TW201934368A - Wheel tool adjusts the position of each of the plurality of rollers in the axial direction of the barrel - Google Patents
Wheel tool adjusts the position of each of the plurality of rollers in the axial direction of the barrel Download PDFInfo
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- TW201934368A TW201934368A TW108104104A TW108104104A TW201934368A TW 201934368 A TW201934368 A TW 201934368A TW 108104104 A TW108104104 A TW 108104104A TW 108104104 A TW108104104 A TW 108104104A TW 201934368 A TW201934368 A TW 201934368A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/86—Optimisation of rolling resistance, e.g. weight reduction
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Abstract
Description
本發明係關於一種輪具。The invention relates to a wheel.
作為先前之移動車輛用之輪具，已知有麥克納姆輪(Mecanum Wheel)。麥克納姆輪具備被驅動之輪體、以及多個輥體。該輪體具有形成為大致圓盤狀之2個支持構件。多個輥體之各者具有其表面中高之(crowned or barrel-shaped，鼓形或桶形)形狀。多個輥體之各者能夠旋轉地設置於2個支持構件之間。輥體有時亦被稱為滾筒。As a wheel for a previous mobile vehicle, a Mecanum Wheel is known. The mecanum wheel includes a driven wheel body and a plurality of roller bodies. This wheel body has two support members formed in a substantially disc shape. Each of the plurality of roller bodies has a crowned or barrel-shaped surface shape. Each of the plurality of roller bodies is rotatably provided between the two support members. The roll body is sometimes called a roller.
先前之麥克納姆輪例如記載於日本專利特表2009-504465號公報(專利文獻1)。專利文獻1揭示有將輪具之外徑與輥體之最大半徑之比設為1.08至1.13之範圍、尤其是1.09至1.12之範圍。
[先前技術文獻]
[專利文獻]The conventional Mecanum wheel is described in, for example, Japanese Patent Application Publication No. 2009-504465 (Patent Document 1). Patent Document 1 discloses that the ratio of the outer diameter of the wheel to the maximum radius of the roller is set to a range of 1.08 to 1.13, particularly a range of 1.09 to 1.12.
[Prior technical literature]
[Patent Literature]
[專利文獻1]日本專利特表2009-504465號公報[Patent Document 1] Japanese Patent Publication No. 2009-504465
[發明所欲解決之問題][Problems to be solved by the invention]
然而，先前之麥克納姆輪中存在如下問題：滾筒被安裝於自設計位置偏移之位置，其結果，於旋轉時對複數個滾筒之各者施加之負荷變得不均勻。由於對該滾筒施加之負荷之不均勻性，故而於先前之具備麥克納姆輪之移動車輛中，駕駛時之行為變得不穩定。However, in the previous Mecanum wheels, there was a problem that the roller was mounted at a position shifted from the designed position, and as a result, the load applied to each of the plurality of rollers during rotation became uneven. Due to the non-uniformity of the load applied to the drum, in the previous mobile vehicle with Mecanum wheels, driving behavior became unstable.
本發明之目的之一在於提供一種能夠將滾筒精度良好地安裝於支持構件之輪具。
[解決問題之技術手段]An object of the present invention is to provide a wheel tool capable of accurately mounting a roller on a supporting member.
[Technical means to solve the problem]
本發明之一實施形態之輪具具備：輪體，其具有一對支持構件；筒軸，其配置於上述一對支持構件之間；滾筒，其安裝於上述筒軸；以及軸承，其將上述滾筒以能夠繞旋轉軸旋轉之方式支持於上述筒軸，且限制上述滾筒在沿著上述旋轉軸之旋轉軸方向上相對於上述筒軸之移動。A wheel set according to an embodiment of the present invention includes: a wheel body having a pair of supporting members; a barrel shaft disposed between the pair of supporting members; a roller mounted on the barrel shaft; and a bearing which connects the above The drum is supported by the drum shaft so as to be rotatable about a rotation axis, and the drum is restricted from moving relative to the drum shaft in the direction of the rotation axis along the rotation shaft.
本發明之一實施形態之輪具具備擋圈，該擋圈固定於上述筒軸，限制上述軸承於上述旋轉軸方向上之移動。A wheel according to an embodiment of the present invention includes a retaining ring which is fixed to the barrel shaft and restricts movement of the bearing in the direction of the rotation axis.
本發明之一實施形態之輪具具備設置於上述滾筒與上述擋圈之間之間隔件。A wheel according to an embodiment of the present invention includes a spacer provided between the drum and the retaining ring.
