WO2023157872A1 - Roue d'entraînement et chariot - Google Patents

Roue d'entraînement et chariot Download PDF

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Publication number
WO2023157872A1
WO2023157872A1 PCT/JP2023/005207 JP2023005207W WO2023157872A1 WO 2023157872 A1 WO2023157872 A1 WO 2023157872A1 JP 2023005207 W JP2023005207 W JP 2023005207W WO 2023157872 A1 WO2023157872 A1 WO 2023157872A1
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WO
WIPO (PCT)
Prior art keywords
drive
axle
output shaft
belt
input shaft
Prior art date
Application number
PCT/JP2023/005207
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English (en)
Japanese (ja)
Inventor
紘 藤岡
智樹 渡邉
大介 近藤
正義 和田
Original Assignee
日本精工株式会社
学校法人東京理科大学
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Application filed by 日本精工株式会社, 学校法人東京理科大学 filed Critical 日本精工株式会社
Publication of WO2023157872A1 publication Critical patent/WO2023157872A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings

Definitions

  • the present invention relates to drive wheels and trucks.
  • Patent Document 1 discloses driving wheels and trucks using driving wheels.
  • This drive wheel has a first input shaft and a second input shaft arranged coaxially, a first output shaft and a second output shaft arranged on separate shafts, and a rotational force of the first input shaft.
  • a first spur gear mechanism that transmits to the output shaft, a second spur gear mechanism that transmits the rotational force of the second input shaft to the second output shaft, a wheel connected to the axle, and the wheel can be turned via the axle a first power conversion mechanism that transmits the rotational force of the first output shaft to one end of the axle, and a second power conversion mechanism that transmits the rotational force of the second output shaft to the other end of the axle and
  • the driving wheels are such that the rotation axis of the wheel along the vertical direction intersecting the axial direction of the axle is offset from the axis of the turning shaft in the horizontal direction orthogonal to the axial direction of the axle. are placed.
  • the drive wheel described in Patent Document 1 is a differential omnidirectional movement that enables two mounted drive devices to operate simultaneously regardless of whether the operation is a change in the direction of the wheel or a rotation of the wheel. It has mechanism.
  • the rotation direction and rotation speed of the driving portion of the omniwheel are controlled based on data input to the load cell connected to the handle.
  • the controller controls the driving force of the motor and the speed reducer based on the rotational torque detected by the torque detection mechanism provided on the rotating shaft of the drive wheel. .
  • the present disclosure has been made in view of the above problems, and aims to provide a drive wheel and a carriage capable of imparting an assist function to a differential omnidirectional movement mechanism.
  • a drive wheel for achieving the above object includes a first input shaft and a second input shaft that are coaxially arranged, and a first output shaft and a second output shaft that are arranged on separate shafts.
  • a second power conversion mechanism a turning shaft that rotatably supports the wheel via the axle, a first drive unit, and a first drive unit that transmits the driving force of the first drive unit to the first input shaft a first belt drive mechanism including a drive belt; a second drive unit; and a second belt drive mechanism including a second drive belt that transmits the driving force of the second drive unit to the second input shaft;
  • a first torque measurement unit for measuring external force torque from changes in tension of the drive belt a second torque measurement unit for measuring external force torque from changes in tension of the second drive belt, and the external force measured by the first torque measurement unit.
  • a control device that controls the first driving section based on the torque and controls the second driving section based on the external force torque measured by the second torque measuring section.
  • the first belt drive mechanism includes a first drive pulley provided on the first input shaft and a first drive pulley provided on the first drive section.
  • the second belt drive mechanism includes a second drive pulley provided on the second input shaft and a second drive pulley provided on the second drive unit, and the second drive mechanism is configured by winding a belt.
  • the first torque measurement unit measures external force torque on both the upstream side and the downstream side of the first drive belt from the change in tension of the first drive belt
  • the second The torque measurement unit measures external torque on both the upstream side and the downstream side of the second drive belt from changes in tension of the second drive belt.
  • the rotation axis of the wheel that intersects the axis of the axle and extends in the vertical direction is displaced from the axis of the turning shaft in the horizontal direction that is perpendicular to the axis of the axle. are placed.
  • the first output shaft and the second output shaft are arranged on both sides of the axle in the axial direction.
  • the first power conversion mechanism and the second power conversion mechanism are arranged on both sides of the axle in the axial direction.
  • the first power conversion mechanism and the second power conversion mechanism are arranged above in a vertical direction crossing the axial direction of the axle.
  • the pivot shaft is arranged coaxially with the first input shaft and the second input shaft.
  • the first power conversion mechanism transmits the rotational force of the first output shaft to one end of the axle having a different axial direction with respect to the first output shaft.
  • Any one of a gear mechanism, a helical gear mechanism, a worm gear mechanism, a crown gear mechanism, or a universal joint mechanism is applied, and the second power conversion mechanism converts the rotational force of the second output shaft to the second output It transmits power to the other end of the axle, which is different in the axial direction from the shaft, and any one of a bevel gear mechanism, a helical gear mechanism, a worm gear mechanism, a crown gear mechanism, or a universal joint mechanism is applied.
  • a truck according to one aspect of the present disclosure for achieving the above object includes the driving wheels described above and a main body to which the driving wheels are attached.
  • driving performance can be improved.
  • FIG. 1 is a perspective view showing a basic configuration example of a driving wheel of the embodiment.
  • FIG. 2 is a front view showing drive wheels of the embodiment.
  • FIG. 3 is a side view showing drive wheels of the embodiment.
  • FIG. 4 is a plan view showing drive wheels of the embodiment.
  • FIG. 5 is a cross-sectional view taken along line AA of FIG. 6 is a cross-sectional view taken along the line BB in FIG. 3.
  • FIG. 7 is a cross-sectional view taken along line CC of FIG. 4.
  • FIG. FIG. 8 is a cross-sectional view taken along line DD of FIG.
  • FIG. 9 is a schematic diagram showing the driving force transmission path of the drive wheels of the embodiment.
