WO2013022017A1 - Module de corps mobile dans des directions multiples - Google Patents

Module de corps mobile dans des directions multiples Download PDF

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Publication number
WO2013022017A1
WO2013022017A1 PCT/JP2012/070165 JP2012070165W WO2013022017A1 WO 2013022017 A1 WO2013022017 A1 WO 2013022017A1 JP 2012070165 W JP2012070165 W JP 2012070165W WO 2013022017 A1 WO2013022017 A1 WO 2013022017A1
Authority
WO
WIPO (PCT)
Prior art keywords
belt
pair
drive
bodies
driving
Prior art date
Application number
PCT/JP2012/070165
Other languages
English (en)
Japanese (ja)
Inventor
友明 中安
園田　勝敏
幸平 國松
Original Assignee
株式会社椿本チエイン
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 株式会社椿本チエイン filed Critical 株式会社椿本チエイン
Publication of WO2013022017A1 publication Critical patent/WO2013022017A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/26—Ground engaging parts or elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/20—Tracks of articulated type, e.g. chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/003—Multidirectional wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/12—Roller-type wheels

Definitions

  • the present invention relates to a multidirectional moving body module applied to a moving means for a passenger and a conveying means for conveying an object to be conveyed.
  • a method of rotating a moving body for example, there is a method of changing a moving direction by tilting a rotating body such as a tire provided in a vehicle. Also, a method of moving a moving body by an endless track provided on a pair of left and right moving bodies such as a vehicle or a so-called mecanum wheel that changes a moving direction by a roller body provided on a wheel body (see, for example, Patent Document 1) .)
  • the load concentrates on one axis of one roller body, so that the allowable load is limited, and only one of the plurality of roller bodies is moved in a state where it is always in contact with the traveling surface, that is, the moving surface. Since the driving force of the body body is obtained, there is a problem that it is difficult to move smoothly and freely in a state where the contact area is increased and the load is dispersed. Further, when the above-described wheels are arranged at the four corners of a moving body main body such as a vehicle in order to reduce the load, the roller shaft diameter that supports the roller body provided on each wheel is increased to increase the strength of the drive shaft. Therefore, there is a problem that the size of the moving body, that is, the moving mechanism increases.
  • the technical problem to be solved by the present invention is to prevent wear on the moving surface, increase in the size of the mechanism along the height direction, damage to the moving surface and endless shape, and the moving surface. It is to provide a multi-directional moving body module that moves smoothly and freely in a multi-directional manner.
  • a multidirectional moving body module includes a moving body module main body that moves along a moving surface, and is provided in the moving body module main body and is driven independently of each other.
  • a pair of belt-like drive bodies and a rotation axis that is arranged in the belt-like drive body along the drive direction of the belt-like drive body and that is oblique to the drive direction of the belt-like drive body are parallel to each other.
  • a plurality of rotating bodies each having an outer peripheral surface in contact with the moving surface in a state of being axially attached, and a pair of driving body units arranged in the width direction of the belt-like driving body.
  • the multidirectional moving body module which concerns on invention of Claim 2 is a multidirectional moving body module which concerns on invention of Claim 1,
  • belt-shaped drive body is mutually parallel.
  • the multidirectional moving body module according to the invention of claim 3 is the multidirectional moving body module according to the invention of claim 2, wherein the rotation axis of the rotating body provided on one of the pair of belt-like driving bodies and the The rotation axis of the rotating body provided on the other of the pair of belt-like driving bodies intersects with each other, thereby further solving the above-described problem.
  • the multidirectional moving body module which concerns on invention of this invention 4 is a multidirectional moving body module which concerns on invention of Claim 3, and the rotating shaft of the rotary body provided in one side of said pair of strip
  • the multi-directional moving body module according to the invention of claim 5 is the multi-directional moving body module according to any one of claims 1 to 4, wherein the pair of belt-like driving bodies are the pair of driving bodies.
  • the above-mentioned problems are achieved by forming endless shapes that are driven to move forward and backward in a state of being wound around a power transmission rotating body provided in the movable body module body corresponding to each of the belt-like driving bodies. Is a further solution.
