JPS62283072A - All direction running vehicle - Google Patents
All direction running vehicleInfo
- Publication number
- JPS62283072A JPS62283072A JP12624386A JP12624386A JPS62283072A JP S62283072 A JPS62283072 A JP S62283072A JP 12624386 A JP12624386 A JP 12624386A JP 12624386 A JP12624386 A JP 12624386A JP S62283072 A JPS62283072 A JP S62283072A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- wheels
- driving
- drive
- vehicle body
- 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.)
- Pending
Links
- 230000007935 neutral effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
- B62D53/02—Tractor-trailer combinations; Road trains comprising a uniaxle tractor unit and a uniaxle trailer unit
- B62D53/028—Having only coupling joints other than directional
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
Description
【発明の詳細な説明】
3、発明の詳細な説明
産1」1lυ1汁I一
本発明は、車両の向きを変えることなく、そのままの向
きで任意の方向に走行せしめることのできる全方位走行
車両に関するものである。[Detailed Description of the Invention] 3. Detailed Description of the Invention Product 1 The present invention provides an omnidirectional vehicle that can run in any direction without changing its orientation. It is related to.
え1へ皮』
従来、この種の全方位走行車両としては、例えば四輪操
舵のように車両を支持する全ての車輪の方向を操舵可能
にしたものや、車輪の円周上に45°の角度に傾けて複
数の7リーローラを取付け、各車輪の回転方向を適宜組
合せることにより、前後進・左右横行または斜行、スピ
ンターン等の走行を可能としたものがあった。Conventionally, this type of omnidirectional vehicle has a four-wheel steering system in which all the wheels that support the vehicle can be steered, or a vehicle with a 45° angle on the circumference of the wheel. Some vehicles were equipped with a plurality of 7-Lee rollers tilted at an angle, and by appropriately combining the rotational directions of each wheel, it was possible to travel forward and backward, horizontally, horizontally, diagonally, and spin turns.
明が しようとする 曽
しかしながら、上記従来の全輪楳舵式のものは、構造が
複雑で故障が生じ易く、製作コストが高い等の問題点が
あり、また、7リ一ローラ式のものは上記問題点の他に
、凹凸路面では操作が困難で不向きである等の問題点が
あり、全方位走行車両は一般には普及していないのが現
状である。However, the conventional all-wheel rudder type mentioned above has problems such as a complicated structure, easy failure, and high manufacturing cost. In addition to the above-mentioned problems, there are other problems such as the fact that it is difficult and unsuitable to operate on uneven road surfaces, and omnidirectional driving vehicles are not generally popular at present.
本発明は、上記従来の問題点を解決するためになされた
もので、その目的とするところは、構造が簡単で操作し
易く、低価格で広く普及可能な全方位走行車両を提供す
ることにある。The present invention has been made to solve the above-mentioned conventional problems, and its purpose is to provide an omnidirectional vehicle that has a simple structure, is easy to operate, and can be widely used at a low price. be.
貞を するための一
本発明の全方位走行車両は、車体を支持する3輪以上の
車輪のうち少な(とも1個を駆動輪とすると共に該駆動
輪以外の車輪をキャスター輪とし、上記車体を所望方向
に移動せしめる際、前記駆動輪の向きを所望方向に向け
た状態で固定すると共に回転駆動力を与え、その結果上
記キャスター輪を駆動輪の向きに追随せしめることによ
り、車体の向きを変えることなく、そのままの向きで任
意の方向に走行移動せしめるようにしたことを特徴とす
るものであり、また上記駆動輪をその取付位置で任意の
方向に回外を変えたり、その取付位置から偏位した位置
を中心として旋回せしめることにより向きを変えるよう
にしたことを特徴とするものであり、さら1こ上記車体
に運転席を設けて、駆動輪の向きと一致する方向に向き
を変えるようにしたことを特徴とするものである。One aspect of the omnidirectional traveling vehicle of the present invention is that one of the three or more wheels that support the vehicle body is a driving wheel, and the wheels other than the driving wheel are caster wheels, and the vehicle body is When moving the vehicle in a desired direction, the direction of the vehicle body is adjusted by fixing the direction of the drive wheels in the desired direction and applying rotational driving force, thereby causing the caster wheels to follow the direction of the drive wheels. It is characterized by being able to run and move in any direction without changing its orientation, and also by changing the supination of the drive wheel in any direction at its mounting position, or by changing its supination from its mounting position. The vehicle is characterized by being able to change its direction by turning around a deviated position, and furthermore, a driver's seat is provided on the vehicle body, and the direction is changed in a direction that matches the direction of the driving wheels. It is characterized by the following.
