JPH0138710B2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to multidirectional vehicles.

[Conventional technology]

Conventionally, multi-directional vehicles have been disclosed, for example, in Japanese Patent Publication No. 31-1062 and Japanese Patent Application Laid-Open No. 59-38170 by the present applicant.

[Problem that the invention seeks to solve]

The former vehicle can only perform normal turns, sharp turns, diagonal travel, sideways travel, and on-the-spot turns. Furthermore, the latter vehicle has a simpler structure and is extremely easy to operate than the aforementioned vehicle, and is considered to be suitable for most purposes as a vehicle of this type.
If I had to say, the latter type of vehicle always faces the direction in which it is traveling, so it is difficult to make turns,
In that case, it is possible to turn (the vehicle body), but there is a drawback that it is impossible to move diagonally or sideways.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a multi-directional vehicle that eliminates the above-mentioned drawbacks, is capable of different movements from conventional multi-directional vehicles, and is easy to drive.

[Means for solving problems]

A multi-directional vehicle of the present invention includes: a truck; a plurality of wheels rotatably attached to the truck; a drive mechanism for driving these wheels; a vehicle body; An interlocking shaft that is rotatably provided and rotatably supports the vehicle body, and a slider that slides on the interlocking shaft, with engaging parts formed at both ends in the axial direction and gears fixed around each. and a third clutch consisting of an interlocking shaft and an engaging member which is fixed to the truck and has an engaging part that engages with each engaging part of the slider, and a sliding movement of the third clutch. an engaging member that is rotatably attached to the child and has an engaging portion formed thereon; and an engaging member that is fixed to the cart and has an engaging portion that engages with the engaging portion of the engaging member. 1, an engagement member fixed to the interlocking shaft, and a cylindrical part fixed to the car body so as to surround the upper part of the interlocking shaft at the bottom of the car body so as to be movable in the axial direction but non-rotatable. a second clutch comprising a slider that is engaged with the engaging member and moves on the cylindrical portion in conjunction with the engaging member of the first clutch; a control wheel; a control wheel; It is integrated and provided through the vehicle body, and a slider connected to the engaging member of the first clutch is fixed to the lower part, and is movable in the vertical direction together with the control wheel, and in the first position. The first clutch is disengaged, the second and third clutches are engaged, and in the second position, the first and third clutches are engaged and the second clutch is disengaged. a control stick rotatably supported within the tubular shaft and on the engagement member of the first clutch, and to which a gear is fixed, which is always in mesh with the gear of the slider of the third clutch; When the shaft is in the first position, it engages with the slider of the tubular shaft to directly transmit the rotation of the control wheel to the control stick, and when the control wheel is in the second position, it engages with the slider of the tubular shaft. It also has a gear mechanism that reverses the rotation of the control wheels and transmits it to the control stick, and a turning mechanism that transmits the rotation of the interlocking shaft and always turns all of the wheels in a parallel state.

[Effect]

The bogie and car body are separated by the first clutch,
When the rotation of the vehicle body and the rotation of the wheels are coupled by the second clutch (state), the vehicle body and wheels turn in the same direction, and the vehicle
It has the same motion as the 38170 multi-directional vehicle.

Next, when the first and second clutches are switched, the bogie and the car body are coupled, and the car body rotation and wheel rotation are disengaged (state), the car body becomes unable to rotate relative to the bogie, and only the direction of the wheels is released. The vehicle can move in a straight line (if the steering wheel does not turn while driving) or in a curve (if the steering wheel continues to turn while driving) without changing the direction of the vehicle body.

Next, while stopped, turn the control wheel to the left (right), turn the wheel to the left (right), return to the state, start, and while driving, turn the control wheel to the right (left).
If the vehicle continues to turn, the front of the vehicle will turn to the right (left) as it moves forward.

〔Example〕

Embodiments of the present invention will be described with reference to the drawings.

1 and 2 are vertical sectional views showing the states and states of an embodiment of the multidirectional vehicle of the present invention, and FIGS. 3 and 4 are respectively the control device for the multidirectional vehicle shown in FIG. 1. , explanatory diagram of the drive device, Fig. 5~
FIG. 11 is a diagram showing the directions of the wheels 70a to 70d and the movement of the vehicle. In addition, Figures 3 to 11
The △ marks around the vehicle body 90 in the figure indicate the front of the vehicle body.