  • the multidirectional moving body module according to claim 1 is a moving body module main body that moves along a moving surface, and a pair of strips that are provided on the moving body module main body and are driven independently of each other.
  • the moving surface is arranged in a belt-like drive body along the drive direction of the drive body and the belt-like drive body and is axially attached so that rotation axes oblique to the drive direction of the belt-like drive body are parallel to each other.
  • Each of the plurality of rotating bodies is provided with a pair of driving body units arranged in the width direction of the belt-like driving body.
  • the load of the moving body module main body is shared and supported by each rotating body while being in contact with the moving surface, and the reaction force against the force acting on each rotating body from the moving surface according to the load of the moving body module main body
  • the wear of the outer peripheral surface of each rotating body and the multi-directional moving body module are increased in size, that is, increased in size, It is possible to prevent the outer peripheral surface of the rotating body from being damaged and to move the moving body module body smoothly and freely in multiple directions along the moving surface without changing the design of the center of gravity of the moving body module body to a high position.
  • the multidirectional moving body module according to the second aspect of the invention has the above-described effects of the multidirectional moving body module according to the first aspect of the invention. Because it is parallel to each other, it is possible to easily adjust the moving speed and the direction of the moving body module body by controlling the two parameters of the rotational driving direction and the driving speed of the pair of belt-like driving bodies. And the moving body module main body can be moved smoothly and freely in multiple directions along the moving surface.
  • the multi-directional moving body module according to the third aspect of the invention has a rotating body provided on one of the pair of belt-like driving bodies in addition to the effects exhibited by the multi-directional moving body module according to the second aspect of the invention.
  • the rotation axis of the belt and the rotation axis of the rotating body provided on the other of the pair of belt-like driving bodies cross each other, so that the driving direction of the belt-like driving body is supported in a state in which each rotation shaft is supported in a disorderly manner.
  • the body module body can be moved smoothly and freely in multiple directions along the moving surface.
  • the multidirectional moving body module which concerns on invention of this invention 4 in addition to the effect which the multidirectional moving body module which concerns on invention of Claim 3 show
  • the multi-directional moving body module according to the invention of claim 5 has the pair of belt-like driving bodies in addition to the effect produced by the multi-directional moving body module according to any one of claims 1 to 4.
  • each of the pair of belt-like drive bodies has an endless shape that is driven to move forward and backward while being wound around a power transmission rotating body provided in the movable body module body.
  • the perspective view of the multidirectional moving body module which concerns on the Example of this invention The conceptual diagram of the multidirectional moving body module which concerns on the Example of this invention.
  • the conceptual diagram which showed the some rotary body in FIG. The conceptual diagram which showed the moving direction which a multi-directional moving body module moves when each of a pair of strip
  • belt-shaped drive body which comprises a pair of drive body unit drives to a reverse direction at the same speed.
  • the direction in which the multi-directional moving body module changes direction when the driving direction of the pair of belt-like driving bodies is the same in one and the other of the pair of driving body units and the driving directions are different between the one and the other.
  • the direction in which the multi-directional moving body module changes direction when the driving direction of the pair of belt-like driving bodies is the same in one and the other of the pair of driving body units and the driving directions are different between the one and the other.
  • belt-shaped drive body which comprises one of a pair of drive body units is driven in the reverse direction at the mutually same drive speed.
  • belt-shaped drive body which comprises one side of a pair of drive body unit is driven in the positive direction mutually at the same drive speed.
  • the multi-directional moving body module of the present invention includes a moving body module body that moves along a moving surface, a pair of belt-like driving bodies that are provided on the moving body module body and are driven independently of each other.
  • the outer peripheral surface of the moving surface is arranged in a belt-like drive body along the drive direction of the belt-like drive body and is axially attached so that the rotation axes oblique to the drive direction of the belt-like drive body are parallel to each other.
  • a pair of drive unit units arranged in the width direction of the belt-like drive body, and wear on the moving surface and increase in size and movement of the mechanism along the height direction. Any specific embodiment may be used as long as it can prevent damage to the surface and endless shape and can move smoothly and freely in multiple directions along the moving surface.
  • the belt-like drive body may be a belt made of resin or metal, or may be a chain.
