WO2011155485A1 - トロコイド駆動機構 - Google Patents
トロコイド駆動機構 Download PDFInfo
- Publication number
- WO2011155485A1 WO2011155485A1 PCT/JP2011/063036 JP2011063036W WO2011155485A1 WO 2011155485 A1 WO2011155485 A1 WO 2011155485A1 JP 2011063036 W JP2011063036 W JP 2011063036W WO 2011155485 A1 WO2011155485 A1 WO 2011155485A1
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- WIPO (PCT)
- Prior art keywords
- steering
- shaft
- action
- wheel
- drive
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/04—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction
- B63H1/06—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction with adjustable vanes or blades
- B63H1/08—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction with adjustable vanes or blades with cyclic adjustment
- B63H1/10—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction with adjustable vanes or blades with cyclic adjustment of Voith Schneider type, i.e. with blades extending axially from a disc-shaped rotary body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D35/00—Transmitting power from power plant to propellers or rotors; Arrangements of transmissions
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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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20012—Multiple controlled elements
Definitions
- the present invention relates to a trochoid drive mechanism that moves an action part physically related to the outside in a trajectory along a trochoid curve.
- a trochoid propulsion mechanism is used to drive a seat-type automobile having eight casters exposed at the bottom and a pair of anti-slip wheels in an omnidirectional manner on the floor.
- This mechanism makes it possible to steer the direction of rotation of eight casters evenly arranged around the pivot axis of a swiveling cylinder with tie rods engaged with the casters.
- the tie rods corresponding to the respective casters are configured so as to be integrally rotatable at the center base, and when the position of the center base coincides with the pivot axis, the cylinder is simply swiveled.
- the traveling vehicle is in a stopped state, and on the other hand, if the steering operation is performed so that the position of the center base is decentered on the horizontal plane from the pivot axis, the traveling vehicle translates in an eccentric direction on the floor surface while rotating the casters.
- Non-Patent Documents 1 and 2 and Patent Documents 2 and 3 disclose a propulsion mechanism having the same propulsion principle as that of a helicopter, cycloidal or propeller, and having axial symmetry and omnidirectionality. A mechanism for continuously shifting the translation speed is described.
- Non-Patent Document 3 describes a glide propulsion method that mechanically approximates the propulsion mode of a living snake.
- Non-Patent Document 3 it is necessary to always control the rudder angle in accordance with the moving speed in the direction orthogonal to the traveling direction. To realize this by electronic control, increase the number of actuators and control the number of actuators. The complexity of the system, control accuracy, etc. are required, and the height of the request is a problem.
- An object of the present invention has been made in view of the above, and is to provide a trochoid drive mechanism capable of realizing a geometric complete solution of a trochoid curve by a mechanism composed of simple mechanical elements.
- a trochoidal drive mechanism includes a trochoidal drive that includes an action part that rotates around a drive shaft, and a steering part that is provided with the action part and is capable of relative movement in a two-dimensional direction on the turning surface.
- the action portion includes a plurality of action members that are arranged on a predetermined radius and circumferentially from the drive shaft, and are respectively turnable on a steering shaft that is parallel to the drive shaft.
- the steering unit includes a link mechanism that rotates the action members around the steering shaft, and the link mechanism has a predetermined length, and the length direction of the link mechanism is directed toward the radial direction of the steering shaft.
- a plurality of peripheral portions of the steering unit in a state A plurality of connecting portions provided corresponding to the respective steering shafts are rotatably attached to the corresponding moving bodies at positions separated by a predetermined distance from the steering shaft to one of the front and rear sides in the rotational direction. It is characterized by that.
- the action part is physically related to the outside by turning around the drive shaft.
- fins which are propelled in all directions with respect to the outside, on the water, and underwater (fluid) (Wings) or propellers can be considered.
- a windmill or water turbine it can also be applied to the purpose of extracting the rotational force from the fluid flow that is external, through the fins, far more than conventional systems A stable rotational force can be extracted from a fluid that changes over a wide range of speed.
- the steering unit rotates with the turning of the action unit.
- the steering unit can be relatively moved in a two-dimensional direction on the turning surface, and can be operated so as to move along the trochoidal curve with respect to the action member of the action unit using a link mechanism.
- a link mechanism Become.
- the operation will be described as follows when the operation member is a wheel that travels on the floor surface.
- the wheels that roll on the floor surface can be steered to the steering shaft, which is a vertical shaft that is equidistant from the drive shaft and evenly provided in the circumferential direction. Is provided. If there is no steering operation, each wheel only turns around the drive axis on the floor surface along the turning direction.
- the link mechanism of the steering unit rotates each action member around the steering shaft.
- the connecting part of the steering unit connected to the moving body in a state where there is no steering operation, that is, in a state where the turning center of the steering unit coincides with the drive shaft, the connecting part of the steering unit connected to the moving body is one of the front and rear in the turning direction from the steering shaft.
- the position is separated by a predetermined distance to the side, and the predetermined distance is changed in accordance with the steering so as to translate on the floor surface.
- the connection portion of the steering unit is connected to the moving body. Therefore, it is always the tangential direction of the wheel as seen from the steering shaft.
- the wheel in a state where there is no steering operation, by separating the connecting position between the steering shaft and the connecting portion for steering by a predetermined distance, the wheel is set to satisfy the geometric complete solution of the trochoid curve.
- a steering operation can be performed.
- the structure for this purpose is also realized by a mechanical element called a simple link mechanism that uses only a guide body having a predetermined length and a movable body that can move on the guide body along the length direction.
- an omnidirectional moving mechanism with multiple wheels arranged on the circumference around a vertical drive shaft.
- This mechanism has the same propulsion principle as helicopters, cycloidals, and propellers, and is an axisymmetric and omnidirectional propulsion mechanism. As a feature, it is a mechanism that continuously shifts the translation speed with respect to shaft rotation. Also works.
- FIG. 1 is a diagram showing a steering angle required for each wheel in the same mechanism when translating in a specific direction at a constant angular velocity ⁇ .
- Each wheel is located at a radius rd from the central axis O (corresponding to the drive shaft and drive shafts 22a and 22b described later).
- the speed vector is a tangential speed vd around the drive shaft of each wheel, a translational speed vm at the center of rotation, and a traveling speed vw of each passive wheel.
- this rotation mechanism is established as a mechanism for generating a geometrically complete trochoidal curve, and the previous omnidirectional propulsion mechanism It can be said that the request is satisfied.
- the connecting member may be provided on either side of the steering shaft in the front-rear direction.
- FIG. 2 is a diagram conceptually showing an example of a propulsion mechanism using a trochoid curve, where (a) is a plan view, (b) is a side view, and (c) is a front view.
- FIGS. 3A and 3B are diagrams for explaining the similarity relationship between the speed vector and the link connection as viewed from around the wheel steering angle mechanism as the rotation system, where FIG. 3A shows the speed relationship, and FIG. 3B shows the link connection.