The truck 1 is provided with support portions 2a to 2d having through holes at substantially square positions. These support parts 2a to 2d have steering shafts 30a, 30b, 30.
c and 30d are rotatably inserted. Steering axis 3
Sprocket wheels 33a, 33b, 33c, 33d are fixed to 0a, 30b, 30c, 30d, and a bevel gear 72 and wheels 70a, 70b, 70c, 70d are fixed to the U-shaped bracket 34.
An axle 71 to which is fixed is rotatably supported by a bearing (not shown). Steering shafts 30a, 30b, 30
In the hollow portions c and 30d, a bevel gear 52 that meshes with a bevel gear 72 is fixed to one end, and a drive shaft 5 to which sprocket wheels 51a, 51b, 51c, and 51d are fixed to the other end is rotatable. It is inserted. The ratio of the radius of the wheels 70a to 70d and the distance from the wheel center plane to the center line of the steering shafts 30a to 30d is equal to the ratio of the radius of the bevel gear 72 to the radius of the bevel gear 52. A drive source 6 is attached to the bottom surface of the trolley 1,
A sprocket wheel 8a and a gear 9a are fixed to both ends of the output shaft 7a. Furthermore, a gear 9a and a gear 9a of the same size are fixed to one end of the truck 1, and a sprocket wheel 8 is attached to the other end.
The output shaft 7b, to which the shaft 7b is fixed, is rotatably inserted. Sprocket wheels 8a and 8b have the same size, and sprocket wheels 51a-51b have the same size. Sprocket wheel 8a, 51
a, 51d and sprocket wheels 8b, 51
As shown in FIG. 4, chains 58 and 59 are attached to wheels b and 51c, respectively, so that the rotational force of drive source 6 is transmitted to wheels 70a, 70b, 70c, and 70d to drive them. . That is, the drive source 6, the output shafts 7a, 7b, the gears 9a, 9
b. Sprocket wheels 8a, 8b, 51a~
51d, chains 58 and 59, drive shaft 5, and bevel gears 52 and 72 constitute a drive mechanism that drives wheels 70a to 70d. An annular projection 125 for forming a concave conical friction surface is formed integrally with the carriage 1 at the center of the upper surface of the carriage 1, and a bracket 142 is integrally provided at the side part.
A downward V-shaped annular groove 141 is formed inside the wheel, and a plurality of small wheels 13 (8 in this embodiment) are formed.
pcs) installed. An annular rail 143 is attached to the back surface of the vehicle body 90, and this rail 1
Four small wheels 13 are in contact with the upper and lower surfaces of the vehicle body 90 to prevent the vehicle body 90 from tilting due to the load. Through holes are provided at the centers of the truck 1 and the vehicle body 90, and a tubular guide shaft 120 passing through these through holes is fixed to the truck 1 at its lower end. Guide shaft 12
An interlocking shaft 121 is rotatably fitted on the outer side of the guide shaft 120, the truck 1, and the car body 90, and collars 122 and 123 are integrally formed around it, so that the interlocking shaft 121 rotates with the weight of the car body 90 on the truck 1. The weight of the shaft 121 itself is supported. A sprocket wheel 92 is fixed to the outside of the interlocking shaft 121, and between the sprocket wheels 33a, 33b, 33c, 33d and the sprocket wheel 92, as shown in FIG. ,
(not shown in FIG. 2), a chain 94 is stretched through the steering wheel 111 (not shown in FIG. 2), and the steering shaft 30
a, 30b, 30c, and 30d so that their directions can be changed. That is, the sprocket wheel 92, the chain 94, the sprocket wheels 11a, 11b, 33a to 33
d, the steering shafts 30a to 30d constitute a turning mechanism to which the rotation of the interlocking shaft 121 is transmitted and all of the wheels 70a to 70d are always turned in a parallel state.
In addition, the sprocket wheels 92, 33a, 33
b, 33c, and 33d have the same dimensions. Interlocking shaft 12