  • the plurality of rotating bodies is a state in which at least two rotating bodies adjacent to each other along the driving direction of the belt-like driving body among the plurality of rotating bodies are arranged as a set at regular intervals. May be arranged.
  • the rotating bodies arranged in each of the pair of band-shaped driving bodies may be arranged alternately along the driving direction of the band-shaped driving bodies to constitute a staggered arrangement as a whole.
  • FIG. 1 is a perspective view of a multidirectional mobile module according to an embodiment of the present invention
  • FIG. 2 is a conceptual diagram of the multidirectional mobile module according to an embodiment of the present invention
  • FIG. 2 is a conceptual diagram showing a plurality of rotating bodies in FIG. 2
  • FIG. 4 shows a multidirectional moving body when each of a pair of belt-like driving bodies constituting a pair of driving body units is driven in the forward direction at the same speed.
  • FIG. 5 is a conceptual diagram showing the moving direction in which the module moves
  • FIG. 5 is a conceptual diagram showing the moving direction in which the module moves
  • FIG. 5 shows the multidirectional moving body module when each of the pair of belt-like driving bodies constituting the pair of driving body units is driven in the opposite direction at the same speed.
  • FIG. 6 and FIG. 7 are conceptual diagrams showing the moving direction of movement.
  • FIGS. 6 and 7 show the movement of the multi-directional moving body module when the pair of belt-like driving bodies constituting the driving body unit are driven in the opposite directions at the same speed.
  • It is a conceptual diagram showing the direction of movement
  • FIG. 5 is a conceptual diagram showing a moving direction in which a multidirectional moving body module moves when a belt-like driving body installed on the left side of a pair of belt-like driving bodies constituting a driving body unit is driven in a forward direction.
  • FIG. 9 is a conceptual diagram showing a moving direction in which the multidirectional moving body module moves when the belt-like driving body installed on the right side of the pair of belt-like driving bodies constituting the driving body unit is driven in the forward direction.
  • 10 and 11 show the multi-directional moving body module when the driving directions of the pair of belt-like driving bodies are the same in one and the other of the pair of driving body units and the driving directions are different between the one and the other.
  • FIG. 12 is a conceptual diagram showing the direction in which the direction changes, and FIG. 12 shows a multi-directional movement when only a pair of belt-like drive bodies constituting one of the pair of drive body units are driven in the opposite directions at the same drive speed.
  • FIG. 13 is a conceptual diagram showing the direction in which the module moves and changes direction, and FIG.
  • driving the belt-like drive body in the forward direction means driving the grounding surface side portion of the belt-like drive body, that is, the lower portion, which is the moving surface side portion, in the backward direction B and the upper portion of the belt-like drive body. Is driven in the forward direction F.
  • driving the belt-like drive body in the reverse direction means driving the entire belt-like drive body in the opposite direction to the above-described forward direction.
  • one of the pair of drive body units 120A and 120B that is, the drive body unit 120A is composed of a pair of belt-like drive bodies 121AL and 121AR, and a plurality of rotating bodies 122AL and 122AR fixed thereto, and a drive shaft 123AL.
  • the other of the pair of drive body units 120A and 120B that is, the drive body unit 120B is composed of a pair of belt-like drive bodies 121BL and 121BR, and a plurality of rotating bodies 122BL and 122BR fixedly installed on them.
  • 123BL and 123BR are included.
  • the multidirectional moving body module 100 includes a moving body module main body 110 that moves along the moving surface P, and the moving body module main body 110 that is provided on the moving body module main body 110 and that advances and retreats independently of each other.
  • Rotating shafts 123AL, 123AR, 123BL, and 123BR that are arranged in 121AR, 121BL, and 121BR and obliquely cross with respect to the driving direction D1 of the belt-like driving bodies 121AL, 121AR, 121BL, and 121BR are mounted so as to be parallel to each other.
  • the outer peripheral surface 124 in contact with the moving surface P A plurality of rotating bodies 122AL which includes 122ar, 122BL, strip drive member and a 122BR each 121AL, 121AR, 121BL, a pair of driver units 120A arranged in the width direction D2 of 121BR, and 120B.
