたもので、操
舵時の車輪の床面に対する滑りを完全に無くすこ
とができる搬送車における車輪装置を提供するこ
とにある。
The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a wheel device for a transport vehicle that can completely eliminate slippage of the wheels on the floor surface during steering.
この発明の搬送車における車輪装置は、前述の
特開昭57−4472号公報のような車輪装置の改良
で、その装置の要部機構をある所定の関係に設定
して構成したものである。つまり垂直な舵取軸と
直交する車輪軸に設けた車輪の該舵取軸中心軸線
からの離間距離Ｌと、その車輪半径Ｒと、走行駆
動軸から車輪軸に駆動トルクを伝える減速機の減
速比Ｎとを、
NL＝Ｒ
の関係が成立する状態に設定した構成で、これに
て操舵時の車輪の回転角と進む距離とが完全に合
うようになつて、車輪が全く滑らずに転がりなが
ら操舵されるものである。
The wheel device for a conveyance vehicle of the present invention is an improvement on the wheel device disclosed in Japanese Patent Application Laid-Open No. 57-4472, and is constructed by setting the main mechanisms of the device in a certain predetermined relationship. In other words, the distance L from the center axis of the wheel provided on the wheel axle perpendicular to the vertical steering axle, the wheel radius R, and the deceleration of the reducer that transmits the drive torque from the travel drive shaft to the wheel axle. The ratio N is set so that the relationship NL=R holds true, so that the rotation angle of the wheels during steering and the distance traveled perfectly match, and the wheels roll without slipping at all. It is steered while the vehicle is moving.
以下この発明の一実施例を第１図、第２図によ
り説明する。なお実際の搬送車では車体下部複数
個所（例えば前後左右４個所）にそれぞれ車輪装
置を設けるが、ここでその一個所だけの車輪装置
を図示しその他省略する。しかして先ず第１図中
１は車体下部のシヤーシ或いはそれに取付けた取
付ベース（以下単にベースと記す）で、このベー
ス１に軸受２を介して舵取軸３が上下に貫通して
垂直に設けられている。この舵取軸３は軸筒部３
ａとその下端の箱形状の枠部３ｂとからなる。こ
の舵取軸３の下端枠部３ｂの両側板にベアリング
を介して車輪軸４が該舵取軸３の中心軸Ａと直交
して水平状態に取付けられ、この車輪軸４の一端
方延出部の前記舵取軸中心軸線ＡからＬの距離だ
け外れた位置に半径Ｒの車輪５が取付けられてい
る。また、上記舵取軸３の軸筒部３ａ内にベアリ
ングを介して駆動軸６が該舵取軸３の中心軸線Ａ
と一致する状態で上下に貫通して設けられ、この
駆動軸６の駆動トルクを前記車輪軸４に伝える減
速機７として、該駆動軸６下端に駆動歯車８が、
これに下側から噛合すべく車輪軸４に従動歯車９
が設けられている。その両歯車８，９はベベルギ
ヤであつて、その駆動歯車８のピツチ円直径は
Di、従動歯車９のピツチ円直径はDoである。
An embodiment of the present invention will be described below with reference to FIGS. 1 and 2. Note that although an actual transport vehicle is provided with wheel devices at a plurality of locations under the vehicle body (for example, four locations on the front, rear, left, and right), only the wheel device at one location is shown here and the rest is omitted. First, 1 in Fig. 1 is the chassis at the bottom of the vehicle body or a mounting base attached to it (hereinafter simply referred to as the base), and a steering shaft 3 is vertically installed through this base 1 through a bearing 2 vertically. It is being This steering shaft 3 is a shaft cylinder portion 3
a and a box-shaped frame portion 3b at its lower end. A wheel axle 4 is installed in a horizontal state orthogonal to the center axis A of the steering shaft 3 via bearings on both side plates of the lower end frame portion 3b of the steering shaft 3, and one end of this wheel shaft 4 extends. A wheel 5 having a radius R is attached at a position deviated from the center axis A of the steering shaft by a distance L. Further, the drive shaft 6 is connected to the central axis A of the steering shaft 3 through a bearing within the shaft cylinder portion 3a of the steering shaft 3.