  • FIG. 10 is a block diagram showing a configuration example of drive wheels of the embodiment.
  • FIG. 11 is a flowchart showing an operation example of the driving wheels of the embodiment.
  • FIG. 12 is a perspective view showing a configuration example of a power conversion mechanism.
  • FIG. 13 is a perspective view showing a configuration example of a power conversion mechanism.
  • FIG. 14 is a perspective view showing a configuration example of a power conversion mechanism.
  • FIG. 15 is a front view showing a configuration example of a power conversion mechanism.
  • FIG. 16 is a front view showing another configuration example of the driving wheels of the embodiment. 17 is a side view of the drive wheel shown in FIG. 16;
  • FIG. 18 is a schematic diagram showing a configuration example of the truck of the embodiment.
  • FIG. 18 is a schematic diagram showing a basic configuration example of the truck of the embodiment.
  • the truck 100 includes a truck main body 101, a handle portion 102, four driving wheels 103, a power supply portion 104, and a control device 105.
  • the carriage body 101 is, for example, a flat plate material and has a rectangular shape when viewed from above.
  • a handle portion 102 is fixed to one side in the longitudinal direction of the carriage body 101 .
  • Four drive wheels 103 are attached to the four corners of the back side of the carriage body 101 .
  • the four drive wheels 103 are rotatable and steerable.
  • a power supply unit 104 and a control device 105 are mounted on the rear surface of the carriage body 101 between the front and rear driving wheels 103 .
  • Controller 105 includes a computer system.
  • a computer system includes a processor such as a CPU and memory such as ROM or RAM. Therefore, the control device 105 controls the driving wheels 103 of the truck 100 .
  • the carriage 100 can be configured as an automatic guided vehicle (AGV).
  • AGV automatic guided vehicle
  • the trolley 100 can be configured as a device that travels by arranging equipment along the flat surface of the trolley body 101 . Examples of equipment include hand lifters, forklifts, picking robots, and medical equipment.
  • the trolley 100 and the equipment are not limited to the configuration described above regarding the number and arrangement of the drive wheels 103 .
  • the truck 100 and equipment may have a pair of drive wheels 103 attached to the rear side of the truck 100 and a pair of driven wheels attached to the front side of the truck 100 in the four-wheel configuration described above.
  • the trolley 100 and the equipment may have one driving wheel 103 and all the other wheels may be driven wheels in a form having three or more wheels.
  • the trolley 100 and the equipment may have no driven wheels and all of the wheels may be drive wheels 103 in the form of three or more wheels. That is, the trolley 100 and the equipment need only have at least one drive wheel 103 in the form of three or more wheels.
  • FIG. 1 is a perspective view showing a basic configuration example of a driving wheel of the embodiment.
  • FIG. 2 is a front view showing drive wheels of the embodiment.
  • FIG. 3 is a side view showing drive wheels of the embodiment.
  • FIG. 4 is a plan view showing drive wheels of the embodiment.
  • FIG. 5 is a cross-sectional view taken along line AA of FIG. 6 is a cross-sectional view taken along the line BB in FIG. 3.
  • FIG. 7 is a cross-sectional view taken along line CC of FIG. 4.
  • FIG. FIG. 8 is a cross-sectional view taken along line DD of FIG.
  • the driving wheel 103 has a main body 10 fixed to the bogie main body 101 of the bogie 100 as described above. 14 and wheels 15 are provided.
  • the main body 10 is formed in a plate shape with the plate surface facing up and down.
  • the drive mechanism 11 is provided mainly above the main body 10 for inputting rotational force.
  • the swivel part 12 is arranged below the main body 10 .
  • the transmission mechanism 13 transmits the rotational force input by the drive mechanism 11 .
  • the power conversion mechanism 14 transmits the rotational force of the transmission mechanism 13 to the wheels 15 .
  • the wheels 15 are rotatable by rotational force input via the drive mechanism 11 , the transmission mechanism 13 , and the power conversion mechanism 14 and can be steered by the turning section 12 .
  • the drive mechanism 11 has a first belt drive mechanism 22A and a second belt drive mechanism 22B.
  • the first belt drive mechanism 22A includes a first drive section 23A, a first drive pulley 24A, a first input shaft 25A, a first driven pulley 26A, and a first drive belt 27A.
  • 23 A of 1st drive parts are comprised by a motor.
  • the first drive portion 23A is fixed to the main body 10 .
  • the first drive portion 23A has a drive shaft 23Aa that protrudes upward from the main body 10 and extends in the vertical direction.
  • the first drive pulley 24A is fixed to the drive shaft 23Aa.
  • the first input shaft 25A is provided so as to extend in the vertical direction so as to be parallel to the drive shaft 23Aa, and is rotatably supported with respect to the main body 10 about the axis O1.
  • the first driven pulley 26A is fixed to the portion of the first input shaft 25A that protrudes upward from the main body 10 .
  • the first driven pulley 26A and the first drive pulley 24A are arranged side by side in a direction orthogonal to the first input shaft 25A and the drive shaft 23Aa.
  • the first drive belt 27A is formed in an annular shape and is looped around the first driven pulley 26A and the first drive pulley 24A.
  • the first drive pulley 24A is rotated by the drive of the first drive section 23A, and this rotation is transmitted from the first drive pulley 24A through the first drive belt 27A to the first driven pulley 26A. , and the first input shaft 25A rotates.
  • the second belt drive mechanism 22B includes a second drive section 23B, a second drive pulley 24B, a second input shaft 25B, a second driven pulley 26B, and a second drive belt 27B.
  • the second driving section 23B is composed of a motor.
  • the second driving portion 23B is fixed to the main body 10. As shown in FIG.
  • the second drive portion 23B has a drive shaft 23Ba that protrudes upward from the main body 10 and extends in the vertical direction.
  • the second drive pulley 24B is fixed to the drive shaft 23Ba.
  • the second drive pulley 24B is formed to have the same diameter as the first drive pulley 24A.