於本發明之一實施形態之輪具中，上述筒軸係其兩端固定於上述一對支持構件之外周面。In the wheel tool according to an embodiment of the present invention, both ends of the barrel shaft system are fixed to outer peripheral surfaces of the pair of support members.
於本發明之一實施形態之輪具中，上述一對支持構件之各者具有形成於上述外周面之凹部，上述筒軸係於上述凹部固定於上述一對支持構件。In a wheel according to an embodiment of the present invention, each of the pair of support members has a recessed portion formed on the outer peripheral surface, and the barrel shaft is fixed to the pair of support members at the recessed portion.
於本發明之一實施形態之輪具中，上述一對支持構件之各者具有形成於上述外周面之槽部，上述筒軸係於上述槽部固定於上述一對支持構件。In a wheel according to an embodiment of the present invention, each of the pair of support members has a groove portion formed on the outer peripheral surface, and the barrel shaft is fixed to the pair of support members in the groove portion.
本發明之一實施形態係關於一種組裝方法，其係組裝輪具之組裝方法，該輪具具備：輪體，其具有一對支持構件；筒軸，其配置於上述一對支持構件之間；以及滾筒，其以能夠繞旋轉軸旋轉之方式支持於上述筒軸。該組裝方法具備如下步驟：於沿著上述旋轉軸之旋轉軸方向上，對上述滾筒相對於上述筒軸之位置進行調整。An embodiment of the present invention relates to an assembling method, which is an assembling method of assembling a wheel, the wheel having: a wheel body having a pair of supporting members; and a barrel shaft disposed between the pair of supporting members; And the drum is supported on the barrel shaft so as to be rotatable about a rotation shaft. The assembling method includes the steps of adjusting the position of the drum relative to the cylinder axis in the direction of the rotation axis along the rotation axis.
本發明之一實施形態之輪具具備：輪體，其具有一對支持構件；複數個筒軸，其等配置於該一對支持構件之間；以及複數個滾筒，其等分別配置於該複數個筒軸，且能夠繞各筒軸旋轉。於該實施形態中，上述複數個滾筒之各者經由軸承而安裝於上述筒軸或支持體，且能夠利用該軸承之位置調整該複數個滾筒之各者之於該筒軸方向上之位置。A wheel set according to an embodiment of the present invention includes: a wheel body having a pair of supporting members; a plurality of barrel shafts arranged between the pair of supporting members; and a plurality of rollers arranged respectively in the plurality. Each barrel shaft can be rotated around each barrel shaft. In this embodiment, each of the plurality of rollers is mounted on the barrel shaft or the support via a bearing, and the position of each of the plurality of rollers in the direction of the barrel axis can be adjusted using the position of the bearing.
於本發明之一實施形態中，能夠根據上述滾筒相對於上述筒軸或支持體之於上述軸承方向之安裝位置之安裝誤差來調整上述軸承之位置。In one embodiment of the present invention, the position of the bearing can be adjusted based on a mounting error of the drum with respect to the mounting position of the drum shaft or support in the bearing direction.
本發明之一實施形態之輪具於上述軸承之上述軸承方向端部具有擋圈。於該實施形態中，能夠利用設置於上述軸承之上述端部之擋圈於上述軸承方向之位置來調整上述滾筒相對於上述筒軸或支持體之於上述軸承方向之安裝位置。A wheel according to an embodiment of the present invention has a retaining ring at the bearing-direction end of the bearing. In this embodiment, the position of the roller in the bearing direction relative to the barrel shaft or support can be adjusted using the position of the retaining ring provided on the end portion of the bearing in the bearing direction.
於本發明之一實施形態中，配置於上述一對支持構件之間之複數個筒軸之各者係其兩端固定於該一對支持構件之外周面。In one embodiment of the present invention, each of the plurality of barrel shafts arranged between the pair of support members has its two ends fixed to the outer peripheral surface of the pair of support members.
於本發明之一實施形態中，在上述外周面形成凹部。於該實施形態中，配置於上述一對支持構件之間之複數個筒軸之各者係其兩端固定於該一對支持構件之外周面之凹部。In one embodiment of the present invention, a concave portion is formed on the outer peripheral surface. In this embodiment, each of the plurality of barrel shafts arranged between the pair of support members is a recessed portion whose both ends are fixed to the outer peripheral surface of the pair of support members.
於本發明之一實施形態中，上述凹部係具備傾斜面之槽。In one embodiment of the present invention, the recess is a groove having an inclined surface.
