JPH02296505A - Running gear unit - Google Patents

Abstract

PURPOSE:To enable it to perform running and steering with a single unit by attaching a bracket to the lower part of a machine body free of rotation and lockably, while attaching a drive wheel, turning around an axis traversing a turning axis, to the bracket apart from this turning axis. CONSTITUTION:In a running unit (a), a bracket 2 is attached to the lower part of a machine body free of rotation around a vertical axis X. In brief, the bracket 2 is made up of inserting a disk part 7 into a receiving hole 8 of a base 3 and interposing a bearing 9 between these elements. Rotation of the bracket 2 is locked by a locking device 11. That is, the locking device 11 performs its locking action as a pin 14 is projected to the upper part of a horizontal plate 4 and engaged in a receiving hole 15 of the base 3 when current- energization for a solenoid 12 is interrupted. In addition, a drive wheel 16 is supported on the bracket 2 at a position apart from the turning axis X. The drive wheel 16 is driven by a motor 17 and turned around an axis Y traversing the turning axis X vertically.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a traveling device unit that can travel and steer various types of traveling objects by being attached to the lower part of an aircraft body, such as mobile robots, It can be used in electric vehicles, self-propelled cargo transporters, amusement park rides, etc.

[Conventional technology]

BACKGROUND ART In conventional traveling devices for various types of traveling bodies, a pair of front and rear wheels are provided at the bottom of a machine body (traveling body) in two vertical rows spaced apart at appropriate intervals, as in a normal automobile. The rear wheels were used as drive wheels, and a steering mechanism was provided to change the orientation of the front wheels in order to freely change the direction of travel.

However, since the conventional traveling device is provided with the steering mechanism, the structure is complicated and the cost is inevitably increased.

[Problem to be solved by the invention]

The present invention eliminates the drawbacks of the prior art, and is a traveling device that is simple in construction and inexpensive, and can travel and steer the traveling body without requiring a special steering mechanism by being attached to the lower part of the aircraft body. Am trying to provide the unit.

[Means to solve the problem]

In order to solve the above problems, the present invention provides a bracket that is attached to a lower part of an aircraft body so as to be rotatable about an axis in the vertical direction, a locking device that locks the rotation of the bracket and that can be released, and a locking device that locks the rotation of the bracket. The drive wheel is supported by the bracket at a position away from the axis, and is driven by a motor to rotate with respect to the bracket about an axis perpendicular to the rotation axis of the bracket. .

[For production]

The traveling gear unit according to the present invention is attached to the lower part of the fuselage. In this case, the traveling gear unit according to the present invention is
It is also possible to prepare one or more units and attach them to the lower part of the aircraft body so that the aircraft body is supported only by the drive wheels of each traveling gear unit, or simply ordinary wheels with a fixed direction relative to the traveling gear unit and the aircraft body according to the present invention. The vehicle body may be supported by the driving wheels of the traveling gear unit according to the present invention and the normal wheels.

According to the present invention, the bracket is attached to the lower part of the aircraft body so as to be rotatable about an axis in the vertical direction, and the drive wheel is supported by the bracket at a position away from the rotation axis of the bracket, and the drive wheel is is actuated by a motor and rotates relative to the bracket around an axis that perpendicularly crosses the rotation axis of the bracket, so the rotation of the bracket is unlocked by a locking device and the motor is activated. When the drive wheel is rotated by
The bracket rotates around an axis in the vertical direction, thereby changing the direction of the drive wheel with respect to the aircraft body.

When the drive wheel is in the desired direction, the locking device locks the rotation of the bracket to fix the direction of the drive wheel relative to the aircraft body, and the motor is activated to rotate the drive wheel. , the aircraft will travel in a direction depending on the orientation of the drive wheels.

As described above, according to the present invention, the traveling body can be freely run and steered simply by controlling the locking device and the motor.

〔Example〕

The present invention will be described below based on embodiments shown in the drawings.

Fig. 1 is a partially cutaway front view showing an embodiment of the traveling device unit (α) according to the present invention, Fig. 2 is a right side view thereof, and Fig. 3 is a right side view thereof.
The figure is a plan view, and the fan 4 is a perspective view showing the state where it is attached to the fuselage (1).

In these side views, (2) is a bracket that is attached to the lower part of the body (1) so as to be rotatable around an axis X in the vertical direction.

