JPH0242717B2 - - Google Patents
Info
- Publication number
- JPH0242717B2 JPH0242717B2 JP18789286A JP18789286A JPH0242717B2 JP H0242717 B2 JPH0242717 B2 JP H0242717B2 JP 18789286 A JP18789286 A JP 18789286A JP 18789286 A JP18789286 A JP 18789286A JP H0242717 B2 JPH0242717 B2 JP H0242717B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle body
- wheels
- directions
- wheel
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000010363 phase shift Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
Landscapes
- Toys (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Description
本発明は、おもちやをはじめ、移動ロボツト、
フオークリフト、車椅子等広い範囲に適用できる
全方向移動車に関するものである。
The present invention is applicable to toys, mobile robots,
This invention relates to an omnidirectional vehicle that can be applied to a wide range of applications such as forklifts and wheelchairs.
従来、例えばおもちやの走行装置として、球状
の車輪を前後、左右、あるいは斜め方向に回転さ
せて全方向に移動できるようにしたものがある。
また、操向車輪を前後方向、左右方向に切換え
可能に、あるいは、車輪を前後方向走行用、左右
方向走行用の２種類設けておき、これを切換える
ようにしたもの等がある。
2. Description of the Related Art Conventionally, for example, there are moving devices for toys that have spherical wheels that can be rotated back and forth, left and right, or diagonally to move them in all directions. In addition, there are vehicles in which the steering wheel can be switched between front and rear and left and right directions, or two types of wheels are provided, one for front and rear travel and the other for left and right travel, and these can be switched.
ところで、上記従来のおもちやの歩行装置の場
合は、おもちやのような重量の軽いものでは適用
できるが、これを移動ロボツト、フオークリフ
ト、車椅子等の産業用に使用するには構造上無理
があつた。
また、操向車輪を前後方向、左右方向に切換え
たり、あるいは、前後歩行用車輪と左右歩行車輪
とを切換える場合には、操作が面倒なうえ、走行
を一旦停止して切換えるので動作に連続性がない
などの問題点があつた。
By the way, in the case of the conventional toy walking device mentioned above, it can be applied to light objects such as toys, but it is structurally impossible to use it for industrial purposes such as mobile robots, forklifts, and wheelchairs. It was hot. In addition, when switching the steering wheel in the front-rear direction or left-right direction, or switching between the front-rear walking wheel and the left-right walking wheel, the operation is troublesome, and the operation is not continuous because the operation must be switched after stopping the vehicle. There were some problems, such as the lack of.
本発明は、上記の問題点を解決するためになさ
れたもので、車体の前後、左右方向の相対向する
各位置に、接地面が球面状をした少くとも一組の
車輪を設け、この一組の車輪は、それぞれ車体の
前後または左右方向に沿つて回転するよう軸支さ
れていると共に、その車輪支持枠が、車輪の回転
する方向と直交する方向に位相を90度ずらせて車
輪接地面を交互に接地するよう正逆回転可能に軸
装されていることを特徴とするものである。
The present invention has been made in order to solve the above problems, and includes at least one set of wheels each having a spherical ground contact surface at opposing positions in the front, rear, left and right directions of the vehicle body. Each set of wheels is supported so as to rotate along the longitudinal or lateral direction of the vehicle body, and the wheel support frame is shifted in phase by 90 degrees in a direction perpendicular to the direction in which the wheels rotate, so that the wheels touch the ground plane. It is characterized by being equipped with a shaft that can be rotated in forward and reverse directions so as to alternately touch the ground.
上記のように構成することによつて本発明の全
方向移動車は、おもちやはもとより、移動ロボツ
ト、フオークリフト、車椅子等の歩行装置として
広く実用化でき、しかも比較的簡単な構成で、全
方向に自在に、かつ連続的に歩行でき、操作性も
良好なものである。
With the above configuration, the omnidirectional mobile vehicle of the present invention can be widely used not only as a toy but also as a walking device such as a mobile robot, a forklift, or a wheelchair. It can walk freely and continuously in any direction, and has good operability.