本發明之一實施形態係關於一種輪具之組裝方法，該輪具具備：輪體，其具有一對支持構件；複數個筒軸，其等配置於該一對支持構件之間；以及複數個滾筒，其等分別配置於該複數個筒軸，且能夠繞各筒軸旋轉。於該實施形態中，在組裝有上述一對支持構件之狀態下，能夠於上述一對支持構件之外周面調整上述複數個滾筒之位置。
[發明之效果]An embodiment of the present invention relates to a method for assembling a wheel, the wheel having: a wheel body having a pair of supporting members; a plurality of barrel shafts arranged between the pair of supporting members; and a plurality of The rollers are respectively arranged on the plurality of barrel shafts, and are capable of rotating around each of the barrel shafts. In this embodiment, in a state where the pair of support members are assembled, the positions of the plurality of rollers can be adjusted on the outer peripheral surface of the pair of support members.
[Effect of the invention]
根據本發明之一實施形態，能夠將滾筒精度良好地安裝於支持構件。According to one embodiment of the present invention, the drum can be attached to the supporting member with high accuracy.
以下，參照圖式對本發明之實施形態進行說明。首先，參照圖1a～圖1c及圖2對本發明之一實施形態進行說明。圖1a～圖1c及圖2概略性地表示本發明之一實施形態之輪具1。Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, an embodiment of the present invention will be described with reference to FIGS. 1 a to 1 c and 2. 1a to 1c and 2 schematically show a wheel 1 according to an embodiment of the present invention.
該等圖中所示之輪具1具備：輪體2，其具有一對支持構件3；以及複數個滾筒5，其等配置於該一對支持構件3之間。一對支持構件3具有大致盤狀之形狀。於一對支持構件3之各者之外周面設有複數個凹部10。The wheel 1 shown in the drawings includes a wheel body 2 having a pair of support members 3 and a plurality of rollers 5 arranged between the pair of support members 3. The pair of support members 3 has a substantially disk shape. A plurality of recessed portions 10 are provided on the outer peripheral surface of each of the pair of support members 3.
滾筒5具有沿著旋轉軸15延伸之筒軸4。筒軸4係於其兩端部分固定於一對支持構件3之外周面9之凹部10。滾筒5以能夠繞筒軸4旋轉之方式支持於一對支持構件3。因此，滾筒5能夠繞圖1c所示之旋轉軸15旋轉。一對支持構件3由未圖示之驅動裝置驅動。一對支持構件3被相互固定。輪體2可繞旋轉軸12向兩方向旋轉。The drum 5 has a barrel shaft 4 extending along a rotation shaft 15. The barrel shaft 4 is a concave portion 10 whose both end portions are fixed to the outer peripheral surface 9 of the pair of support members 3. The drum 5 is supported by a pair of support members 3 so as to be rotatable about a drum shaft 4. Therefore, the drum 5 can rotate around the rotation shaft 15 shown in FIG. 1c. The pair of support members 3 are driven by a driving device (not shown). The pair of support members 3 are fixed to each other. The wheel body 2 is rotatable in two directions around the rotation axis 12.
複數個滾筒5係隔開相互均等之間隔配置於一對支持構件3之間。圖示之輪具1具有8個滾筒5。輪具1所具備之滾筒5之數量並不限於8個，能夠適當變更。於圖示之實施形態中，滾筒5具有中高之(鼓形或桶形)外側輪廓。滾筒5之旋轉軸15相對於輪體2之旋轉軸12呈角度α。角度α係例如45°。角度α並不限於45°，能夠適當變更。The plurality of rollers 5 are arranged between the pair of support members 3 at equal intervals. The wheel 1 shown has eight rollers 5. The number of the rollers 5 included in the wheel 1 is not limited to eight, and can be appropriately changed. In the illustrated embodiment, the drum 5 has a medium-high (drum or barrel) outer contour. The rotation axis 15 of the drum 5 is at an angle α with respect to the rotation axis 12 of the wheel body 2. The angle α is, for example, 45 °. The angle α is not limited to 45 ° and can be appropriately changed.
如圖1b所示，滾筒5係以其一部分較一對支持構件3之外周更朝徑向外側稍微突出之方式安裝於支持構件3。滾筒5於較該支持構件3之外周更朝徑向外側突出之部位與地面或地板面相接。As shown in FIG. 1b, the drum 5 is attached to the support member 3 so that a part thereof protrudes slightly outward in the radial direction from the outer periphery of the pair of support members 3. The drum 5 is in contact with the floor or the floor surface at a portion protruding more radially outward than the outer periphery of the support member 3.