  • the second input shaft 25B is provided so as to extend in the vertical direction so as to be parallel to the drive shaft 23Ba, and is rotatably supported with respect to the main body 10 about the axis O1.
  • the second input shaft 25B has a cylindrical shape and is arranged outside the first input shaft 25A so as to rotate independently of the first input shaft 25A.
  • the first input shaft 25A and the second input shaft 25B penetrate the main body 10 and extend downward.
  • the second driven pulley 26B is fixed to the portion of the second input shaft 25B that protrudes upward from the main body 10 .
  • the second driven pulley 26B has the same diameter as the first driven pulley 26A and is positioned below the first driven pulley 26A.
  • the second driven pulley 26B and the second drive pulley 24B are arranged side by side in a direction orthogonal to the second input shaft 25B and the drive shaft 23Ba.
  • the second drive belt 27B is formed in an annular shape and is looped around the second driven pulley 26B and the second drive pulley 24B. Therefore, the second belt driving mechanism 22B drives the second driving section 23B to rotate the second driving pulley 24B, and this rotation is transmitted from the second driving pulley 24B to the second driven belt 27B via the second driving belt 27B.
  • the rotation of the second input shaft 25B is transmitted to the pulley 26B.
  • a turning shaft 35 is arranged outside the second input shaft 25B.
  • the swivel shaft 35 has a cylindrical shape, is arranged outside the second input shaft 25B, extends vertically, and is rotatably supported about the axis O1. That is, the first input shaft 25A, the second input shaft 25B, and the turning shaft 35 are rotatably arranged coaxially along the axis O1.
  • a bearing 43 is provided between the first input shaft 25A and the second input shaft 25B
  • a bearing 44 is provided between the second input shaft 25B and the turning shaft 35
  • a bearing is provided between the turning shaft 35 and the main body 10. 45 are provided.
  • the swivel shaft 35 has a cylindrical main body 35a and a flange portion 35b integrally provided at the lower portion of the main body 35a, and a cover member 35c is provided at the lower portion of the flange portion 35b.
  • the pivot shaft 35 is provided on both horizontal sides of the wheel 15 under the cover member 35c such that the first support member 36A and the second support member 36B extend downward.
  • the wheel 15 is integrally provided with an axle 37 extending along an axis O2 perpendicular to the direction of the axis O1. One end of the axle 37 along the axis O2 is rotatably supported under the first support member 36A, and the other end along the axis O2 is rotatably supported under the second support member 36B. be.
  • the turning section 12 is composed of a turning shaft 35, a first supporting member 36A, and a second supporting member 36B. Further, the rotation axis O5 of the wheel 15 along the vertical direction intersecting the axis O2 of the axle 37 is displaced from the axis O1 of the turning shaft 35 in the horizontal direction orthogonal to the axis O2 of the axle 37. be. Therefore, the driving wheel 103 of the embodiment can input rotational force to the first input shaft 25A and the second input shaft 25B on the axis O1 that is the turning axis of the wheel 15, respectively.
  • a first drive spur gear 38A is fixed to the lower end of the first input shaft 25A, and a second drive spur gear 38B is fixed to the lower end of the second input shaft 25B.
  • the first drive spur gear 38A meshes with the first driven spur gear 39A and the second drive spur gear 38B meshes with the second driven spur gear 39B.
  • the second drive spur gear 38B and the first drive spur gear 38A are stacked vertically and rotate about the axis O1.
  • the first driven spur gear 39A is fixed to the top of the first output shaft 40A.
  • the first output shaft 40A is supported at its upper portion through the flange portion 35b and the cover member 35c of the turning shaft 35 and supported at its lower portion by the first support member 36A so as to be rotatable about the axis O3. be.
  • the second driven spur gear 39B is fixed to the top of the second output shaft 40B.
  • the upper portion of the second output shaft 40B is supported by penetrating the flange portion 35b and the cover member 35c of the turning shaft 35, and the lower portion is supported by the second support member 36B so as to be rotatable around the axis O4. be.
  • the axis O3 and the axis O4 are parallel to the axis O1.
  • the first driving spur gear 38A, the second driving spur gear 38B, the first driven spur gear 39A, and the second driving spur gear 38B are covered with the flange portion 35b of the turning shaft 35 and the cover member 35c.
  • the first driven spur gear 39A and the first drive spur gear 38A, and the second drive spur gear 38B and the second driven spur gear 39B have a triangular axis O1, O3 and O4 in plan view (FIG. 8). are arranged to form The first driven spur gear 39A and the first output shaft 40A centered on the axis O3, and the second driven spur gear 39B and the second output shaft 40B centered on the axis O4 are axially connected to the wheels 15. 37 are arranged orthogonally on both sides of the axis O2.
  • the spur gears 38A, 38B, 39A, 39B have the same pitch diameter, tooth profile, number of teeth, etc., but may have different shapes. Gears 39A and 39B may have different shapes.
  • the transmission mechanism 13 has a first spur gear mechanism (first transmission mechanism) 13A and a second spur gear mechanism (second transmission mechanism) 13B.
  • the first spur gear mechanism 13A comprises a first drive spur gear 38A, a first driven spur gear 39A and a first output shaft 40A.
  • the second spur gear mechanism 13B comprises a second drive spur gear 38B and a second driven spur gear 38B. It is composed of a gear 39B and a second output shaft 40B.
  • a first drive bevel gear 41A is fixed to the bottom of the first output shaft 40A, and a second drive bevel gear 41B is fixed to the bottom of the second output shaft 40B.
  • the axle 37 has a first driven bevel gear 42A fixed to one end in the direction of the axis O2, and a second driven bevel gear 42B fixed to the other end in the direction of the axis O2.
  • the first drive bevel gear 41A meshes with the first driven bevel gear 42A.
  • the second drive bevel gear 41B meshes with the second driven bevel gear 42B.
  • It has the power conversion mechanism 14, a first bevel gear mechanism 14A as a first power conversion mechanism, and a second bevel gear mechanism 14B as a second power conversion mechanism.
  • the first bevel gear mechanism 14A is composed of a first drive bevel gear 41A and a first driven bevel gear 42A.