1, a disk 124 having concave conical friction surfaces on both sides is formed integrally with the interlocking shaft 121. A slider 126 is rotatably and slidably fitted to the outside of the interlocking shaft 121.
A disk 124 and an annular projection 12 are provided at the upper and lower ends of the
A conical friction surface that frictionally engages with the concave conical friction surface of 5 is formed, and the slider 126, the disc 124, and the annular projection 125 constitute a third clutch. In addition,
A gear 4' is integrally formed around the slider 126. The slider 128 has a conical surface at the lower end,
It can only slide on a cylindrical body 127 integrally formed at the center of the lower surface of the vehicle body 90, and frictionally engages with the concave conical friction surface of the disc 124, so that the slider 128 and the disc 1
24 constitutes a second clutch. tubular shaft 1
Reference numeral 36 connects the control wheel 111 with a slider 135 having conical portions at both ends, which is rotatably fitted to the outside of the control stick 129 and at the same time is rotatable and slidable relative to the vehicle body 90. In addition, the slider 13
Bevel gear 1 integrally formed with an annular projection 131 forming a concave conical surface that frictionally engages with the upper conical portion of 5.
30 is slidably and rotatably mounted. The control stick 129 is rotatably and slidably supported by a support frame 137 that is integrally provided on the back surface of the vehicle body 90, and is rotatably (but not slidably) supported by a shifter 138, which will be described later. There is a slider 1
The bevel gear 132 has the same dimensions as the bevel gear 130 and has a gear 112 that meshes with the gear 4' of No. 26, and an annular protrusion 133 that forms a concave conical surface that frictionally engages with the conical portion on the lower side of the slider 135. is fixed. A bevel gear 134 that meshes with the bevel gears 130 and 132 is rotatably supported by the support frame 137 . These bevel gears 130, 132, and 134 constitute a gear mechanism that transmits the rotation of the tubular shaft 136 in normal/reverse directions to the control stick 129, thereby controlling the rotation direction of the control wheel 111 and the turning direction of the wheels 70a to 70d. It always seems to match. The shifter 138 has two stages, upper and lower, and the upper stage fits into outer circumferential grooves provided on each of the sliders 128 and 135 (these sliders 1
28 and 135 are rotatable with respect to the shifter 138), and are fitted into grooves provided on the outer periphery of the slider 126 at the lower stage. Furthermore, shifter 138
The lower stage expands outward, and an arcuate protrusion 139 with a V-shaped cross section that frictionally engages with the V-shaped groove 141 of the truck 1 is provided at the end thereof, thereby forming a shifter 138 and a V-shaped annular groove 141. Bracket 14
2 constitutes the first clutch. counter 1
44 is a counterweight for the weight of the control wheel 111 and below, the first, second, and third clutches, and the gear mechanism. The snap-type stopper 145 positions the control wheel 111 when it is raised or lowered to engage or release the clutch. Although not directly related to the present invention, in order to control the drive source 6 from above the vehicle body 90, a slip ring 146 is fixed to the guide shaft 120, and has a disk shape and the circumference is divided into many small contact points. A contact shaft 147 and a slip ring 148 are fixed to the interlocking shaft 121. These are used for blinking indicator lights provided around the vehicle body 90 to inform the direction of the wheels 70a to 70d during maneuvering.