A drive gear 8 is provided at the lower end of the drive shaft 6 as a reducer 7 that passes through the drive shaft 6 vertically and transmits the drive torque of the drive shaft 6 to the wheel shaft 4.
The driven gear 9 of the wheel shaft 4 is to mesh with this from below.
is provided. Both gears 8 and 9 are bevel gears, and the pitch diameter of the drive gear 8 is
Di, the pitch circle diameter of the driven gear 9 is Do.
更に、上記ベース１上には基台１０を介して舵
取機構１１が設けられている。これは上記舵取軸
３を回転制御して車輪軸４と共に車輪５を該舵取
軸３回りを転動させて向きを変えるもので、舵取
用モータ１２と、これと直結する舵取用減速機１
３と、この出力軸に設けた小歯車１４及びこれに
噛合すべく上記舵取軸３の軸筒部３ａ上端部に取
付けた扇形大歯車１５とからなる構成で、舵取用
モータ１２上側に同軸的に舵取用ブレーキ１６及
び舵取角検出器１７も備えている。 Furthermore, a steering mechanism 11 is provided on the base 1 via a base 10. This controls the rotation of the steering shaft 3 to rotate the wheels 5 together with the wheel shaft 4 around the steering shaft 3 to change the direction. Reducer 1
3, a small gear 14 provided on the output shaft, and a sector-shaped large gear 15 attached to the upper end of the shaft cylindrical portion 3a of the steering shaft 3 to mesh with the small gear 14. A steering brake 16 and a steering angle detector 17 are also coaxially provided.
また、上記ベース１上には上記駆動軸６を回転
させて減速機７を介し車輪軸４と共に車輪５を回
転せしめる走行駆動機構１８が設けられている。
これは基台１９を介して設けた駆動用モータ２０
と、この下側に直結した駆動用減速機２１と、こ
の出力軸と上記駆動軸６とを連結するカツプリン
グ２２とからなり、これも駆動用ブレーキ２３及
び駆動距離検出器２４を備えている。 Further, a travel drive mechanism 18 is provided on the base 1, which rotates the drive shaft 6 to rotate the wheels 5 together with the wheel shaft 4 via the reducer 7.
This is a drive motor 20 installed via a base 19.
, a drive speed reducer 21 directly connected to the lower side of the drive shaft, and a coupling 22 that connects this output shaft to the drive shaft 6, which is also equipped with a drive brake 23 and a drive distance detector 24.
ここで、上記駆動軸６の駆動トルクを車輪軸４
に伝える減速機７の両歯車８，９の減速比Ｎ
（Do／Di＝Ｎ）と、舵取軸３の中心軸線Ａから車
輪５の中心までの距離Ｌと、その車輪５の半径Ｒ
とが、
NL＝Ｒ …(1)
の関係となるように設定して構成されている。 Here, the drive torque of the drive shaft 6 is determined by the wheel axle 4.
The reduction ratio N of both gears 8 and 9 of the reducer 7 is transmitted to
(Do/Di=N), the distance L from the center axis A of the steering shaft 3 to the center of the wheel 5, and the radius R of the wheel 5.
is configured so that the relationship NL=R...(1) holds.
而して、上述した構成の車輪装置の作用を述べ
る。なお、説明を簡単にするために搬送車を完全
に停止した状態で操舵する場合について述べる。
即ち、走行駆動機構１８の駆動用ブレーキ２３を
作用させて、駆動軸６の回転を完全に止めて車体
が動かないようにした状態で舵取機構１１を作動
させる。しかして舵取用モータ１２の回転により
舵取用減速機１３、小歯車１４、扇形大歯車１５
を介して舵取軸３が回転し、これで車輪軸４が同
じく舵取軸中心軸線Ａを中心に車輪５を一端に支
持しながら向きを変える如く回動し、同時にその
車輪軸４の従動歯車９が停止状態の駆動歯車８に
噛合したまま転動することで該車輪軸４が車輪軸
線を中心に回転する。これにて車輪５は舵取軸３
の中心軸線Ａから半径Ｌの円周上を転がりながら
移動して向きを変えるようになる。 The operation of the wheel device configured as described above will now be described. In order to simplify the explanation, a case will be described in which the guided vehicle is steered in a completely stopped state.