  • the second bevel gear mechanism 14B is composed of a second drive bevel gear 41B and a second driven bevel gear 42B.
  • the drive wheels 103 can rotate and steer the wheels 15 by rotating the first input shaft 25A and the second input shaft 25B by the drive mechanism 11.
  • the first input shaft 25A is rotated
  • the second input shaft 25B is rotated in the opposite direction to the first input shaft 25A
  • the number of revolutions (rotational speed) of the first input shaft 25A and the second input shaft 25B is the same.
  • the wheels 15 can be rotated without being steered.
  • the wheels 15 can be steered while rotating or stopped by varying the number of revolutions (rotating speed) of the first input shaft 25A and the second input shaft 25B.
  • FIG. 9 is a schematic diagram showing the driving force transmission path of the drive wheels.
  • the driving wheel 103 when the first input shaft 25A rotates in the first direction A1, the first driving spur gear 38A rotates in the same direction, and the first driven spur gear 39A meshing with the first driving spur gear 38A rotates in the second direction. Rotate to A2.
  • the first driven spur gear 39A rotates in the second direction A2
  • the first drive bevel gear 41A integrally provided with the first driven spur gear 39A via the first output shaft 40A rotates in the same direction.
  • the first driven bevel gear 42A meshing with the first drive bevel gear 41A rotates in the third direction A3, and rotates the axle 37 integrated with the first driven bevel gear 42A in the same direction.
  • the second input shaft 25B rotates in the first direction B1 opposite to the first direction A1
  • the second drive spur gear 38B rotates in the same direction
  • the second driven spur gear meshes with the second drive spur gear 38B.
  • 39B rotates in the second direction B2.
  • the second driven spur gear 39B rotates in the second direction B2
  • the second drive bevel gear 41B integrally provided with the second driven spur gear 39B via the second output shaft 40B rotates in the same direction.
  • the second driven bevel gear 42B meshing with the second drive bevel gear 41B rotates in the third direction B3, and rotates the axle 37 integrated with the second driven bevel gear 42B in the same direction.
  • the third direction A3 and the third direction B3 are the same rotation direction, the wheels 15 rotate without turning if the first input shaft 25A and the second input shaft 25B have the same number of rotations.
  • the drive wheel 103 of the embodiment has a turning position detector 50 as shown in FIG.
  • the turning position detector 50 is provided on the upper surface of the main body 10 .
  • the turning position detection unit 50 includes, for example, a first spur gear that rotates around the axis O1 together with the turning shaft 35, and an axis that meshes with the first spur gear and is parallel to the axis O1. It has a second spur gear that is driven to rotate around and a detector that detects the rotational position of the second spur gear. Therefore, the first spur gear rotates together with the turning shaft 35, and the detector detects the rotational position of the first spur gear as the rotational position of the second spur gear.
  • the rotational position of the turning section 12 can be detected.
  • a detection signal from the detector is input to the controller 105 of the truck (equipment) 100 .
  • the control device 105 can control the turning of the drive wheels 103 .
  • FIG. 10 is a block diagram showing a configuration example of the driving wheels of the embodiment.
  • FIG. 11 is a flowchart showing an operation example of the driving wheels of the embodiment.
  • the driving wheel 103 of the embodiment further includes a torque measuring section 28.
  • the torque measurement section 28 has a first torque measurement section 28A and a second torque measurement section 28B, as shown in FIGS. 28 A of 1st torque measurement parts are provided in 22 A of 1st belt drive mechanisms, and measure the torque applied to 22 A of 1st belt drive mechanisms.
  • the second torque measuring section 28B is provided in the second belt driving mechanism 22B and measures the torque applied to the second belt driving mechanism 22B.
  • the first torque measuring section 28A and the second torque measuring section 28B have the same configuration, so the first torque measuring section 28A will be described, and the detailed description of the second torque measuring section 28B will be omitted.
  • 1st torque measurement parts are provided with respect to the 1st drive belt 27A between the 1st drive pulley 24A and the 1st driven pulley 26A in 22 A of 1st belt drive mechanisms, 1st press roller 29Aa, 29Ab, It includes first strain gauges 30Aa, 30Ab and first tension measurement units 31Aa, 31Ab.
  • the first pressing rollers 29Aa and 29Ab contact one side and the other side of the first driving belt 27A between the first driving pulley 24A and the first driven pulley 26A.
  • the one side and the other side of the first drive belt 27A are the portion of the first drive belt 27A that moves away from the first drive pulley 24A when the first drive belt 27A moves with the rotation of the first drive pulley 24A, and the first drive belt 27A. and the portion of the first drive belt 27A approaching the pulley 24A, which can also be referred to as the upstream side and the downstream side of the first drive belt 27A.
  • the first strain gauges 30Aa and 30Ab support the first pressing rollers 29Aa and 29Ab, respectively, and receive displacement of the first pressing rollers 29Aa and 29Ab due to changes in the tension of the first driving belt 27A as strain.
  • First strain gauges 30Aa and 30Ab are connected to the first tension measurement units 31Aa and 31Ab, respectively, and strains of the first strain gauges 30Aa and 30Ab are read as voltage values. This voltage value is calculated by the control device 105 as torque applied to one side and the other side of the first driving belt 27A.
  • second torque measuring unit 28B is provided for the second driving belt 27B between the second driving pulley 24B and the second driven pulley 26B in the second belt driving mechanism 22B.
  • Second pressing rollers 29Ba and 29Bb similar to 29Ab, second strain gauges 30Ba and 30Bb similar to first strain gauges 30Aa and 30Ab, and second tension measuring units 31Ba and 31Bb similar to first tension measuring units 31Aa and 31Ab include.
  • the driving wheel 103 further includes a control device 105 in addition to the configuration of the torque measuring section 28 described above.
  • the control device 105 controls the first driving section 23A based on the torque (voltage value) measured by the first torque measuring section 28A. Further, the control device 105 controls the second driving section 23B based on the torque (voltage value) measured by the second torque measuring section 28B.