さらにまた、本発明は、上記車両を分割して一方側に駆
動輪を配し、他方側にキャスター輪を配し、相互にロー
リングできるようにしたことを特徴とし、また上記駆動
輪の向きを変えている時に上記キャスター輪をロックす
るよ)にしたことを特徴とするものである。Furthermore, the present invention is characterized in that the vehicle is divided into parts and drive wheels are arranged on one side and caster wheels are arranged on the other side so that they can mutually roll. The feature is that the caster wheels are locked when the machine is being changed.
実力l殊
以下、本発明の一実施例について図面を参照しながら説
明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.
第1図および第2図において、1は駆動側車体であって
、その中央部には円形の開口部1aが開設されている。In FIGS. 1 and 2, reference numeral 1 denotes a drive-side vehicle body, and a circular opening 1a is provided in the center thereof.
該円形開口部1a内には円盤状の車体を有する駆動車2
が回転自在に嵌挿されている。Inside the circular opening 1a is a drive wheel 2 having a disc-shaped body.
is rotatably inserted.
3は原動機であって、適宜伝導機構4を経て、左右のト
ランスミッション5,5の入力側にその回転駆動力が伝
えられる。該トランスミッション5は、例えば小型の油
圧ポンプと油圧モーターと、該油圧モーターの回転方向
および回転数等を制御する制御機構等から構成されてお
り、左右の操作杆6.6を適宜操作することにより、左
右の駆動輪7,7の回転方向並びに回転数を操作制御し
て、所望の方向・速度で走行させるようになっている。3 is a prime mover, and its rotational driving force is transmitted to the input sides of left and right transmissions 5, 5 through a transmission mechanism 4 as appropriate. The transmission 5 is composed of, for example, a small hydraulic pump, a hydraulic motor, and a control mechanism that controls the rotation direction and rotation speed of the hydraulic motor. The rotational direction and rotational speed of the left and right drive wheels 7, 7 are controlled to allow the vehicle to travel in a desired direction and speed.
第3図からも明らかなように、」―記駆動112の外周
部は駆動側車体1により上下を挟まれて規制されており
、凹凸のはげしい路面等を走行した場=4−
合、駆動$2が上下に振れても、駆動側車体1から外れ
ないようになっている。As is clear from FIG. 3, the outer periphery of the drive 112 is vertically sandwiched and regulated by the drive side vehicle body 1, and when driving on an extremely uneven road surface, the drive $ Even if 2 swings up and down, it will not come off from the drive side vehicle body 1.
また、駆動、q12の外周部の適宜位置、好ましくは直
径を介した相対する位置に摩擦板8を設け、これを運転
席9の近くに設けたレバー10により駆動車2の外周面
から出没可能に操作し、走行時には駆動側車体1の円形
開口部1aの内壁面に摩擦係合せしめて、駆動車2と駆
動側車体1とを一体かつ確実にロックできるようにしで
ある。Further, a friction plate 8 is provided at an appropriate position on the outer circumference of the drive wheel q12, preferably at a position facing each other across the diameter, and this can be moved in and out of the outer circumferential surface of the drive wheel 2 by a lever 10 provided near the driver's seat 9. The driving wheel 2 and the driving vehicle body 1 can be integrally and reliably locked by frictionally engaging the inner wall surface of the circular opening 1a of the driving vehicle body 1 during driving.
上記駆動側車体1の後方にはヒンジ11を介して荷台側
車体12が連結されており、凹凸走行路面に追随できる
よう相互にローリングするようになっている。A cargo platform side vehicle body 12 is connected to the rear of the driving side vehicle body 1 via a hinge 11, and is adapted to roll with respect to the vehicle body so as to follow an uneven traveling road surface.
該荷台側車体12にはキャスター輪13が取付けられて
おり、運転席9からの適宜操作により必要に応じてロッ
クできるようになっている。この場合、上記レバー9と
連動するように構成するとよい。Caster wheels 13 are attached to the cargo platform side vehicle body 12, and can be locked as necessary by appropriate operation from the driver's seat 9. In this case, it is preferable to configure it so that it is interlocked with the lever 9 described above.
本実施例の車両は以上のように構成されているので、第
1図に示す状態で、原動機3を働かせて左右の操作杆6
,6を前方へ倒すと前進し、逆に後方に倒すと後退する
。Since the vehicle of this embodiment is configured as described above, in the state shown in FIG.
, 6 to move forward, and vice versa to move backward to move backward.
