JP2790143B2 - Traveling device and robot - Google Patents
Traveling device and robotInfo
- Publication number
- JP2790143B2 JP2790143B2 JP63109879A JP10987988A JP2790143B2 JP 2790143 B2 JP2790143 B2 JP 2790143B2 JP 63109879 A JP63109879 A JP 63109879A JP 10987988 A JP10987988 A JP 10987988A JP 2790143 B2 JP2790143 B2 JP 2790143B2
- Authority
- JP
- Japan
- Prior art keywords
- gear
- gears
- spur
- shaft
- robot
- 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 - Lifetime
Links
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- Manipulator (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Description
【発明の詳細な説明】 〔概 要〕 移動ロボットや搬送車等に用いられる走行装置と、該
走行装置を用いたロボットに関し、 複数の車輪の駆動及び操向をそれぞれ１つの駆動源で
行なうことを可能にして動力使用効率を向上することを
目的とし、 中央に設けられた第１の平歯車と、該第１の平歯車に
噛合う複数の中間歯車と、該中間歯車にそれぞれ噛合う
同一歯数の複数の第２の平歯車とからなる第１の歯車列
が上段に、該第１の歯車列と同一配列でそれぞれ対応す
る歯車がそれぞれ同一軸上に個別に回転できるように設
置された第２の歯車列が下段に設けられ、さらに下段の
第２の平歯車にはそれぞれ傘歯車が固設された車輪と、
該傘歯車に噛合い且つ該第２の平歯車の中心をはずして
設けられた軸に固設された傘歯車の、該軸の他端に前記
上方の第２の平歯車の回転力を受ける歯車が設けられ、
上段の第１の平歯車を回転することにより車輪が回転駆
動され、下段の第１の平歯車を回転することにより車輪
が操向されるように構成する。DETAILED DESCRIPTION OF THE INVENTION [Overview] Regarding a traveling device used for a mobile robot, a transport vehicle, and the like, and a robot using the traveling device, driving and steering of a plurality of wheels are each performed by one drive source. The first spur gear provided at the center, a plurality of intermediate gears meshing with the first spur gear, and the same gear meshing with the intermediate gear, respectively. A first gear train composed of a plurality of second spur gears having the number of teeth is provided on the upper stage so that gears corresponding to the first gear train and corresponding to each other can be individually rotated on the same axis. A second gear train is provided at a lower stage, and a wheel having a bevel gear fixed to each of the lower second spur gears;
The bevel gear meshed with the bevel gear and fixed to a shaft provided off center of the second spur gear receives the rotational force of the upper second spur gear at the other end of the shaft. Gears are provided,
By rotating the upper first spur gear, the wheel is driven to rotate, and by rotating the lower first spur gear, the wheel is steered.
本発明は、移動ロボットに関する。 The present invention relates to a mobile robot.
移動ロボット等は、通常バッテリで駆動されているた
め、少電力で長時間動作できる事が要求されている。こ
のため、ロボットには小型軽量で、モータ等のアクチュ
エータの数が少なくても充分な移動動作が可能なことが
必要であり、またモータで駆動される部分が小さければ
小さい程、効率の良い機構となる。Since mobile robots and the like are usually driven by a battery, they are required to be able to operate for a long time with low power. For this reason, it is necessary for the robot to be small and lightweight, and to be able to move sufficiently even with a small number of actuators such as motors. The smaller the part driven by the motor, the more efficient the mechanism Becomes
従来の移動ロボットは、大きなバッテリを搭載して、
大トルクを持つモータで動かしたり、また１輪だけを操
舵駆動し、残りはキャスタ等の空輪で済ませることが多
かった。またダイレクトドライブモータ等を用いて、車
輪をそのままモータにして、歯車機構をなくし、簡単な
機構にしていた。Conventional mobile robots are equipped with a large battery,
In many cases, the motor was driven by a motor having a large torque, and only one wheel was steered, and the rest was completed by an empty wheel such as a caster. In addition, using a direct drive motor or the like, the wheels are directly used as motors, and the gear mechanism is eliminated, thereby providing a simple mechanism.