  • the control device 105 inputs the torque (voltage value) measured by the torque measuring section 28 (28A, 28B) in step S1.
  • the torque of this torque measuring unit 28 is assumed to be an external force torque applied by an external force.
  • the control device 105 calculates the drive torque from the power consumption of each of the drive units 23A and 23B together with the input of the external force torque.
  • the control device 105 compares the external force torque and the drive torque.
  • step S4 when the external force torque is larger than the drive torque in the comparison of step S3 (step S3: Yes), the control device 105 determines an assist torque equal to or greater than the external force torque minus the drive torque.
  • step S5 the control device 105 controls the drive units 23A and 23B so as to achieve the determined assist torque.
  • step S4 when the external force torque is smaller than the drive torque in the comparison in step S3 (step S3: No), the control device 105 returns to step S1.
  • the control device 105 can determine the direction in which the operator intends to move the drive wheel 103 from the respective external force torques, Each drive unit 23A, 23B can be controlled with an assist torque corresponding to the direction.
  • first torque measuring unit 28A has first pressing rollers 29Aa and 29Ab and first strain gauges 30Aa and 30Ab arranged upstream and downstream of the first drive belt 27A.
  • the external force torque is measured both upstream and downstream of the first drive belt 27A.
  • second torque measuring unit 28B has second pressure rollers 29Ba and 29Bb and second strain gauges 30Ba and 30Bb arranged upstream and downstream of the second drive belt 27B, and from changes in tension of the second drive belt 27B, The external force torque is measured both upstream and downstream of the second drive belt 27B.
  • control device 105 can more accurately determine the direction in which the operator intends to move the drive wheels 103 based on the respective external force torques on both the upstream and downstream sides of the first drive belt 27A and the second drive belt 27B. Then, each drive unit 23A, 23B is controlled with an assist torque corresponding to the direction.
  • FIG. 12 is a perspective view showing a configuration example of the power conversion mechanism.
  • FIG. 13 is a perspective view showing a configuration example of a power conversion mechanism.
  • FIG. 14 is a perspective view showing a configuration example of a power conversion mechanism.
  • FIG. 15 is a front view showing a configuration example of a power conversion mechanism. 12 to 15, the driving wheels provided with the power conversion mechanisms 17, 18, 19, and 20 are the same as the driving wheel 103 described above, and the same parts are denoted by the same reference numerals. omitted.
  • the power conversion mechanism 17 shown in FIG. 12 is a helical gear mechanism that transmits the rotational force of the transmission mechanism 13 to the wheels 15.
  • the power conversion mechanism 17 has a first helical gear mechanism 17A as a first power conversion mechanism and a second helical gear mechanism 17B as a second power conversion mechanism.
  • the first helical gear mechanism 17A includes a first driving helical gear 51A fixed to the lower portion of the first output shaft 40A and one end of the axle 37 provided on the wheel 15 in the direction of the axis O2. and a first driven helical gear 52A meshing with the first driving helical gear 51A.
  • the second helical gear mechanism 17B includes a second driving helical gear 51B fixed to the lower portion of the second output shaft 40B, and a second driving helical gear 51B fixed to the other end of the axle 37 in the direction of the axis O2. and a second driven helical gear 52B that meshes with the helical gear 51B.
  • the rotational forces of the first input shaft 25A and the second input shaft 25B are transferred to the first output shaft 40A and the second output shaft 40A via the first driven spur gear 39A and the second driven spur gear 39B. It is transmitted to the second output shaft 40B, and transmitted from the first output shaft 40A and the second output shaft 40B to each end of the axle 37 via the first helical gear mechanism 17A and the second helical gear mechanism 17B. .
  • the drive wheels can switch between rotation and steering of the wheels 15.
  • the drive wheels are provided with helical gear mechanisms 17A and 17B at the respective ends of the axle 37, the transmission system of the rotational force to the wheels 15 is simplified, thereby simplifying the structure. This can contribute to lower floors.
  • the power conversion mechanism 18 shown in FIG. 13 is a worm gear mechanism that transmits the rotational force of the transmission mechanism 13 to the wheels 15.
  • the power conversion mechanism 18 has a first worm gear mechanism 18A as a first power conversion mechanism and a second worm gear mechanism 18B as a second power conversion mechanism.
  • the first worm gear mechanism 18A includes a first worm 53A fixed to the lower portion of the first output shaft 40A, and one end of an axle 37 provided on the wheel 15 in the axial center O2 direction. and a meshing first worm wheel 54A.
  • the second worm gear mechanism 18B includes a second worm 53B fixed to the lower portion of the second output shaft 40B, and a second worm wheel fixed to the other end of the axle 37 in the axial center O2 direction and meshing with the second worm 53B. 54B and.
  • the rotational forces of the first input shaft 25A and the second input shaft 25B are transferred to the first output shaft 40A and the second output shaft 40A through the first driven spur gear 39A and the second driven spur gear 39B. It is transmitted to the second output shaft 40B, and transmitted from the first output shaft 40A and the second output shaft 40B to each end of the axle 37 via the first worm gear mechanism 18A and the second worm gear mechanism 18B.
  • the drive wheels can switch between rotation and steering of the wheels 15.
  • the worm gear mechanisms 18A and 18B are arranged at the respective ends of the axle 37, the drive wheels simplify the transmission system of the rotational force to the wheels 15, thereby simplifying the structure. can contribute to lower floors.
  • the first worm gear mechanism 18A has a first worm wheel 54A fixed to the lower portion of the first output shaft 40A, and a first worm 53A fixed to one end of the axle 37 in the axial center O2 direction. good too.
  • the second worm gear mechanism 18B has a second worm wheel 54B fixed to the lower portion of the second output shaft 40B, and a second worm 53B fixed to the other end of the axle 37 in the axial center O2 direction.
  • the power conversion mechanism 19 shown in FIG. 14 is a crown gear mechanism that transmits the rotational force of the transmission mechanism 13 to the wheels 15.