In the illustrated embodiment, the bracket (2) is configured to be rotatably attached to the lower part of the body (1) via the base (3). That is, the bracket (2) includes a horizontal plate (4), a vertical plate (5) suspended from the horizontal plate (4), and a disk bolted (6) to the top of the horizontal plate (4). It consists of a section (7).

The disk portion (7) of the bracket (2) is inserted from below into the straw receiving hole (8) provided in the base (3), and an annular bearing (9) is interposed therebetween;
As a result, the bracket (2+) is attached to the base (3) so as to be freely rotatable around the vertical axis X.

In addition, the base (3) is provided with a mounting hole 00), and by bolting using the mounting hole 00), the base (3) can be attached to the lower part of the entire fuselage (1). It has become.

In addition, in the drawing, (111 is the bracket (2)
This is a releasable locking device that locks the rotation of the

In the case of the embodiment shown in the drawings, a solenoid (121) is used as the locking device, and the solenoid (121 is attached to the bracket (2) through the solenoid bracket (13t).
is fixed to the bottom of the horizontal plate (4). A pin Q41 is connected to the actuator of the solenoid Q21, and when the solenoid az is de-energized, the bin a protrudes above the horizontal plate (4) by a spring (not shown) and is attached to the base (3). into the receiving hole (15), the rotation of the bracket (2) is locked, and
When the solenoid a21 is energized, the pin α4 is retracted downward and the lock is released, allowing the bracket (2) to rotate freely. In addition, in the case of the drawing example, the bracket (2) is 90 mm with respect to the base (3).
The receiving hole (1 of the bottle (141)
Two 51 are provided. Further, a receiving hole (151) may be added at an intermediate position or the like so that the rotation of the bracket (2) can be locked even when the bracket (2) is appropriately rotated.

Note that the solenoid (12
For example, a disc brake or the like can be used. If a disc brake is used, unlike the case where the solenoid α2 is used, the rotation of the bracket (2) can be locked at an arbitrary position. In that case, a detector may be provided to detect the rotational position of the bracket (2) with respect to the base (3), and the signal may be used for travel control.

Further, Oe is a drive wheel supported by the bracket (2) at a position away from the rotation axis X of the bracket (2), and the drive wheel α0 is actuated by the motor α force to rotate the bracket (2). It rotates around an axis 7 that perpendicularly crosses the axis X.

In the case of the embodiment shown in the drawings, a motor with a speed reducer and a brake is used as the motor aη, and the motor αD is fixed to the vertical plate (5) of the bracket (2), and the motor αD is connected to the output shaft Q81 of the motor α force. The driving wheel (161) is directly connected. That is, in the case of the embodiment shown in the drawing, the driving wheel αe is supported by the bracket (2) via the motor α force. By appropriately determining the fixing position and orientation as shown in the figure,
A drive wheel (161) is arranged at a position away from the rotation axis X of the bracket (2) and rotates around an axis 7 perpendicularly crossing the rotation axis X of the bracket (2). Note that the driving wheel Q61 may be operated by the motor α force, and is not necessarily operated by the motor (171).
There is no need to connect it directly to the output shaft. Moreover, the motor OD
Various motors such as electric motors such as pulse motors, servo motors, and induction motors, hydraulic motors, and air motors can be used.

The traveling gear unit (α) having the above configuration is attached to the lower part of the fuselage (11) as shown in the fourth figure.

In the case shown in the fourth figure, four traveling gear units (a) are attached to the lower part of the fuselage (1), and the fuselage (1) is supported only by the drive wheels (161) of each traveling gear unit (a). However, as will be described later, it is sufficient to simply install three traveling gear units (α), or it is possible to install just ordinary wheels (not shown) with fixed directions relative to the traveling gear unit (a) and the fuselage (1). The aircraft body may be supported by the drive wheels αe of the traveling gear unit (α) and the normal wheels.

In addition, in the case shown in the fourth figure, a pair of traveling gear units (α)
is attached directly to the lower part of the fuselage (11), while the other pair of traveling gear units (a) are attached to the lower part of the fuselage (1) via a seesaw suspension system (201), and Even if there are irregularities, the driving wheels αe of each traveling gear unit (α) follow them.The suspension system (■) is constructed of a seesaw plate (with traveling gear units (α) attached on both sides). 21) and the seesaw board (
21), and the shaft (
221 is rotatably supported, and consists of a suspension bracket fixed to the fuselage (IJVc).