於一實施形態中，輪具1之外徑與最大之滾筒半徑之比係1.107。藉此，不論輪具1之外徑如何，均能夠獲得輪具1之最佳之輥行為。In one embodiment, the ratio of the outer diameter of the wheel 1 to the maximum drum radius is 1.107. Thus, regardless of the outer diameter of the wheel 1, the best roller behavior of the wheel 1 can be obtained.
其次，參照圖2進一步對滾筒5進行說明。圖2模式性地表示滾筒5沿著旋轉軸15之剖面。如圖所示，滾筒5具有本體5a及筒狀構件5b。本體5a沿著旋轉軸15自一端延伸至另一端。本體5a具有中高之外側輪廓。本體5a具有沿著旋轉軸15自一端延伸至另一端之貫通孔，於該貫通孔設有筒狀構件5b。筒狀構件5b亦具有沿著旋轉軸15自一端延伸至另一端之貫通孔，於該貫通孔***有筒軸4。Next, the drum 5 will be further described with reference to FIG. 2. FIG. 2 schematically illustrates a cross section of the drum 5 along the rotation axis 15. As shown in the figure, the drum 5 includes a main body 5a and a cylindrical member 5b. The body 5 a extends from one end to the other end along the rotation axis 15. The body 5a has a medium-high outer contour. The main body 5 a has a through hole extending from one end to the other end along the rotation axis 15, and a cylindrical member 5 b is provided in the through hole. The cylindrical member 5 b also has a through hole extending from one end to the other end along the rotation axis 15, and the cylindrical shaft 4 is inserted into the through hole.
如圖所示，滾筒5經由2個軸承6及2個軸承13而安裝於筒軸4。2個軸承6亦可設置於相對於筒軸4之旋轉軸方向之中心C相互對稱之位置。2個軸承13亦可設置於相對於筒軸4之旋轉軸方向之中心C相互對稱之位置。於圖示之實施形態中，軸承6係推力軸承，軸承13係徑向軸承。軸承6亦可為推力墊圈。軸承6及軸承13亦可為斜角軸承、錐形軸承以及除其等以外之公知之軸承。於沿著旋轉軸15之軸向(以下有時簡稱為「旋轉軸方向」)上，滾筒5相對於筒軸4之位置由軸承6決定。As shown in the figure, the drum 5 is mounted on the barrel shaft 4 via two bearings 6 and two bearings 13. The two bearings 6 may be provided at positions symmetrical to each other with respect to the centers C of the rotation axis direction of the barrel shaft 4. The two bearings 13 may be provided at positions symmetrical to each other with respect to the centers C in the rotation axis direction of the cylindrical shaft 4. In the illustrated embodiment, the bearing 6 is a thrust bearing, and the bearing 13 is a radial bearing. The bearing 6 may also be a thrust washer. The bearings 6 and 13 may be angular bearings, tapered bearings, and other well-known bearings. The position of the drum 5 relative to the drum shaft 4 in the axial direction along the rotation shaft 15 (hereinafter sometimes referred to as the "rotation shaft direction") is determined by the bearing 6.
筒狀構件5b具有自其旋轉軸方向之D1方向之端朝向筒軸4之中心C凹陷之凹部5b1，又，具有自旋轉軸方向之D2方向之端朝向筒軸4之中心C凹陷之凹部5b2。2個軸承6之各者收容於該凹部5b1及凹部5b2。軸承6具有第1套圈6a、第2套圈6b、及配置於該第1套圈6a與第2套圈6b之間之複數個滾動體6c。第1套圈6a安裝於筒軸4，第2套圈6b安裝於筒狀構件5b。The cylindrical member 5b has a recessed portion 5b1 recessed from the end in the D1 direction of the rotation axis direction toward the center C of the cylinder shaft 4 and a recessed portion 5b2 recessed from the end of the D2 direction in the rotation axis direction toward the center C of the cylinder shaft 4. Each of the two bearings 6 is housed in the recessed portion 5b1 and the recessed portion 5b2. The bearing 6 includes a first ferrule 6a, a second ferrule 6b, and a plurality of rolling elements 6c arranged between the first ferrule 6a and the second ferrule 6b. The first ferrule 6a is attached to the barrel shaft 4, and the second ferrule 6b is attached to the cylindrical member 5b.