  • the power conversion mechanism 19 has a first crown gear mechanism 19A as a first power conversion mechanism and a second crown gear mechanism 19B as a second power conversion mechanism.
  • the first crown gear mechanism 19A includes a first crown gear 55A fixed to the lower portion of the first output shaft 40A, and a first crown gear fixed to one end of an axle 37 provided on the wheel 15 in the direction of the axis O2. and a first spur gear 56A meshing with 55A.
  • the second crown gear mechanism 19B includes a second crown gear 55B fixed to the lower portion of the second output shaft 40B and a second crown gear 55B fixed to the other end of the axle 37 in the direction of the axis O2 and meshing with the second crown gear 55B. and a spur gear 56B.
  • the rotational forces of the first input shaft 25A and the second input shaft 25B are transferred to the first output shaft 40A and the second output shaft 40A via the first driven spur gear 39A and the second driven spur gear 39B. It is transmitted to the second output shaft 40B, and transmitted from the first output shaft 40A and the second output shaft 40B to each end of the axle 37 via the first crown gear mechanism 19A and the second crown gear mechanism 19B.
  • the drive wheels can switch between rotation and steering of the wheels 15.
  • the drive wheels have the crown gear mechanisms 19A and 19B at the respective ends of the axle 37, the transmission system of the rotational force to the wheels 15 is simplified, thereby simplifying the structure. can contribute to lower floors.
  • the first crown gear mechanism 19A has a first spur gear 56A fixed to the lower portion of the first output shaft 40A, and a first crown gear 55A fixed to one end of the axle 37 in the axial center O2 direction.
  • the second crown gear mechanism 19B has a second spur gear 56B fixed to the lower portion of the second output shaft 40B, and a second crown gear 55B fixed to the other end of the axle 37 in the axial center O2 direction.
  • the power conversion mechanism 20 shown in FIG. 15 is a universal joint mechanism, which transmits the rotational force of the transmission mechanism 13 to the wheels 15.
  • the power conversion mechanism 20 has a first universal joint mechanism 20A as a first power conversion mechanism and a second universal joint mechanism 20B as a second power conversion mechanism.
  • the first universal joint mechanism 20A includes a first drive joint 57A fixed to the lower end of the first output shaft 40A, and a first driven joint 58A fixed to one end of the axle 37 provided on the wheel 15 in the axial center O2 direction. and a first connecting portion 59A connecting the first drive joint 57A and the first driven joint 58A.
  • the second universal joint mechanism 20B includes a second drive joint 57B fixed to the lower end of the second output shaft 40B, a second driven joint 58B fixed to the other end of the axle 37 in the axial center O2 direction, and a second drive joint 58B. and a second connecting portion 59B that connects the joint 57B and the second driven joint 58B.
  • the first universal joint mechanism 20A has one end of the first connecting portion 59A fixed to the lower end of the first output shaft 40A and the other end of the first connecting portion 59A connected to the axis of the axle 37.
  • the second universal joint mechanism 20B has one end of the second connecting portion 59B fixed to the lower end of the second output shaft 40B and the other end of the second connecting portion 59B being fixed to the shaft of the axle 37. It may be fixed to the other end in the direction of the center O2, and a single or a plurality of joints corresponding to the second drive joint 57B and the second driven joint 58B may be provided in the intermediate portion.
  • the rotational forces of the first input shaft 25A and the second input shaft 25B are transferred to the first output shaft 40A and the second output shaft 40A via the first driven spur gear 39A and the second driven spur gear 39B. It is transmitted to the second output shaft 40B, and transmitted from the first output shaft 40A and the second output shaft 40B to each end of the axle 37 via the first universal joint mechanism 20A and the second universal joint mechanism 20B.
  • the drive wheels can switch between rotation and steering of the wheels 15.
  • the universal joint mechanisms 20A and 20B are arranged at the respective ends of the axle 37, the transmission system of the rotational force to the wheels 15 can be simplified, and the structure can be simplified. can contribute to
  • the driving wheels 103 are driven by a first power conversion mechanism (first bevel gear mechanism 14A, first helical gear mechanism 17A, first worm The gear mechanism 18A, the first crown gear mechanism 19A, and the first universal joint mechanism 20A) transmit the rotational force of the first output shaft 40A to one end of the axle 37 having a different axial direction with respect to the first output shaft 40A.
  • first power conversion mechanism first bevel gear mechanism 14A, first helical gear mechanism 17A, first worm The gear mechanism 18A, the first crown gear mechanism 19A, and the first universal joint mechanism 20A
  • the drive wheels 103 are driven by a second power conversion mechanism (a second bevel gear mechanism 14B, a second helical gear mechanism 17B, a second worm gear mechanism 14B, a second worm gear mechanism 17B, a second worm
  • the gear mechanism 18B, the second crown gear mechanism 19B, and the second universal joint mechanism 20B transmit the rotational force of the second output shaft 40B to one end of the axle 37 having a different axial direction with respect to the second output shaft 40B.
  • the power conversion mechanism is not limited to the configuration described above, and may be configured to transmit the rotational force of the output shafts 40A, 40B to the axle 37 having a different axial direction than the output shafts 40A, 40B.
  • FIG. 16 is a front view showing another configuration example of the drive wheels of the embodiment. 17 is a side view of the drive wheel shown in FIG. 16; FIG. Members having the same functions as those in the above-described embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.
  • a drive wheel 103 ′ shown in FIGS. 16 and 17 is mainly different from the drive wheel 103 described above in that it has a power transmission mechanism 81 .
  • the first input shaft 25A, the second input shaft 25B, and the turning shaft 35 are coaxially rotatably arranged along the axis O1.
  • a first drive spur gear 38A is fixed to the lower end of the first input shaft 25A
  • a second drive spur gear 38B is fixed to the lower end of the second input shaft 25B.
  • the first drive spur gear 38A meshes with the first driven spur gear 39A
  • the second drive spur gear 38B meshes with the second driven spur gear 39B.
  • the second drive spur gear 38B and the first drive spur gear 38A are stacked vertically and rotate about the axis O1.
