JP6422482B2 - Moving transport mechanism - Google Patents

Description

  The present invention relates to a moving transfer mechanism, and more particularly to a moving transfer mechanism including wheels that can move in all directions.

  Wheels called omni wheels are used in robots that can move in all directions on a plane, transport equipment in factories, and the like. In this omni wheel, auxiliary wheels are arranged on the outer periphery of the main wheel, the rotation center axis of the auxiliary wheel extends in a direction substantially coincident with the circumferential direction of the main wheel, and the auxiliary wheel is freely rotatable. When driving an omni wheel, only the main wheel is driven to rotate.

  Further, for example, as shown in FIGS. 7 and 8, there has been proposed a moving conveyance mechanism capable of performing rotation driving of the main wheel and rotation driving of the auxiliary wheel. FIG. 7 is a cross-sectional view of the moving transport mechanism, and FIG. 8 is a cross-sectional view taken along line AA in FIG. As shown in FIGS. 7 and 8, in the moving conveyance mechanism 110, the auxiliary wheel 130 is rotatably supported by the wheel member 120 that is supported by the casing 112 so as to be rotatable about the wheel rotation central axis 121. . A rotation center axis 131 of the auxiliary wheel 130 extends along a virtual circumference centered on the wheel rotation center axis 121. The wheel member 120 and the auxiliary wheel 130 rotate with the rotation of the motors 114 a and 114 b distributed through the differential mechanism 140. The differential mechanism 140 meshes with both the first and second input bevel gears 118a and 118b and the first and second input bevel gears 118a and 118b, which are disposed coaxially with the wheel rotation center shaft 121. An output bevel gear 142 capable of rotating and revolving around the wheel rotation central axis 121. The output bevel gear 142 is fixed to one end of the rotation shaft 143, and the rotation shaft 143 is rotatably supported by a rotation support member 126 fixed to the wheel member 120. When the rotation of the motors 114a and 114b is transmitted to the first and second input bevel gears 118a and 118b, when the output bevel gear 142 rotates, the rotation due to the rotation of the output bevel gear 142 is transmitted to the sub wheels 130, and The wheel 130 rotates. When the rotation of the motors 114 a and 114 b is transmitted to the first and second input bevel gears 118 a and 118 b and the output bevel gear 142 revolves, the wheel member 120 rotates as the output bevel gear 142 revolves. The rotation of the wheel member 120 means the rotation of the main wheel (see, for example, Patent Document 1).

Japanese Patent No. 5158698

  Since there is a gap between the circumferentially adjacent sub wheels 130 in this moving conveyance mechanism 110, contact with the floor surface 102 becomes intermittent when the wheel member 120 rotates (the main wheel rotates). There is a problem that vibration occurs.

  In view of such a situation, the present invention intends to provide a moving conveyance mechanism that can suppress vibration when a main wheel rotates.

  In order to solve the above-mentioned problems, the present invention provides a moving conveyance mechanism configured as follows.

  The moving conveyance mechanism includes (a) a wheel member that is rotatably supported around a wheel rotation center axis, and (b) a rotation extending along a first virtual circumference centering on the wheel rotation center axis. A first auxiliary wheel supported by the wheel member so as to be rotatable about a central axis; and (c) the wheel rotation center at a position away from the first virtual circumference in the wheel rotation central axis direction. A second auxiliary wheel supported by the wheel member so as to be rotatable about a rotation center axis extending along a second virtual circumference centered on the axis; and (d) the wheel rotation center axis. The first and second input members arranged coaxially and rotatable, and both the first and second input members are in contact with each other, can rotate around the rotation center axis, and the wheel rotation center axis Differential including an output member capable of revolving around (E) a rotation support member fixed to the wheel member and supporting the output member of the differential mechanism so as to be rotatable about the rotation center axis; and (f) the first and second members. At least one auxiliary wheel among the auxiliary wheels is coupled to the output member of the differential mechanism, and rotation due to rotation about the rotation center axis of the output member is transmitted to the auxiliary wheel to transmit the auxiliary wheel. A rotation transmission member for rotating the wheel. When viewed from the direction of the wheel rotation center axis, the first and second auxiliary wheels are disposed inside the virtual outline circle centered on the wheel rotation center axis so as to approach or touch the virtual outline circle. And the said 2nd auxiliary | assistant wheel is arrange | positioned next to the said 1st auxiliary | assistant wheel along the said virtual external circle. The wheel member rotates about the wheel rotation center axis as the output member of the differential mechanism revolves around the wheel rotation center axis.