以下、本発明の一実施例を、図面を参照して説
明する。
図において、符号１は平面が八角形状の車体
で、この車体１の下面には、車体中心Ｏを中心に
前後、左右方向の相対向する各位置に、各一組の
走行車輪２，２が設けられている。この一組の走
行車輪２，２は、長方形をした支持枠３に軸４に
よつて車体１の前後、または左右方向に沿つて回
転自在に軸支され、接地面が球面状をしたもので
ある。また、この一組の歩行車輪２，２は、車体
１の前後、または左右方向に沿つて平行に、かつ
所定の間隔を有して一対の支持脚５，５に回転軸
６を介して支持された支持枠３に、車輪２の回転
方向と直交する方向に位相を90度ずらせて接地面
が交互に接地するよう軸支されている。
一方、本体１の中心Ｏ側には、中心Ｏから車体
１の前後、左右方向に沿う放射方向に正逆回転自
在のギヤドモータ７が４個、その駆動軸７ａを車
輪２側に向けて支持脚５及び取付枠８を介して支
持されている。ギヤドモータの駆動軸７ａには駆
動ギヤ９が取付けられ、この駆動ギヤ９と噛合う
従動ギヤ１０が車輪２の支持枠３の車体内側寄り
に固着され、ギヤドモータ７の正逆回転により、
駆動ギヤ９、従動ギヤ１０，１０を介して支持枠
３、車輪２が正逆回転し、一組の車輪２，２はそ
れぞれの接地面が90度位相をずらせて接地するよ
うに構成されている。
また、図示しないが、各ギヤドモータ７を、電
源からの電源を制御して、４個のギヤドモータ７
をそれぞれ連係させながらそれぞれの回転方向を
同時制御するマイコンを利用した操縦装置が設け
られている。さらに、図示しないが、車体１上に
は、操縦席をはじめ、それぞれの目的、例えばお
もちや、移動ロボツト、フオークリフト、車椅子
等に応じた装置が設けられる。
このような構成の全方向移動車においては、第
１図において、例えば左右両側の支持枠３，３、
３，３を車体１の前方向き、あるいは後方向きに
回転させると、車輪２，２は交互に接地して前向
きあるいは後ろ向きの駆動力、推進力を生じ前後
方向の車輪２が、軸４を中心に回転して車体１は
前進、または後進する。また、同様に前後方向の
支持枠３，３、３，３を右回転、または左回転さ
せると、車体は右方向、または左方向に移動走行
する。
車体１を旋回、または斜行させるときは、前
後、左右の各支持枠３，３、３，３の回転方向を
わずかにずらせて回転方向を変えるだけで自在に
旋回・斜行させることができる。また、前後、左
右方向の全支持枠３，３、３，３を同方向に回転
させると、車体１は車体中心Ｏを中心に右、左い
ずれの方向にも自在に回転させることができる。
さらに、これらの動作は、車体１の走行を停止す
ることなく連続的に行うことができる。
このときの車輪２の動作は、軸４を中心とする
回転運動と、支持枠３の回転による車輪接地面の
接地摩擦による駆動（推進）力とが、接地面が球
面状であるのでバランスよく動作し、また、旋回
時には車輪２のわずかなスリツプ動作と共に全方
向にスムーズに移動走行することができる。
なお、上記車体１は、八角形状に限らず円形、
長方形などどのような形状であつてもよく、ま
た、車輪２の個数は、一組の車輪を基準としてこ
れを増加するのは自在である。また、この移動車
は、おもちやをはじめ、移動ロボツト、フオーク
リフト、車椅子等適用範囲は広いが、その構造
上、走行路面は平面であることが望ましい。
An embodiment of the present invention will be described below with reference to the drawings. In the figure, reference numeral 1 denotes a vehicle body having an octagonal shape in plan, and on the underside of this vehicle body 1, a pair of running wheels 2, 2 are mounted at opposite positions in the front, rear, and left and right directions centering on the center O of the vehicle body. It is provided. This pair of running wheels 2, 2 is rotatably supported by a shaft 4 on a rectangular support frame 3 along the front and rear or left and right directions of the vehicle body 1, and has a spherical ground contact surface. be. The pair of walking wheels 2, 2 are supported by a pair of support legs 5, 5 via a rotating shaft 6 in parallel along the front and rear or left and right directions of the vehicle body 1 and at a predetermined interval. The wheels 2 are supported by a supporting frame 3 such that the ground contact surfaces alternately touch the ground with a phase shift of 90 degrees in a direction orthogonal to the rotational direction of the wheels 2. On the other hand, on the center O side of the main body 1, there are four geared motors 7 that can freely rotate forward and backward in radial directions along the longitudinal and lateral directions of the vehicle body 1 from the center O. 5 and a mounting frame 8. A drive gear 9 is attached to the drive shaft 7a of the geared motor, and a driven gear 10 that meshes with the drive gear 9 is fixed to the inside of the vehicle body of the support frame 3 of the wheel 2, and when the geared motor 7 rotates forward and backward,