  • the load of the movable body module main body 110 is shared by each of the rotating bodies 122AL, 122AR, 122BL, 122BR in a state where the outer peripheral surfaces 124 of the plurality of rotating bodies 122AL, 122AR, 122BL, 122BR are in contact with the moving surface P.
  • the driving force of the mobile module main body 110 is generated in the resultant direction of the reaction force against the force acting on the rotating bodies 122AL, 122AR, 122BL, and 122BR from the moving surface P according to the load of the mobile module main body 110 that is supported. .
  • the sliding of the rotating bodies 122AL, 122AR, 122BL, 122BR with respect to the moving surface P is suppressed.
  • chains are used as the belt-like driving bodies 121AL, 121AR, 121BL, and 121BR.
  • the drive shaft 141AL-F of the power transmission rotating body 130AL-F and the drive shaft 141AR-F of the power transmission rotating body 130AR-F are not connected to each other.
  • the drive shaft 141AL-B of the power transmission rotating body 130AL-B and the drive shaft 141AR-B of the power transmission rotating body 130AR-B are not connected to each other.
  • the drive motor 140AF is used for power transmission among a pair of power transmission rotating bodies 130AL-F and 130AL-B arranged in parallel in the vertical direction in the figure, that is, along the forward direction F and the backward direction B of the multi-directional moving body module 100.
  • the rotator 130AL-F is driven and the power transmission rotator 130AL-B is driven by the power transmission rotator 130AL-F.
  • the drive motor 140AB is used for power transmission among a pair of power transmission rotors 130AR-F and 130AR-B arranged in parallel in the vertical direction in the figure, that is, along the forward direction F and the backward direction B of the multi-directional moving body module 100.
  • the rotary body 130AR-B is driven, and the power transmission rotary body 130AR-F is driven by the power transmission rotary body 130AR-B.
  • the drive shaft 141BL-F of the power transmission rotating body 130BL-F and the drive shaft 141BR-F of the power transmission rotating body 130BR-F are not connected to each other.
  • the drive shaft 141BL-B of the power transmission rotating body 130BL-B and the drive shaft 141BR-B of the power transmission rotating body 130BR-B are not connected to each other.
  • the drive motor 140BF is used for power transmission among a pair of power transmission rotating bodies 130BL-F and 130BL-B arranged in parallel in the vertical direction in the drawing, that is, along the forward direction F and the backward direction B of the multi-directional moving body module 100.
  • the rotating body 130BL-F is driven and the power transmission rotating body 130BL-F is driven by the power transmitting rotating body 130BL-F.
  • the drive motor 140BB is used for power transmission among a pair of power transmission rotors 130BR-F and 130BR-B arranged in parallel in the vertical direction in the drawing, that is, along the forward direction F and the backward direction B of the multi-directional moving body module 100.
  • the rotating body 130BR-B is driven and the power transmission rotating body 130BR-F is driven by the power transmitting rotating body 130BR-B. That is, the belt-like driving bodies 121AL, 121AR, 121BL, 121BR arranged on the left and right in the drawing are driven independently of each other.
  • Drive motors 140AF, 140AB, 140BF, and 140BB are arranged one by one.
  • the drive directions D1 of the pair of belt-like drive bodies 121AL, 121AR and 121BL, 121BR are parallel to each other.
  • the multidirectional moving body module 100 controls the two driving parameters and the driving speed of the pair of belt-like driving bodies 121AL, 121AR and 121BL, 121BR to control the rotational driving speed and the direction of the moving body module main body 110.
  • the multidirectional moving body module 100 moves the moving body module main body 110 smoothly and freely in multiple directions along the moving surface P by a simple drive control system and method.
  • the rotation axis 123AL-A of the rotating body 122AL provided on one of the pair of belt-like driving bodies 121AL and 121AR and the rotation axis 123AR-A of the rotating body 122AR provided on the other of the pair of belt-like driving bodies 121AL and 121AR Are crossing each other.
  • the multidirectional moving body module 100 has each rotating body 122AL, 122BL, 122AR compared with the case where the rotating shafts 123AL, 123AR, 123BL, 123BR are obliquely supported in the driving direction D1 in a state where the rotating shafts 123AL, 123AR, 123BL, 123BR are disorderly supported.