ところが、バッテリは容量がまた小さく、重量が大き
い。したがって、それをも運ぶため更に大きな駆動源が
必要となり、またバッテリを大きくしなければならない
といった悪循環があった。また１輪だけしか駆動してな
いと不整地で車輪が浮いてしまったときに脱出不能とな
る欠点があった。逆に、モータの数を多くするとそれを
駆動するために、多くの電力を要し、統括してモータを
制御するため、内輪差等を考慮した複雑な計算が必要で
あった。However, batteries have low capacity and heavy weight. Therefore, there is a vicious cycle in which a larger driving source is required to carry the battery and the battery must be enlarged. In addition, there is a drawback that if only one wheel is driven, the vehicle cannot escape when the wheel floats on uneven ground. Conversely, if the number of motors is increased, a large amount of electric power is required to drive the motors, and the motors are controlled in an integrated manner, so that complicated calculations are required in consideration of inner ring differences and the like.
本発明は複数の車輪の駆動及び操向をそれぞれ１つの
駆動源で行うことを可能にして動力使用効率を向上した
走行装置を用いたロボットを提供することを目的とす
る。SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot using a traveling device that can drive and steer a plurality of wheels with one drive source and improve power use efficiency.
上記目的を達成するために、本発明のロボットは、中
央に設けられた第１の平歯車G1と、該第１の平歯車G1に
噛合う複数の中間歯車G2,G3と、該中間歯車G2,G3にそれ
ぞれ噛合う同一歯数の複数の第２の平歯車G4〜G7とから
なる第１の歯車列が上段に、該第１の歯車列と同一配列
でそれぞれ対応する歯車がそれぞれ同一軸上に配置され
た第２の歯車列H1〜H7が下段に設けられ、上下の第１の
平歯車G1,H1を支持する軸A1は下段の歯車H1を固定し且
つ上段の歯車G1を自由回転可能に支持し、且つ該軸A1の
上部にはロボットのボディ22が固設され、上下の中間歯
車G2,G3,H2,H3を支持する軸A2,A3は上下の歯車を別個に
自由回転可能に支持し、上下の第２の平歯車G4〜G7,H4
〜H7を支持する軸A4〜A7は上部の一端をフレーム部材１
に回転自在に支持され、且つ上段の歯車G4〜G7を自由回
転可能に支持すると共に、下段の歯車H4〜H7を固定し、
さらに下段の第２の平歯車H4〜H7には、それぞれ傘歯車
S4が固設された車輪Ｗが該歯車H4〜H7に対して垂直に設
けられ、上記傘歯車S4に噛合う傘歯車S4が下段の第２の
平歯車H4〜H7の中心をはずして回転可能に設けられた軸
A8の一端に取付けられ、該軸A8の他端に前記上段の第２
の平歯車G4〜G7の回転力を受ける歯車S2が固設されて成
り、上段の第１の平歯車G1を回転することにより車輪Ｗ
を回転駆動し、下段の第１の平歯車H1を回転することに
より車輪Ｗを操向し、該車輪Ｗの操向に連動してロボッ
トのボディ22が回動するように構成している。In order to achieve the above object, a robot according to the present invention includes a first spur gear G1 provided at the center, a plurality of intermediate gears G2 and G3 meshing with the first spur gear G1, and an intermediate gear G2. , G3, a first gear train composed of a plurality of second spur gears G4 to G7 having the same number of teeth is provided on the upper stage. A second gear train H1 to H7 arranged on the upper side is provided at the lower stage, and a shaft A1 supporting the upper and lower first spur gears G1 and H1 fixes the lower stage gear H1 and freely rotates the upper stage gear G1. Axes A2 and A3 that support the upper and lower intermediate gears G2, G3, H2, and H3 can freely rotate the upper and lower gears separately. And upper and lower second spur gears G4 to G7, H4
The shafts A4 to A7 supporting H7 are connected to the frame member 1 at one upper end.
, And rotatably supported, and freely rotatably supported the upper gears G4 to G7, and fixed the lower gears H4 to H7,
The lower second spur gears H4 to H7 have bevel gears respectively.
A wheel W on which S4 is fixed is provided perpendicular to the gears H4 to H7, and the bevel gear S4 meshing with the bevel gear S4 is rotatable by decentering the lower second spur gears H4 to H7. Shaft provided on
A8 is attached to one end of the shaft A8.
A gear S2 receiving the rotational force of the spur gears G4 to G7 is fixedly provided, and by rotating the upper first spur gear G1, the wheel W
Is rotated to rotate the lower first spur gear H1 to steer the wheel W, and the robot body 22 is rotated in conjunction with the steering of the wheel W.
