WO2018008060A1 - 走行体 - Google Patents
走行体 Download PDFInfo
- Publication number
- WO2018008060A1 WO2018008060A1 PCT/JP2016/069783 JP2016069783W WO2018008060A1 WO 2018008060 A1 WO2018008060 A1 WO 2018008060A1 JP 2016069783 W JP2016069783 W JP 2016069783W WO 2018008060 A1 WO2018008060 A1 WO 2018008060A1
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- WIPO (PCT)
- Prior art keywords
- crawler
- rotation axis
- shaft
- pair
- rolling
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
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- 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
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- 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
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
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- 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
Definitions
- the present invention relates to a traveling body capable of traveling in two directions.
- the robot (running body) disclosed in Patent Document 1 is equipped with a pair of crawler devices extending in the front-rear direction of the body on the left and right sides of the body.
- Each crawler device is provided with front and rear wheels and a belt (endless strip) spanning these wheels.
- the robot having the above-described configuration can move forward or backward by rotating the left and right crawler units in the same direction at the same speed.
- by changing the speed of the left and right crawler units it is possible to turn left and right as if drawing a curve.
- by rotating and driving the left and right crawler devices in different directions it is also possible to perform super-revolution (turn on the spot without moving).
- the robot cannot change the direction of the robot by turning around the ground at a corner that makes a right angle in a narrow passage. Further, even in a place with a large unevenness on the ground, rotation of the crawler device is hindered by the resistance of the ground, and the direction cannot be changed due to super-spinning.
- Patent Document 2 discloses a robot capable of traveling in two directions that can solve the above-described problems.
- the robot includes a pair of crawler devices extending in a first direction and spaced apart in a second direction orthogonal to the first direction.
- Each crawler device has a crawler unit that can rotate around a rotation axis extending in the first direction.
- the crawler unit includes a support extending in the first direction and a pair of crawler portions provided on the support and facing each other with the rotation axis therebetween.
- the robot of Patent Document 2 can travel in the first direction by driving the crawler portions of the pair of crawler units.
- this traveling mode is referred to as “crawler traveling”.
- the pair of crawler units rotates about the rotation axis and rolls (rolls) in the second direction, so that the robot can travel in the second direction.
- this travel mode is referred to as “rolling travel”.
- the robot of Patent Document 2 can change the traveling direction from the first direction to the second direction and from the second direction to the first direction by selecting the crawler traveling and the rolling traveling without making a super turn. it can.
- Patent Document 2 does not describe in detail the arrangement of a crawler motor that rotates and drives a pair of crawler units, and a rolling motor that rotates the crawler unit around the rotation axis. Is disposed outside the crawler unit, and it can be estimated that the crawler motor is disposed in the crawler unit.
- the crawler motor is arranged in the crawler unit, the crawler unit becomes heavier and the load on the crawler motor and rolling motor increases.
- the crawler motor is easily damaged, and maintenance is troublesome.
- the crawler unit size becomes larger than necessary.
- the traveling body includes a body and at least a pair of crawler devices supported by the body and spaced apart from each other.
- Each of the pair of crawler devices includes a crawler unit supported by the body so as to be rotatable about a first rotation axis extending in a direction orthogonal to the separation direction of the crawler device.
- Each crawler device A rolling drive member supported by the body so as to be rotatable about the first rotation axis and coupled to a support of the crawler unit; A rolling motor that is disposed outside the crawler unit and rotationally drives the crawler unit about a first rotation axis by rotationally driving the rolling drive member; A crawler drive shaft supported by the body so as to be rotatable about the first rotation axis and extending along the first rotation axis and passing through a gap between the pair of crawler portions; A crawler motor that is disposed outside the crawler unit and that rotationally drives the crawler drive shaft; A torque transmission mechanism that is disposed in the crawler unit, transmits the rotational torque of the crawler drive shaft to the pair of crawler portions, and simultaneously drives the pair of crawler portions to rotate in the same direction; It has.
- the crawler motor since the crawler motor is arranged outside the crawler unit, the crawler unit can be reduced in weight and size, the crawler motor failure can be reduced as in the case of the rolling motor, and maintenance is easy.
- each of the pair of crawler portions includes a pair of wheels disposed apart from each other in the first rotation axis direction, and an endless strip spanned between the pair of wheels.
- Each of the supports is rotatably supported around a second rotation axis that is orthogonal to the first rotation axis and that extends in the opposing direction of the pair of crawler portions.
- the rolling drive member and the crawler drive shaft are disposed apart from each other in the first rotation axis direction, and the rolling drive member is connected to the support at one end of the crawler unit, and the crawler drive shaft Is inserted into the gap between the pair of crawler portions at the other end of the crawler unit.
- the support has first and second shafts spaced apart in the first rotation axis direction, and the first and second shaft axes are provided as the second rotation axis, and
- the first shaft supports the wheel at one end of the pair of crawler portions
- the second shaft supports the wheel at the other end of the pair of crawler portions
- the crawler drive shaft is rotatable about the first rotation axis and penetrates the second shaft, and an inner end thereof is connected to the torque transmission mechanism between the first and second shafts. .