That is, the driving brake 23 of the traveling drive mechanism 18 is applied to completely stop the rotation of the drive shaft 6 and the steering mechanism 11 is operated with the vehicle body not moving. As a result, the rotation of the steering motor 12 causes the steering reduction gear 13, the small gear 14, and the large sector gear 15 to rotate.
The steering shaft 3 rotates through the steering shaft 3, and the wheel shaft 4 similarly rotates around the steering shaft center axis A to change its direction while supporting the wheel 5 at one end, and at the same time, the wheel shaft 4 rotates as if changing its direction. As the gear 9 rolls while being meshed with the stopped drive gear 8, the wheel shaft 4 rotates about the wheel axis. Now the wheels 5 are the steering shaft 3
It moves while rolling on the circumference of radius L from the central axis A of , and changes its direction.
ここで、例えば舵取用モータ１２の作動で操舵
角θを与えたとすると、車輪軸４の軸線はB1か
らB2に向きを変える。つまり車輪５の接地点は
P1からP2点へ移動し、一方減速機７の駆動歯車
８に対する従動歯車９の噛合点はQ1からQ2点へ
移動する。なお、その駆動歯車８は停止したまま
である上に、これに対して噛合した従動歯車９は
歯こぼれ等を起こさないかぎり滑ることは無い。
従つてその従動歯車９が駆動歯車８のピツチ円に
沿つてQ1点からQ2点に移動するのに要した転動
距離Sqは
Sq＝Di／２・θ …(2)
であり、この転動時の従動歯車９の回転角Rqは
Rq＝２／Do・Sq＝Di／Do・θ …(3)
である。 Here, for example, if the steering angle θ is given by the operation of the steering motor 12, the axis of the wheel shaft 4 changes direction from B 1 to B 2 . In other words, the grounding point of wheel 5 is
It moves from point P 1 to point P 2 , and on the other hand, the engagement point of the driven gear 9 with respect to the drive gear 8 of the reducer 7 moves from point Q 1 to point Q 2 . The drive gear 8 remains stopped, and the driven gear 9 meshed with it will not slip unless tooth loss occurs.
Therefore, the rolling distance Sq required for the driven gear 9 to move from point Q1 to point Q2 along the pitch circle of the driving gear 8 is Sq=Di/2・θ...(2), and this The rotation angle Rq of the driven gear 9 during rolling is Rq=2/Do·Sq=Di/Do·θ (3).
又上記車輪５が半径Ｌの円周に沿つてP1点か
らP2点への移動距離Spは
Sp＝Lθ …(4)
であり、しかも同車輪５が床面に対して滑らない
でP1点からP2点へ移動するのに要する回転角Rp
は
Rp＝Sp／Ｒ＝Ｌ／Ｒ・θ …(5)
である。 The distance Sp that the wheel 5 moves from point P1 to point P2 along the circumference of radius L is Sp=Lθ...(4), and the distance Sp that the wheel 5 moves from point P1 to point P2 along the circumference of radius L is Sp=Lθ...(4), and the distance Sp that wheel 5 moves from point P1 to point P2 along the circumference with radius L is Rotation angle Rp required to move from point 1 to point P2
is Rp=Sp/R=L/R・θ (5).
つまりは、車輪５と従動歯車９とが同一の車輪
軸４に固定されて両者一体的に回転するのである
から、上記第３式と第５式の値RqとRpとが等し
ければ、車輪５がP1点からP2点へ全く滑らずに
転がりながら移動できるのである。逆にRq≠Rp
であると車輪５は移動距離に対して回転し過ぎた
り逆に不足したりしてズルズルと滑りを生じるこ
とになる。 In other words, since the wheel 5 and the driven gear 9 are fixed to the same wheel shaft 4 and rotate integrally, if the values Rq and Rp of the third and fifth equations are equal, then the wheel 5 can move from point P1 to point P2 while rolling without slipping at all. Conversely, Rq≠Rp
If this happens, the wheels 5 will rotate too much or not enough relative to the distance traveled, resulting in slipping.