また、車体1,12をこのままの向きで横方向(第1図
で上方向)に走行(横行)させたい場合には、まず、レ
バー9を操作して摩擦板8を駆動側車体1の円形開口部
1aの内壁面から後退させて摩擦係合を解除すると共に
、キャスター輪13が回転しないようにロックする。If you want the vehicle bodies 1, 12 to travel (traverse) in the lateral direction (upward in FIG. It is moved back from the inner wall surface of the opening 1a to release the frictional engagement and lock the caster wheels 13 from rotating.
続いて、右側の操作杆6を前方に倒し、同時に左側の操
作杆6を後方に倒すと、右側の駆動輪7は前方回転し、
左側の駆動輪7は後方回転するので、駆動車2は円形開
口部1a内で反時計方向に回転する。Next, when the right operating lever 6 is pushed forward and the left operating lever 6 is pushed backward at the same time, the right drive wheel 7 rotates forward.
Since the left drive wheel 7 rotates backward, the drive wheel 2 rotates counterclockwise within the circular opening 1a.
駆動車2が約90°回転して第4図の状態に向いた時、
上記操作杆6,6を中立位置に戻してその回転を停止す
ると共に、再びレバー9を操作して、駆動llI2を駆
動側車体1にロックする。この時、キャスター輪13の
ロックは解除される。When the drive wheel 2 rotates approximately 90 degrees and faces the state shown in Fig. 4,
The operating levers 6, 6 are returned to the neutral position to stop their rotation, and the lever 9 is operated again to lock the drive II2 to the drive side vehicle body 1. At this time, the caster wheels 13 are unlocked.
第4図の状態で、操作杆6,6を前方に倒すと駆動輪7
,7は前進し、駆動側車体1および荷台側車体12から
成る車体全体が矢印方向に移動する。この時、キャスタ
ー輪13も図示のように走行方向に向きを変える。In the state shown in Figure 4, when the operating rods 6, 6 are tilted forward, the drive wheel 7
, 7 move forward, and the entire vehicle body consisting of the drive side vehicle body 1 and the cargo platform side vehicle body 12 moves in the direction of the arrow. At this time, the caster wheels 13 also change direction in the running direction as shown in the figure.
上記実施例では、車体が駆動側車体1と荷台側車体12
とに分割されているが、一体的に構成しでもよく、また
上記駆動側車体1を中央に挟んだ状態で、その両側に荷
台側車体12を配置しても良い。In the above embodiment, the vehicle bodies are the driving side vehicle body 1 and the loading platform side vehicle body 12.
Although the vehicle body 1 is divided into two parts, they may be constructed integrally, or the vehicle body 12 on the platform side may be arranged on both sides with the vehicle body 1 on the drive side sandwiched in the center.
また、駆動輪および、キャスター輪を合わせた車輪の数
は、車体を走行支持し得る配置であれば、3個以上いず
れの数でも良く、そのうち少なくとも1個は駆動輪とす
る。そして該駆動輪はその向きを任意の方向に変えられ
る構造とし、他のキャスター輪は、これに追随するよう
に構成する。Further, the number of wheels including the drive wheels and caster wheels may be any number greater than or equal to 3 as long as the arrangement is such that the vehicle body can be supported while traveling, and at least one of these wheels should be the drive wheel. The drive wheel is structured to be able to change its direction in any direction, and the other caster wheels are configured to follow this direction.
さらに、上記実施例では、車体1内に駆動車2を回転自
由に設けで、該駆動車2を回転することにより駆動輪7
の向きをかえると共に摩擦板8によりその向きを固定す
るようにhM成したが、本発明はこれに限定するもので
はなく、車体に対して駆動輪を任意の方向に変更が可能
で、その方向に固定し得る構造であればいずれでもよい
。尚、駆動輪の向きの変更方法としては、駆動輪をその
取付位置で回転させて向きを変えるようにしたり、また
駆動輪なその取付位置から偏位した位置を中心として旋
回せしめることにより向きを変えるようにする方法のい
ずれでもよい。Further, in the embodiment described above, the drive wheel 2 is provided in the vehicle body 1 so as to be freely rotatable, and by rotating the drive wheel 2, the drive wheel 7 is rotated.
Although the hM is constructed so that the direction of the wheel can be changed and the direction is fixed by the friction plate 8, the present invention is not limited to this, and the drive wheel can be changed in any direction relative to the vehicle body, and the direction Any structure may be used as long as it can be fixed to. The direction of the drive wheel can be changed by rotating the drive wheel at its mounting position, or by turning the drive wheel around a position offset from its mounting position. Any method that allows the change to occur may be used.