- the torque transmission mechanism includes a first bevel gear fixed to an inner end portion of the crawler drive shaft, and a second bevel gear fixed to the first shaft and meshing with the first bevel gear.
- the rolling drive member is coupled to the first shaft so as to disable relative rotation about the first rotation axis and allow rotation of the first shaft about the second rotation axis. Yes.
- the torque transmission mechanism includes a first bevel gear fixed to an inner end portion of the crawler drive shaft, and a second bevel gear that meshes with the first bevel gear.
- the rolling drive member is fixed to one of the wheels of the pair of crawler parts supported by the second shaft, and the rolling drive member makes the first shaft incapable of relative rotation around the first rotation axis.
- the first shaft is connected to allow rotation about the second rotation axis.
- the rolling drive member is connected to the support at one end portion of the crawler unit, and the crawler drive shaft is inserted into a gap between a pair of crawler portions at the one end portion of the crawler unit.
- the support has first and second shafts spaced apart in the first rotation axis direction, and the first and second shaft axes are provided as the second rotation axis, and
- the first shaft supports the wheel at one end of the pair of crawler portions
- the second shaft supports the wheel at the other end of the pair of crawler portions
- the crawler drive shaft is The inner end portion is connected to the torque transmission mechanism outside the first shaft.
- the rolling drive member has a plate portion extending in the first rotation axis direction, and the plate portion disables relative rotation about the first rotation axis and the first shaft.
- the shaft is connected to allow rotation about the second rotation axis of one shaft, and the plate portion of the rolling drive member is formed with a notch for receiving the crawler drive shaft.
- the rolling drive member which is a weak point in strength, can be reinforced, so that the load resistance of the crawler unit can be increased.
- the torque transmission mechanism includes a first bevel gear fixed to an inner end portion of the crawler drive shaft, and a second bevel gear fixed to the first shaft and meshing with the first bevel gear. Yes.
- the support has a pair of side plates facing each other with the first rotation axis therebetween, the first and second shafts are bridged between the side plates, and the rolling drive member is the pair of side plates. It is fixed to the side plate.
- the at least one pair of crawler devices includes two pairs of crawler devices, and each crawler device is further supported by the body so as to be rotatable about a third horizontal rotation axis perpendicular to the first rotation axis.
- the crawler unit is rotatably supported by the rotation support, and the rolling motor and the crawler motor are provided.
- it further controls a rolling rotation sensor that detects rotation of the rolling motor or the rolling drive member, a crawler rotation sensor that detects rotation of the crawler motor or the crawler drive shaft, the rolling motor, and the crawler motor.
- a controller that rotates the rolling motor based on a detection signal from the crawler rotation sensor and a detection signal from the rolling rotation sensor when the rolling motor is driven to rotate.
- the crawler motor is rotationally driven so as to be equal to the rotational direction and rotational speed of the rolling drive member. According to the above configuration, it is possible to avoid the crawler traveling that occurs with the driving of the rolling motor, and it is possible to move the traveling body in a direction orthogonal to the first rotation axis.
- the present invention it is possible to reduce the weight and size of the crawler unit in a traveling body movable in two directions, reduce the failure, and simplify the maintenance.
- FIG. 1 is a schematic plan view of a robot according to a first embodiment of the present invention.
- FIG. 2 is a schematic side view of the robot as viewed from the direction A in FIG. 1. It is a plane sectional view of the crawler device with which the robot is equipped. It is a flowchart of crawler motor control performed in the case of rolling traveling. It is a plane sectional view of a crawler device concerning a 2nd embodiment of the present invention. It is a schematic side view of the robot which concerns on 3rd Embodiment of this invention. It is a schematic plan view of the robot of the third embodiment. It is an expansion plane sectional view of the crawler device with which the robot of the 3rd embodiment is equipped. It is a principal part expanded side sectional view of the crawler device of the 3rd embodiment.
- a robot R running body shown in FIG. 1 and FIG. 2 is used for cargo transportation and the like, and includes a body 1 and a pair of crawler devices 2 and 2 provided on the body 1 and separated from each other in the Y direction. I have.
- the body 1 has a rectangular plane.
- the body 1 includes a controller 1a (shown only in FIG. 2) including a microcomputer for controlling the crawler devices 2, 2, etc., an interface, a transceiver, a battery, etc. (Not shown) is built-in.
- Each crawler device 2 has a crawler unit 3.
- the crawler unit 3 has an elongated cylindrical shape extending in the X direction, and is supported by the body 1 so as to be rotatable about a first rotation axis L1 extending in the X direction as will be described later.
- the crawler unit 3 includes a support 10, a pair of crawler portions 20 ⁇ / b> A and 20 ⁇ / b> B provided on the support 10, and a pair of grounding structures 30 ⁇ / b> A and 30 ⁇ / b> B provided on the support 10. And have.