The support frame 3 and the wheels 2 are rotated in forward and reverse directions via the drive gear 9 and the driven gears 10, 10, and the pair of wheels 2, 2 are configured so that their respective ground contact surfaces are 90 degrees out of phase with each other. There is. Although not shown, each geared motor 7 is connected to the four geared motors 7 by controlling the power from the power source.
A control device using a microcomputer is provided that simultaneously controls the rotation direction of each while linking the two. Further, although not shown, on the vehicle body 1, there are provided a cockpit and other devices for various purposes, such as toys, mobile robots, forklifts, wheelchairs, etc. In an omnidirectional vehicle having such a configuration, in FIG. 1, for example, the left and right support frames 3,
When the wheels 3 and 3 are rotated in the forward or backward direction of the vehicle body 1, the wheels 2, 2 alternately touch the ground, producing a forward or backward driving force or propulsive force. The vehicle body 1 moves forward or backward. Similarly, when the longitudinal support frames 3, 3, 3, 3 are rotated clockwise or counterclockwise, the vehicle body moves to the right or left. When turning or tilting the vehicle body 1, the vehicle body 1 can be freely rotated or tilted by simply changing the rotation direction by slightly shifting the rotation direction of each of the front and rear, left and right support frames 3, 3, 3, 3. . Furthermore, by rotating all the support frames 3, 3, 3, 3 in the longitudinal and lateral directions in the same direction, the vehicle body 1 can be freely rotated in either the right or left direction around the vehicle body center O.
Furthermore, these operations can be performed continuously without stopping the running of the vehicle body 1. At this time, the movement of the wheel 2 is achieved in a well-balanced manner between the rotational movement around the shaft 4 and the driving (propulsion) force due to the friction of the wheel contact surface due to the rotation of the support frame 3, since the contact surface is spherical. Furthermore, when turning, the wheels 2 can move smoothly in all directions with a slight slip motion. Note that the vehicle body 1 is not limited to an octagonal shape, but a circular shape,
It may have any shape such as a rectangle, and the number of wheels 2 can be increased based on one set of wheels. Further, this mobile vehicle has a wide range of applications including toys, mobile robots, forklifts, wheelchairs, etc., but due to its structure, it is desirable that the road surface on which it travels is flat.