- FIG. 3A shows the speed relationship
- FIG. 3B shows the link connection.
- the steering angle of each wheel WH is determined by the eccentric movement of the steering link plate NL relative to the main arm MA for turning each wheel WH.
- the eccentric movement is assumed to use a cross beam slider IS.
- the steering link plate NL is connected to the main arm MA by a linear slider LS arranged in a cross beam shape of the cross beam slider IS, and can horizontally move the center of rotation while being rotated, that is, rotating in the same phase.
- the tip position and the turning center are connected by a linear slider LS, and the apparatus is configured such that the axial direction thereof is the steering angle direction of the wheel WH.
- the apparatus is configured such that the axial direction thereof is the steering angle direction of the wheel WH.
- vd and d0, vm and dm, vw and dw are geometrically corresponding to each other, and from this, dw and vw of the wheel WH, that is, the rudder.
- the translation speed vm in this system can be arbitrarily set continuously in all directions by the amount of eccentricity dm and its eccentric direction.
- This link structure shows a behavior similar to that of “Vertical ⁇ ⁇ Paddle Propeller Wheel” described in Non-Patent Document 2 at the time of operation, but (i) the amount of eccentricity is variable, and (ii) variable amount of eccentricity.
- this mechanism can increase the wheel diameter more easily by using a normal wheel as a driven wheel without using a complicated omni wheel as a system that moves the wheel in all directions in a plane. As a result, the resistance to bumps (an uneven surface) is high. Further, since there is no drive transmission system to the shaft of the wheel WH, it is easy to mount a suspension with a large stroke depending on the mounting of the suspension and the application. In addition, even when this mechanism is applied to a product that takes out fins and rotational force, the physical force (propulsive force and rotational force) from the outside can be adjusted by adjusting the direction of the fins that are acting members in the same way. Can be taken out efficiently.
- the geometric complete solution of the trochoid curve can be realized by a mechanism composed of simple machine elements.
- FIG. 2 is a diagram conceptually showing an example of a propulsion mechanism using a trochoid curve, where (a) is a plan view, (b) is a side view, and (c) is a front view. It is a figure for demonstrating the similarity relationship of the speed vector and link connection seen from the wheel steering angle mechanism periphery as a rotation system, (a) is a figure which shows speed relationship, (b) is a figure which shows link connection.
- (A) shows the case of the low speed range state vm ⁇ vd
- (b) shows the case of the high speed range state.
- FIG. 1 It is a perspective view which shows the detailed structure of one Embodiment of an outer side wheel part. It is a figure explaining the structure which shows an example of a slide part, (a) is side sectional drawing, (b) is a perspective view which shows an example of a slide board. It is a perspective view explaining the mechanism of an eccentric drive part. It is a perspective view explaining the rotational drive of the drive shaft in the upper and lower sides of an eccentric drive part. It is an upper perspective view of an inner side wheel part. It is a downward perspective view of an inner side wheel part. It is a fragmentary perspective view for demonstrating the structure of a steering link part.
- FIG. 4 is a diagram illustrating camber angle control, in which (a) is a diagram for explaining the camber angle, and (b) is a diagram for explaining angle adjustment using a link system of camber angles accompanying rotation of a wheel. . It is a figure which shows schematically the mechanism for camber angle adjustment control.
- the trochoid drive mechanism comprises: an action part that rotates around a drive axis; and a steering part that rotates together with the action part and is capable of relative movement in a two-dimensional direction on the turning surface.
- the action portion includes a plurality of action members that are arranged on a predetermined radius and circumferentially from the drive shaft, and each of the action portions is rotatably provided on a steering shaft that is parallel to the drive shaft.
- a link mechanism for rotating the action members around the steering shaft, the link mechanism having a predetermined length, and the length direction of the link mechanism is attached to the steering shaft in a radial direction of the steering shaft.
- a plurality of connecting portions provided corresponding to the rudder shaft are rotatably attached to the corresponding moving body at a position separated by a predetermined distance from the steering shaft to one of the front and rear sides in the rotation direction.
- the action unit is physically related to the outside by turning around the drive shaft.
- fins which are propelled in all directions with respect to the outside, on the water, and underwater (fluid) (Wings) or propellers can be considered.
- a windmill or water turbine it can also be applied to the purpose of extracting the rotational force from the fluid flow that is external, through the fins, far more than conventional systems A stable rotational force can be extracted from a fluid that changes over a wide range of speed.
- the steering unit rotates with the turning of the action unit.
- the steering unit can be relatively moved in a two-dimensional direction on the turning surface, and can be operated so as to move along the trochoidal curve with respect to the action member of the action unit using a link mechanism.
- a link mechanism Become.
- the operation will be described as follows when the operation member is a wheel that travels on the floor surface.
- the wheels that roll on the floor surface can be steered to the steering shaft, which is a vertical shaft that is equidistant from the drive shaft and evenly provided in the circumferential direction. Is provided. If there is no steering operation, each wheel only turns around the drive axis on the floor surface along the turning direction.
- the link mechanism of the steering unit rotates each action member around the steering shaft.
- the connecting part of the steering unit connected to the moving body in a state where there is no steering operation, that is, in a state where the turning center of the steering unit coincides with the drive shaft, the connecting part of the steering unit connected to the moving body is one of the front and rear in the turning direction from the steering shaft.
- the position is separated by a predetermined distance to the side, and the predetermined distance is changed in accordance with the steering so as to translate on the floor surface.
- the connection portion of the steering unit is connected to the moving body. Therefore, it is always the tangential direction of the wheel as seen from the steering shaft.
- the wheel in a state where there is no steering operation, by separating the connecting position between the steering shaft and the connecting portion for steering by a predetermined distance, the wheel is set to satisfy the geometric complete solution of the trochoid curve.
- a steering operation can be performed.
- the structure for this purpose is also realized by a mechanical element called a simple link mechanism that uses only a guide body having a predetermined length and a movable body that can move on the guide body along the length direction.
- the steering unit has an operation shaft at a rotation center, and the action unit engages with the operation shaft and moves the steering unit in the two-dimensional direction. It is preferable to have. According to this configuration, when the operation shaft is moved in the two-dimensional direction, that is, decentered, eccentricity corresponding to the amount of eccentricity is made between the operation shaft and the operation portion. Therefore, when this mechanism is applied to a moving body, it is possible to move in all directions by an operation instruction in a two-dimensional direction to the operation unit.
- the trochoid drive mechanism includes a drive source for turning the action portion, and the action member is supported by an axis orthogonal to the steering shaft and has wheels that roll on a surface.
- the turning speed may be a constant speed, but may be an adjustable variable type that allows adjustment of translation speed and moving torque.