- the support 10 is parallel to each other, extends in the X direction (first rotation axis L1 direction), and is opposed to the first rotation axis L1 with a pair of long and narrow side plates 11, 11, and the side plates 11, 11.
- a first shaft 12 rotatably connected to one end, a second shaft 13 connected to the other end of the side plates 11 and 11, and a support plate 14 fixed to an intermediate portion of the side plates 11 and 11 are provided. is doing.
- Center axes L2 and L2 ′ of the first shaft 12 and the second shaft 13 are orthogonal to the first rotation axis L1 and extend in parallel with each other.
- the pair of crawler portions 20A and 20B are disposed between the pair of side plates 11 so as to face each other with the first rotation axis L1 interposed therebetween.
- Each of these crawler portions 20A and 20B includes sprocket wheels 21 and 22 (wheels) separated in the direction of the first rotation axis L1, a chain 23 (endless strip) spanned between the sprocket wheels 21 and 22, A plurality of grounding members 24 made of rubber, for example, are fixed to the chain 23 at equal intervals.
- the sprocket wheel 21 of one crawler part 20A is directly fixed to the first shaft 12, and the sprocket wheel 21 of the other crawler part 20B is fixed to the first shaft 12 via a bevel gear 42b described later.
- the sprocket wheels 22 and 22 of the pair of crawler portions 20 ⁇ / b> A and 20 ⁇ / b> B are rotatably supported by the second shaft 13.
- Each of the pair of grounding structures 30A, 30B has a plurality (five in the present embodiment) of grounding plates 31 arranged at intervals in the direction of the first rotation axis L1.
- These ground plates 31 are made of, for example, rubber, are fixed to the outer surface of the side plate 11, and project in the second rotation axis L 2, L 2 ′ direction at right angles to the side plate 11.
- the outer surface of the grounding member 24 of the pair of crawler portions 20A, 20B and the outer surface of the grounding plate 31 of the pair of grounding structures 30A, 30B cooperate with each other on the outer periphery of the crawler unit 3.
- a cylindrical shape centered on one rotation axis L1 is given.
- the grounding structures 30 ⁇ / b> A and 30 ⁇ / b> B provide the crawler unit 3 with a dead zone in which the crawler travel is impossible within a predetermined range.
- the right end portion of the crawler unit 3 has a first rotation axis line by a bracket 40 fixed to the body 1 and a crawler drive shaft 41 supported by the bracket 40 so as to be rotatable about the first rotation axis L1. It is supported so as to be rotatable around L1.
- the crawler drive shaft 41 extends along the first rotation axis L1, is rotatably supported by the support plate 14 in the vicinity of the inner end thereof, and penetrates the second shaft 13 through a bearing at an intermediate portion. In this penetrating state, the crawler drive shaft 41 is supported and rotation about the first rotation axis L1 is allowed.
- the inner end portion of the crawler drive shaft 41 is disposed between the first shaft 12 and the second shaft 13 and is connected to the first shaft 12 via a torque transmission mechanism 42 disposed in the crawler unit 3. ing.
- the torque transmission mechanism 42 has a bevel gear 42 a fixed to the inner end of the crawler drive shaft 41, and a bevel gear 42 b that meshes with the bevel gear 42 a and is fixed to the first shaft 12.
- the outer end portion of the crawler drive shaft 41 protrudes from the crawler unit 3 and is connected to the crawler motor 50 via the torque transmission mechanism 55.
- the crawler motor 50 is fixed to the bracket 40 and can be rotated forward and backward.
- the crawler motor 50 is provided with a rotary encoder 51 (crawler rotation sensor) that detects the rotation of the crawler motor 50.
- the torque transmission mechanism 55 includes a timing pulley 55a fixed to the output shaft of the crawler motor 50, a timing pulley 55b fixed to the crawler drive shaft 41, and a timing belt 55c spanned between the timing pulleys 55a and 55b. is doing.
- the rotational torque of the crawler motor 50 is transmitted to the crawler drive shaft 41 via the torque transmission mechanism 55, further transmitted to the sprocket wheel 21 of the crawler portion 20 ⁇ / b> B via the bevel gears 42 a and 42 b, and further crawler via the first shaft 12. It is also transmitted to the sprocket wheel 21 of the portion 20A. Thereby, a pair of crawler parts 20A and 20B are simultaneously driven at the same speed in the same direction.
- the left end portion of the crawler unit 3 is supported by a bracket 45 fixed to the body 1 and a rolling drive shaft 46 (rolling drive member) supported by the bracket 45 so as to be rotatable about the first rotation axis L1.
- the first rotation axis L1 is supported so as to be rotatable.
- the rolling drive shaft 46 extends along the first rotation axis L1, and its inner end is connected to the first shaft 12 via a bearing. In this connection state, the first shaft 12 and the rolling drive shaft 46 cannot rotate relative to each other about the first rotational axis L1, but the first shaft 12 is allowed to rotate about the second rotational axis L2. ing.