以上説明したように、本発明による全方向移動
車によれば、車体の前後、左右の相対向位置に、
接地面が球状をした少くとも一組の車輪を設け、
この車輪は、車体の前後方向への回転と、その回
転方向と直交する方向への正逆回転を可能にした
ので、これら各車輪の回転方向をそれぞれ連動さ
せて制御することにより、前後、左右、斜め方
向、同位置での旋回など全方向に自在に走行する
ことができる。また、その動作は、移動方向を完
全に逆方向にする場合は別として、連続的に行う
ことができて能率的で便利な移動走行を行うこと
ができる。さらに、その操縦操作は簡単、容易で
あり、構造は簡単で比較的安価に生産できる。
As explained above, according to the omnidirectional vehicle according to the present invention, there are
At least one set of wheels with a spherical contact surface is provided,
These wheels enable the vehicle body to rotate forward and backward, as well as forward and reverse in a direction perpendicular to the direction of rotation. It can move freely in all directions, including diagonally, turning in the same position, etc. In addition, the operation can be performed continuously, except when the direction of movement is completely reversed, allowing for efficient and convenient movement. Furthermore, its operation is simple and easy, its structure is simple, and it can be produced at relatively low cost.
第１図は本発明の一実施例を示す移動車全体の
底面図、第２図はその側面図である。
１……車体、２……車輪、３……支持枠、４…
…軸、５……支持脚、６……回転軸、７……ギヤ
ドモータ、７ａ……駆動軸、８……取付枠、９…
…駆動ギヤ、１０……従動ギヤ、Ｏ……車体の中
心。
FIG. 1 is a bottom view of the entire mobile vehicle showing one embodiment of the present invention, and FIG. 2 is a side view thereof. 1... Vehicle body, 2... Wheels, 3... Support frame, 4...
... shaft, 5 ... support leg, 6 ... rotary shaft, 7 ... geared motor, 7a ... drive shaft, 8 ... mounting frame, 9 ...
...Drive gear, 10...Followed gear, O...Center of the vehicle body.
Claims (1)
に、接地面が球面状をした少くとも一組の車輪を
設け、この一組の車輪は、それぞれ車体の前後ま
たは左右方向に沿つて回転するように軸支されて
いると共に、その車輪支持枠が、車輪の回転する
方向と直交する方向に位相を90度ずらせて、車輪
接地面を交互に接地するよう正逆回転可能に軸装
されていることを特徴とする全方向移動車。1. At least one set of wheels with a spherical ground contact surface is provided at opposite positions in the front, rear, and left and right directions of the vehicle body, and each set of wheels rotates along the front and rear or left and right directions of the vehicle body. At the same time, the wheel support frame is pivoted so that it can rotate in forward and reverse directions so that the wheel contact surface alternately contacts the ground with a phase shift of 90 degrees in a direction perpendicular to the direction in which the wheel rotates. An omnidirectional vehicle that is characterized by
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18789286A JPS6343876A (en) | 1986-08-12 | 1986-08-12 | Omnidirectional moving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18789286A JPS6343876A (en) | 1986-08-12 | 1986-08-12 | Omnidirectional moving vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6343876A JPS6343876A (en) | 1988-02-24 |
| JPH0242717B2 true JPH0242717B2 (en) | 1990-09-25 |
Family
ID=16214021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18789286A Granted JPS6343876A (en) | 1986-08-12 | 1986-08-12 | Omnidirectional moving vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6343876A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10065840B2 (en) | 2015-03-19 | 2018-09-04 | Murata Machinery, Ltd. | Transport vehicle and transport vehicle system |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8025551B2 (en) | 2006-09-20 | 2011-09-27 | Mattel, Inc. | Multi-mode three wheeled toy vehicle |
| CN110562351A (en) * | 2019-07-30 | 2019-12-13 | 上海同毅自动化技术有限公司 | Double-support steering wheel driving steering mechanism assembly |
-
1986
- 1986-08-12 JP JP18789286A patent/JPS6343876A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10065840B2 (en) | 2015-03-19 | 2018-09-04 | Murata Machinery, Ltd. | Transport vehicle and transport vehicle system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6343876A (en) | 1988-02-24 |
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