従つて、上記Rq＝Rpとなることが滑りを無く
す条件であることから、上記第３式と第５式より
Di／Do・θ＝Ｌ／Ｒ・θ …(6)
ここでDo／Di＝Ｎ（減連比）とおくと、
１／Ｎ＝Ｌ／Ｒ …(7)
つまりは前記第１式のNL＝Ｒの関係に設定して
構成することが、滑りを無くす条件であり、この
条件を満足した構成の本発明の車輪装置では操舵
作用時に車輪５が床面に対して全く滑ることなく
転動して、摩耗粉の発生が最少限に抑えられるよ
うになる。 Therefore, since Rq=Rp above is a condition for eliminating slippage, from equations 3 and 5 above, Di/Do・θ=L/R・θ…(6) Here, Do/Di= Letting N (reduction ratio), 1/N=L/R...(7) In other words, setting the relationship of NL=R in the first equation above is the condition for eliminating slippage, and this In the wheel device of the present invention having a configuration that satisfies the conditions, the wheels 5 roll without slipping on the floor surface at all during steering operation, and the generation of abrasion powder can be suppressed to a minimum.
こうした作用は走行中に舵取りしても同様であ
る。つまり上記NL＝Ｒの関係に設定した構成の
車輪装置では、操舵を行つても走行駆動機構１８
及び駆動軸６には何らかの影響もなく、走行駆動
機構系と舵取り機構系とは完全に独立させられて
いるような状態にあり、これにて走行操舵中の車
輪５の回転は走行駆動によるものと舵取りによる
ものとを単に重畳しただけとなり、何ら不都合無
く走行操舵可能となる。 This effect is the same even when steering the vehicle while driving. In other words, in a wheel device configured to have the above relationship NL=R, even when steering is performed, the traveling drive mechanism 18
There is no influence on the drive shaft 6, and the traveling drive mechanism system and the steering mechanism system are completely independent, so that the rotation of the wheels 5 during traveling steering is due to the traveling drive. This is simply a combination of the above and the steering operation, and the vehicle can be driven and steered without any problems.
なお、上記第１図に示した実施例では、駆動軸
６に設けた駆動歯車８を車輪軸４より上側に位置
させ、その駆動歯車８に下側から噛合する従動歯
車９は車輪軸４に対して舵取軸３の中心軸線Ａと
の交点より反車輪側に位置して取付けた構造とし
たが、これのみに限定されることなく、第３図に
示す構造でもよい。即ち、第３図では駆動軸６を
舵取軸３の軸筒部３ａ内から枠部３ｂ内下端まで
に亘り貫通して、その駆動歯車８を車輪軸４の下
側に位置させ、その駆動歯車８に対して噛合する
従動歯車９は車輪軸４に対して舵取軸３の中心軸
線Ａとの交点より車輪寄り側に位置して取付けら
れている。これでも前述したNL＝Ｒの関係に設
定することで上記実施例と同様の作用効果が得ら
れる。 In the embodiment shown in FIG. On the other hand, although the structure is such that the steering shaft 3 is mounted on the side opposite to the wheel from the intersection with the center axis A, the structure is not limited to this, and the structure shown in FIG. 3 may be used. That is, in FIG. 3, the drive shaft 6 is passed through from the inside of the shaft cylinder part 3a of the steering shaft 3 to the inner lower end of the frame part 3b, and its drive gear 8 is positioned below the wheel shaft 4, and the drive shaft 6 is A driven gear 9 meshing with the gear 8 is attached to the wheel shaft 4 so as to be located closer to the wheel than the intersection with the center axis A of the steering shaft 3. Even in this case, by setting the relationship NL=R as described above, the same effects as in the above embodiment can be obtained.
また、上述した各実施例では舵取機構１１に駆
動反力を受ける舵取用ブレーキ１６を備えたが、
その舵取機構１１の小歯車１４をウオームに、扇
形大歯車１５をウオームホイールに置き換えて、
そのリード角を充分セルフロツクできる値にする
ことで、該ブレーキ１６の省略が図れる。 Further, in each of the embodiments described above, the steering mechanism 11 is equipped with a steering brake 16 that receives a driving reaction force.