- the outer end of the rolling drive shaft 46 protrudes from the crawler unit 3 and is connected to the rolling motor 60 via the torque transmission mechanism 65.
- the rolling motor 60 is fixed to the bracket 45 and can be rotated forward and backward.
- a rotary encoder 61 rolling rotation sensor that detects the rotation of the rolling motor 60 is attached to the rolling motor 60.
- the torque transmission mechanism 65 includes a timing pulley 65a fixed to the output shaft of the rolling motor 60, a timing pulley 65b fixed to the rolling drive shaft 46, and a timing belt 65c spanned between these timing pulleys 65a and 65b. is doing.
- the traveling of the robot R by the pair of crawler devices 2 and 2 will be described.
- the controller 1a controls the crawler devices 2 and 2 in response to an operation signal from a remote controller (not shown).
- a remote controller not shown.
- the crawler motor 50 when the crawler motor 50 is driven in a state where the pair of crawler portions 20A and 20B are grounded, the crawler portions 20A and 20B are simultaneously driven to rotate in the same direction as described above.
- the device 2 can travel in the X direction (crawler travel).
- the robot R can go straight in the X direction by rotating the crawler motors 50 and 50 of the pair of crawler devices 2 and 2 in the same direction at the same speed. By changing the rotation speeds of the crawler motors 50, 50, the robot R can also travel along a curve. Further, by rotating the crawler motors 50, 50 in the opposite direction at the same speed, the robot R can also turn on the spot (super turning).
- the crawler unit 3 rotates (rolls) around the first rotation axis L1 as described above.
- the pair of crawler units 3 simultaneously rolls in the same direction at the same speed, so that the robot R can go straight in the Y direction (rolling running).
- the robot R can also change the traveling direction to a right angle without making a super turn by switching from one of the crawler traveling mode and the rolling traveling mode to the other.
- the crawler units 20A and 20B rotate.
- the crawler unit 3 rotates around the first rotation axis L1.
- the bevel gear 42b revolves around the first rotation axis L1.
- the bevel gear 42b rotates about the rotation axis L2 by meshing with the stopped bevel gear 42a, whereby the first shaft 12 rotates and the pair of crawler portions 20A and 20B is rotationally driven.
- the controller 1a executes the control routine shown in FIG. This routine is executed from the start of traveling.
- step S1 based on the detection signal from the rotary encoder 61, the rotational speed and rotational direction of the rolling drive shaft 46, in other words, information on the rotational speed and rotational direction of the crawler unit 3 is acquired.
- step S2 it is determined whether or not the rotational speed of the rolling is zero. If an affirmative determination is made, the process returns to step S1, and if a negative determination is made, the process proceeds to step S3.
- step S3 the rotational speed and rotational direction of the crawler drive shaft 41 are calculated based on the detection signal from the rotary encoder 51, and the rotational speed and rotational direction coincide with the rolling rotational speed and rotational direction obtained in step S1.
- the driving of the crawler motor 50 is controlled.
- the crawler driving shaft 41 rotates in synchronization with the rolling, so that the stationary state of the pair of crawler portions 20A and 20B can be maintained, and the robot R can travel in the Y direction.
- the crawler motor 50 is disposed outside the crawler unit 3 like the rolling motor 60. Therefore, the crawler unit 3 is compared with the structure of the prior art in which the crawler unit 50 is incorporated. Weight reduction and size reduction can be achieved. Further, the failure of the crawler motor 50 can be reduced, and maintenance is easy. Further, the power cable connecting the crawler motor 50 and the battery does not require a slip ring for preventing twisting. In addition, since the signal cable connecting the rotary encoder 51 that detects the rotation of the crawler motor 50 and the controller 1a does not require a slip ring, the detection signal from the rotary encoder 51 can be transmitted to the controller 1a with high accuracy. it can.
- the crawler drive shaft 41 is shorter than the crawler drive shaft 41 of the first embodiment, and its outer end portion is rotatably supported by the bracket 40 and connected to the crawler motor 50. Yes.
- the crawler drive shaft 41 penetrates through the second shaft 13, and an inner end portion thereof is rotatably supported by a support plate 14 disposed in the vicinity of the second shaft 13.
- the inner end portion of the crawler drive shaft 41 is connected to the sprocket wheel 22 of one crawler portion 20B through a torque transmission mechanism 42.
- the bevel gear 42a of the torque transmission mechanism 42 is fixed to the inner end portion of the crawler drive shaft 41, and the bevel gear 42b is fixed to the sprocket wheel 22 of the crawler portion 20B.
- the rotational torque of the crawler motor 50 is transmitted to the sprocket wheel 22 of one crawler portion 20B via the torque transmission mechanism 55, the crawler drive shaft 41, and the torque transmission mechanism 42, and further the chain 23 of the crawler portion 20B.
- the crawler units 20A and 20B are driven simultaneously in the same direction.
- the control of FIG. 4 is also executed in the second embodiment.
- the robot R ′ includes two pairs of flipper type crawler devices 2 ′ attached to the body 1 ′.