1哩へ級」
駆動輪以外の車輪をキャスター輪とし、駆動輪の向きを
変えてその方向に車体を移動せしめる際、駆動輪を所望
の方向に変えると共にその向きで固定した状態で回転駆
動力を与え、その結果キャスター輪の向きを駆動輪の向
きに追随せしめるようにしたので、車体の向きを変える
ことなくそのままの向きで前後進・左右横行・斜行また
はスピンターン等の走行を極めて簡単な構造と操作によ
り容易に実施でき、低価格で広く梓及せしめることがで
終る。1 mile class'' Wheels other than the drive wheels are caster wheels, and when changing the direction of the drive wheels to move the vehicle in that direction, the rotational driving force is applied while the drive wheels are turned to the desired direction and fixed in that direction. As a result, the direction of the caster wheels follows the direction of the drive wheels, making it extremely easy to drive forwards and backwards, horizontally, diagonally, or spin turns without changing the direction of the vehicle body. It can be easily implemented due to its simple structure and operation, and can be widely used at low cost.
第1図は本発明の全方位走行車両の一実施例を示す平面
図、第2図はその側面図、第3図は車体1と車両2との
ロック機構を示す説明図、第4図は走行方向を直角方向
に変えた場合の平面図である。
1・・・駆動側車体、1a・・・円形開口部、2・・・
駆動車両、3・・・原動機、4・・・伝導機構、5・・
・トランスミッション、6・・・操作杆、7・・・駆動
輪、8・・・摩擦板、9・・・運転席、10・・・レバ
ー、11・・・ヒンジ、12・・・荷台側車体、13・
・・キャスター輪。FIG. 1 is a plan view showing an embodiment of the omnidirectional traveling vehicle of the present invention, FIG. 2 is a side view thereof, FIG. 3 is an explanatory view showing a locking mechanism between the vehicle body 1 and the vehicle 2, and FIG. It is a top view when a traveling direction is changed to a right angle direction. 1... Drive side vehicle body, 1a... Circular opening, 2...
Drive vehicle, 3... Prime mover, 4... Transmission mechanism, 5...
・Transmission, 6... Operating rod, 7... Drive wheel, 8... Friction plate, 9... Driver's seat, 10... Lever, 11... Hinge, 12... Loading platform side vehicle body , 13・
...Caster wheels.
Claims (6)
1個を駆動輪とすると共に該駆動輪以外の車輪をキャス
ター輪とし、上記車体を所望方向に移動せしめる際、前
記駆動輪の向きを所望方向に向けた状態で固定すると共
に回転駆動力を与え、その結果上記キャスター輪を駆動
輪の向きに追随せしめることにより、車体の向きを変え
ることなく、そのままの向きで任意の方向に走行移動せ
しめるようにしたことを特徴とする全方位走行車両。(1) At least one of the three or more wheels that support the vehicle body is a drive wheel, and the wheels other than the drive wheel are caster wheels, and when moving the vehicle body in a desired direction, the direction of the drive wheel is By fixing the vehicle facing in the desired direction and applying rotational driving force, the caster wheels follow the direction of the drive wheels, allowing the vehicle to move in any direction without changing its orientation. An omnidirectional traveling vehicle characterized by being designed to urge people to move in all directions.
変えるようにしたことを特徴とする前記特許請求の範囲
第1項に記載の全方位走行車両。(2) The omnidirectional traveling vehicle according to claim 1, wherein the drive wheel is configured to change direction in any direction at its mounting position.
心として旋回せしめることにより向きを変えるようにし
たことを特徴とする前記特許請求の範囲第1項に記載の
全方位走行車両。(3) The omnidirectional traveling vehicle according to claim 1, wherein the direction of the driving wheel is changed by turning the drive wheel around a position offset from its mounting position.
する方向に運転席の向きを変えるようにしたことを特徴
とする前記特許請求の範囲第1項乃至第3項のいずれか
1項に記載の全方位走行車両。(4) A driver's seat is provided in the vehicle body, and the direction of the driver's seat is changed to match the direction of the driving wheels. The omnidirectional vehicle described in item 1.
側にキャスター輪を配し、相互にローリングできるよう
にしたことを特徴とする前記特許請求の範囲第1項乃至
第4項のずれか1項に記載の全方位走行車両。(5) Claims 1 to 4 are characterized in that the vehicle is divided into parts, and drive wheels are arranged on one side and caster wheels are arranged on the other side, so that they can mutually roll. Omnidirectional driving vehicle described in paragraph 1.