  • 122BR it is easy to set the magnitude and direction of the resultant force of the reaction force acting from the moving surface P. For this reason, the multidirectional moving body module 100 moves the moving body module main body 110 smoothly and freely in the multidirectional direction along the moving surface P by a drive control system and method using a simple control process. .
  • the rotation shaft 123AL of the rotating body 122AL provided on one of the pair of belt-like driving bodies 121AL and 121AR and the rotation shaft 123AR of the rotating body 122AR provided on the other of the pair of belt-like driving bodies 121AL and 121AR are belt-like driving.
  • An angle of 45 ° is formed with respect to the driving direction D1 of the bodies 121AL and 121AR.
  • the multi-directional moving body module 100 reliably moves the moving body module body 110 smoothly and freely in multiple directions along the moving surface P with a drive control system and method using a simple control process. It has come to be realized.
  • the rotating shaft 123BL of the rotating body 122BL provided on one of the pair of strip-like driving bodies 121BL and 121BR and the rotating shaft 123BR of the rotating body 122BR provided on the other of the pair of strip-like driving bodies 121BL and 121BR are a strip-like shape. An angle of 45 ° is formed with respect to the drive direction D1 of the drive bodies 121BL and 121BR.
  • the multidirectional moving body module 100 is a resultant force of the reaction force acting on each rotating body 122BL, 122BR from the moving surface P as compared with the case where the rotating shafts 123BL, 123BR are obliquely crossed in the driving direction D1. It becomes easier to set the direction. For this reason, the multi-directional moving body module 100 reliably moves the moving body module body 110 smoothly and freely in multiple directions along the moving surface P with a drive control system and method using a simple control process. It has come to be realized.
  • the pair of belt-like driving bodies 121AL and 121AR and the pair of belt-like driving bodies 121BL and 121BR correspond to the pair of belt-like driving bodies 121AL and 121AR and the pair of belt-like driving bodies 121BL and 121BR, respectively. Endless shapes that are driven so as to be able to advance and retreat in a state of being wound around the provided power transmission rotating body 130 are formed.
  • the multidirectional moving body module 100 acts on the rotating bodies 122AL, 122AR, 122BL, 122BR from the moving surface P in a state where the rotating bodies 122AL, 122AR, 122BL, 122BR are grounded to the moving surface P, that is, the ground surface.
  • the multidirectional moving body module 100 includes the rotating shafts 122AL, 122AR, 122BL, 122BR and the rotating shafts 123AL, 123AR, 123BL, 123BR in order to reduce the load burden between the rotating shafts 123AL, 123AR, 123BL, 123BR.
  • the size of the rotating body 122AL, 122AR, 122BL, 122BR and its supporting portion, which are generated by increasing the shaft diameter, is prevented, and the moving body module body 110 is moved to the moving surface P without increasing the center of gravity of the multidirectional moving body module 100. It moves smoothly and freely along multiple directions.
  • the forward direction F, the backward direction B, the right traveling direction R, and the left traveling direction L of the multidirectional moving body module 100 are indicated by arrows in FIGS.
  • the white arrow shown in FIG. 1 and the white V-shaped and inverted V-shaped marks shown in FIGS. 4 to 13 are endless shapes, that is, of the belt-like drive bodies 121AL, 121AR, 121BL, 121BR having endless tracks.
  • the velocity vector of the lower part facing the moving surface P is shown. More specifically, for example, the direction of the velocity vector V in the portion facing the moving surface P in the belt-like drive body 121AR shown in FIG.
  • Such a speed vector includes various parameters such as the driving speed and direction of the belt-like driving bodies 121AL, 121AR, 121BL, and 121BR, the arrangement direction of the rotating bodies 122AL, 122AR, 122BL, and 122BR, and the configuration and position thereof, and the driving motor. It is set in consideration of 140 driving force.
  • the moving direction and the turning direction of the multidirectional moving body module 100 shown below are examples, and the multidirectional moving body module 100 has the magnitude and direction of each velocity vector of the belt-like driving bodies 121AL, 121AR, 121BL, and 121BR. By changing the combination, it is possible to move in all directions within the moving surface P and change direction, that is, turn around on the spot.