筒軸4具有沿著其圓周方向延伸之2個槽，於該2個槽之各者設有限制構件。於圖示之實施形態中，使用擋圈7作為限制構件。擋圈7嵌入至槽。因此，擋圈7沿旋轉軸方向之移動受到限制。在擋圈7與筒狀構件5b之間設有間隔件14。於圖示之實施形態中，間隔件14設置於擋圈7與軸承6之間。擋圈7具有貫穿其中心之貫通孔，於該貫通孔***有筒軸4。同樣地，間隔件14具有環狀之形狀。間隔件14具有貫穿其中心之貫通孔，於其貫通孔***有筒軸4。亦可在間隔件14與擋圈7之間設置未圖示之填隙片。填隙片亦可設置於間隔件14與軸承6之間。亦可將旋轉軸方向上之間隔件14之位置與擋圈7之位置調換。換言之，亦可不設置填隙片。例如，間隔件14亦可設置於軸承6與筒狀構件5b之間。亦可使用螺絲作為限制構件。The barrel shaft 4 has two grooves extending in the circumferential direction, and a restricting member is provided in each of the two grooves. In the illustrated embodiment, the retaining ring 7 is used as a restricting member. The retaining ring 7 is fitted into the groove. Therefore, the movement of the retaining ring 7 in the direction of the rotation axis is restricted. A spacer 14 is provided between the retaining ring 7 and the cylindrical member 5b. In the illustrated embodiment, the spacer 14 is disposed between the retaining ring 7 and the bearing 6. The retaining ring 7 has a through hole penetrating the center thereof, and a barrel shaft 4 is inserted into the through hole. Similarly, the spacer 14 has a ring shape. The spacer 14 has a through hole penetrating the center thereof, and the barrel shaft 4 is inserted into the through hole. A gap filler (not shown) may be provided between the spacer 14 and the retaining ring 7. The shim can also be disposed between the spacer 14 and the bearing 6. The position of the spacer 14 in the direction of the rotation axis and the position of the retaining ring 7 may be exchanged. In other words, a gap filler may not be provided. For example, the spacer 14 may be provided between the bearing 6 and the cylindrical member 5b. It is also possible to use screws as restricting members.
於筒軸4之兩端設有沿著與旋轉軸15正交之方向延伸之孔16。於孔16中***有螺釘8。於支持構件3之凹部10設有承收螺釘8之螺絲孔。筒軸4係藉由將螺釘8旋入凹部10之螺絲孔而固定於支持構件3。如此，筒軸4利用螺釘8而安裝於支持構件3。於一實施形態中，孔16之內徑較螺釘8之軸部之外徑大。因此，在螺釘8之軸部與孔16之內周面之間存在間隙。由此，可將筒軸4相對於支持構件3之安裝位置調整相當於該間隙之間隔。筒軸4亦可藉由除利用螺釘8進行之緊固以外之公知之方法固定於凹部10。Holes 16 extending in a direction orthogonal to the rotation axis 15 are provided at both ends of the barrel shaft 4. A screw 8 is inserted into the hole 16. The recessed portion 10 of the supporting member 3 is provided with a screw hole for receiving the screw 8. The barrel shaft 4 is fixed to the support member 3 by screwing a screw 8 into a screw hole of the recessed portion 10. In this way, the barrel shaft 4 is attached to the support member 3 by the screws 8. In one embodiment, the inner diameter of the hole 16 is larger than the outer diameter of the shaft portion of the screw 8. Therefore, there is a gap between the shaft portion of the screw 8 and the inner peripheral surface of the hole 16. Thereby, the installation position of the barrel shaft 4 with respect to the support member 3 can be adjusted by an interval corresponding to the gap. The barrel shaft 4 may be fixed to the recessed portion 10 by a well-known method other than fastening with a screw 8.
其次，參照圖3對本發明之另一實施形態之輪具1進行說明。圖3所示之輪具1於支持構件3之外周面9形成有槽部11來替代凹部10，該方面與圖1a～圖1c所示之輪具1不同。槽部11具有自支持構件3之外周面9朝該支持構件之徑向內側延伸之傾斜面。筒軸4係其兩端部分固定於槽部11。筒軸4例如利用螺釘8而固定於槽部11。Next, a wheel 1 according to another embodiment of the present invention will be described with reference to FIG. 3. The wheel 1 shown in FIG. 3 is different from the wheel 1 shown in FIGS. 1 a to 1 c in that a groove 11 is formed on the outer peripheral surface 9 of the support member 3 instead of the recess 10. The groove portion 11 has an inclined surface extending from the outer peripheral surface 9 of the supporting member 3 toward the radially inner side of the supporting member. The barrel shaft 4 is fixed to the groove portion 11 at both end portions. The barrel shaft 4 is fixed to the groove portion 11 by, for example, a screw 8.