  According to the above configuration, when viewed from the direction of the wheel rotation center axis, the second auxiliary wheel is arranged next to the first auxiliary wheel along the virtual outer circle, and between the auxiliary wheels adjacent in the circumferential direction. When the wheel member rotates (the main wheel rotates) and the sub wheels sequentially contact the floor surface by reducing or eliminating the gap between the sub wheels, due to the gap between the sub wheels adjacent in the circumferential direction The generated vibration can be suppressed.

  Preferably, the first and second auxiliary wheels are alternately arranged along the virtual outer circle when viewed from the direction of the wheel rotation center axis.

  In this case, along the entire circumference of the virtual outer circle, the gap between the auxiliary wheels adjacent in the circumferential direction can be reduced or eliminated, and the vibration caused by the gap between the auxiliary wheels adjacent in the circumferential direction can be reduced. It can be suppressed without being restricted by the rotation angle of the main wheel.

  Preferably, when viewed from a direction perpendicular to the wheel rotation central axis direction, the first auxiliary wheel and the second auxiliary wheel are disposed apart from each other in the wheel rotation central axis direction, and the first auxiliary wheel and The differential mechanism is disposed between the second auxiliary wheels.

  In this case, the structure for rotationally driving the first and second auxiliary wheels can be simplified by disposing the differential mechanism between the first auxiliary wheel and the second auxiliary wheel.

  Preferably, the first and second auxiliary wheels that are not in contact with the contact surface are moved outward in the radial direction around the wheel rotation center axis, and the first and second auxiliary wheels and the differential are moved. A drive reduction mechanism for releasing or reducing the coupling by the rotation transmission member with the output member of the mechanism is further provided.

  In this case, the waste of driving the first and second auxiliary wheels that are not in contact with the contact surface can be eliminated, and the first and second auxiliary wheels can be driven efficiently.

  ADVANTAGE OF THE INVENTION According to this invention, the vibration when a main wheel rotates can be suppressed.

It is sectional drawing of a moving conveyance mechanism. (Example 1) It is sectional drawing cut | disconnected along line AA of FIG. (Example 1) It is sectional drawing cut | disconnected along line BB of FIG. (Example 1) It is sectional drawing cut | disconnected along line CC of FIG. (Example 1) It is a schematic diagram for demonstrating operation | movement of a moving conveyance mechanism. (Example 1) It is a principal part block diagram of a moving conveyance mechanism. (Modification 1 of Example 1) It is sectional drawing of a moving conveyance mechanism. (Conventional example 1) It is sectional drawing cut | disconnected along line AA of FIG. (Conventional example 1)

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  Example 1 First, the configuration of the moving conveyance mechanism 10 will be described with reference to FIGS. 1 to 4. FIG. 1 is a cross-sectional view showing a configuration of the moving conveyance mechanism 10. 2 is a cross-sectional view taken along line AA in FIG. FIG. 3 is a cross-sectional view taken along line BB in FIG. 4 is a cross-sectional view taken along line CC in FIG.

  As shown in FIG. 1, the wheel member 22 and the first and second rotating shafts 33 and 35 are rotatably supported by the casing 12 of the moving conveyance mechanism 10.

  The rotation is transmitted to one end of the first rotating shaft 33 from the first motor 52 fixed to the casing 12. The second rotating shaft 35 is a hollow cylindrical member that is disposed outside the first rotating shaft 33 and concentrically with the first rotating shaft 33. The rotation is transmitted to one end of the second rotation shaft 35 from the second motor 54 fixed to the casing 12 via gears 56 and 58.

  A through hole 23 is formed at the center of the wheel member 22, and the other end sides of the first and second rotation shafts 33 and 35 are disposed in the through hole 23 concentrically with the wheel rotation center shaft 22 x of the wheel member 22. ing. The other end sides of the first and second rotating shafts 33 and 35 and the wheel member 22 are supported through a bearing so as to be relatively rotatable.

  As shown in FIGS. 1, 2, and 4, the wheel member 22 supports the first and second auxiliary wheels 24 and 26 in a freely rotatable manner. 2 and 4 show a configuration in which the first and second auxiliary wheels 24 and 26 are rotatably supported through bearings around the shafts 24k and 26k fixed to the wheel member 22. However, it is not limited to this. The first auxiliary wheel 24 and the second auxiliary wheel 26 are separated from each other in the direction of the wheel rotation central axis 22x, and the differential mechanism 30 is disposed between the first auxiliary wheel 24 and the second auxiliary wheel 26. Has been.