- the translational speed of the action portion can be continuously adjusted in magnitude as compared with the rolling speed of the wheel according to the two-dimensional separation distance of the drive shaft from the drive shaft. It is preferable to do.
- the case where the translation speed is larger and smaller than the rolling speed of the wheel, that is, the correspondence to the low speed region and the correspondence to the high speed region in the translation speed will be described.
- FIG. 4 illustrates the relationship between the rotation angle ⁇ and the steering angle of the wheel as seen from the rotation diameter in the low speed region state vm ⁇ vd and the high speed region state vm> vd, and the trajectory of the wheel in the stationary system in the XY plane.
- (A) is a case where the low speed region state vm ⁇ vd
- (b) is a case where the high speed region state vm> vd.
- the steering angle when viewed from the rotating system, the steering angle reciprocates in (a), whereas the steering angle rotates in (b).
- the steering angle rotates with respect to the traveling direction in (a), but the steering angle reciprocates with respect to the traveling direction in (b).
- the use range of the trochoid curve shown in Patent Document 1 is only a low speed range, and this is limited to use under the condition of vm ⁇ vd in FIG.
- the reason for this is that the consideration has been advanced in the form of a transition from a state in which the translational speed vm is zero, and along with this, consideration has been made regarding the limit angle of the rudder angle as a torque component from a stationary state.
- it is considered that it was meaningful to mechanically avoid a sudden change in the rudder angle direction that occurs in the vicinity of vm vd.
- the complexity of the rotation mechanism is due to the fact that the translation speed vm is limited to a low setting.
- this mechanism is a system that constitutively determines the speed ratio, and it is misleading to the behavior of the system to image the correspondence of the component limit angles in the stationary system as they are during driving. Therefore, under the condition that there is a sufficient initial translation speed, not when starting from a stationary state, the system should behave as a system that realizes smooth translation in the high speed region under the condition of vm> vd in FIG. Is possible. Regarding the operating characteristics under such conditions, analysis as glide propulsion is performed in Non-Patent Document 3, and the operation of this mechanism is also in accordance with this.
- it can be avoided by adjusting the moment when vm vd during the translational speed change to the point of passing between the phase angle differences between the wheels WH. Accordingly, it is possible to continuously change the speed from the condition of vm ⁇ vd to the condition of vm> vd (or vice versa), that is, it is possible to continuously cope with a very wide speed range.
- an indicator that outputs a signal indicating an eccentric direction and an eccentric amount of the operation shaft, and an instruction signal from the indicator
- the operation shaft is eccentric by a corresponding direction and amount. It is preferable to provide an eccentric drive unit. According to this configuration, when the operator receives an instruction signal instructed by the operator via the indicator, the operation shaft is eccentric by a direction and an amount corresponding to the instruction content, and moves in the instruction direction at the instruction speed. To do.
- the action portion includes first and second action portions in which the predetermined radii in the drive shaft are respectively set, and the first action portion is the second action.
- the operating portion is rotated in a reverse direction relative to the portion and at a speed ratio that is inversely proportional to the dimension ratio of each predetermined radius set, and the steering portion has first and second drive shafts.
- the first drive shaft is engaged with the first action part
- the second drive shaft is engaged with the second action part.
- this mechanism is applied to a coaxial aspect or a tandem aspect, rather than an aspect in which a single action portion and a rotation restricting wheel are provided.
- the first action part and the second action part rotate the wheels in opposite directions and rotate at a speed ratio that is inversely proportional to the size ratio of each predetermined radius, so that rotation regulation and translational movement are realized.
- the first and second action portions are arranged coaxially and vertically in the height direction, and the wheels of the first and second action portions have the same height. It is preferable to arrange in the position.
- the first and second steering shafts can be provided coaxially and individually above and below, so that the steering unit can be reduced in size.
- FIG. 5 is a diagram for explaining design conditions for sharing the amount of eccentricity of the steering link plate and the translation speed in the counter-rotating configuration.
- Inner Wheels is an inner mechanism part arranged concentrically
- Outer Wheels is a mechanism part arranged on the outer side thereof.
- this mechanism in order to suppress the rotation of the mobile device body due to the driving reaction force, as in the case of a helicopter, a follower wheel corresponding to the tail rotor is used, or a tandem type structure with the same structure and a counter-rotating mechanism as a pair is used. Measures such as taking are necessary.
- a counter-rotating configuration in which the first and second action portions are coaxially arranged will be considered.
- the wheels rotating in the opposite directions of both working parts are forced to move on the circumferences of two different radii.
- the conditions can be designed as follows based on the relationship between the amount of eccentricity and the translation speed.
- This large and small mirror image structure is overlapped with the central axis coaxial, and the rotational center between the steering link plates NL is coupled to give eccentricity from the central axis while applying a reverse driving force to both central axes.
- a counter-rotating mechanism that meets the above requirements can be realized.
- the exclusive space of the moving mechanism can be designed in a cylindrical area, and the omnidirectional symmetry of the obstacle clearance when moving on a plane and the attitude change around the axis of the moving mechanism by the axially symmetric structure are easily realized It is possible to expect a high applied effect to an omnidirectional wheel mobile robot.
- the first and second action portions have substantially the same shape and are spaced apart from each other by a predetermined dimension.
- the above-described tandem mode can be employed. More specifically, the mechanism in which the ratio of the displacement amount dm and the offset amount d0 coincides with the translational velocity vm and the tangential velocity vd and the displacement amount dm can be taken in any place in the system is designed. Brings a lot of freedom.
- FIG. 6 is an exploded perspective view schematically showing an embodiment in which the trochoid drive mechanism according to the present invention is applied to a propulsion mechanism having wheels.
- the propulsion mechanism 1 includes an outer wheel portion 10, an eccentric drive portion 20, and an inner wheel portion 30.
- the outer wheel portion 10, the eccentric drive portion 20, and the inner wheel portion 30 are arranged coaxially in this order.
- the internal structure of the eccentric drive unit 20 is omitted, and details thereof are shown in FIGS. 9 and 10.
- the outer wheel portion 10 includes a top plate 11 having a substantially triangular shape corresponding to a main arm, and an upper annular body 12 and a lower annular body 13 having substantially the same shape and arranged in parallel at a predetermined distance. And a support body 14 for connecting and supporting the top plate 11, the upper annular body 12, and the lower annular body 13, and a wheel portion 15. These structures function as an action part. Further, the outer wheel portion 10 includes a steering link portion 16.
- the eccentric drive unit 20 may have a predetermined shape, for example, a cylindrical shape.
- the eccentric drive unit 20 includes a frame body 21 having a rectangular parallelepiped shape, and two drives that are coaxially (concentrically) erected in the vertical direction therein.
- the shafts 22a and 22b and a mechanism part for synchronizing the two drive shafts 22a and 22b in synchronization are disposed.