前記ロボットは、上段の第１の平歯車G1を回転するこ
とにより中間歯車G2,G3を介して第２の平歯車G4〜G7が
全て同方向に回転し、同歯車から回転力を受けた傘歯車
S3,S4を介して全べての車輪を同方向に回転させる。ま
た下段の第１の平歯車H1を回動することにより、中間歯
車H2,H3を介して第２の平歯車H4〜H7を全て同方向に回
動させ車輪Ｗを操向する。By rotating the upper first spur gear G1, the robot rotates all the second spur gears G4 to G7 in the same direction via the intermediate gears G2 and G3, and receives the rotational force from the same gear. gear
All wheels are rotated in the same direction via S3 and S4. By rotating the lower first spur gear H1, all the second spur gears H4 to H7 are rotated in the same direction via the intermediate gears H2 and H3, and the wheels W are steered.
また前記ロボットは、ボディ22が走行装置の操向をつ
かさどる軸A1に固定されているため、第１の平歯車H1と
第２の平歯車H4〜H7の歯数を同一としておけばボディ22
の前面を常に走行方向に向けることができる。In addition, since the body 22 is fixed to the axis A1 that controls the steering of the traveling device, the robot can be mounted on the robot by setting the first spur gear H1 and the second spur gears H4 to H7 to have the same number of teeth.
Of the vehicle can always be directed in the running direction.
第１図は本発明のロボットに用いた走行装置の実施例
の模式図、第２図は実施例の三面図であり、（ａ）は平
面図、（ｂ）は一部をａ図のｂ−ｂ線で切断して示した
正面図、（ｃ）は側面図である。FIG. 1 is a schematic view of an embodiment of a traveling apparatus used in the robot of the present invention, FIG. 2 is a three-view drawing of the embodiment, (a) is a plan view, and (b) is a part of FIG. FIG. 3C is a front view cut along line b, and FIG.
本実施例は第１図及び第２図に示すように、同一配列
の歯車列が上下２段に設けられており、上段の歯車列
は、中央に第１の平歯車G1が配置され、該第１の平歯車
G1に複数の（図では２個）中間歯車G2,G3が噛み合わさ
れ、該中間歯車G2,G3にそれぞれ複数の（図では２個ず
つ）第２の平歯車G4〜G7が噛み合う様に配置され、且つ
第２の平歯車G4〜G7にはそれぞれ同軸上に小歯車Ｓが固
設されている。また下段の歯車列は上段の歯車列と同様
であり、第２の平歯車H4〜H7には小歯車S1は無い。そし
て上下の歯車列の各対応する歯車同士は同一軸に支持さ
れており、上下の第１の平歯車G1,H1を支持する軸A1は
下段の歯車H1を固定し、上段の歯車G1を自由回転可能に
支持している。また上下の中間歯車G2,G3,H2,H3を支持
する軸A2,A3は上下の歯車を別個に自由回転可能に支持
している。また上下の第２の平歯車G4〜G7,H4〜H7を支
持する軸A4〜A7は上部の一端をフレーム部材１（第２図
（ｂ）参照）に回転自在に支持され、上段の歯車G4〜G7
を自由回転可能に支持すると共に、下段の歯車H4〜H7を
固定している。In this embodiment, as shown in FIGS. 1 and 2, gear trains having the same arrangement are provided in upper and lower two stages, and the upper gear train has a first spur gear G1 disposed in the center. 1st spur gear
A plurality of (two in the figure) intermediate gears G2 and G3 are meshed with G1, and a plurality of (two in the figure) second spur gears G4 to G7 are arranged to mesh with the intermediate gears G2 and G3, respectively. A small gear S is fixed to the second spur gears G4 to G7 coaxially. The lower gear train is the same as the upper gear train, and the second spur gears H4 to H7 have no small gear S1. The corresponding gears of the upper and lower gear trains are supported on the same shaft, and the shaft A1 supporting the upper and lower first spur gears G1 and H1 fixes the lower gear H1 and frees the upper gear G1. It is rotatably supported. The shafts A2, A3 supporting the upper and lower intermediate gears G2, G3, H2, H3 separately support the upper and lower gears so as to freely rotate. The shafts A4 to A7 supporting the upper and lower second spur gears G4 to G7 and H4 to H7 are rotatably supported at one upper end by the frame member 1 (see FIG. 2 (b)). ~ G7
Are rotatably supported, and the lower gears H4 to H7 are fixed.