  As shown in FIGS. 1 and 3, the differential mechanism 30 includes input bevel gears 32 and 34 that are fixed to the other end sides of the first and second rotating shafts 33 and 35 and face each other. 34 and three output bevel gears 36 that mesh with. The output bevel gear 36 is fixed to one end of the output bevel gear shaft 37. The output bevel gear shaft 37 is rotatably supported by a bearing 39 fixed to the wheel member 22. A bevel gear 38 is fixed to the other end of the output bevel gear shaft 37. The input bevel gears 32 and 34 are first and second input members of the differential mechanism. The output bevel gear 36 and the output bevel gear shaft 37 are output members of the differential mechanism. The bearing 39 is a rotation support member.

  For the differential mechanism, instead of the bevel gear, a configuration in which teeth mesh, such as a gear such as a face gear or a hypoid gear, or a planetary gear device using a cylindrical gear, can be used. Moreover, you may use the structure without the teeth | gears to mesh | engage like a friction drive (thing using friction transmission), a traction drive (thing using traction oil), etc. A differential mechanism that transmits rotation through a belt, a wire, or the like may be used.

  As shown in FIGS. 2 and 4, the first and second auxiliary wheels 24, 26 have a barrel-shaped outer shape, and the rotation center axes 24 x, 26 x of the first and second auxiliary wheels 24, 26 are , And extends along virtual circumferences 22p and 22q around the wheel rotation center axis 22x. The first and second auxiliary wheels 24, 26 protrude outward in the radial direction from the wheel member 22, and contact the floor surface 2 according to the rotation of the wheel member 22.

  As shown in FIG. 1, the first and second auxiliary wheels 24, 26 are connected to the outer peripheral surfaces 24 a, 26 a of the first and second auxiliary wheels 24, 26. 27 is rotationally driven. As shown in FIG. 3, the first and second drive rollers 25 and 27 are fixed to the first and second drive roller shafts 45 and 47, respectively, and the first and second drive roller shafts 45 and 47 are respectively fixed. Is rotatably supported by the wheel member 22. Bevel gears 46 and 48 that mesh with each other are fixed to one ends of the first and second drive roller shafts 45 and 47. A bevel gear 44 is fixed to the other end of the first drive roller shaft 45, and the bevel gear 44 meshes with a bevel gear 38 fixed to the other end of the output bevel gear shaft 37. The first and second drive rollers 25 and 27, the first and second drive roller shafts 45 and 47, and the bevel gears 38, 44, 46, and 48 are rotation transmission members, and output bevel gear shafts. The rotation of 37 is transmitted to the first and second auxiliary wheels 24 and 26 to rotate the first and second auxiliary wheels 24 and 26.

  Next, the operation of the moving conveyance mechanism 10 will be described with reference to the schematic diagram of FIG. FIG. 5 shows a state in which the moving conveyance mechanism 10 and the casing 12 are viewed from the floor surface 2. In FIG. 5, for the main wheel 20 in which the first and second auxiliary wheels 24, 26 are arranged on the wheel member 22, one of the first and second auxiliary wheels 24, 26 is in contact with the floor 2. Only the wheels 28 are shown. Here, a case where the number of teeth of the pair of input bevel gears 32 and 34 of the differential mechanism 30 is the same will be described.

  When both of the pair of input bevel gears 32 and 34 of the differential mechanism 30 are rotationally driven in the same direction at the same angular velocity, the output bevel gear 36 revolves around the wheel rotation center shaft 22x without rotating. As a result, as shown in FIG. 5A, the first and second auxiliary wheels 24 and 26 are stopped, that is, the first and second auxiliary wheels 24 and 26 are not rotated. The member 22 rotates and the main wheel 20 rotates as indicated by an arrow 83. As a result, as indicated by an arrow 86, the casing 12 moves relative to the floor 2 in the front-rear direction (vertical direction in FIG. 5A).

  When the pair of input bevel gears 32 and 34 of the differential mechanism 30 are rotated in opposite directions at the same angular velocity, the output bevel gear 36 rotates without revolving. As a result, as shown in FIG. 5B, the auxiliary wheel 28 rotates (rotates) around the rotation center axis 28x as indicated by an arrow 85 in a state where the wheel member 22 is stopped. As a result, as indicated by an arrow 88, the casing 12 moves relative to the floor surface 2 in the left-right direction (the left-right direction in FIG. 5B).