- the eccentric drive unit 20 and the steering link unit 16 constitute a steering unit.
- annular bearing portions 21 a and 21 b having a predetermined diameter are projected.
- the inner wheel portion 30 basically has the same function as the outer wheel portion 10 and includes a top plate 31 and a base 32 corresponding to the main arm. These structures function as an action part. Further, the inner wheel part 30 includes a steering link part 35. The eccentric drive unit 20 and the steering link unit 35 constitute a steering unit.
- FIG. 7 is a perspective view showing a detailed structure of one embodiment of the outer wheel portion.
- FIGS. 8A and 8B are diagrams illustrating a configuration showing an example of the slide portion, where FIG. 8A is a side sectional view and FIG. 8B is a perspective view showing an example of the slide plate.
- the top plate 11, the upper annular body 12 and the lower annular body 13 of the outer wheel portion 10 are arranged concentrically at a predetermined interval in the vertical direction.
- the rod-like support 14 is penetrated downward from the three vertex positions and assembled integrally.
- the wheel portion 15 is arranged at three positions in the middle in the circumferential direction with respect to the arrangement position of the support 14, which is shifted by an angle of 60 ° in this embodiment.
- the wheel portion 15 includes a steering shaft 151 that is supported by penetrating the upper annular body 12 and the lower annular body 13 and that can freely rotate.
- the steering shaft 151 has a horizontal wheel shaft 152 below the lower annular body 13, and a wheel 153 having a required diameter is rotatably supported on the wheel shaft 152.
- a necessary number of reinforcing bars 151 a and reinforcing frame bodies 151 b are appropriately provided for the purpose of reinforcing the steering shaft 151 in strength.
- the steering link portion 16 is provided between the top plate 11 and the upper annular body 12.
- the steering link portion 16 has a predetermined shape, here a substantially triangular steering plate 161, a base 162 fixed to the upper end of the steering shaft 151 so as to be able to rotate with the steering shaft 151, and a horizontal surface on the upper surface of the base 162.
- the linear slider 163 arranged toward the head is provided.
- the steering plate 161 functions as the steering link arm NL in FIG. 2, and a circular hole 161a having a predetermined diameter is formed at the center.
- the steering operation shaft is the center of this circular hole 161a, and there is no actual shaft part, but the relative position between this shaft (the center of the circular hole 161a) and the drive shaft 22a changes.
- the linear slider 163 includes a guide member 163a having a predetermined length and a moving member 163b that can slide on the guide member 163a.
- the guide member 163a is fixed to the upper part of the base 162.
- the guide member 163a is attached to the base 162 in a direction in which the length direction thereof coincides with the traveling direction of the wheel 153.
- a rotating shaft 164 is provided upright on the upper surface of the moving member 163b. The rotating shaft 164 pivotally supports the steering plate 161 at its three vertex positions.
- the slide portion 17 is disposed between the upper annular body 12 and the lower annular body 13.
- the slide portion 17 has a predetermined shape, for example, a circular slide plate 171 and a cross-shaped linear slider 172 to 175.
- the diameter of the slide plate 171 can be designed as a required diameter, but is preferably larger than the circular hole 161a formed in the steering plate 161.
- a long hole 171a having a predetermined width and a predetermined length passing through the center is formed in the slide plate 171.
- the outer wheel portion 10 and the eccentric drive portion 20 are assembled so that the drive shaft 22a of the eccentric drive portion 20 passes through the long hole 171a.
- the tip of the drive shaft 22 a is fixed to the top plate 11 and transmits the rotational force transmitted from the motor 230.
- the long hole 171a allows the slide plate 171 to translate in directions orthogonal to the top plate 11 and the steering plate 161 by penetrating the drive shaft 22a, and thereby the top plate 11 and the steering plate. It is installed so that it can be rotated while maintaining the rotation phase while allowing a two-dimensional shift of each rotation axis in a horizontal plane with respect to 161.
- the linear sliders 172 to 175 are composed of guide members 172a to 175a and a required number (one in the figure) of moving members 172b to 175b that are slidable on the guide members 172a to 175a.
- the linear sliders 172 and 173 are paired and directed in one direction in the horizontal direction (left and right direction in FIG. 8), and are arranged side by side with the circular hole 161a interposed therebetween.
- the linear sliders 174 and 175 are paired so as to be directed in the horizontal direction in another direction (the depth direction in the drawing of FIG. 8) perpendicular to the one direction, and arranged side by side with the circular hole 161a therebetween. That is, as shown in FIG.
- the guide members 172 a and 173 a of the linear sliders 172 and 173 are fixed to the upper surface of the slide plate 171, and the moving members 172 b and 173 b are fixed to the lower surface of the top plate 11.
- the linear slider 173 is not visible.
- the slide plate 171 can move (eccentric) in one direction with respect to the top plate 11.
- the guide members 174 a and 175 a of the linear sliders 174 and 175 are fixed to the upper surface of the steering plate 161, and the moving members 174 b and 175 b are fixed to the lower surface of the slide plate 171.
- the steering plate 161 can move (eccentric) in another direction perpendicular to the one direction with respect to the slide plate 171.
- the drive shaft 22a moves in one direction and the other direction on the horizontal plane relative to the operation axis O1, that is, in all directions as a composite direction, and the steering plate 161 turns as described later.
- the steering plate 161 moves in conjunction.
- the operation shaft O1 when the operation shaft O1 is eccentric with respect to the drive shaft 22a, the vertex of the steering plate 161 moves. Since the three apexes of the steering plate 161 and the rotation shaft 164 are linearly engaged by the linear slider 163 constituting the link mechanism, the direction of the steering shaft 151 is thereby changed. Accordingly, when the operation shaft O1 is eccentric with respect to the drive shaft 22a, the operation plate 161 is displaced, and the rotation amount (steering amount) of the steering shaft 51 is determined by the link mechanism. The steering amount determines the tangential direction of the wheel 153.
- the moving member 163b of the linear slider 163 is on the guide member 163a in a state where the operation shaft O1 is not decentered with respect to the drive shaft 22a.
- the direction is designed in advance so that the position is set at a predetermined position separated from the front side in the present embodiment. Further, as will be described later, the outer wheel portion 10 is rotated at a predetermined speed by receiving a rotational driving force via the drive shaft 22a.
- the movement along the geometrical complete solution of the trochoid curve is similar to the case where vd and d0, vm and dm, and vw and dw correspond geometrically in FIGS. 3 (a) and 3 (b).
- FIG. 9 is a perspective view for explaining the mechanism of the eccentric drive unit 20.
- FIG. 10 is a perspective view for explaining the rotational drive of the drive shafts 22 a and 22 b located above and below the eccentric drive unit 20.
- the eccentric drive unit 20 includes the frame body 21 and the upper and lower drive shafts 22a and 22b.