さらに下段の各第２の平歯車H4〜H7にはそれぞれ傘歯
車S4が固設された車輪Ｗが垂直に設けられると共に、前
記傘歯車S4と噛合う傘歯車S3が第２の平歯車H4〜H7の中
心をはずして貫通した設けられた回転可能な軸A8の一端
に固設され、該軸A8の他端に前記上段の第２の平歯車G4
〜G7に固設された小歯車S1に噛合う小歯車S2が固設され
ている。Further, wheels W on which bevel gears S4 are fixed are respectively provided vertically on the second lower spur gears H4 to H7, and bevel gears S3 meshing with the bevel gears S4 are second spur gears H4 to H7. H7 is fixedly mounted at one end of a rotatable shaft A8 provided through the center of the second spur gear G4 at the other end of the shaft A8.
A small gear S2 meshing with the small gear S1 fixed to G7 is fixed.
また走行用のモータM1と操向用モータM2とがそれぞれ
１個ずつ設けられており、走行用モータM1の有する小歯
車G8と上段の第１の平歯車G1との間には中間歯車G9,G10
が設けられ、操向用のモータM2の有する小歯車と噛み合
う大歯車H8が軸A1の上端に固設されている。なおこの操
向用のモータM2及び大歯車H8は（ｂ）図に示すように、
モータM2は軸A1の上端に固設されたプレート３上に固定
し、大歯車H8はフレームに固定した小歯車H9が遊星歯車
的に作動して軸A1を駆動するようにしても良い。第２図
はこの第１図（ｂ）の場合を示している。Also, one each of the traveling motor M1 and the steering motor M2 is provided, and an intermediate gear G9, between the small gear G8 of the traveling motor M1 and the upper first spur gear G1. G10
And a large gear H8 meshing with a small gear of the steering motor M2 is fixed to the upper end of the shaft A1. The steering motor M2 and the large gear H8 are, as shown in FIG.
The motor M2 may be fixed on the plate 3 fixed to the upper end of the shaft A1, and the large gear H8 may be configured such that the small gear H9 fixed to the frame operates as a planetary gear to drive the shaft A1. FIG. 2 shows the case of FIG. 1 (b).
第３図は上段及び下段の歯車列の詳細を示した図であ
り、（ａ）は歯車列の平面図、（ｂ）はａ図のＢ−Ｂ′
−Ｂ″−Ｂ線における断面図である。3A and 3B are diagrams showing the details of the upper and lower gear trains, wherein FIG. 3A is a plan view of the gear train, and FIG.
It is sectional drawing in the -B "-B line.
同図において、1,2はフレーム部材であり、両者はス
ペーサ４により結合されており、その間に第１の歯車列
G1〜G7と第２の歯車列H1〜H7が配列されている。そして
軸A1は下端をフレーム部材２に設けられた球軸受５で支
持され、その上方で下段の第１の平歯車H1をピン６固定
し、さらにその上方で上段の第１の平歯車G1を球軸受７
を介して自由回転に支持している。また軸A2,A3は両端
をフレーム部材１及び２に固定され、球軸受８を介して
上段の中間歯車G2,G3を、球軸受９を介して下段の中間
歯車H2,H3をそれぞれ自由回転可能に支持している。ま
た軸A4〜A7は２重軸となっており、その外側の軸は上段
の第２の歯車G4〜G7と一体であり、フレーム部材１に取
付けられた球軸受10,11により回転可能に支持され、中
心の軸の外側の軸に回転自在に支持され、その先端に下
段の第２の平歯車G4〜G7を固定している。さらに下段の
第２の平歯車H4〜H7には傘歯車S4が固設された車輪Ｗ
が、軸受ブラケット14を介して取付けられ、また中心軸
をはずした位置に球軸受15で支持された軸A8が設けら
れ、その一方の端部には車輪Ｗの傘歯車S4に噛合う傘歯
車S3が、他端に上段の第２の平歯車G4〜G7に固設された
小歯車S1に噛合う小歯車S2が固設されている。In the drawing, reference numerals 1 and 2 denote frame members, both of which are connected by a spacer 4, and a first gear train between them.