  When the pair of input bevel gears 32 and 34 of the differential mechanism 30 are rotationally driven at angular velocities having different absolute values, the output bevel gear 36 rotates and revolves. As a result, the main wheel 20 rotates as indicated by an arrow 83 in FIG. 5C, and the auxiliary wheel 28 rotates (spins) as indicated by an arrow 85. As a result, the casing 12 moves relative to the floor 2 in an oblique direction as shown in FIG.

  The moving conveyance mechanism 10 can move in all directions within a plane by controlling the rotation of the motors 52 and 54.

  That is, when it is desired to move the casing 12 in the front-rear direction relative to the floor surface 2 (the direction indicated by the arrow 86 in FIG. 5A), the first and second auxiliary wheels 24 and 26 are not rotated. Since the wheel member 22 only needs to be rotated, both the input bevel gears 32 and 34 are rotated in the same direction at the same angular velocity (first angular velocity ratio) so that the output bevel gear 36 revolves and does not rotate. In addition, the rotation of the motors 52 and 54 is controlled.

  When it is desired to move the casing 12 in the left-right direction with respect to the floor surface 2 (the direction indicated by the arrow 88 in FIG. 5B), the first and second auxiliary wheels 24 and 26 rotate, and the wheel member 22 is rotated. Therefore, the input bevel gears 32 and 34 are rotationally driven in opposite directions to each other at the same angular velocity (second angular velocity ratio) so that the output bevel gear 36 rotates and does not revolve. Thus, the rotation of the motors 52 and 54 is controlled.

  When it is desired to move the casing 12 in an oblique direction that is neither the front-rear direction nor the left-right direction with respect to the floor surface 2 (the direction indicated by the arrow 87 in FIG. 5C), the first and second auxiliary wheels 24 are moved. , 26 and the wheel member 22 only need to rotate, so that the input bevel gears 32, 34 are different from the ratio of the first angular velocity and the second so that the output bevel gear 36 rotates and revolves. The rotations of the motors 52 and 54 are controlled so as to rotate at an angular velocity ratio different from the angular velocity ratio.

  Since all the driving motors 52 and 54 can be arranged on the casing 12 in the moving conveyance mechanism 10, there are few restrictions on the motors that can be used, and a wide variety of types and sizes of motors can be used. For example, a motor with a larger torque can be used than when a motor for driving the auxiliary wheel is built in the main wheel. Therefore, the torque of the auxiliary wheel can be increased, and the difference in driving force between the main wheel and the auxiliary wheel can be reduced or eliminated. Moreover, since the moving conveyance mechanism 10 does not incorporate a motor in the main wheel, wiring such as electric supply to the motor is easy.

  As shown in FIG. 3, in the moving conveyance mechanism 10, the first and second auxiliary wheels 24 and 26 are alternately arranged along the virtual outer circle 21 when viewed from the direction of the wheel rotation central axis 22 x. . Therefore, the gap between the auxiliary wheels 24, 26 can be reduced or eliminated along the entire circumference of the virtual outer circle 21, and vibration caused by the gap between the auxiliary wheels 24, 26 adjacent in the circumferential direction can be reduced. It can be suppressed without being restricted by the rotation angle of the main wheel 20.

  When the rotation of the main wheel 20 is limited to a range smaller than one rotation, or when it is necessary to suppress vibration in a part of the rotation angle range of the main wheel 20, the first and second auxiliary wheels are used. There may be a portion where 24 and 26 are not alternately arranged. In this case, if the auxiliary wheels 24 and 26 are arranged so as to be adjacent to each other along a part of the virtual outer circle 21, in a part of the rotation angle range of the main wheel 20, a gap between the auxiliary wheels adjacent in the circumferential direction is formed. The resulting vibration can be suppressed.

  When the first and second auxiliary wheels 24 and 26 have a barrel shape, when viewed from the direction of the wheel rotation center axis 22x, the first and second auxiliary wheels 24 and 26 are virtual outer circles. 21 can be as close to 21 as possible, so that it is easy to suppress the vibration of the moving transport mechanism 10 when the main wheel 20 rotates (the wheel member 22 rotates).