- the crawler devices 2 ′, 2 ′ forming one pair and the crawler devices 2 ′, 2 ′ forming the other pair are separated in the X direction (first rotation axis L1).
- Each pair of crawler devices 2 ′ and 2 ′ is separated in the Y direction.
- one end of the crawler unit 3 ′ is cantilevered by the rotation support 70, and the other end is a free end.
- the rotation support 70 is supported by a bracket 71 fixed to the body 1 'so as to be rotatable about the third rotation axis L3.
- the third rotation axis L3 extends in the Y direction in FIG.
- the third rotation axis L3 of the pair of crawler devices 2 'facing each other in the Y direction is on the same straight line.
- the rotation support 70 is rotated in the forward and reverse directions around the third rotation axis L3 by the flipper motor 75, whereby the crawler unit 3 'is rotated in the vertical direction as indicated by arrows in FIG.
- the obstacle can be easily overcome by the rotation of the crawler unit 3 '.
- the crawler motor 50 and the rolling motor 60 are installed on the rotation support 70.
- the rolling motor 60 is fixed to the rotation support 70 by a fixing structure (not shown).
- the crawler motor 50 is disposed on the first rotation axis L1, and its output shaft and the crawler drive shaft 41 are connected coaxially.
- the inner end portion of the crawler drive shaft 41 is located outside the first shaft 12 and is connected to the first shaft 12 via the torque transmission mechanism 42.
- the bevel gear 42 a of the torque transmission mechanism 42 is fixed to the inner end portion of the crawler drive shaft 41, and the bevel gear 42 b is fixed to the first shaft 12.
- the rotational torque of the crawler motor 50 is transmitted to the first shaft 12 via the crawler drive shaft 41 and the torque transmission mechanism 42, and thereby the sprocket wheels of the pair of crawler portions 20A and 20B fixed to the first shaft 12. 21 is rotationally driven.
- a rotating cylinder 66 that is coaxial with the crawler drive shaft 41 is rotatably supported on the rotation support 70.
- the crawler motor 50 is fixed in the rotating cylinder 66.
- the output shaft of the rolling motor 60 is parallel to the first rotation axis L1, and is connected to the rotary cylinder 66 via a torque transmission mechanism 67 including gears 67a, 67b, 67c.
- a torque transmission member 46 ′ is fixed to the rotating cylinder 66.
- the torque transmission member 46 ′ includes a first plate portion 46a fixed to the front end surface of the rotary cylinder 66 perpendicular to the first rotation axis L1, and a second plate fixed at a right angle to the first plate portion 46a. And a plate portion 46b.
- the first plate portion 46 a is fixed to the pair of side plates 11 of the support 10 of the crawler unit 3.
- the second plate portion 46b passes through the gap between the pair of crawler portions 20A and 20B of the crawler unit 3, and the first shaft 12 penetrates through the front end portion thereof through a bearing.
- the rotational torque of the rolling motor 60 is transmitted to the crawler unit 3 via the torque transmission mechanism 67, the rotating cylinder 66, and the rolling drive member 46 ′, whereby the crawler unit 3 rotates about the first rotation axis L1.
- the crawler motor 50 fixed to the rotating cylinder 66 also rotates about the first rotation axis L1, and the crawler drive shaft 41 rotates together with the crawler unit 3. Therefore, as shown in FIG. No drive control of the crawler motor 50 is necessary. Instead, the power cable and the signal cable connected to the crawler motor 50 need to interpose a slip ring.
- a notch 46x is formed in the second plate portion 46b, and the crawler drive shaft 41 is disposed in the notch 46x, thereby preventing interference between the crawler drive shaft 41 and the rolling drive member 46 '.
- the rolling drive member 46 ′ plays a role of supporting the crawler unit 3 in a cantilever state.
- the inner end of the crawler drive shaft 41 is rotatably supported by a support plate 47 fixed to the second plate portion 46b of the rolling drive member 46 ′.
- two grounding lugs 24a, 24b separated in the circumferential direction are attached to the chain 23 instead of the grounding lug 24 of the first embodiment.
- the crawler motor 50 may be fixed to the rotation support 70 so as to be rotatable relative to the rotation cylinder 66 around the first rotation axis L1.
- rolling control in a direction orthogonal to the first rotation axis L1 can be performed by executing the control of FIG. 4 by a controller (not shown) provided in the body 1 '.
- the crawler portion may be constituted by a pair of wheels and a belt that is stretched over the wheels and frictionally or pin-engaged with the outer periphery of the wheels. There may be no grounding structure. In this case, since the cylindrical shape is imparted to the outer periphery of the crawler unit with only a pair of crawler units, it is necessary to make the angle range occupied by the ground contact member of the crawler unit larger than in the embodiment.
- the crawler rotation sensor may detect the rotation of the crawler drive shaft, and the rolling rotation sensor may detect the rotation of the rolling drive member.