其次，參照圖4對本發明之又一實施形態之輪具1進行說明。於圖4所示之輪具1中，複數個凹部10中之一部分由槽部11代替。複數個筒軸4於凹部10或槽部11安裝於支持構件3。Next, a wheel 1 according to another embodiment of the present invention will be described with reference to FIG. 4. In the wheel 1 shown in FIG. 4, one of the plurality of recessed portions 10 is replaced by a groove portion 11. A plurality of barrel shafts 4 are attached to the support member 3 in the recessed portion 10 or the groove portion 11.
其次，對本發明之一實施形態之輪具1之組裝方法進行說明。首先，準備將一對支持構件3相互固定而成之輪體2。其次，準備經由軸承6而安裝於筒軸4之滾筒5。其次，對一對支持構件3固定筒軸4。以此方式將複數個筒軸4安裝於一對支持構件3。其次，對組裝於一對支持構件3之滾筒5相對於筒軸4之位置進行調整。如上所述，在孔16與螺釘8之間存在間隙，因此，可將筒軸4相對於支持構件3之位置調整與該間隙相應之量。筒軸4係安裝於支持構件3之凹部10或槽部11，故而能夠於將一對支持構件3相互固定而製成輪體2之後調整筒軸4之位置。如此般組裝成輪體2之後，調整筒軸4之位置，藉此，可對滾筒5相對於支持構件3之位置進行調整。Next, a method for assembling the wheel 1 according to an embodiment of the present invention will be described. First, a wheel body 2 is prepared by fixing a pair of support members 3 to each other. Next, a drum 5 to be mounted on the barrel shaft 4 via a bearing 6 is prepared. Next, the barrel shaft 4 is fixed to a pair of support members 3. In this way, the plurality of barrel shafts 4 are attached to the pair of support members 3. Next, the position of the drum 5 assembled with the pair of supporting members 3 relative to the drum shaft 4 is adjusted. As described above, since there is a gap between the hole 16 and the screw 8, the position of the barrel shaft 4 relative to the support member 3 can be adjusted by an amount corresponding to the gap. The barrel shaft 4 is mounted on the recessed portion 10 or the groove portion 11 of the support member 3, so the position of the barrel shaft 4 can be adjusted after the pair of support members 3 are fixed to each other to form the wheel body 2. After assembling the wheel body 2 in this manner, the position of the barrel shaft 4 is adjusted, whereby the position of the drum 5 relative to the support member 3 can be adjusted.
繼而，對上述實施形態之作用效果進行說明。於上述輪具1中，滾筒5相對於筒軸4之移動(於旋轉軸方向上之移動)被軸承6限制。由此，可根據軸承6在旋轉軸方向上相對於筒軸4之安裝位置、及/或軸承6在旋轉軸方向上之尺寸，確定滾筒5相對於筒軸4之安裝位置。藉此，藉由調整軸承6之安裝位置或尺寸而調整滾筒5之安裝位置，其結果，能夠精度良好地對支持構件3安裝滾筒5。Next, the functions and effects of the above embodiment will be described. In the wheel 1 described above, the movement of the drum 5 relative to the drum shaft 4 (movement in the direction of the rotation axis) is restricted by the bearing 6. Therefore, the installation position of the drum 5 with respect to the barrel shaft 4 can be determined according to the installation position of the bearing 6 with respect to the barrel shaft 4 in the rotation axis direction and / or the size of the bearing 6 in the rotation axis direction. Thereby, the mounting position of the drum 5 is adjusted by adjusting the mounting position or size of the bearing 6, and as a result, the drum 5 can be mounted on the supporting member 3 with high accuracy.
於上述一實施形態中，藉由擋圈7限制滾筒5於旋轉軸方向上之移動。由此，可根據擋圈7在旋轉軸方向上相對於筒軸4之安裝位置、及/或擋圈7在旋轉軸方向上之尺寸，確定滾筒5相對於筒軸4之安裝位置。藉此，藉由調整擋圈7之安裝位置或尺寸而調整滾筒5之安裝位置，其結果，能夠精度良好地對支持構件3安裝滾筒5。In the above embodiment, the movement of the drum 5 in the direction of the rotation axis is restricted by the retaining ring 7. Therefore, the installation position of the drum 5 with respect to the barrel shaft 4 can be determined according to the installation position of the retaining ring 7 with respect to the barrel shaft 4 in the rotation axis direction and / or the size of the retaining ring 7 in the rotation axis direction. Thereby, the mounting position of the drum 5 is adjusted by adjusting the mounting position or size of the retaining ring 7, and as a result, the drum 5 can be mounted on the supporting member 3 with high accuracy.