  When the differential mechanism 30 is disposed between the first auxiliary wheel 24 and the second auxiliary wheel 26, the configuration for rotationally driving the first and second auxiliary wheels 24, 26 can be simplified. it can.

  When the first and second auxiliary wheels 24, 26 are configured to be rotationally driven by drive rollers 25, 27 in contact with the outer peripheral surfaces 24a, 26a of the first and second auxiliary wheels 24, 26, the first and second Compared with the case where the driving force is transmitted from the axial ends of the second auxiliary wheels 24 and 26, the space can be increased, and the design becomes easy. In addition, since the first and second auxiliary wheels 24 and 26 can be elongated in the axial direction, it is possible to arrange a large bearing in the first and second auxiliary wheels 24 and 26. It is easy to increase the load.

  <Modification 1> Modification 1 of Embodiment 1 will be described with reference to FIG. FIG. 6 is a configuration diagram of a main part of the mobile conveyance mechanism according to Modification 1 of Embodiment 1.

  As shown in FIG. 6 (a), the first and second auxiliary wheels 24 are provided on the other end side of the support beam 50, one end side of which is rotatably supported by the wheel member 22 of the moving transport mechanism 10 and swingable. 26 shafts 24k and 26k are supported. The first and second auxiliary wheels 24 and 26 are supported rotatably with respect to the shafts 24k and 26k. The support beam 50 is urged by an elastic member 62 such as a spring, and as indicated by a chain line, the auxiliary wheels 24s and 26s not in contact with the floor surface move in a direction away from the wheel rotation center axis (downward in the drawing). The contact between the outer peripheral surfaces of the first and second auxiliary wheels 24s and 26s and the first and second drive rollers 25 and 27 is released or reduced. As indicated by the solid line, the auxiliary wheels 24 and 26 that are in contact with the floor surface move in a direction approaching the wheel rotation center axis (upward in the drawing) and contact the first and second drive rollers 25 and 27. , Driven to rotate. The elastic member 62 may not be provided.

  As shown in FIG. 6B, the support box 66 provided on the wheel member 22 of the moving conveyance mechanism 10 and supporting the shafts 24k and 26k of the auxiliary wheels 24 and 26 approaches or separates from the wheel rotation center axis. It is supported so as to be movable in the direction (vertical direction in the figure). The support box 66 is biased in a direction away from the wheel rotation center axis (downward in the drawing) via an elastic member 64 such as rubber. The first and second auxiliary wheels 24 and 26 are supported rotatably with respect to the shafts 24k and 26k. As indicated by the chain line, the auxiliary wheels 24t and 26t that are not in contact with the floor surface move in a direction away from the wheel rotation center axis (downward in the drawing), and contact with the drive rollers 25 and 27 is released or reduced. . As indicated by the solid line, the auxiliary wheels 24 and 26 that are in contact with the floor surface move in a direction approaching the wheel rotation center axis (upward in the figure) and come into contact with the first and second drive rollers 25 and 27. , Driven to rotate. The elastic member 64 may be omitted.

  In this way, the first and second auxiliary wheels 24s, 26s; 24t, 26t that are not in contact with the floor surface are moved radially outward with the wheel rotation center axis as the center, and the first auxiliary wheel 24s, 26s that is not in contact with the floor surface is moved. When a drive reduction mechanism that releases or reduces the coupling by the rotation transmission member between the first and second auxiliary wheels 24s, 26s; 24t, 26t and the output member of the differential mechanism is further provided, In this case, it is possible to efficiently drive the first and second auxiliary wheels 24 and 26 by eliminating the waste of driving the first and second auxiliary wheels 24s and 26s; 24t and 26t that are not in contact with the floor surface. .

  Instead of the support beam, the support box, and the elastic member, a drive reduction mechanism in which a part of the wheel member that supports the auxiliary wheel is configured to be easily elastically deformed may be used.

  <Summary> As described above, when the first auxiliary wheel 24 and the second auxiliary wheel 26 are separated in the direction of the wheel rotation center axis 22x and viewed from the direction of the wheel rotation center axis 22x, the virtual If the outer circle 21 is arranged so as to approach or touch the virtual outer circle 21, the vibration generated when the main wheel rotates due to the gap between the auxiliary wheels adjacent in the circumferential direction can be suppressed. it can.

  The present invention is not limited to the above embodiment, and can be implemented with various modifications.