Next, the traveling device unit (
The operation when α) is attached to the fuselage (1) as shown in the fourth figure will be explained based on FIG. FIG. 5 is an operational explanatory diagram showing the positional relationship between the fuselage (11) and the drive shaft (161) when viewed from above.

First, as shown by solid lines in Figures 4 and 5, the drive wheels (161) of each traveling gear unit (α) are oriented vertically and the rotation of the bracket (2) is locked by the locking device 1. In this state, if each drive wheel (161) is rotated in the same direction by each motor αD, the aircraft (1) can run in the vertical direction. It is also possible to make the body (1) meander by varying the rotational speed.

Then, in the state shown by the solid line in Figure 5, the lock device a11 of each traveling gear unit (al) is released to allow each bracket (2) to freely rotate around the axis X, and each drive wheel (i
When 61 is rotated by each motor in the direction shown by the arrow in Fig. 5, each bracket (2) rotates around the axis X, and each drive wheel side faces laterally as shown by the broken line in Fig. 5. It happens. In this state, each locking device (Ill) locks the rotation of each bracket (2),
When each drive wheel (161) is rotated in the same direction by each motor αn, the body (1) can be moved laterally.

As mentioned above, when changing the direction of each drive wheel,
Even if each drive wheel Q61 is rotated at the same time, the forces applied to the aircraft body (1) cancel each other out, so the aircraft body (11 does not move) relative to the running surface, but In order to change the direction of each drive wheel side while the vehicle is completely stopped, the direction of each pair of drive wheels marked a at diagonal positions may be sequentially changed.In other words, in that case,
In the state shown by the solid line in FIG. 5, the locking device Qll of the pair of traveling gears (α) located at diagonal positions is locked, and while the brakes are applied to the drive wheels (161), the other pair of traveling gears (α) What is necessary is to change the direction of the drive wheel side in the above-mentioned manner, and then change the direction of the drive wheel α0 in the other pair of traveling devices (α) in the same manner.

In the embodiment shown in FIGS. 1 to 3, a solenoid a'2 is used as a locking device, and a solenoid a'2 is used as a locking device.
41 receiving holes (only two are provided at the position where 151 has rotated 90 times, but the bracket (2) can be rotated at any rotation position by adding receiving holes (151 as appropriate or as a locking device) If a disc brake or the like that can be locked is used, the operations shown in Figs.
) and the locking device (Ill) to change the direction of each drive wheel (16+) to the direction shown by the broken line in Figure 6, the aircraft (1) can be turned at that location, and each drive wheel By changing the direction of the wheel αe to the direction shown by the dashed line in the off-line diagram, the aircraft (1) can be made to travel diagonally, and only the direction of the front pair of driving wheels (161) can be changed to the direction shown by the dashed line in the fang 8 diagram. If you do this, you can make the aircraft (1) meander,
Furthermore, by changing only the direction of one front drive wheel 00 to the direction shown by the broken line in FIG. 9, the body (1) can be made to meander.

Note that FIG. 9 shows an example in which three traveling gear units (α) are attached to the aircraft body (1).

In addition, in the cases shown in Figures 8 and 9 above, if there is no need for the aircraft (1) to turn, slant, or traverse at that location, a pair of rear traveling gear units (α
) instead of the locking device (1), ordinary wheels with a fixed direction relative to the aircraft body (1) may be used.As explained above, according to the present invention, the locking device
Just by controlling the Momoro sword, you can create a moving body (1)
The vehicle can be driven and steered freely.

Further, according to the present invention, there is no need to provide a special steering device unlike the conventional one, and the structure is simple and inexpensive.

〔Effect of the invention〕

According to the present invention, since there is no need to provide a special steering mechanism as in the conventional case, the structure is simple and can be provided at low cost.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and Figure 1 is a partially cutaway front view, Figure 2 is a right side view, Figure 3 is a plan view, and Figure 4 is a perspective view showing the state in which it is attached to the fuselage. Figures, spear 5 to spear 9
The figure is an explanatory diagram of the operation. (α)... Traveling gear unit, (1)... Airframe, (
2)...Bracket, old)...Lock device, ([6
1... Drive wheel, (17)... Motor.

Claims (1)

[Claims] A bracket attached to the lower part of the aircraft body so as to be rotatable about an axis in the vertical direction, a locking device that locks the rotation of the bracket and can be released, and a locking device that is supported by the bracket at a position away from the axis of rotation of the bracket. and a drive wheel that is driven by a motor and rotates with respect to the bracket about an axis that perpendicularly crosses the rotation axis of the bracket.