  • the speed vectors DAL1, DAR1, DBL1, and DBR1 of the belt-like drivers 121AL, 121AR, 121BL, and 121BR are equal to each other and their directions coincide with the backward direction B.
  • the direction of the resultant force vector FX1 that is the sum of the acting force vectors FAL1, FAR1, FBL1, and FBR1 acting on the moving surface P from the outer peripheral surface 124 of each of the rotating bodies 122AL, 122AR, 122BL, and 122BR coincides with the backward direction B.
  • the direction of the reaction force FY1 acting on the moving body module 100 from the moving surface P in accordance with the resultant force vector FX1 coincides with the forward direction F.
  • the multidirectional moving body module 100 can move in the forward direction F.
  • the speed vectors DAL2, DAR2, DBL2, and DBR2 of the belt-like drivers 121AL, 121AR, 121BL, and 121BR are equal to each other and their directions are the forward direction F.
  • the direction of the resultant force vector FX2 that is the sum of the acting force vectors FAL2, FAR2, FBL2, and FBR2 acting on the moving surface P from the outer peripheral surface 124 of each rotating body 122AL, 122AR, 122BL, 122BR is forward. Coincides with direction F.
  • the direction of the reaction force FY2 that acts on the moving body module 100 from the moving surface P in accordance with the resultant force vector FX2 coincides with the backward direction B.
  • the multidirectional moving body module 100 can move in the backward direction B.
  • the speed vectors DAL3 and DBL3 of the belt-like drive bodies 121AL and 121BL are equal to each other and their directions coincide with the forward direction F, and the belt-like drive body.
  • the outer peripheral surface 124 of each of the rotating bodies 122AL, 122AR, 122BL and 122BR moves from the outer surface 124 to the moving surface P.
  • the direction of the resultant force vector FX3 that is the sum of the acting force vectors FAL3, FAR3, FBL3, and FBR3 coincides with the rightward traveling direction R.
  • the direction of the reaction force FY3 acting on the moving body module 100 from the moving surface P according to the resultant force vector FX3 coincides with the left traveling direction L.
  • the multidirectional moving body module 100 can move in the left traveling direction L.
  • the magnitudes of the velocity vectors DAL4 and DBL4 of the belt-like driving bodies 121AL and 121BL are equal to each other and their directions coincide with the backward direction B, and the belt-like driving body.
  • the speed vectors DAL5 and DBL5 of the belt-like driving bodies 121AL and 121BL are equal to each other and their directions coincide with the backward direction B, and the belt-like driving body 121AR.
  • the direction of the resultant force vector FX5 which is the sum of the acting force vectors FAL5 and FBL5 acting on the moving surface P from the outer peripheral surface 124 of each of the rotating bodies 122AL and 122BL, proceeds to the left.
  • An angle of 45 ° is formed with respect to each of the direction L and the backward direction B.
  • the direction of the reaction force FY5 acting on the moving body module 100 from the moving surface P according to the resultant force vector FX5 forms an angle of 45 ° with respect to each of the right traveling direction R and the forward traveling direction F.
  • the multidirectional moving body module 100 can move in a direction that forms an angle of 45 ° with respect to the right traveling direction R and the forward traveling direction F.
  • the magnitudes of the velocity vectors DAR6 and DBR6 of the belt-like drive bodies 121AR and 121BR are equal to each other, and the directions of the velocity vectors DAR6 and DBR6 coincide with the backward direction B.
  • the resultant force vector FX6 that is the sum of the acting force vectors FAR6 and FBR6 acting on the moving surface P from the outer peripheral surface 124 of each of the rotating bodies 122AR and 122BR.
  • the direction forms an angle of 45 ° with respect to each of the right traveling direction R and the backward direction B.
  • the direction of the reaction force FY6 acting on the moving body module 100 from the moving surface P according to the resultant force vector FX6 forms an angle of 45 ° with respect to each of the left traveling direction L and the forward traveling direction F.
  • the multidirectional moving body module 100 can move in a direction that forms an angle of 45 ° with respect to the left traveling direction L and the forward traveling direction F.