The small gear 14 of the steering mechanism 11 is replaced with a worm, and the fan-shaped large gear 15 is replaced with a worm wheel.
By setting the lead angle to a value that allows sufficient self-locking, the brake 16 can be omitted.
この発明は上述した如くなしたから、簡単な構
成で、且つ走行駆動機構系を回転制御して補正す
ると云つた面倒な配慮も必要なく、操舵時の車輪
の床面に対する滑りが全く無くなり、それだけ車
輪摩耗粉の発生が最小限となつて超LSI製造工場
等の塵埃の発生を嫌う場所での利用に非常に効果
大なるものである。
Since this invention has been made as described above, it has a simple configuration, does not require troublesome considerations such as correction by controlling the rotation of the traveling drive mechanism system, and completely eliminates slippage of the wheels on the floor surface during steering. The generation of wheel abrasion powder is minimized, making it extremely effective for use in places where dust generation is averse, such as VLSI manufacturing plants.
第１図はこの発明の一実施例を示す断面図、第
２図は同操舵作用説明図、第３図はこの発明の他
の実施例を示す断面図である。
１……ベース、２……軸受、３……舵取軸、３
ａ……軸筒部、３ｂ……枠部、４……車輪軸、５
……車輪、６……駆動軸、７……減速機、８……
駆動歯車、９……従動歯車、１０，１９……基
台、１１……舵取機構、１２……舵取用モータ、
１３……舵取用減速機、１４……小歯車、１５…
…大歯車、１６……舵取用ブレーキ、１７……舵
取筒検出器、１８……走行駆動機構、２０……駆
動用モータ、２１……駆動用減速機、２２……カ
ツプリング、２３……駆動用ブレーキ、２４……
駆動距離検出器、Ａ……舵取軸中心軸線。
FIG. 1 is a sectional view showing one embodiment of the present invention, FIG. 2 is a diagram for explaining the steering operation, and FIG. 3 is a sectional view showing another embodiment of the invention. 1...Base, 2...Bearing, 3...Steering shaft, 3
a...Axle tube part, 3b...Frame part, 4...Wheel axle, 5
...Wheel, 6...Drive shaft, 7...Reducer, 8...
Drive gear, 9... Driven gear, 10, 19... Base, 11... Steering mechanism, 12... Steering motor,
13... Steering reduction gear, 14... Small gear, 15...
... large gear, 16 ... steering brake, 17 ... steering barrel detector, 18 ... travel drive mechanism, 20 ... drive motor, 21 ... drive reducer, 22 ... coupling, 23 ... ...Drive brake, 24...
Driving distance detector, A...Steering shaft center axis.
Claims (1)
用モータを有した舵取機構により回転制御可能な
舵取軸と、この舵取軸にその中心軸線と直交して
設けた車輪軸と、この車輪軸の前記舵取軸中心軸
線からＬの距離だけ外れた位置に取付けた半径Ｒ
の車輪と、前記舵取軸と中心軸線を一致する状態
で駆動用モータを有した走行駆動機構により回転
される駆動軸と、この駆動軸に設けられた駆動歯
車とこれに噛合する状態で前記車輪軸に設けられ
て該駆動軸の駆動トルクを車輪軸に伝える従動歯
車とからなる減速比Ｎの減速機とを有する車輪装
置において、上記距離Ｌと車輪半径Ｒと減速機の
駆動歯車と従動歯車との減速比Ｎとを、 NL＝Ｒ の関係が成立する状態に設定して構成したことを
特徴とする搬送車における車輪装置。[Scope of Claims] 1. A steering shaft which protrudes vertically from the lower part of the vehicle body of the transport vehicle and whose rotation can be controlled by a steering mechanism having a steering motor, and which is provided on the steering shaft orthogonally to its central axis. a wheel axle, and a radius R attached to the wheel axle at a distance L away from the center axis of the steering shaft.