G1 to G7 and second gear trains H1 to H7 are arranged. The lower end of the shaft A1 is supported by a ball bearing 5 provided on the frame member 2. The lower first spur gear H1 is fixed to the pin 6 above the lower end, and the upper first spur gear G1 is further fixed above the lower shaft. Ball bearing 7
To support free rotation. Both ends of the shafts A2 and A3 are fixed to the frame members 1 and 2, and the upper intermediate gears G2 and G3 via the ball bearing 8 and the lower intermediate gears H2 and H3 via the ball bearing 9 can freely rotate. I support it. The shafts A4 to A7 are double shafts, and the outer shafts are integral with the upper second gears G4 to G7, and are rotatably supported by ball bearings 10, 11 mounted on the frame member 1. The second spur gears G4 to G7 at the lower stage are fixed to the end of the second spur gears G4 to G7. A wheel W to which a bevel gear S4 is fixed is attached to the lower second spur gears H4 to H7.
Is mounted via a bearing bracket 14, and a shaft A8 supported by a ball bearing 15 is provided at a position off the center axis, and at one end thereof, a bevel gear meshing with the bevel gear S4 of the wheel W. At the other end, a small gear S2 that meshes with a small gear S1 fixed to the upper second spur gears G4 to G7 at the other end is fixed.
このように構成された本実施例は、モータM1を回転さ
せることにより、該モータの駆動軸に固定された小歯車
G8から中間歯車G9,G10、上段の第１の平歯車G1、中間歯
車G2,G3を経て各第２の平歯車G4〜G7を回転させ、さら
に該各第１の平歯車G4〜G7に固設された小歯車S1から小
歯車S2、軸A8、傘歯車S3を経て傘歯車S4を回転して車輪
Ｗを回転させる。また、モータM2を回転させることによ
り、該モータの駆動軸に固定された小歯車H9から大歯車
H8、軸A1、下段の第１の平歯車H1、中間歯車H2,H3を経
て第２の平歯車H4〜H7が同方向に回動し各車輪Ｗを同一
方向に操向する。この場合360゜以上の操向が可能であ
るが、小歯車S1を設けずに直接第２の平歯車G4〜G7に別
の歯車を噛み合わせ、該歯車から傘歯車S3に回転力を伝
えることもできる。但しこの場合の操向角度は制限され
る。なお下段の第１の平歯車H1と各第２の平歯車H4〜H7
の歯数を等しくしておけば第１の平歯車H1と各第２の平
歯車H4〜H7の回動する角度は等しくなる。従って第１図
の如く大歯車H8又はプレート３に車輪Ｗの向きと同方向
に矢印17を表示しておけば矢印17は常に車輪Ｗの走行方
向を指示することになる。The present embodiment thus configured is configured such that the small gear fixed to the drive shaft of the motor M1 is rotated by rotating the motor M1.
From G8, the intermediate gears G9, G10, the upper first spur gear G1, and the intermediate gears G2, G3, the second spur gears G4 to G7 are rotated, and further fixed to the respective first spur gears G4 to G7. The wheel W is rotated by rotating the bevel gear S4 from the provided small gear S1 via the small gear S2, the shaft A8, and the bevel gear S3. Also, by rotating the motor M2, the small gear H9 fixed to the drive shaft of the motor changes the large gear
The second spur gears H4 to H7 rotate in the same direction via H8, the shaft A1, the lower first spur gear H1, and the intermediate gears H2, H3, and steer the wheels W in the same direction. In this case, a steering angle of 360 ° or more is possible, but another gear is directly meshed with the second spur gears G4 to G7 without providing the small gear S1, and the rotational force is transmitted from the gear to the bevel gear S3. Can also. However, the steering angle in this case is limited. The lower first spur gear H1 and each second spur gear H4 to H7
If the number of teeth of the first spur gear H1 is made equal, the rotation angles of the first spur gear H1 and the second spur gears H4 to H7 become equal. Therefore, if the arrow 17 is displayed on the large gear H8 or the plate 3 in the same direction as the direction of the wheel W as shown in FIG. 1, the arrow 17 always indicates the traveling direction of the wheel W.