Next, the operation of this embodiment will be explained.

In the state (FIG. 1), the slider 126 and the annular projection 125 constituting the third clutch, and the slider 128 and the disk 124 constituting the second clutch are both in an engaged state. Therefore, when the control wheel 111 is rotated, the gear 112 rolls around the gear 4', and the vehicle body 90 is pushed by the control stick 129 and rotates in the same direction as the control wheel 111, and the slider 128,
Disc 124, interlocking shaft 121, sprocket wheel 92, chain 94, sprocket wheel 3
The wheels 70a to 70d also change direction via the steering shafts 3a to 33d and the steering axes 30a to 30d. In other words, the car body 9
0. The wheels 70a to 70d simultaneously rotate in the same direction and at the same angle due to the rotation of the control wheel 111.

Figures 5 1-8 show wheels 70a-70d in this case.
The direction of the control wheel 111 and the movement of the vehicle are shown.
The front of the vehicle changes in proportion to the rotation angle.
In this case, the directions of the wheels 70a to 70d are also changed by the same angle in the same direction as the vehicle body 90. The above is exactly the same as the motion of the multidirectional vehicle shown in Japanese Patent Application Laid-Open No. 59-18170.

Next, when the control wheel 111 is pulled up, the shifter 13
8 moves upward, and the slider 126 and the annular projection 12
5 and the engagement between the slider 128 and the disc 124 are released, and the arcuate protrusion 139 of the shifter 138 fits into the V-shaped groove 141 of the truck 1, so that the first clutch is in the engaged state. (Figure 2, state). The slider 126 also engages the disk 124. Therefore, the shifter 138 cannot be rotated with respect to the cart 1. That is, the vehicle body 90
is unrotatably fixed to the truck 1 by the guide shaft 120 passing through the shifter 138 and the control stick 129, and the sprocket wheel 92
can rotate with respect to the truck 1 together with the gear 4' through the slider 126, the disc 124, and the interlocking shaft 121, and the gear 112 includes a tubular shaft 136, a slider 135, a bevel gear 130, a bevel gear 134, The rotation of the control wheel 111 can be transmitted in reverse through the bevel gear 132 and the control stick 129. Thereby, the rotation of the control wheel 111 is transmitted to the wheels 70a to 70d as turning in the same direction while the vehicle body 90 is fixed on the truck 1. Now, when the wheels 70a to 70d are stopped with the wheels 70a to 70d facing the front direction of the vehicle, turn the control wheel 111 to the left to remove the wheels 70a to 70d.
If the direction of d is set directly to the left of the vehicle body 90 and the vehicle is started, the vehicle will start running to the left with the vehicle body 90 facing forward, and if the control wheel 111 is not turned, the vehicle will move sideways and straight as shown in the figure (Fig. 6). (see a). Also,
Similarly, if the wheels 70a to 70d are started diagonally to the front left with respect to the vehicle body 90 and the control wheel 111 is not rotated, the vehicle will continue straight forward diagonally to the left. That is, perform a diagonal forward march to the left (see Figure 6b). Go straight to the right,
In the case of diagonally straight ahead to the right, simply turning the control wheel 111 to the right causes the vehicle to perform a movement symmetrical to that described above (see FIGS. 7a and 7b).

Next, when the vehicle is stopped, the vehicle is immediately started, and the control wheel 111 continues to be turned to the left while the vehicle is running, as shown in FIG.
If the vehicle makes a turn as shown in FIG. 8 and continues to turn the control wheel 111 to the right, it will make a turn as shown in FIG. 8b. Next, turn the control wheel 111 to the left to turn the wheels 70a to 70d to the left while the vehicle is stopped, then start the vehicle, and continue turning the control wheel 111 to the right while driving, the vehicle will turn the vehicle body 90 to the front. Continue to make a turn as shown in FIG.
70d to the right, and when the vehicle is started and the control wheels 111 continue to turn to the left while the vehicle is running, the vehicle will make a curve as shown in FIG. 9b.

Next, while stopped in the state, turn the control wheel 111 to the left to turn the wheels 70a to 70d to the left, return to the state and start, and continue turning the control wheel 111 to the right while driving. As shown in Figure a, the vehicle moves forward while turning the front of the vehicle body 90 to the right. In addition, while stopped, the control wheel 111 is turned to the right and the wheels 70a~
70d to the right, return to the original state, start the vehicle, and continue to turn the control wheel 111 to the left while driving. As shown in FIG. 10b, the vehicle moves while turning the front of the vehicle body 90 to the left. . In the case of the movements shown in Figure 10 a and b, traveling at a constant speed,
And if the control wheel 111 continues to rotate at a constant speed, the vehicle body 9
The vehicle can be made to run on the fan surface with the front of the vehicle 0 pointing exactly at the key point of the fan.