於上述一實施形態中，在擋圈7與軸承之間設有間隔件14。由此，可根據間隔件14於旋轉軸方向上之尺寸確定滾筒5相對於筒軸4之安裝位置。藉此，藉由調整間隔件14之尺寸而調整滾筒5之安裝位置，其結果，能夠精度良好地對支持構件3安裝滾筒5。In the above embodiment, a spacer 14 is provided between the retaining ring 7 and the bearing. Therefore, the installation position of the drum 5 relative to the drum shaft 4 can be determined according to the size of the spacer 14 in the direction of the rotation axis. Thereby, the mounting position of the drum 5 is adjusted by adjusting the size of the spacer 14, and as a result, the drum 5 can be mounted on the support member 3 with high accuracy.
於上述一實施形態中，將筒軸4之兩端部分固定於支持構件3之凹部10或槽部11。藉此，能夠精度良好地進行筒軸4之圓周方向之對位。其結果，能夠降低滾筒5相對於支持構件3之安裝誤差。又，有於能夠將筒軸4無間隙地安裝於凹部10或槽部11，故而能夠將滾筒5精度良好地安裝於支持構件3。In the above embodiment, both ends of the barrel shaft 4 are fixed to the recessed portion 10 or the groove portion 11 of the support member 3. This makes it possible to perform the alignment in the circumferential direction of the barrel shaft 4 with high accuracy. As a result, the mounting error of the drum 5 with respect to the support member 3 can be reduced. In addition, since the barrel shaft 4 can be mounted on the recessed portion 10 or the groove portion 11 without a gap, the drum 5 can be mounted on the support member 3 with high accuracy.
根據上述輪具1之組裝方法，能夠對組裝至一對支持構件3之滾筒5相對於筒軸4之位置進行調整，因此，藉由調整滾筒5相對於筒軸4之安裝位置，能夠精度良好地對支持構件3安裝滾筒5。又，可於組裝成輪體2之後進行滾筒5相對於筒軸4之安裝位置之調整。因此，能夠容易地進行滾筒5之安裝位置之調整。According to the assembly method of the wheel 1 described above, the position of the drum 5 assembled to the pair of supporting members 3 relative to the drum shaft 4 can be adjusted. Therefore, by adjusting the installation position of the drum 5 with respect to the drum shaft 4, good accuracy can be achieved The drum 5 is mounted on the support member 3. In addition, after the wheel body 2 is assembled, the installation position of the drum 5 with respect to the barrel shaft 4 can be adjusted. Therefore, the installation position of the drum 5 can be easily adjusted.
本說明書中所說明之各構成要素之尺寸、材料以及配置並不限定於在實施形態中所明示地說明者，該各構成要素能以具有本發明之範圍中所包含之任意尺寸、材料以及配置之方式進行變化。又，亦能夠將於本說明書中未明示地說明之構成要素附加於所說明之實施形態，亦能夠省略各實施形態中所說明之構成要素之一部分。與上述各種實施形態中之1個相關聯地予以說明之特徵亦能適用於其他實施形態。The sizes, materials, and arrangements of the constituent elements described in this specification are not limited to those explicitly described in the embodiments, and the constituent elements can have any dimensions, materials, and arrangements included in the scope of the present invention. Way to change. In addition, constituent elements that are not explicitly described in this specification can be added to the embodiments described, and a part of the constituent elements described in each embodiment can be omitted. Features described in association with one of the various embodiments described above can also be applied to other embodiments.
1‧‧‧輪具1‧‧‧ wheel
2‧‧‧輪體 2‧‧‧ Wheel
3‧‧‧支持構件 3‧‧‧ supporting components
4‧‧‧筒軸 4‧‧‧ barrel
5‧‧‧滾筒 5‧‧‧ roller
5a‧‧‧本體 5a‧‧‧ Ontology
5b‧‧‧筒狀構件 5b‧‧‧ cylindrical member
5b1‧‧‧凹部 5b1‧‧‧ recess
5b2‧‧‧凹部 5b2‧‧‧ recess
6‧‧‧推力軸承 6‧‧‧ Thrust bearing
6a‧‧‧第1套圈 6a‧‧‧The first ring
6b‧‧‧第2套圈 6b‧‧‧Second ferrule
6c‧‧‧滾動體 6c‧‧‧Rolling body
7‧‧‧限制構件 7‧‧‧ restricted components
8‧‧‧螺釘 8‧‧‧ Screw
9‧‧‧外周面 9‧‧‧ outer surface
10‧‧‧凹部 10‧‧‧ recess
11‧‧‧槽部 11‧‧‧Slot
12‧‧‧旋轉軸 12‧‧‧rotation axis
13‧‧‧徑向軸承 13‧‧‧radial bearings
14‧‧‧間隔件 14‧‧‧ spacer
15‧‧‧旋轉軸 15‧‧‧rotation axis
16‧‧‧孔 16‧‧‧hole
α‧‧‧角度 α‧‧‧ angle
C‧‧‧筒軸4之旋轉軸方向之中心 C‧‧‧ Center of the rotation axis direction of the barrel shaft 4
D1‧‧‧方向 D1‧‧‧ direction
D2‧‧‧方向 D2‧‧‧ direction
圖1a係本發明之一實施形態之輪具之立體圖。Fig. 1a is a perspective view of a wheel according to an embodiment of the present invention.