ー輪をロックするようにしたことを特徴とする前記特許
請求の範囲第1項乃至第5項のいずれか1項に記載の全
方位走行車両。(6) Omnidirectional travel according to any one of claims 1 to 5, characterized in that the caster wheels are locked when changing the direction of the drive wheels. vehicle.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP12624386A JPS62283072A (en) | 1986-05-31 | 1986-05-31 | All direction running vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP12624386A JPS62283072A (en) | 1986-05-31 | 1986-05-31 | All direction running vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS62283072A true JPS62283072A (en) | 1987-12-08 |
Family
ID=14930338
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP12624386A Pending JPS62283072A (en) | 1986-05-31 | 1986-05-31 | All direction running vehicle |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS62283072A (en) |
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US7694758B1 (en) * | 2006-02-27 | 2010-04-13 | Hammonds Technical Services, Inc. | People moving vehicle with reduced turn radius having omni-directional cab |
US7712556B2 (en) | 2000-07-31 | 2010-05-11 | Hammonds Technical Services, Inc. | Omni direction vehicle |
US7762361B2 (en) | 2004-11-15 | 2010-07-27 | Hammonds Technical Services, Inc. | Omni-directional aircraft and ordinance handling vehicle |
US7905302B2 (en) | 2008-02-19 | 2011-03-15 | Hammonds Technical Services, Inc. | Omni-directional aircraft galley servicing vehicle |
US7913781B2 (en) | 2006-02-28 | 2011-03-29 | Hammonds Technical Services, Inc. | Omni-directional vehicle with full circumferential revolvable hitch |
US8066467B2 (en) | 2006-10-13 | 2011-11-29 | Hammonds Technical Services, Inc. | Omni-directional towbarless aircraft transporter for moving aircraft |
US8967939B2 (en) | 2006-10-13 | 2015-03-03 | Hammonds Technical Services, Inc. | Aircraft transporter dolly with hinged gate for moving aircraft |
WO2015192900A1 (en) * | 2014-06-19 | 2015-12-23 | Husqvarna Ab | Improved robotic working tool |
AT519463A4 (en) * | 2017-01-28 | 2018-07-15 | LANDING GEAR | |
WO2020247991A1 (en) | 2019-06-08 | 2020-12-17 | Amx Automation Technologies Gmbh | Omnidirectional wheel hub drive |
-
1986
- 1986-05-31 JP JP12624386A patent/JPS62283072A/en active Pending
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7712556B2 (en) | 2000-07-31 | 2010-05-11 | Hammonds Technical Services, Inc. | Omni direction vehicle |
US7762361B2 (en) | 2004-11-15 | 2010-07-27 | Hammonds Technical Services, Inc. | Omni-directional aircraft and ordinance handling vehicle |
US7934572B2 (en) | 2006-02-27 | 2011-05-03 | Hammonds Technical Services, Inc. | People moving vehicle with reduced turn radius having omni-directional cab |
US7694758B1 (en) * | 2006-02-27 | 2010-04-13 | Hammonds Technical Services, Inc. | People moving vehicle with reduced turn radius having omni-directional cab |
US7913781B2 (en) | 2006-02-28 | 2011-03-29 | Hammonds Technical Services, Inc. | Omni-directional vehicle with full circumferential revolvable hitch |
US8186461B2 (en) | 2006-02-28 | 2012-05-29 | Hammonds Technical Services, Inc. | Omni-directional vehicle with full circumferential revolvable hitch |
US8066467B2 (en) | 2006-10-13 | 2011-11-29 | Hammonds Technical Services, Inc. | Omni-directional towbarless aircraft transporter for moving aircraft |
US8967939B2 (en) | 2006-10-13 | 2015-03-03 | Hammonds Technical Services, Inc. | Aircraft transporter dolly with hinged gate for moving aircraft |
US7905302B2 (en) | 2008-02-19 | 2011-03-15 | Hammonds Technical Services, Inc. | Omni-directional aircraft galley servicing vehicle |
US7690473B2 (en) | 2008-02-19 | 2010-04-06 | Hammonds Technical Services, Inc. | Omni-directional vehicle with elevatable observation platform |
WO2015192900A1 (en) * | 2014-06-19 | 2015-12-23 | Husqvarna Ab | Improved robotic working tool |
US10207557B2 (en) | 2014-06-19 | 2019-02-19 | Husqvarna Ab | Robotic working tool |
AT519463A4 (en) * | 2017-01-28 | 2018-07-15 | LANDING GEAR | |
AT519463B1 (en) * | 2017-01-28 | 2018-07-15 | LANDING GEAR | |
WO2020247991A1 (en) | 2019-06-08 | 2020-12-17 | Amx Automation Technologies Gmbh | Omnidirectional wheel hub drive |
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