Next, change the control wheel 1 to the state while stopped.
11 to the left to turn the wheels 70a to 70d to the left, then return to the state and start the vehicle.Continue turning the control wheel 111 to the left, the vehicle will change the front of the vehicle body 90 to the left as shown in FIG. 11a. while moving forward. In addition, if the control wheel 111 is turned to the right to turn the wheels 70a to 70d to the right while the vehicle is stopped, then the control wheel 111 is turned to the right to turn the wheels 70a to 70d to the right, and then the control wheel 111 is turned to the right when the vehicle is started and the control wheel 111 is continued to be turned to the right while the vehicle is running. As shown in , the vehicle moves forward while turning the front of the vehicle body 90 to the right. In the case of the movements shown in FIGS. 11a and 11b, if the vehicle travels at a constant speed and the control wheels 111 continue to rotate at a constant speed, the vehicle will travel on the fan surface with the back of the vehicle body 90 pointing exactly at the key point of the fan. You can do it like this.

〔Effect of the invention〕

As explained above, the present invention adds a relatively simple mechanism to the conventional one, thereby making it possible to perform various movements in addition to those shown in JP-A-59-38170 with simple operations. This has the effect of providing a multidirectional vehicle that satisfies various uses.

[Brief explanation of drawings]

1 and 2 are longitudinal cross-sectional views of an embodiment of the multi-directional vehicle of the present invention in different states, and FIG.
4 are explanatory diagrams of the control device and drive device of the multi-directional vehicle shown in FIG. 1, respectively, and FIGS. 38170) and FIGS. 6 to 11 are diagrams showing the orientations of the wheels 70a to 70d newly obtained by the multidirectional vehicle of FIG. 1 and the direction of movement of the vehicle. 1...Truck, 70a-70d...Wheel, 90...
...Vehicle body, 124... Disc, 125... Annular process,
126, 128...Slider, 129...Control stick,
130, 132, 134...Bevel gear, 139...
Arc-shaped projection, 141...V-shaped groove.

Claims (1)

[Claims] 1. A truck 1, a plurality of wheels 70a to 70d rotatably attached to the truck 1, and drive mechanisms 6, 7a, 7b, 8a, 8b for driving these wheels 70a to 70d, 9a, 9b, 51
a to 51d, 58, 59, 5, 52, 72, the car body 90, and an interlocking mechanism that is rotatably provided perpendicularly to the center of the bogie 1 and rotatably supports the car body 90. A shaft 121, an engaging portion formed at both ends in the axial direction, a gear 4' fixed to the periphery, a slider 126 sliding on the interlocking shaft 121, fixed to the interlocking shaft 121 and the truck 1, respectively, A third clutch consisting of engaging members 124 and 125 formed with engaging parts that engage with each engaging part of the slider 126, and a third clutch that is rotatable to the slider 126 of the third clutch. Engagement member 13 attached and in which engagement portion 139 is formed
8, an engagement member 142 fixed to the truck 1 and having an engagement part 141 that engages with the engagement part 139 of the engagement member 138; A joining member 124;
It is attached to a cylindrical part 127 fixed to the car body 90 so as to surround the upper part of the interlocking shaft 121 at the lower part of the car body 90 so as to be movable in the axial direction but not rotatable, and engages with the engagement member 124, a second clutch consisting of a slider 128 that moves on the cylindrical portion 127 in conjunction with the engagement member 138 of the first clutch; a control wheel 111; and a vehicle body 90 that is integrated with the control wheel 111. The engagement member 1 of the first clutch is provided at the lower part to pass through the
A slider 135 connected to 38 is fixed and movable in the vertical direction together with the control wheel 111, and in the first position, the first clutch is disengaged and the second and third clutches are engaged. the second
A tubular shaft 136 that engages the first and third clutches and disengages the second clutch in the position .
and a gear 11 rotatably supported within the tubular shaft 136 and on the engagement member 138 of the first clutch and constantly meshing with the gear 4' of the slider 126 of the third clutch.
2 is fixed to the control stick 129, and the tubular shaft 1 when the tubular shaft 136 is in the first position.
The rotation of the control wheel 111 is directly transmitted to the control stick 129 by engaging with the slider 135 of the tubular shaft 13.
6 is in the second position, gear mechanisms 130 to 134 engage with the slider 135 of the tubular shaft 136 to reverse the rotation of the control wheel 111 and transmit it to the control stick 129;
The rotation of the interlocking shaft 121 is transmitted, and the wheel 70
Rotating mechanism 92, 94, 11a, 11b, 33a to 33 that always rotates a to 70d in a parallel state
d, 30a to 30d.