  In the first embodiment, the case where three first sub wheels and three second sub wheels are used has been described. However, the number of first sub wheels and the number of second sub wheels may be other than three. . For example, the number of first auxiliary wheels may be one or more, and the number of second auxiliary wheels may be one or more. The first and second auxiliary wheels may be rotationally driven by a method other than the embodiment. For example, a rotation transmission member may be coupled to the shaft ends of the first and second auxiliary wheels to rotate the first and second auxiliary wheels.

  A gear, a belt, a toothed belt, a chain, a wire, a rotating shaft, a shaft coupling, or the like can be used as the rotation transmitting member.

  A round belt may be used as the rotation transmission member. By bending the circulation path of the round belt, the transmission path between the differential mechanism and the auxiliary wheel is simplified. The round belt is usually an endless belt member having a circular cross section, but the cross section does not have to be a constant size. For example, the size of the cross section changes periodically in the direction of the central axis, and the surface has teeth. Such an uneven shape may be formed.

  As the rotation transmission member, an endless circulation member that engages with the auxiliary wheel and has a surface extending along the ground contact surface of the outer peripheral surface of the auxiliary wheel may be used.

  Protrusions and recesses are formed on the surface where the auxiliary wheel and the drive roller come into contact with each other to prevent slippage between the drive roller and the auxiliary wheel, and the auxiliary wheel is reliably rotated. Can be done.

  The shape of the auxiliary wheel may be other than the barrel shape.

  The auxiliary wheel may rotate while deforming around the rotation center axis while maintaining at least a part of the rotation center axis in an arc shape. For example, by using an elastic member or stacking cylindrical parts in a bellows shape, the rotation center axis is maintained while maintaining an arc shape, and it is configured to rotate while deforming around the rotation center axis. May be.

  When a plurality of auxiliary wheels are used, all the auxiliary wheels may be directly rotated via the rotation transmission member. Alternatively, the auxiliary wheel that is not directly rotated via the rotation transmission member is connected to the auxiliary wheel that is directly rotated via the rotation transmission member so that the rotation is transmitted, and both the auxiliary wheels are rotated simultaneously. Good.

  In addition to the first auxiliary wheel and the second auxiliary wheel, other auxiliary wheels may be used. For example, at a position away from the first auxiliary wheel and the second auxiliary wheel in the wheel rotation central axis direction (away from the first virtual circle and the second virtual circle), the wheel rotation central axis is the center. Alternatively, a third auxiliary wheel supported by the wheel member may be used so as to be rotatable about a rotation center axis extending along the third virtual circumference. In this case, when viewed from the direction of the wheel rotation central axis, the first to third auxiliary wheels are arranged inside the virtual outer circle around the wheel rotation central axis so as to approach or touch the virtual outer circle, And a 2nd subwheel may be arrange | positioned next to a 1st subwheel along a virtual external circle, and a 3rd subwheel may be arrange | positioned next to a 2nd subwheel. Further, a first auxiliary wheel is arranged next to the third auxiliary wheel along the virtual outer circle, and the first auxiliary wheel, the second auxiliary wheel, the third auxiliary wheel, along the virtual outer circle, You may arrange | position in order of a 1st subwheel, a 2nd subwheel, .... Similarly, other auxiliary wheels may be used in addition to the first to third auxiliary wheels. The other auxiliary wheels other than the first and second auxiliary wheels may be rotationally driven or rotatable (not rotationally driven). When other sub wheels are driven to rotate, even if rotation is transmitted from the differential mechanism that transmits rotation to the first and second sub wheels to the other sub wheels, it rotates to the first and second sub wheels. Rotation may be transmitted to another auxiliary wheel from a system different from the differential mechanism that transmits.

  The number of output bevel gears may be other than three. One output bevel gear may drive both the first and second auxiliary wheels, or the output bevel gears driving the first and second auxiliary wheels may be separate. One output bevel gear may drive one auxiliary wheel.

  The differential mechanism may be arranged other than between the first auxiliary wheel and the second auxiliary wheel.

  Because the barrel-shaped secondary wheel has a different radius from the rotation center axis of the secondary wheel depending on the location of the outer peripheral surface, the speed on the outer peripheral surface differs depending on the location even if the angular velocity of the secondary wheel is constant. In order to set the moving speed on the floor due to the rotation of the auxiliary wheel to the target speed, the angular speed of the input member of the differential mechanism should be adjusted according to the location of the outer peripheral surface of the auxiliary wheel in contact with the floor That's fine.