  • the speed vectors DAL7 and DAR7 of the pair of belt-like drive bodies 121AL and 121AR are equal to each other and the direction thereof coincides with the forward direction F.
  • the speed vectors DABL7 and DABR7 of the belt-like driving bodies 121BL and 121BR are equal to the speed vectors DAL7 and DAR7 and the direction thereof coincides with the backward direction B, each of the rotating bodies 122AL, 122AR, 122BL and 122BR
  • the rotational moment MX7 acts on the moving surface P from the multi-directional moving body module 100 in the clockwise direction in accordance with the acting force vectors FAL7, FAR7, FBL7, and FBR7 that act on the moving surface P from the outer peripheral surface 124.
  • the rotational moment MY7 acts in the counterclockwise direction from the moving surface P to the moving body module 100.
  • the multi-directional mobile module 100 can turn or turn in the counterclockwise direction on the
  • the speed vectors DAL8 and DAR8 of the pair of belt-like drive bodies 121AL and 121AR are equal to each other and their directions coincide with the backward direction F
  • the speed vectors DABL8 and DABR8 of the belt-like drive bodies 121BL and 121BR are equal in magnitude to the speed vectors DAL8 and DAR8 and the direction thereof coincides with the forward direction F
  • the rotating bodies 122AL, 122AR, 122BL and 122BR8 acts on the moving surface P from the multi-directional moving body module 100 in the counterclockwise direction in accordance with the acting force vectors FAL8, FAR8, FBL8, and FBR8 that act on the moving surface P from the outer peripheral surface 124.
  • the rotational moment MY8 acts on the moving body module 100 in the clockwise direction from the moving surface P.
  • the multi-directional mobile module 100 can turn or turn in the clockwise direction on the spot.
  • the speed vectors DAL9 and DAR9 of the belt-like drive bodies 121AL and 121AR are equal to each other and their directions coincide with the forward direction F, and the belt-like drive body 121BL. , 121BR when the magnitude of the velocity vector is zero, the moving surface P is moved from the multidirectional moving body module 100 according to the acting force vectors FAL9, FAR9 acting on the moving surface P from the outer peripheral surface 124 of each rotating body 122AL, 122AR.
  • the rotational moment MX9 acts in an arcuate and clockwise direction along the forward direction F.
  • the rotational moment MY9 is directed in the reverse direction of the rotational moment MX9 along the backward direction B from the moving surface P to the multidirectional moving body module 100, that is, in an arcuate and counterclockwise direction.
  • the multidirectional moving body module 100 moves in an arc shape along the backward direction B and can change the direction in the counterclockwise direction.
  • the speed vectors DAL10 and DAR10 of the belt-like drive bodies 121AL and 121AR are equal to each other and the directions thereof coincide with the backward direction B, and the belt-like drive body 121BL. , 121BR when the magnitude of the velocity vector is zero, the moving surface P is moved from the multidirectional moving body module 100 in accordance with the acting force vectors FAL10, FAR10 acting on the moving surface P from the outer peripheral surface 124 of each rotating body 122AL, 122AR.
  • the rotational moment MX10 is directed along the backward direction B in an arc shape and in a counterclockwise direction.
  • the rotational moment MY10 is directed in the reverse direction of the rotational moment MX10 along the forward direction F from the moving surface P to the multidirectional moving body module 100, that is, in an arcuate and clockwise direction.
  • the multidirectional moving body module 100 moves in an arc shape along the forward direction F and can change the direction in the clockwise direction.
  • the multi-directional moving body module 100 includes the moving body module main body 110 and a pair of driving body units 120A and 120B, so that each of the rotating bodies 122AL, 122AR, 122BL, The surface of the 122BR, that is, the outer peripheral surface, the increase in size of the multi-directional mobile module 100, that is, the increase in size and the damage of the moving surface P and the outer peripheral surface 124 of the rotating bodies 122AL, 122AR, 122BL, 122BR are prevented.
  • the movable body module body 110 can be moved smoothly and freely in multiple directions along the moving surface P without changing the design of the center of gravity to a high position.