圖1b係本發明之一實施形態之輪具之俯視圖。 Figure 1b is a top view of a wheel according to an embodiment of the present invention.
圖1c係本發明之一實施形態之輪具之前視圖。 Fig. 1c is a front view of a wheel according to an embodiment of the present invention.
圖2係概略性地表示圖1a～圖1c之輪具所具有之滾筒之剖面的圖。 Fig. 2 is a view schematically showing a cross section of a roller included in the wheel of Figs. 1a to 1c.
圖3係本發明之另一實施形態之輪具之立體圖。 FIG. 3 is a perspective view of a wheel according to another embodiment of the present invention.
圖4係本發明之又一實施形態之輪具之立體圖。 FIG. 4 is a perspective view of a wheel according to still another embodiment of the present invention.
Claims (14)
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018018643 | 2018-02-05 | ||
| JP2018-018643 | 2018-02-05 | ||
| JP2019-014964 | 2019-01-31 | ||
| JP2019014964A JP7221712B2 (en) | 2018-02-05 | 2019-01-31 | wheel |
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| Publication Number | Publication Date |
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| TW201934368A true TW201934368A (en) | 2019-09-01 |
| TWI802647B TWI802647B (en) | 2023-05-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| TW108104104A TWI802647B (en) | 2018-02-05 | 2019-02-01 | Wheels |
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| JP (1) | JP7221712B2 (en) |
| TW (1) | TWI802647B (en) |
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| JP2021112978A (en) * | 2020-01-17 | 2021-08-05 | ナブテスコ株式会社 | Barrel holder and wheel |
| JP7455626B2 (en) | 2020-03-18 | 2024-03-26 | ナブテスコ株式会社 | Wheels, drive units and moving devices |
| JP7453027B2 (en) | 2020-03-18 | 2024-03-19 | ナブテスコ株式会社 | Barrel unit, wheel and drive unit |
| CN111874264B (en) * | 2020-07-08 | 2021-11-16 | 北京空间飞行器总体设计部 | Two-degree-of-freedom sleeve type unfolding mechanism based on Mecanum wheels |
| CN114312133B (en) * | 2021-11-22 | 2024-03-22 | 北京特种机械研究所 | Anti-channeling Mecanum wheel |
| JP2023159736A (en) * | 2022-04-20 | 2023-11-01 | ナブテスコ株式会社 | Wheel, drive unit and mobile device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3656524B2 (en) | 2000-07-18 | 2005-06-08 | 松下電工株式会社 | Omnidirectional wheel |
| DE102006037108A1 (en) | 2006-08-07 | 2008-02-21 | Claas Fertigungstechnik Gmbh | Wheel i.e. Mecanum wheel, for chassis frame for mobile working platform, has roller bodies protruding over circumference of carrier elements, where outer contour exhibits elliptical shape and characterizes running surface of bodies |
| CN102501726A (en) | 2011-12-13 | 2012-06-20 | 北京卫星制造厂 | Omnidirectional wheel applicable to high precision and heavy duty |
| US8960339B2 (en) * | 2012-05-03 | 2015-02-24 | Helical Robotics, Llc | Mecanum wheel |
| KR101307990B1 (en) | 2013-07-12 | 2013-09-13 | 현대엔지니어링(주) | A prefabricatd structure of mecanum wheel |
| JP6661304B2 (en) | 2015-08-27 | 2020-03-11 | 株式会社土佐電子 | Omnidirectional vehicle wheels |
| TWI615288B (en) * | 2015-12-03 | 2018-02-21 | 財團法人金屬工業研究發展中心 | Mecanum wheel apparatus |
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| TWI802647B (en) | 2023-05-21 |
| JP2019137390A (en) | 2019-08-22 |
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