以上の本実施例によれば走行用モータM1と操向用モー
タM2の２つで４つの車輪Ｗを駆動操向することができ、
しかも４つの車輪Ｗが同一方向に操向されるのでフレー
ム部材１の方向は変わらないため、この部材１の上にバ
ッテリ18を搭載しておくと、操向時にはバッテリが移動
しないのでモータを小さなものでまかなうことができ、
経済的である。According to the above embodiment, four wheels W can be driven and steered by two of the traveling motor M1 and the steering motor M2,
Moreover, since the four wheels W are steered in the same direction, the direction of the frame member 1 does not change. If the battery 18 is mounted on this member 1, the battery does not move during steering, so that the motor is small. Can be covered by things,
It is economical.
第４図及び第５図は本発明のロボットの実施例を示す
図であり、（ａ）は正面図、（ｂ）は側面図であり、第
５図は側面断面図である。4 and 5 are views showing an embodiment of the robot of the present invention, wherein (a) is a front view, (b) is a side view, and FIG. 5 is a side sectional view.
本実施例は第５図に示すように、前実施例で説明した
走行装置20に、該走行装置のフレーム部材２をインナー
レースとする大径のローラ軸受が設けられ、そのアウタ
ーレース21に、頭部22aと円筒形の胴部22bとスカート部
22cからなるボディ22が取付けられており、該ボディは
胴部22bの上で軸A1に固定されたプレート３に固定され
ている。従ってボディ22は車輪Ｗの操向に連動して回転
し、その前面を進行方向に向けることができる。In this embodiment, as shown in FIG. 5, the traveling device 20 described in the previous embodiment is provided with a large-diameter roller bearing with the frame member 2 of the traveling device as an inner race. Head 22a, cylindrical body 22b and skirt
A body 22 composed of 22c is mounted, and the body is fixed to the plate 3 fixed to the axis A1 on the body 22b. Accordingly, the body 22 rotates in conjunction with the steering of the wheel W, and the front surface thereof can be directed in the traveling direction.
なおボディ22には、第４図に示すように超音波センサ
23,24,25が頭部22aの両耳部と胴部22bの正面に、光セン
サ26〜29が頭部22aの両目部とスカート部22cの正面に、
タッチセンサ30がスカート部22cと外周部に設けられ、
さらに両腕部31,32が胴部22bの左右に、発光LED33〜36
が頭部22a及びスカート部22cに設けられている。The body 22 has an ultrasonic sensor as shown in FIG.
23, 24, 25 are on the front of both ears and the torso 22b of the head 22a, and the optical sensors 26 to 29 are on both eyes of the head 22a and the front of the skirt 22c.
A touch sensor 30 is provided on the skirt 22c and the outer periphery,
Further, the arms 31, 32 are provided on the left and right sides of the body 22b with light emitting LEDs 33 to 36.
Are provided on the head 22a and the skirt 22c.
このように構成された本実施例は、方向変換機能と前
進機能を機構的には一体化し、制御の面からは両者を完
全に独立に扱うことによって、ロボットの行動の高能率
化を図ることを可能としたもので、センサーの作用する
方向、アクチュエータの作用する方向、前進方向の三者
を一致させたまま任意の方向に向けることができる。そ
の結果（３輪車型のものと異なり、複雑な計算なしで）
身体の幅で任意の方向にその場回転でき、（それでい
て）回転時と前進時で機構的切り替えを行なわないの
で、エネルギーの損失は少なく、無駄な動きがないため
摩耗や損傷も少ないといった利点がある。In this embodiment configured as described above, the direction changing function and the forward function are mechanically integrated, and from the control aspect, both are completely independent, thereby improving the efficiency of the behavior of the robot. The direction in which the sensor acts, the direction in which the actuator acts, and the forward direction can be directed in any direction while keeping the three directions in agreement. The result (unlike the tricycle type, without complicated calculations)
It has the advantage of being able to rotate in place in any direction with the width of the body, and (because) there is no mechanical switching between rotation and forward movement, so there is less energy loss and less wear and damage due to no unnecessary movement. is there.
以上説明したように、本発明によれば、１つのモータ
で複数の車輪を駆動でき、また別の１つのモータで該車
輪の操向ができるので、モータの数が少なくてすみ、移
動ロボットのバッテリが大きくなりすぎるといった欠点
がなくなる。またモータの数が少ないので電力消費が少
なく、長時間駆動に適する。さらに、操向操作の際にバ
ッテリが動かないので操向用モータを小さくすることが
でき、電力消費が少なくて済む。また騒音が少なくな
り、メンテナンスも容易となる等の効果がある。As described above, according to the present invention, a plurality of wheels can be driven by one motor, and the wheels can be steered by another one motor. The disadvantage that the battery becomes too large is eliminated. In addition, since the number of motors is small, power consumption is small, and it is suitable for long-time driving. Further, since the battery does not move during the steering operation, the size of the steering motor can be reduced, and the power consumption can be reduced. In addition, there is an effect that noise is reduced and maintenance becomes easy.