  • Multi-directional moving body module 110 ... Moving body module main body 120A, 120B ... Drive body unit 121AL, 121AR, 121BL, 121BR ... Strip-like drive body 122AL, 122AR, 122BL, 122BR ... Rotation Body 123AL, 123AR, 123BL, 123BR ... Rotating shaft 123AL-A, 123AR-A, 123BL-A, 123BR-A ... Rotating body axis 124 ... Rotating body outer surface 130AL- F, 130AL-B, 130AR-F, 130AR-B, 130BL-F, 130BL-B, 130BR-F, 130BR-B ...

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

Abstract

L'invention porte sur un module de corps mobile dans des directions multiples conçu de manière que le module ne provoque pas d'usure d'une surface de mouvement, qu'il évite l'accroissement de la dimension d'un mécanisme dans la direction de la hauteur, la détérioration de la surface de circulation, qui est la surface de mouvement, et la détérioration des chenilles sans fin, et de manière que le module se déplace sans à-coups, librement et de façon stable dans plusieurs directions le long de la surface de mouvement. Un module de corps mobile dans des directions multiples (100) comprend un corps de module de corps mobile (110) et deux unités de corps d'entraînement (120A, 120B). Chacun des deux unités de corps de d'entraînement (120A, 120B) comprend deux corps d'entraînement du type courroie (121AL, 121AR, 121BL, 121BR) et des corps rotatifs (122AL, 122AR, 122BL, 122BR). Les deux unités d'entraînement (120A, 120B) sont disposées dans la direction de la largeur (D2) des corps d'entraînement du type courroie (121AL, 121AR, 121BL, 121BR).
PCT/JP2012/070165 2011-08-09 2012-08-08 Module de corps mobile dans des directions multiples WO2013022017A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011174141 2011-08-09
JP2011-174141 2011-08-09

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WO2013022017A1 true WO2013022017A1 (fr) 2013-02-14

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014201239A (ja) * 2013-04-06 2014-10-27 国立大学法人東京工業大学 全方向移動車両
CN104386154A (zh) * 2014-11-17 2015-03-04 张豫南 一种高效转向履带及其平台
EP2930088A1 (fr) * 2014-04-09 2015-10-14 BIBA Bremer Institut für Produktion und Logistik GmbH Châssis, véhicule à chenilles et train en étant doté et véhicule doté d'un tel véhicule à chenilles train
CN110606139A (zh) * 2019-09-12 2019-12-24 上海工程技术大学 万向运输模块及由其制得的万向运输机构

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04118388A (ja) * 1990-03-29 1992-04-20 Sumitomo Heavy Ind Ltd 横走行可能な走行装置
JPH0717442A (ja) * 1993-06-30 1995-01-20 Shigeo Hirose 全方向移動用車両
JP2004344435A (ja) * 2003-05-22 2004-12-09 Japan Science & Technology Agency パワーアシスト型移動台車
WO2008132778A1 (fr) * 2007-04-20 2008-11-06 Honda Motor Co., Ltd. Dispositif d'entraînement omnidirectionnel et véhicule omnidirectionnel l'employant

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04118388A (ja) * 1990-03-29 1992-04-20 Sumitomo Heavy Ind Ltd 横走行可能な走行装置
JPH0717442A (ja) * 1993-06-30 1995-01-20 Shigeo Hirose 全方向移動用車両
JP2004344435A (ja) * 2003-05-22 2004-12-09 Japan Science & Technology Agency パワーアシスト型移動台車
WO2008132778A1 (fr) * 2007-04-20 2008-11-06 Honda Motor Co., Ltd. Dispositif d'entraînement omnidirectionnel et véhicule omnidirectionnel l'employant

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014201239A (ja) * 2013-04-06 2014-10-27 国立大学法人東京工業大学 全方向移動車両
EP2930088A1 (fr) * 2014-04-09 2015-10-14 BIBA Bremer Institut für Produktion und Logistik GmbH Châssis, véhicule à chenilles et train en étant doté et véhicule doté d'un tel véhicule à chenilles train
CN104386154A (zh) * 2014-11-17 2015-03-04 张豫南 一种高效转向履带及其平台
CN110606139A (zh) * 2019-09-12 2019-12-24 上海工程技术大学 万向运输模块及由其制得的万向运输机构

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