- a clutch may be interposed between the crawler motor and the crawler drive shaft. In this case, since the crawler motor and the crawler drive shaft are cut off by the clutch during rolling running, the control in FIG. 4 is unnecessary. By simultaneously executing the crawler traveling and the rolling traveling, it is possible to travel substantially linearly in an arbitrary oblique direction.
- the present invention can be applied to a robot that can travel in two directions.
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Abstract
Description
上記ロボットは、狭い通路での直角をなす曲がり角では、超信地旋回によってロボットの方向を転換することができない。また、地面の凹凸の大きい場所でも、地面の抵抗によりクローラ装置の回転駆動が妨げられ、超信地旋回による方向転換ができない。
さらに、上記一対のクローラユニットが上記回転軸線を中心に回転し、第2方向に転がる(ローリングする)ことにより、ロボットは第2方向に走行することができる。以下、この走行モードを「ローリング走行」と言う。
特許文献2のロボットは超信地旋回せずに、クローラ走行とローリング走行を選択することにより、第1方向から第2方向へ、第2方向から第1方向へと進行方向を転換することができる。
上記一対のクローラ装置の各々は、上記クローラ装置の離間方向と直交する方向に延びる第1回転軸線を中心に回転可能にして上記ボデイに支持されたクローラユニットを備え、このクローラユニットは、上記第1回転軸線に沿って延びるサポートと、上記第1回転軸線方向に延びて上記サポートに設けられるとともに上記第1回転軸線を挟んで互いに離間して配置された一対のクローラ部とを有し、
各クローラ装置はさらに、
上記ボデイに上記第1回転軸線を中心に回転可能に支持されるとともに上記クローラユニットのサポートに連結されたローリング駆動部材と、
上記クローラユニットの外に配置され、上記ローリング駆動部材を回転駆動することにより、上記クローラユニットを第1回転軸線を中心に回転駆動するローリングモータと、
上記ボデイに上記第1回転軸線を中心に回転可能に支持されるとともに上記第1回動軸線に沿って延びて上記一対のクローラ部の間隙を通るクローラ駆動シャフトと、
上記クローラユニットの外に配置され、上記クローラ駆動シャフトを回転駆動するクローラモータと、
上記クローラユニット内に配置され、上記クローラ駆動シャフトの回転トルクを上記一対のクローラ部に伝達して、これら一対のクローラ部を同時に同方向に回転駆動するトルク伝達機構と、
を備えている。
上記クローラ駆動シャフトは、上記第1回転軸線を中心に回転可能にして上記第2シャフトを貫通し、その内端部が上記第1、第2シャフト間において、上記トルク伝達機構に接続されている。
上記構成によれば、強度上の弱点となるローリング駆動部材を補強することができるので、クローラユニットの耐荷力を高めることができる。
上記構成によれば、ローリングモータ駆動に伴って生じるクローラ走行を回避することができ、走行体を第1回転軸線と直交する方向に移動させることができる。
図1、図2に示すロボットR(走行体)は、荷物搬送等に用いられるものであり、ボデイ1と、このボデイ1に設けられ互いにY方向に離間した一対のクローラ装置2,2とを備えている。このボデイ1は平面矩形をなしており、ボデイ1には、クローラ装置2,2等を制御するマイクロコンピュータを含むコントローラ1a(図2にのみ示す)、インターフェイス、送受信器、バッテリ等(いずれも図示せず)が内蔵されている。
一対のクローラ部20A,20Bのスプロケットホイール22,22は、第2シャフト13に回転可能に支持されている。
上記接地構造30A,30Bは、クローラユニット3に、クローラ走行が不可能となるデッドゾーンを所定範囲で提供している。
ロボットRは、クローラ走行モードおよびローリング走行モードの一方から他方への切り替えにより、超信地旋回することなく、進行方向を直角に転換することもできる。
上記制御により、ローリングと同期してクローラ駆動シャフト41が回転するので、一対のクローラ部20A,20Bの静止状態を維持でき、ロボットRはY方向に走行することができる。
また、クローラモータ50とバッテリとを接続する電源ケーブルは、捩じれ防止のためのスリップリングを介在せずに済む。また、クローラモータ50の回転を検出するロータリーエンコーダ51とコントローラ1aを接続する信号ケーブルもスリップリングを介在せずに済むので、ロータリーエンコーダ51からの検出信号を高精度でコントローラ1aに伝送することができる。
図4の制御は第2実施形態でも実行される。