第１図及び第２図は本発明の実施例を示す図、 第３図は上段及び下段の歯車列の詳細に示した断面図、 第４図及び第５図は本発明のロボットの実施例を示す図
である。 図において、 G1は上段歯車列の第１の平歯車、 G2,G3は上段の歯車列の中間歯車、 G4〜G7は上段の歯車列の第２の平歯車、 H1は下段の歯車列の第１の平歯車、 H2,H3は下段の歯車列の中間歯車、 H4〜H7は下段の歯車の第２の平歯車、 S1,S2は小歯車、 S3,S4は傘歯車、 H8は大歯車、 G8,G9は駆動歯車、 G9,G10は中間歯車、 A1〜A8は軸、 Ｗは車輪、 M1,M2はモータ を示す。1 and 2 are views showing an embodiment of the present invention. FIG. 3 is a cross-sectional view showing details of an upper and lower gear train. FIGS. 4 and 5 are embodiments of a robot of the present invention. FIG. In the figure, G1 is the first spur gear of the upper gear train, G2 and G3 are the intermediate gears of the upper gear train, G4 to G7 are the second spur gears of the upper gear train, and H1 is the first spur gear of the lower gear train. 1 is a spur gear, H2 and H3 are intermediate gears of a lower gear train, H4 to H7 are second spur gears of a lower gear, S1 and S2 are small gears, S3 and S4 are bevel gears, and H8 is a large gear. G8 and G9 indicate drive gears, G9 and G10 indicate intermediate gears, A1 to A8 indicate shafts, W indicates wheels, and M1 and M2 indicate motors.
フロントページの続き (72)発明者 浅川 和雄 神奈川県川崎市中原区上小田中1015番地 富士通株式会社内 (72)発明者 長田 茂美 神奈川県川崎市中原区上小田中1015番地 富士通株式会社内 (72)発明者 関口 実 神奈川県川崎市中原区上小田中1015番地 富士通株式会社内 (56)参考文献 特開 昭61−235220（ＪＰ，Ａ) (58)調査した分野(Int.Cl.6，ＤＢ名) B60K 17/358 B25J 5/00Continuing from the front page (72) Inventor Kazuo Asakawa 1015 Uedanaka, Nakahara-ku, Kawasaki City, Kanagawa Prefecture Inside Fujitsu Limited (72) Inventor Shigemi Nagata 1015 Uedanaka, Nakahara-ku, Nakazaki-ku Kawasaki City, Kanagawa Prefecture Fujitsu Limited (72) Invention Person Minoru Sekiguchi 1015 Uedanaka, Nakahara-ku, Kawasaki City, Kanagawa Prefecture Inside Fujitsu Limited (56) References JP-A-61-235220 (JP, A) (58) Field surveyed (Int. Cl. 6 , DB name) B60K 17/358 B25J 5/00
Claims (1)
該第１の平歯車（G1）に噛合う複数の中間歯車（G2,G
3）と、該中間歯車（G2,G3）にそれぞれ噛合う同一歯数
の複数の第２の平歯車（G4〜G7）とからなる第１の歯車
列が上段に、該第１の歯車列と同一配列でそれぞれ対応
する歯車がそれぞれ同一軸上に配置された第２の歯車列
（H1〜H7）が下段に設けられ、 上下の第１の平歯車（G1,H1）を支持する軸（A1）は下
段の歯車（H1）を固定し且つ上段の歯車（G1）を自由回
転可能に支持し、且つ該軸（A1）の上部にはロボットの
ボディ（22）が固設され、 上下の中間歯車（G2,G3,H2,H3）を支持する軸（A2,A3）
は上下の歯車を別個に自由回転可能に支持し、 上下の第２の平歯車（G2〜G7,H4〜H7）を支持する軸（A
4〜A7）は上部の一端をフレーム部材（１）に回転自在
に支持され、且つ上段の歯車（G4〜G7）を自由回転可能
に支持すると共に、下段の歯車（H4〜H7）を固定し、 さらに下段の第２の平歯車（H4〜H7）には、それぞれ傘
歯車（S4）が固設された車輪（Ｗ）が該歯車（H4〜H7）
に対して垂直に設けられ、 上記傘歯車（S4）に噛合う傘歯車（S3）が下段の第２の
平歯車（H4〜H7）の中心をはずして回転可能に設けられ
た軸（A8）の一端に取付けられ、該軸（A8）の他端に前
記上段の第２の平歯車（G4〜G7）の回転力を受ける歯車
（S2）が固設されて成り、 上段の第１の平歯車（G1）を回転することにより車輪
（Ｗ）を回転駆動し、下段の第１の平歯車（H1）を回転
することにより車輪（Ｗ）を操向し、該車輪（Ｗ）の操
向に連動してロボットのボディ（22）が回動するように
したことを特徴とするロボット。1. A first spur gear (G1) provided at the center,
A plurality of intermediate gears (G2, G) meshing with the first spur gear (G1)
3) and a first gear train comprising a plurality of second spur gears (G4 to G7) having the same number of teeth meshing with the intermediate gears (G2, G3), respectively. A second gear train (H1 to H7) in which the corresponding gears are respectively arranged on the same axis in the same arrangement as that of the second gear train (H1 to H7) is provided at the lower stage, and the shaft ( A1) fixes the lower gear (H1) and supports the upper gear (G1) so as to be freely rotatable, and the robot body (22) is fixed above the shaft (A1). Shafts (A2, A3) supporting intermediate gears (G2, G3, H2, H3)