  The mobile transport mechanism of the present invention is not limited to the mobile transport device in which the auxiliary wheel protrudes downward and comes into contact with the floor surface or the like, but can also be used in a configuration in which the top and bottom are reversed. For example, it is also used for a mobile conveyance device that supports a conveyed object from below with auxiliary wheels protruding upward, and moves or turns the conveyed object in a desired direction by a combination of rotation of the main wheel and the auxiliary wheel. Can do.

  The present invention is not only forward / reverse, but also equipment that requires lateral and oblique movements, such as wheelchairs, welfare equipment such as mobile devices for elderly people, transport carts and transport vehicles used in factories and warehouses. It can be applied to applications such as forklifts, mobile vehicles such as mobile vehicles.

2 Floor (contact surface)
DESCRIPTION OF SYMBOLS 10 Moving conveyance mechanism 12 Casing 20 Main wheel 21 Virtual external circle 22 Wheel member 22p Virtual circumference (1st virtual circumference)
22q virtual circumference (second virtual circumference)
22x Wheel rotation center axis 24 First sub wheel 24x Rotation center axis 25 First drive roller (rotation transmission member)
26 second auxiliary wheel 26x rotation center shaft 27 second drive roller (rotation transmission member)
28 Sub wheels 28x Rotation center shaft 30 Differential mechanism 32 Input bevel gear (first input member of the differential mechanism)
33 First rotating shaft 34 Input bevel gear (second input member of differential mechanism)
35 Second rotating shaft 36 Output bevel gear (output member of differential mechanism)
37 Output bevel gear shaft (differential output member)
38 Bevel gear (rotation transmission member)
39 Bearing (Rotating support member)
44 Bevel gear (rotation transmission member)
45 First drive roller shaft (rotation transmission member)
46 Bevel gear (rotation transmission member)
47 Second drive roller shaft (rotation transmission member)
48 Bevel gear (rotation transmission member)
50 Support beam (drive reduction mechanism)
52 1st motor 54 2nd motor 62,64 Elastic member (drive reduction mechanism)
66 Support box (drive reduction mechanism)

Claims (3)

A wheel member supported rotatably about a wheel rotation center axis;
A first auxiliary wheel supported by the wheel member so as to be rotatable about a rotation center axis extending along a first virtual circumference centered on the wheel rotation center axis;
At a position away from the first imaginary circumference in the wheel rotation center axis direction, it is rotatable about a rotation center axis extending along a second imaginary circumference centering on the wheel rotation center axis. A second auxiliary wheel supported by the wheel member;
The first and second input members disposed so as to be rotatable coaxially with the wheel rotation center axis, and both the first and second input members, and capable of rotating about the rotation center axis; and A differential mechanism including an output member capable of revolving around the wheel rotation center axis;
A rotation support member fixed to the wheel member and rotatably supporting the output member of the differential mechanism about the rotation center axis;
At least one auxiliary wheel of the first and second auxiliary wheels is coupled to the output member of the differential mechanism, and rotation by rotation of the output member around the rotation center axis of the output member A rotation transmission member that transmits to the wheel and rotates the auxiliary wheel;
The first and second auxiliary wheels that are not in contact with the contact surface are moved outward in the radial direction around the wheel rotation center axis, and the first and second auxiliary wheels and the differential mechanism are moved. A drive reduction mechanism for releasing or reducing the coupling between the output member and the rotation transmission member;
With
When viewed from the direction of the wheel rotation center axis, the first and second auxiliary wheels are disposed inside the virtual outline circle centered on the wheel rotation center axis so as to approach or touch the virtual outline circle. ,And,
The second auxiliary wheel is arranged next to the first auxiliary wheel along the virtual outer circle,
The moving and conveying mechanism according to claim 1, wherein the wheel member rotates about the wheel rotation center axis as the output member of the differential mechanism revolves around the wheel rotation center axis.   2. The moving conveyance mechanism according to claim 1, wherein the first and second auxiliary wheels are alternately arranged along the virtual outer circle when viewed from the direction of the wheel rotation central axis. .   When viewed from a direction perpendicular to the wheel rotation central axis direction, the first auxiliary wheel and the second auxiliary wheel are arranged apart from each other in the wheel rotation central axis direction, and the first auxiliary wheel and the second auxiliary wheel are separated from each other. The moving conveyance mechanism according to claim 1, wherein the differential mechanism is disposed between the auxiliary wheels.

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