  • the first driven spur gear 39A is fixed to the upper portion of the first output shaft 40A, and the first output shaft 40A is rotatably supported by the turning shaft 35 about the axis O3.
  • the second driven spur gear 39B is fixed to the upper part of the second output shaft 40B, and the second output shaft 40B is rotatably supported by the turning shaft 35 about the axis O4.
  • a first drive bevel gear 41A is fixed to the lower portion of the first output shaft 40A, and a second drive bevel gear 41B is fixed to the lower portion of the second output shaft 40B.
  • a first driven bevel gear 42A that meshes with the first drive bevel gear 41A and a second driven bevel gear 42B that meshes with the second drive bevel gear 41B are fixed to the connecting shaft 91 .
  • the connecting shaft 91 has its axis O6 orthogonal to the axis O1 and parallel to the axis O2 of the axle 37 .
  • the power transmission mechanism 81 has a first power transmission mechanism 81A and a second power transmission mechanism 81B.
  • the first power transmission mechanism 81A is provided between the first bevel gear mechanism 14A of the power conversion mechanism 14 and one end of the axle 37 .
  • the second power transmission mechanism 81B is provided between the second bevel gear mechanism 14B of the power conversion mechanism 14 and the other end of the axle 37 .
  • Power conversion mechanism 14 can be replaced with power conversion mechanisms 17 , 18 , 19 , and 20 .
  • the first power transmission mechanism 81A has a first driving pulley 92A, a first driven pulley 93A, and a first driving belt 94A.
  • the first drive pulley 92A is fixed to one end of the connecting shaft 91 in the axial center O6 direction.
  • the first driven pulley 93A is fixed to one end of the axle 37 in the axial center O2 direction.
  • the first driving belt 94A is formed in an annular shape and is looped around the first driving pulley 92A and the first driven pulley 93A.
  • the second power transmission mechanism 81B has a second driving pulley 92B, a second driven pulley 93B, and a second driving belt 94B.
  • the second drive pulley 92B is fixed to the other end of the connecting shaft 91 in the axial center O6 direction.
  • the second driven pulley 93B is fixed to the other end of the axle 37 in the axial center O2 direction.
  • the second drive belt 94B is formed in an annular shape and is looped around the second drive pulley 92B and the second driven pulley 93B.
  • the driving wheel 103' rotates the first input shaft 25A
  • the first driving spur gear 38A rotates and the first driven spur gear 39A rotates.
  • the first driven spur gear 39A rotates
  • the first drive bevel gear 41A rotates together with the first output shaft 40A.
  • the first driven bevel gear 42A meshing with the first drive bevel gear 41A rotates, and the connecting shaft 91 rotates.
  • the rotational force of the connecting shaft 91 is transmitted to the axle 37 via the first drive pulley 92A, the first drive belt 94A, and the first driven pulley 93A, and the axle 37 rotates.
  • the first power transmission mechanism 81A is provided between the first bevel gear mechanism 14A and one end of the axle 37, and the second bevel gear mechanism 14B and the other end of the axle 37 are connected.
  • a second power transmission mechanism 81B is provided between. Therefore, the driving force of the bevel gear mechanisms 14A, 14B can be transmitted to the axle 37 by the power transmission mechanisms 81A, 81B.
  • the drive wheels 103, 103' of the above-described embodiment include a first input shaft 25A and a second input shaft 25B arranged coaxially, and a first output shaft 40A and a second output shaft 40B arranged on separate shafts. , a first spur gear mechanism 13A that transmits the rotational force of the first input shaft 25A to the first output shaft 40A, and a second spur gear mechanism 13B that transmits the rotational force of the second input shaft 25B to the second output shaft 40B.
  • the drive wheels 103, 103' have a differential omnidirectional movement mechanism. That is, the driving wheels 103 transmit the rotational force of the first input shaft 25A and the second input shaft 25B to the first output shaft 40A and the second output shaft 40B via the first spur gear mechanism 13A and the second spur gear mechanism 13B. , and is transmitted from the first output shaft 40A and the second output shaft 40B to the respective ends of the axle 37 via the first bevel gear mechanism 14A and the second bevel gear mechanism 14B.
  • the drive wheels 103 can switch between rotation and steering of the wheels 15 by adjusting the rotational speeds of the first input shaft 25A and the second input shaft 25B. Therefore, since the drive wheels 103 have the bevel gear mechanisms 14A and 14B arranged at the respective ends of the axle 37, the transmission system of the rotational force to the wheels 15 is simplified, thereby simplifying the structure. It is possible to achieve a low floor.
  • the drive wheels 103, 103' of the embodiment are a first belt drive mechanism including a first drive portion 23A and a first drive belt 27A that transmits the drive force of the first drive portion 23A to the first input shaft 25A.
  • a second belt driving mechanism 22B including a second driving portion 23B and a second driving belt 27B that transmits the driving force of the second driving portion 23B to the second input shaft 25B, and the tension of the first driving belt 27A.
  • a first torque measurement unit 28A that measures the external force torque from changes
  • a second torque measurement unit 28B that measures the external force torque from changes in the tension of the second drive belt 27B, and the external force torque measured by the first torque measurement unit 28A.
  • a control device 105 that controls the first drive section 23A based on the external force torque measured by the second torque measurement section 28B and controls the second drive section 23B based on the external force torque measured by the second torque measurement section 28B.
  • the drive wheels 103, 103' can provide an assist function in the differential omnidirectional movement mechanism.
  • the driving wheels 103 and 103' are controlled by the first torque measuring unit 28A, the second torque measuring unit 28B, and the control device 105 without providing an input device at the operator's hand (for example, the handle 102 of the truck 100).
  • An assist function can be imparted to the dynamic omnidirectional movement mechanism.
  • the first belt drive mechanism 22A includes a first driven pulley 26A provided on the first input shaft 25A and a first drive pulley provided on the first drive portion 23A.
  • the second belt drive mechanism 22B includes a second driven pulley 26B provided on the second input shaft 25B and a second driven pulley 26B provided on the second drive section 23B.