- the eccentric drive unit 20 applies a rotational force to the drive shafts 22a and 22b, and a base that supports the rotation drive unit 23. 24, an eccentric drive unit 25 for eccentrically positioning the base 24 on a horizontal plane, and a bottom plate 26 formed with a long hole 261 laid in a part of the lower surface of the frame body 21.
- the eccentric drive unit 25 includes a member that enables movement in all directions on a horizontal plane disposed between the bottom surface of the base portion 24 and the bottom surface of the frame body 21, for example, a cross-shaped linear slider. As shown in FIG. 9, the eccentric drive unit 25 includes a pair of linear sliders 251 disposed in a direction parallel to the Y direction, and a pair of linear sliders 252 disposed in a direction parallel to the X direction. It has.
- the linear slider 251 includes a guide member 251a fixed on the bottom surface of the frame body 21 and a moving member 251b that can slide on the guide member 251a.
- the linear slider 252 is fixed on the upper surface of the moving member 251b. It is installed.
- the linear slider 252 includes a guide member 252a fixed to the upper surface of the moving member 251b of the linear slider 251 and a moving member 252b slidable on the guide member 252a.
- the upper surface of the moving member 252b is the base 24. It is fixed to the bottom of the.
- the base 24 is configured to be movable with respect to the frame body 21 in the XY directions on the horizontal plane, that is, in all directions.
- the eccentric drive unit 25 has a drive source, and a drive unit 253 for moving the moving member 251b of the linear slider 251 in the Y direction and a moving unit 252b of the linear slider 252 for moving in the X direction.
- Each of the drive units 253 and 254 includes a member that generates a driving force, for example, motors 253a and 254a.
- the driving force from the motor 253a reciprocates the guide member 252a (moving member 251b) in the Y direction via the rotation link structure 253b.
- the driving force from the motor 254a reciprocates the moving member 252b in the Y direction via the rotation link structure 254b.
- the rotation link structure includes an output arm that rotates around the output shaft of the motor, and a transmission arm that is rotatably provided at the tip of the output arm.
- the universal member has a universal structure and is connected to the guide member. Thereby, the rotational force of the motor is reliably transmitted to the guide member via the output arm and the transmission arm, and the base 24 can be moved in the XY directions.
- the rotation drive unit 23 is, for example, a gear as a drive source that applies a rotational force to the drive shafts 22 a and 22 b, such as a motor 230, and a transmission mechanism that transmits the rotational force of the motor 230 to the drive shafts 22 a and 22 b.
- the gear group includes a second relay gear portion 232 to a fourth relay gear portion 234 in order from the first relay gear portion 231 disposed so as to mesh with an output gear 230b attached to the motor output shaft 230a.
- the first relay gear unit 231 includes a rotation shaft 231a, a first gear 231b, and a second gear 231c.
- the second relay gear unit 232 includes a rotation shaft 232a, a first gear 232b, and a second gear 232c.
- the third relay gear unit 233 includes a rotation shaft 233a, a first gear 233b, and a second gear 233c.
- the fourth relay gear unit 234 includes a rotation shaft 234a, a first gear 234b, and a second gear 234c.
- the rotational force of the motor 230 is transmitted from the output gear 230b to the first gear 231b, then transmitted from the second gear 231c to the first gear 232b, and then transmitted from the second gear 232c to the first gear 233b. Then, it is transmitted from the second gear 233c to the first gear 234b.
- the downstream side in the transmission direction of the fourth relay gear portion 234 is branched, and one transmission path proceeds to the drive shaft 22a via the fifth relay gear section 235, and the other path is the fourth relay gear. It advances from the part 234 to the drive shaft 22b.
- the fifth relay gear portion 235 includes a rotation shaft 235a, a first gear 235b, and a second gear 235c.
- the drive shaft 22a includes a final gear 236a.
- the drive shaft 22b includes a final gear 237a.
- the rotational force transmitted to the fourth relay gear unit 234 is transmitted from the second gear 234c to the first gear 235b, and then transmitted from the second gear 235c to the final gear 236a.
- the rotational force transmitted to the fourth relay gear unit 234 is transmitted from the second gear 234c to the final gear 237a.
- both the drive shafts 22a and 22b rotate.
- the drive shafts 22a and 22b can be rotated at a predetermined speed ratio by adjusting and setting the ratio of each gear in advance.
- the fifth relay gear portion 235 between the fourth relay gear portion 234 and the drive shaft 22a the rotation directions of the drive shaft 22a and the drive shaft 22b can be reversed.
- the drive shaft 22b turns the inner wheel portion 30, and turns the outer wheel portion 10 and the inner wheel portion 30 in opposite directions by rotating the drive shafts 22a and 22b in reverse.
- it is inversely proportional to the ratio of the distance from the drive shafts 22a22b that are coaxial to each other to the wheel position of the outer wheel part 10 and the distance to the wheel position of the inner wheel part 30 (of the outer wheel part 10). If the wheel diameter and the wheel diameter of the inner wheel portion 30 are the same), the speed ratio may be set. In addition, what is necessary is just to set also considering the ratio of a diameter, when the diameter of both wheels differs.
- the wireless indicator 27 includes an eccentricity instruction member 271, a turning speed instruction member 272, and a transmission antenna 273.
- the eccentricity instructing member 271 is composed of, for example, a joystick or the like, and a signal corresponding to the eccentric direction and the amount of eccentricity of the motors 253a and 254a is generated according to the tilt directions X and Y and the tilt angle, and is modulated into a radio wave signal to be an antenna. 273 to be transmitted.
- the rotation speed instruction member 272 generates a rotation speed signal of the motor 230 according to the operation (slide) amount, and transmits it from the antenna 273.
- a drive control unit 28 is provided at an appropriate position of the frame body 21, in the present embodiment, at an appropriate position in the base 24.
- the drive control unit 28 includes an antenna 281 for receiving a radio wave signal from the antenna 273, and generates a drive control signal for driving the motor 230 and the motors 253a and 254a from the received signal.
- a short-range communication method using light or ultrasonic waves may be used, or a method of preferential transmission But you can.
- the operation is facilitated by instructing the turning speed remotely or instructing the eccentricity amount, that is, the steering direction.
- FIG. 11 is an upper perspective view of the inner wheel portion 30.
- FIG. 12 is a lower perspective view of the inner wheel portion 30.
- FIG. 13 is a partial perspective view for explaining the structure of the steering link portion 35.
- 14A and 14B are diagrams illustrating a configuration showing an example of the slide portion, where FIG. 14A is a side sectional view, and FIG. 14B is a perspective view showing an example of the slide portion 33.
- the inner wheel portion 30 has a top plate 31 and a base plate 32 arranged concentrically at a predetermined interval in the vertical direction, and a slide portion 33 is interposed therebetween. Wheel portions 34 are provided at predetermined locations on the periphery of the base 32. Further, a steering link portion 35 is provided between the top plate 31 and the wheel portion 34.