Is a shaft (A) that supports the upper and lower gears so that they can rotate freely, and that supports the upper and lower second spur gears (G2 to G7, H4 to H7).
4 to A7) are rotatably supported at one upper end by the frame member (1), and rotatably support the upper gears (G4 to G7), and fix the lower gears (H4 to H7). The wheels (W) to which the bevel gears (S4) are respectively fixed are attached to the lower second spur gears (H4 to H7).
A shaft (A8) that is provided perpendicularly to and is rotatably provided with the bevel gear (S3) meshing with the bevel gear (S4) being off center of the lower second spur gear (H4 to H7). A gear (S2) that receives the rotational force of the second upper spur gear (G4 to G7) is fixed to the other end of the shaft (A8). The wheel (W) is rotationally driven by rotating the gear (G1), and the wheel (W) is steered by rotating the lower first spur gear (H1) to steer the wheel (W). A robot characterized in that the body (22) of the robot rotates in conjunction with the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63109879A JP2790143B2 (en) | 1988-05-07 | 1988-05-07 | Traveling device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63109879A JP2790143B2 (en) | 1988-05-07 | 1988-05-07 | Traveling device and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01282029A JPH01282029A (en) | 1989-11-13 |
| JP2790143B2 true JP2790143B2 (en) | 1998-08-27 |
Family
ID=14521485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63109879A Expired - Lifetime JP2790143B2 (en) | 1988-05-07 | 1988-05-07 | Traveling device and robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2790143B2 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5752710A (en) * | 1996-07-05 | 1998-05-19 | Roberts; Brock F. | Parallel-aligned all-wheel steered vehicle III |
| JP2000127776A (en) * | 1998-10-26 | 2000-05-09 | Fuji Electric Co Ltd | Omnidirectionally moving vehicle and method of controlling drive mechanism therefor |
| US8590664B2 (en) | 2009-06-19 | 2013-11-26 | National University Corporation Toyohashi University Of Technology | Steerable drive mechanism and omnidirectional moving vehicle |
| CN104875176B (en) * | 2015-05-19 | 2016-08-24 | 东北大学 | A kind of omnidirectional's train and vacuum leak hunting machine people |
| CN205499115U (en) * | 2016-02-03 | 2016-08-24 | 广西科技大学 | Novel diversion removes device |
| CN108482518A (en) * | 2018-04-02 | 2018-09-04 | 浙江巨人停车设备有限公司 | A kind of AGV car carryings robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61235220A (en) * | 1985-04-10 | 1986-10-20 | Casio Comput Co Ltd | All-directional mobile car |
-
1988
- 1988-05-07 JP JP63109879A patent/JP2790143B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01282029A (en) | 1989-11-13 |
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Legal Events
| Date | Code | Title | Description |
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| EXPY | Cancellation because of completion of term |