一方の対をなすクローラ装置2’,2’と他方の対をなすクローラ装置2’,2’は、X方向(第1回動軸線L1)方向に離れている。各対のクローラ装置2’,2’は、Y方向に離れている。
上記回転サポート70は、ボデイ1’に固定されたブラケット71に第3回転軸線L3を中心に回転可能に支持されている。第3回転軸線L3は、図7においてY方向に延びている。Y方向に対峙する一対のクローラ装置2’の第3回転軸線L3は、同一直線上にある。
第1板部46aはクローラユニット3のサポート10の一対の側板11に固定されている。第2板部46bはクローラユニット3の一対のクローラ部20A,20B間の間隙を通り、その先端部にベアリングを介して第1シャフト12が貫通している。このようにローリング駆動部材46’を構成することにより、その強度を高めることができ、ひいてはクローラユニット5’の耐荷力を高めることができる。
なお、第1シャフト12は第2回転軸線L2を中心とする回転を許容されている。
上記ローリングモータ60の駆動時に、回転筒66に固定されたクローラモータ50も第1回転軸線L1を中心に回転し、クローラ駆動シャフト41がクローラユニット3と一緒に回転するので、図4に示すようなクローラモータ50の駆動制御は不要である。その代りに、クローラモータ50に接続される電力ケーブルおよび信号ケーブルは、スリップリングを介在させる必要がある。
本実施形態では、各クローラ部20A,20Bにおいて、第1実施形態の接地ラグ24の代わりに、周方向に分離された2つの接地ラグ24a,24bがチェーン23に取り付けられている。
クローラ部は、一対のホイールと、このホイールに架け渡されてホイールの外周に摩擦係合またはピン係合されるベルトにより構成してもよい。
接地構造は無くてもよい。この場合、一対のクローラ部だけでクローラユニットの外周に円筒形状を付与するため、クローラ部の接地部材が占める角度範囲を実施形態より大きくする必要がある。
クローラモータとクローラ駆動シャフトとの間にクラッチを介在させてもよい。この場合には、ローリング走行時にクラッチによりクローラモータとクローラ駆動シャフトを遮断するので、図4の制御は不要である。
クローラ走行とローリング走行を同時に実行することにより、任意の斜め方向に略直線的に走行することもできる。
Claims (13)
- ボデイ(1;1’)と、このボデイに支持されるとともに互いに離間した少なくとも一対のクローラ装置(2;2’)とを備え、
上記一対のクローラ装置(2;2’)の各々は、上記クローラ装置の離間方向と直交する方向に延びる第1回転軸線(L1)を中心に回転可能にして上記ボデイ(1;1’)に支持されたクローラユニット(3;3’)を備え、このクローラユニットは、上記第1回転軸線に沿って延びるサポート(10)と、上記第1回転軸線方向に延びて上記サポートに設けられるとともに上記第1回転軸線を挟んで互いに離間して配置された一対のクローラ部(20A,20B)とを有し、
各クローラ装置(2;2’)はさらに、
上記ボデイ(1,1’)に上記第1回転軸線(L1)を中心に回転可能に支持されるとともに上記クローラユニット(3;3’)のサポート(10)に連結されたローリング駆動部材(46;46’)と、
上記クローラユニット(3;3’)の外に配置され、上記ローリング駆動部材(46;46’)を回転駆動することにより、上記クローラユニット(3)を第1回転軸線(L1)を中心に回転駆動するローリングモータ(60)と、
上記ボデイ(1;1’)に上記第1回転軸線(L1)を中心に回転可能に支持されるとともに上記第1回動軸線に沿って延びて上記一対のクローラ部(20A,20B)の間隙を通るクローラ駆動シャフト(41)と、
上記クローラユニット(3;3’)の外に配置され、上記クローラ駆動シャフト(41)を回転駆動するクローラモータ(50)と、
上記クローラユニット(3;3’)内に配置され、上記クローラ駆動シャフト(41)の回転トルクを上記一対のクローラ部(20A,20B)に伝達して、これら一対のクローラ部を同時に同方向に回転駆動するトルク伝達機構(42)と、
を備えたことを特徴とする走行体。 - 上記一対のクローラ部(20A;20A)の各々は、上記第1回転軸線方向に離れて配置された一対のホイール(21,22)と、これら一対のホイールに架け渡された無端条体(23)を有し、上記一対のホイールは、上記第1回転軸線と直交するとともに上記一対のクローラ部の対向方向に延びる互いに平行な第2回転軸線(L2,L2’)を中心として、それぞれ上記サポート(10)に回転可能に支持されていることを特徴とする請求項1に記載の走行体。
- 上記ローリング駆動部材(46)と上記クローラ駆動シャフト(41)は、上記第1回転軸線(L1)方向に離れて配置され、上記ローリング駆動部材(46)は上記クローラユニット(3)の一端部において上記サポ―ト(10)に連結され、上記クローラ駆動シャフト(41)は上記クローラユニットの他端部において上記一対のクローラ部(20A,20B)間の間隙に挿通されていることを特徴とする請求項2に記載の走行体。
- 上記サポート(10)は上記第1回転軸線方向に離間して配置された第1、第2のシャフト(12,13)を有し、上記第1、第2シャフトの軸線が上記第2回転軸線(L2,L3)として提供され、上記第1シャフトが上記一対のクローラ部(20A,20B)の一端部の上記ホイール(21)を支持し、上記第2シャフトが上記一対のクローラ部の他端部の上記ホイール(22)を支持しており、