- the top plate 31 has a predetermined shape, for example, a substantially triangular shape, and functions as the steering link arm NL in FIG.
- a bearing portion 311 having a predetermined diameter is projected from the center of the top plate 31, and a circular hole 312 is formed on the inner diameter side.
- the steering operation shaft is the center of the bearing portion 311 (that is, the circular hole 312), and there is no actual shaft part, but the relative position between the shaft serving as the center and the drive shaft 22b is changed.
- this central axis is referred to as an operation axis O2 (see FIG. 14).
- the wheel portion 34 has a steering shaft 341 that penetrates the base 32 in the vertical direction and is pivotally supported with respect to the base 32.
- the steering shaft 341 has a horizontal wheel shaft 342 at the lower portion, and a wheel 343 having a required diameter is rotatably supported on the wheel shaft 342.
- the wheels 343 and 153 have the same diameter.
- the steering link part 35 is provided between the top plate 31 and the base 32 as shown in FIG.
- the steering link unit 35 includes a base 351 fixed to the upper end of the steering shaft 341 so as to rotate integrally with the steering shaft 341, and a linear slider 352 disposed horizontally on the upper surface of the base 351.
- the linear slider 352 includes a guide member 352a having a predetermined length and a moving member 352b that can slide on the guide member 352a.
- a rotation shaft 353 is erected on the upper surface of the moving member 352b. The rotation shaft 353 is pivotally supported at the three vertex positions of the top plate 31.
- the slide portion 33 is disposed between the top plate 31 and the base 32.
- the slide portion 33 has a predetermined shape, for example, a substantially triangular slide plate 331 and a cross-shaped linear slider 332 to 336.
- the diameter of the slide plate 331 can be designed as a required diameter, the slide plate 331 has a larger diameter than the circular hole 312 formed in the top plate 31.
- the size does not interfere with the position of the steering link portion 35. It is preferable that
- the slide plate 331 has a long hole 331a passing through the center.
- the inner wheel part 30 and the eccentric drive part 20 are assembled so that the drive shaft 22b of the eccentric drive part 20 passes through the long hole 331a.
- the tip of the drive shaft 22b is fixed to the base 32 and transmits the rotational force transmitted from the motor 230.
- the long hole 331a allows the slide plate 331 to translate in directions orthogonal to the top plate 31 and the base 32 by passing through the drive shaft 22b.
- it is installed so that it can be rotated while maintaining the rotation phase while allowing a two-dimensional shift of each rotation axis in a horizontal plane.
- the linear sliders 332 to 336 are composed of guide members 332a to 336a and movable members 332b to 336b that are slidable on the guide members 332a to 336a (note that the linear slider 333 is not visible in FIG. 14).
- the linear slider 336 is omitted.
- the linear sliders 332 and 333 are paired and oriented in one direction in the horizontal direction (left and right direction in FIG. 14), and are arranged side by side with the circular hole 161a interposed therebetween.
- the linear sliders 334 to 336 are oriented in the horizontal direction in another direction orthogonal to the one direction (the depth direction in FIG. 14), and are distributed at three locations around the circular hole 161a. That is, as shown in FIG.
- the guide members 332 a and 333 a such as the linear sliders 332 and 333 are fixed to the upper surface of the slide plate 331, and the moving members 332 b and 333 b are fixed to the lower surface of the top plate 31.
- the slide plate 331 can move (eccentric) in one direction with respect to the top plate 31.
- the guide members 334a to 336a (see FIG. 11) of the linear sliders 334 to 336 are fixed to the upper surface of the base 32, and the moving members 334b to 336b (note that 336b is not visible) are fixed to the lower surface of the slide plate 331. Is done.
- the base 32 can move (eccentric) in another direction orthogonal to the one direction with respect to the slide plate 331.
- the drive shaft 22b moves in one direction and the other direction on the horizontal plane relative to the operation axis O2, that is, in all directions as the synthesis direction, the base 32 is interlocked accordingly. Will move.
- the operation axis O2 is eccentric with respect to the drive shaft 22b
- the vertex of the base 32 moves. Since the three vertices of the base 32 and the rotation shaft 353 are linearly engaged by the linear slider 352 constituting the link mechanism, the direction of the steering shaft 341 is thereby changed. Therefore, when the operation shaft is eccentric with respect to the drive shaft 22b, the base 32 is displaced, and the rotation amount (steering amount) of the steering shaft 341 is determined by the link mechanism. The tangential direction of the wheel 343 is determined by the steering amount.
- the moving member 352b of the linear slider 352 is on the guide member 352a in a state where the operation shaft O2 is not decentered with respect to the drive shaft 22b, for example, a turning described later, for example, It is designed in advance so as to be positioned at positions separated in the direction. Further, as will be described later, the inner wheel portion 30 is rotated at a predetermined speed by receiving a rotational driving force via the drive shaft 22b. As a result, as shown in FIGS. 1 and 3, the wheel 343 realizes movement along the geometrical complete solution of the trochoid curve.
- FIG. 15 is a partial perspective view when the propulsion mechanism is applied to a tandem type.
- the mechanism shown in FIG. 15 is configured such that the eccentric drive unit 20 shown in FIG. 6 can be applied to a tandem type.
- the tandem type is a structure in which, for example, a pair of a wheel portion 30 ′ functionally identical to the inner wheel portion 30 and a mirror image structure 30 ′′ are arranged in parallel at a predetermined distance.
- the inner wheel portion 30 or the outer wheel portion 10 may be employed.
- the structure of the wheel portion is also clockwise. It is necessary to form a mirror image pair structure of the system and counterclockwise.
- the propulsion mechanism 1A includes operation shafts 41 and 42, a rotation drive unit 43, an eccentric drive unit 44, and a support unit 45 that supports them.
- the support portion 45 is configured such that flat plates 451 and 452 each having a predetermined shape, for example, a rectangular shape, are arranged in parallel with a predetermined number of bosses 453 and the like spaced apart by a predetermined distance in the vertical direction.
- the operation shafts 41 and 42 correspond to the drive shafts 22a and 22b, have a predetermined length in the vertical direction, are respectively supported by the flat plates 451 and 452, and are spaced apart by a predetermined distance in the horizontal direction. ing.
- a D-cut surface as a rotating shape is formed similarly to the drive shafts 22a and 22b.
- gears 411 and 421 are fixed to the operation shafts 41 and 42 at predetermined positions between the flat plates 451 and 452.
- the rotation drive unit 43 includes a motor 430 as a drive source, an output gear unit 431, and relay gear units 432 to 435 that mesh sequentially.
- the output gear unit 431 includes an output shaft 431a and an output gear 431b fixed to the output shaft 431a.
- the relay gear portions 432 to 435 have output shafts 432a to 345a and relay gears 432b to 345b, respectively.