  • the second drive belt 27B is wound around the drive pulley 24B, and the first torque measurement unit 28A measures both the upstream side and the downstream side of the first drive belt 27A from changes in the tension of the first drive belt 27A.
  • the external force torque is measured, and the second torque measurement unit 28B measures the external force torque both upstream and downstream of the second drive belt 27B from changes in the tension of the second drive belt 27B. Therefore, the drive wheels 103, 103' can more accurately determine the direction in which the operator intends to move the drive wheels 103 based on the respective external torques on both the upstream and downstream sides of the first drive belt 27A and the second drive belt 27B. can be determined, and each drive unit 23A, 23B can be controlled with an assist torque corresponding to the direction.
  • the rotation axis O5 of the wheel 15 along the vertical direction intersecting the axis O2 of the axle 37 is positioned so that the axis O1 of the turning shaft 35 is offset from the axis O1 of the axle 37. They are staggered in the horizontal direction perpendicular to O2. Therefore, when the drive wheels 103 and 103' do not drive the wheels 15, the wheels 15 can passively turn by an external force acting from the horizontal direction. That is, the cart 100 can be automatically traveled and steered, and can be manually traveled and steered by the operator.
  • the first output shaft 40A and the second output shaft 40B are arranged on both sides of the axle 37 with respect to the wheel 15 in the axial center O2 direction. Therefore, the drive wheels 103 and 103' receive rotational force from both sides of the axle 37 in the direction of the axis O2, and the differential mechanism for steering the wheels 15 can be simplified.
  • the first power conversion mechanism (first bevel gear mechanism 14A) and the second power conversion mechanism (second bevel gear mechanism 14B) are connected to the axles 37 of the wheels 15. They are arranged on both sides in the direction of the heart O2. Therefore, the drive wheels 103 and 103' receive rotational force from both sides of the axle 37 in the direction of the axis O2, and the differential mechanism for steering the wheels 15 can be simplified.
  • the first power conversion mechanism (first bevel gear mechanism 14A) and the second power conversion mechanism (second bevel gear mechanism 14B) intersect in the axial center O2 direction of the axle 37. placed vertically above the Therefore, the driving wheels 103, 103' do not need to arrange the bevel gear mechanisms 14A, 14B on both sides of the axle 37 in the direction of the axis O2, so that the size of the differential mechanism can be reduced.
  • the turning shaft 35 is arranged coaxially with the first input shaft 25A and the second input shaft 25B. Therefore, the drive wheels 103, 103' can be made compact and structurally simplified.
  • the first power conversion mechanism transmits the rotational force of the first output shaft 40A to one end of the axle 37 having a different axial direction with respect to the first output shaft 40A.
  • Any one of the first bevel gear mechanism 14A, the first helical gear mechanism 17A, the first worm gear mechanism 18A, the first crown gear mechanism 19A, or the first universal joint mechanism 20A is applied, and the second The power conversion mechanism transmits the rotational force of the second output shaft 40B to the other end of the axle 37 having a different axial direction with respect to the second output shaft 40B.
  • Either one of the spring gear mechanism 17B, the second worm gear mechanism 18B, the second crown gear mechanism 19B, or the second universal joint mechanism 20B is applied. Therefore, the driving wheels 103 and 103' can be applied with various types of power conversion mechanisms, which simplifies the transmission system of the rotational force to the wheels 15, simplifies the structure, and lowers the floor. can contribute to
  • the truck 100 of the embodiment includes driving wheels 103, 103' and a truck body 101 to which the driving wheels 103, 103' are attached. Therefore, the trolley 100 can be simplified in structure, and a sufficient minimum ground clearance can be ensured.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

La présente invention apporte une fonction d'assistance à un mécanisme de mouvement omnidirectionnel de type différentiel. La présente invention comprend : un premier mécanisme d'entraînement à courroie (22A) qui comprend une première unité d'entraînement (23A) et une première courroie d'entraînement (27A) destinée à transmettre une force d'entraînement de la première unité d'entraînement (23A) à un premier arbre d'entrée (25A) ; un second mécanisme d'entraînement (22B) qui comprend une seconde unité d'entraînement (23B) et une seconde courroie d'entraînement (27B) destinée à transmettre une force d'entraînement de la seconde unité d'entraînement (23B) à un second arbre d'entrée (25B) ; une première unité de mesure de couple (28A) qui mesure un couple externe à partir d'un changement de tension dans la première courroie d'entraînement (27A) ; une seconde unité de mesure de couple (28B) qui mesure un couple externe à partir d'un changement de tension dans la seconde courroie d'entraînement (27B) ; et un dispositif de commande qui commande la première unité d'entraînement sur la base du couple externe mesuré par la première unité de mesure de couple (28A), et commande la seconde unité d'entraînement sur la base du couple externe mesuré par la seconde unité de mesure de couple (28B).
PCT/JP2023/005207 2022-02-15 2023-02-15 Roue d'entraînement et chariot WO2023157872A1 (fr)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5376347B2 (ja) * 2009-06-19 2013-12-25 国立大学法人豊橋技術科学大学 操舵可能な駆動機構および全方向移動車
JP2019089493A (ja) * 2017-11-15 2019-06-13 日本精工株式会社 駆動輪及び台車
JP2020019361A (ja) * 2018-07-31 2020-02-06 日本精工株式会社 駆動輪及び台車
JP2020024033A (ja) * 2018-07-31 2020-02-13 日本精工株式会社 駆動輪及び台車

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5376347B2 (ja) * 2009-06-19 2013-12-25 国立大学法人豊橋技術科学大学 操舵可能な駆動機構および全方向移動車
JP2019089493A (ja) * 2017-11-15 2019-06-13 日本精工株式会社 駆動輪及び台車
JP2020019361A (ja) * 2018-07-31 2020-02-06 日本精工株式会社 駆動輪及び台車
JP2020024033A (ja) * 2018-07-31 2020-02-13 日本精工株式会社 駆動輪及び台車

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