上記クローラ駆動シャフト(41)は、上記第1回転軸線(L1)を中心に回転可能にして上記第2シャフト(13)を貫通し、その内端部が上記第1、第2シャフト(12,13)間において、上記トルク伝達機構(42)に接続されていることを特徴とする請求項3に記載の走行体。 - 上記トルク伝達機構(42)は、上記クローラ駆動シャフト(41)の内端部に固定された第1傘歯車(42a)と、上記第1シャフト(12)に固定され上記第1傘歯車と噛み合う第2傘歯車(42b)とを有し、上記ローリング駆動部材(46)は上記第1シャフトに、上記第1回転軸線(L1)を中心とする相対回転を不能にするとともに上記第1シャフトの上記第2回転軸線(L2)を中心とする回転を許容して、連結されていることを特徴とする請求項4に記載の走行体。
- 上記トルク伝達機構(42)は、上記クローラ駆動シャフト(41)の内端部に固定された第1傘歯車(42a)と、上記第1傘歯車と噛み合う第2傘歯車(42b)とを有し、この第2傘歯車は、上記第2シャフト(13)に支持された上記一対のクローラ部(20A,20B)のホイール(22)の一方に固定されており、
上記ローリング駆動部材(46)は上記第1シャフト(12)に、上記第1回転軸線(L1)を中心とする相対回転を不能にするとともに上記第1シャフト(12)の上記第2回転軸線(L2)を中心とする回転を許容して、連結されていることを特徴とする請求項4に記載の走行体。 - 上記ローリング駆動部材(46’)は上記クローラユニット(3’)の一端部において上記サポ―ト(10)に連結され、上記クローラ駆動シャフト(41)は上記クローラユニットの上記一端部において一対のクローラ部(20A,20B)間の間隙に挿通されていることを特徴とする請求項2に記載の走行体。
- 上記サポート(10)は上記第1回転軸線方向に離間して配置された第1、第2のシャフト(12,13)を有し、上記第1、第2シャフトの軸線は上記第2回転軸線(L2,L2’)として提供され、上記第1シャフトは、上記一対のクローラ部(20A,20B)の一端部の上記ホイール(21)を支持し、上記第2シャフトは、上記一対のクローラ部の他端部の上記ホイール(22)を支持しており、
上記クローラ駆動シャフト(41)は、その内端部が上記第1シャフト(12)の外側において上記トルク伝達機構(42)に接続されていることを特徴とする請求項7に記載の走行体。 - 上記ローリング駆動部材(46’)が上記第1回転軸線(L1)方向に延びる板部(46b)を有し、この板部が上記第1シャフト(12)に、上記第1回転軸線を中心とする相対回転を不能にするとともに上記第1シャフトの第2回転軸線(L2)を中心とする回転を許容して、連結されており、
上記ローリング駆動部材(46’)の上記板部(46b)には、上記クローラ駆動シャフト(41)を受け入れる切欠(46x)が形成されていることを特徴とする請求項8に記載の走行体。 - 上記トルク伝達機構(42)は、上記クローラ駆動シャフト(41)の内端部に固定された第1傘歯車(42a)と、上記第1シャフト(12)に固定され上記第1傘歯車と噛み合う第2傘歯車(42b)とを有していることを特徴とする請求項9に記載の走行体。
- 上記サポート(10)は、上記第1回転軸線(L1)を挟んで離間対向する一対の側板(11)を有し、これら側板に上記第1、第2シャフト(12,13)が架け渡されており、
上記ローリング駆動部材(46’)が上記一対の側板(11)に固定されていることを特徴とする請求項8~10のいずれかに記載の走行体。 - 上記少なくとも一対のクローラ装置(2’)が、二対のクローラ装置を含み、
各クローラ装置はさらに、
上記ボデイ(1’)に上記第1回転軸線(L1)と直交する水平な第3回転軸線(L3)を中心として回転可能に支持された回転サポート(70)と、この回転サポートを回転駆動するフリッパアクチュエータ(75)とを備え、
上記回転サポート(70)に、上記クローラユニット(3’)が回転可能に支持されるとともに、上記ローリングモータ(60)および上記クローラモータ(50)が設けられていることを特徴とする請求項7~11のいずれかに記載の走行体。 - さらに、上記ローリングモータ(60)または上記ローリング駆動部材(46,46’)の回転を検出するローリング回転センサ(61)と、上記クローラモータ(50)または上記クローラ駆動シャフト(41)の回転を検出するクローラ回転センサ(51)と、上記ローリングモータおよび上記クローラモータを制御するコントローラ(1a)を備え、
上記コントローラ(1a)は、上記ローリングモータ(60)を回転駆動している時に、上記クローラ回転センサ(51)からの検出信号と上記ローリング回転センサ(61)からの検出信号に基づき、上記クローラ駆動シャフト(41)の回転方向および回転速度が、上記ローリング駆動部材(46)の回転方向および回転速度とそれぞれ等しくなるように、上記クローラモータ(50)を回転駆動することを特徴とする請求項1~12のいずれかに記載の走行体。
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