- the relay gear 342b meshes with the output gear 341b
- the relay gear 343b meshes with the relay gear 432b
- the gear 411 meshes with the relay gear 433b, whereby the rotational force of the motor 430 is transmitted to the operation shaft 41. Is done.
- the relay gear 344b is simultaneously meshed with the relay gear 432b, the relay gear 435b is meshed with the relay gear 434b, and the gear 421 is meshed with the relay gear 345b.
- the rotational force of the motor 430 is transmitted to the operation shaft 42.
- the operation shafts 42 and 43 rotate in opposite directions.
- the wheel portions 30 ′ and 30 ′′ are the same (the wheels have the same turning radius)
- the rotational speeds of the operation shafts 41 and 42 can be matched by adjusting the ratio of each gear. it can. If they are different, they may be inversely proportional to the turning radius ratio.
- the eccentric drive unit 44 is disposed below the flat plate 452.
- the eccentric drive unit 44 includes a horizontally-oriented slide plate 441 having a predetermined shape, for example, a substantially rectangular slide plate 441, a cross-shaped linear slider 442 to 445, and an eccentric plate 446 provided below the parallel to the slide plate 441.
- a horizontally-oriented slide plate 441 having a predetermined shape, for example, a substantially rectangular slide plate 441, a cross-shaped linear slider 442 to 445, and an eccentric plate 446 provided below the parallel to the slide plate 441.
- circular holes 4461 and 4462 having required diameters are formed on the left and right sides of the eccentric plate 446, and the bearings protruding from the upper portions of the respective wheel portions 30 ′ are fitted therein. Combined. Therefore, the distance between the circular holes 4461 and 4462 of the eccentric plate 446 defines the distance between the pair of wheel portions in the tandem type.
- the eccentric drive unit 44 includes, for example, a motor 447 that is a drive source fixed to the flat plate 452 and a transmission mechanism unit 4471 that transmits the rotational force of the motor 447 to the slide plate 441. Further, the eccentric drive unit 44 includes, for example, a motor 448 that is a drive source fixed to the eccentric plate 446 and a transmission mechanism unit 446 that transmits the rotational force of the motor 448 to the slide plate 441.
- the linear sliders 442 to 445 are composed of guide members 442a to 445a and moving members 442b to 445b that are slidable on the guide members 442a to 445a (in FIG. 15, the linear slider 445 is not visible). .) A pair of linear sliders 442 and 443 are arranged side by side in the depth direction of FIG. 15, the guide members 442 a and 443 a are fixed to the lower surface of the flat plate 452, and the moving members 442 b and 443 b are slide plates 441. It is fixed to the upper surface of the. A pair of linear sliders 444 and 445 are arranged in parallel in the left-right direction in FIG.
- the guide members 444 a and 445 a are fixed to the upper surface of the eccentric plate 446, and the moving members 444 b and 445 b are the slide plate 441. It is fixed to the lower surface of the. Accordingly, the eccentric plate 446 can be eccentric in all directions on the horizontal plane with respect to the flat plate 452. That is, the operation shafts 41 and 42 can be eccentric by the same amount relative to and in all directions on the horizontal plane with respect to the eccentric plate 446.
- the moving member 352b of the linear slider 352 is on the guide member 352a and is a predetermined distance from the steering shaft 341, as in the case of the inner wheel portion 30.
- the link mechanism is designed in advance so as to be positioned at a position separated in the turning direction, even in this tandem structure, the wheel 343 has a geometrical shape of a trochoid curve as shown in FIG. The movement along the complete scientific solution will be realized.
- the present invention can adopt the following modes.
- the wheel was provided in three places equally in the circumferential direction, it may be provided in a predetermined plurality of places of three or more as long as it is equivalent.
- the outer wheel portion and the inner wheel portion are arranged coaxially or in a tandem shape, but instead of this, one of the outer wheel portion and the inner wheel portion is used as the working portion. It is possible to obtain the same effect by adopting the above and providing a pair of anti-slip wheels (secondary wheels).
- a uniaxial sliding body that controls the movement of the coaxial member in the axial direction may be used.
- the drive shafts 22a and 22b of the eccentric drive unit 20 are not eccentric, and the drive shafts 22a and 22b are positioned in the outer wheel unit 10 and the inner wheel unit 30 in the vertical direction. Is set as the central axis, but this central axis may be virtual or may be provided with a central axis for convenience. For example, in the outer wheel portion 10, a vertical line connecting the center points of the upper annular body 12 and the lower annular body 13 becomes the central axis.
- the drive shafts 22a and 22b are eccentrically controlled based on the instruction signal from the wireless indicator 27, but instead, the drive shafts 22a and 22b may be operated directly by the operator. Good.
- the outer side wheel part 10 side it is preferable to set it as the aspect which adds the structure which controls the camber angle of the wheel 153 optimally.
- the camber angle of the wheel 153 can be continuously optimized, the steering loss can be further reduced.
- the wheel shaft 152 of the wheel 153 which is a follower wheel whose steering angle is controlled (shown by the outer wheel portion 10), continue to point to the intersection of the ground and the central axis of the radius of curvature of the track. .
- the mechanism of the steering link unit 16 always keeps the wheel shaft 152 directed in that direction, so that the wheel shaft 152 is centered on the ground along the rotation direction around the steering angle vector dw. Control may be performed using a mechanism so that they intersect.
- this mechanism has the function of simultaneously generating the optimum camber angle by adding an additional link mechanism. Is possible.
- FIG. 16A and 16B are diagrams illustrating the control of the camber angle.
- FIG. 16A is a diagram for explaining the camber angle
- FIG. 16B is a diagram for explaining the angle adjustment using the link system of the camber angle accompanying the rotation of the wheel.
- this mechanism includes a secondary steering shaft for adjusting the camber angle.
- the position of the auxiliary steering shaft is not fixed, and it rotates with a diameter rd around the drive shaft in the plane of the main arm (corresponding to the flat plate 11 in FIG. 7) indicated by rd in FIG.
- a relative angle (transmission angle) ⁇ with respect to the main steering shaft (corresponding to the steering shaft 151 in FIG. 7) is transmitted from the main arm (corresponding to the steering plate 161 in FIG.
- the steering direction dw on the auxiliary steering shaft is determined, and thereby the linear rail of the linear slider (guide member side) orthogonal to it
- the direction of the radius Wd is determined by engaging the linear slider in a form orthogonal to the link arm having the same length as the radius Wd of the wheel WH (corresponding to the wheel 153 in FIG. 7) extending from the main steering shaft.
- the camber angle of the wheel 153 can be obtained as an intersection angle with the direction dw of the main steering axis.
- FIG. 17 is a diagram schematically showing a mechanism for camber angle adjustment control.