wheels, a drive shaft rotated by a travel drive mechanism having a drive motor with its center axis aligned with the steering shaft, and a drive gear provided on the drive shaft that meshes with the drive shaft. In a wheel device having a speed reducer with a reduction ratio N, which includes a driven gear provided on a wheel shaft and transmitting the driving torque of the drive shaft to the wheel shaft, the distance L, the wheel radius R, the driving gear of the speed reducer, and the driven gear are 1. A wheel device for a conveyance vehicle, characterized in that a reduction ratio N with a gear is set to satisfy the relationship NL=R.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18623083A JPS6078831A (en) | 1983-10-05 | 1983-10-05 | Wheel equipment of transportation vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18623083A JPS6078831A (en) | 1983-10-05 | 1983-10-05 | Wheel equipment of transportation vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6078831A JPS6078831A (en) | 1985-05-04 |
| JPS6327214B2 true JPS6327214B2 (en) | 1988-06-02 |
Family
ID=16184628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18623083A Granted JPS6078831A (en) | 1983-10-05 | 1983-10-05 | Wheel equipment of transportation vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6078831A (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE8604781D0 (en) * | 1986-11-07 | 1986-11-07 | Max Segerljung | WHEEL MOVEMENT FOR MOVEMENT OF FORMAL |
| JPH0632254U (en) * | 1992-10-05 | 1994-04-26 | 住友エール株式会社 | Automated guided vehicle steering system |
| US6491127B1 (en) * | 1998-08-14 | 2002-12-10 | 3Com Corporation | Powered caster wheel module for use on omnidirectional drive systems |
| DE102005035292A1 (en) * | 2005-07-28 | 2007-04-19 | Zf Friedrichshafen Ag | drive unit |
| DE102006021676A1 (en) * | 2006-05-10 | 2007-11-22 | Zf Friedrichshafen Ag | Drive for an industrial truck |
| CN101817308A (en) * | 2010-01-21 | 2010-09-01 | 上海大学 | Differential all-directional wheel device |
| TWI406653B (en) * | 2011-06-13 | 2013-09-01 | Univ Nat Taiwan Science Tech | Wheel module and wheelchair using the same |
| JP5767270B2 (en) * | 2013-04-08 | 2015-08-19 | 株式会社ケーイーアール | Steerable drive transmission device |
| WO2017214686A1 (en) * | 2016-06-17 | 2017-12-21 | The University Of Sydney | Drive module |
| JP7067047B2 (en) * | 2017-12-14 | 2022-05-16 | 株式会社豊田自動織機 | Steering device |
| ES1221739Y (en) * | 2018-11-06 | 2019-03-04 | Beretta Marco Palacios | STEERING TRANSMISSION MECHANISM TO ALL UNVEHICLE WHEELS |
| CN115402444B (en) * | 2022-11-01 | 2023-03-24 | 江苏骠马智能工业设计研究有限公司 | Wheeled robot with annularly supported gear linkage transmission system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5620852A (en) * | 1979-07-27 | 1981-02-26 | Nissan Motor Co Ltd | Driving device for reach type industrial vehicle |
| JPS56128272A (en) * | 1980-03-13 | 1981-10-07 | Agency Of Ind Science & Technol | Omnidirectional vehicle |
| JPS56131462A (en) * | 1980-03-15 | 1981-10-15 | Agency Of Ind Science & Technol | Steering control device for all-direction movable car |
| JPS574472A (en) * | 1980-06-11 | 1982-01-11 | Hitachi Ltd | Wheel structure for transportation vehicle |
-
1983
- 1983-10-05 JP JP18623083A patent/JPS6078831A/en active Granted
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5620852A (en) * | 1979-07-27 | 1981-02-26 | Nissan Motor Co Ltd | Driving device for reach type industrial vehicle |
| JPS56128272A (en) * | 1980-03-13 | 1981-10-07 | Agency Of Ind Science & Technol | Omnidirectional vehicle |
| JPS56131462A (en) * | 1980-03-15 | 1981-10-15 | Agency Of Ind Science & Technol | Steering control device for all-direction movable car |
| JPS574472A (en) * | 1980-06-11 | 1982-01-11 | Hitachi Ltd | Wheel structure for transportation vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6078831A (en) | 1985-05-04 |
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