- the structure for adjusting the camber angle includes a pair of arc-shaped slide members 51 to a fan-shaped gear 53 as a mechanism for changing the camber angle interposed between the steering shaft 151 and the wheel shaft 152, and the camber angle.
- the camber angle adjustment structure includes the slide member 51 having the above-described arc shape provided so as to rotate integrally with the steering shaft 151, and the same curvature shape as the slide member 51.
- a rack gear is formed on one side surface of the pair, and the rack member 52 provided integrally with the wheel shaft 152 and the steering shaft 151 are arranged concentrically with each other so as to be relatively rotatable.
- a pinion member 53 having a fan-like shape and having a gear that meshes with the rack gear of the rack member 52 on the peripheral surface.
- the moving direction of the rack member 52 and the wheel shaft 152 are designed to be in the same plane.
- the pinion member 53 moves the rack member 52 in the arc direction with respect to the slide member 51, and by this movement, the camber of the wheel 153 is based on the wheel contact point that is the center of the arc.
- the corners are changing.
- the slide member 51 and the rack member 52 may have a linear shape in addition to an arc shape.
- the rotating arm 61 is disposed at a predetermined position (a position for largely detouring the central axis by a predetermined amount),
- a predetermined position a position for largely detouring the central axis by a predetermined amount
- the cross-shaped linear sliders 63 and 67 (described later) between the main link and the steering link of the auxiliary steering system are supported, and together with the linear sliders 63 and 67, the rotating arm 61 and the main arm member described later.
- the standing member 62 acting as an angle restraining mechanism for holding the angle ⁇ (relative angle ⁇ in FIG.
- a linear slider 63 having an angle ⁇ and a top surface of the pinion member 53 which is composed of a rail-shaped guide member and a moving member that slides along the rail-shaped guide member that are horizontally disposed on the pinion member 53. And from the central axis A vertical shaft 65 connected via a linear slider 64 provided in the chord direction at a position separated by a required radius, a linear slider 66 interposed between the linear slider 63 and the vertical shaft 65, and a vertical shaft A linear slider 63 is provided on the lower side of the installation member 62 and is directed in a direction orthogonal to the horizontal plane.
- the mechanism for changing and controlling the camber angle in conjunction with turning functions as a link arm that can freely rotate around its axis while having a main arm on the main steering side and a rotating shaft in common.
- a sub-steer side main arm member 68 that rotatably supports the vertical shaft 65 is provided, and a guide member of a rail strip of the linear slider 67 is connected to the main arm member 68.
- the linear slider basically has the same structure.
- the camber angle is changed in conjunction with the turning operation, and the camber angle is always set to a suitable camber angle from the relationship between the tangential direction and the translation direction of the wheel 153, thereby further reducing the steering loss. It becomes possible.
Abstract
Description
10 外側車輪部(作用部の一部)
11 天板
12 上環状体
13 下環状体
14 支持体
15 車輪部(作用部材)
151 操舵軸
153 車輪
16 操舵リンク部(操作部、リンク機構)
161 操舵板(リンク機構の一部)
163 リニアスライダ
163a ガイド部材
163b 移動部材
164 回動軸(リンク機構の一部)
17 スライド部(係合部)
20 偏心駆動部(操舵部の一部)
21 枠体
22a,22b 駆動軸
23 回転駆動部
230 モータ(駆動源)
24 基部
25 偏心駆動部
26 底板
27 無線指示器(指示器)
28 駆動制御部
30 内側車輪部(作用部の一部)
31 天板
32 基盤
33 スライド板(係合部)
34 車輪部(作用部材)
343 車輪
35 操舵リンク部(操舵部の一部)
41,42 操作軸
43 回転駆動部
44 偏心駆動部
45 支持部
IS 井桁スライダ
LS リニアスライダ
MA 主アーム
NL 操舵リンク板
WH 車輪
O1,O2 操作軸
Claims (8)
- 駆動軸周りに旋回する作用部と、前記作用部と供回りすると共に旋回面上で2次元方向に相対移動が可能にされた操舵部とを備えたトロコイド駆動機構において、
前記作用部は、前記駆動軸から所定半径上かつ円周方向に均等に配置され、前記駆動軸と平行な操舵軸にそれぞれ回動可能に設けられた複数個の作用部材を備え、
前記操舵部は、前記各作用部材を前記操舵軸周りに回動させるリンク機構を備え、
前記リンク機構は、
所定長を有し、その長さ方向が前記操舵軸の径方向に向けて前記操舵軸に取り付けられたガイド体と、
前記各ガイド体に対し、前記長さ方向に沿って移動可能に設けられた移動体とを有し、
前記操舵部の回動中心が前記駆動軸に一致する状態で、前記操舵部の複数の周縁部位であって前記各操舵軸に対応して設けられた複数の連結部位が前記操舵軸から前記回動方向の前後一方側に所定距離だけ離間した位置で対応する前記移動体に回動可能に取り付けられていることを特徴とするトロコイド駆動機構。 - 前記操舵部は、回動中心に操作軸を有し、
前記作用部は、前記操作軸に係合して前記操舵部を前記2次元方向に移動させる係合部を有することを特徴とする請求項1に記載のトロコイド駆動機構。 - 前記作用部を旋回させる駆動源を備え、
前記作用部材は、前記操舵軸に直交する軸に軸支されて、面上で転動する車輪を有することを特徴とする請求項2に記載のトロコイド駆動機構。 - 前記操作軸の前記駆動軸に対する2次元方向の離間距離に応じて、前記作用部の並進速度が前記車輪の転動速度に比して連続的に大小調整可能であることを特徴とする請求項3に記載のトロコイド駆動機構。
- 前記操作軸の偏心方向及び偏心量を指示する信号を出力する指示器と、
前記指示器からの指示信号を受けて、前記操作軸を対応する方向及び量だけ偏心させる偏心駆動部とを備えたことを特徴とする請求項3又は4に記載のトロコイド駆動機構。 - 前記作用部は、前記駆動軸における前記所定半径がそれぞれ設定された第1、第2の作用部を有し、
前記第1の作用部は、前記第2の作用部に比して前記作用部を逆向きで、かつそれぞれ設定された前記各所定半径の寸法比に反比例した速度比率で回転させ、
前記操舵部は、第1、第2の駆動軸を有し、前記第1の駆動軸を前記第1の作用部に係合させ、前記第2の駆動軸を前記第2の作用部に係合させてなることを特徴とする請求項3~5のいずれかに記載のトロコイド駆動機構。 - 前記第1、第2の作用部は、同軸上で、かつ高さ方向の上下に配置され、前記第1、第2の作用部の前記車輪は互いに等しい高さ位置に配置されていることを特徴とする請求項6に記載のトロコイド駆動機構。
- 前記第1、第2の作用部は、実質的に同一形状を有し、左右に所定寸法だけ離間して配置されていることを特徴とする請求項6に記載のトロコイド駆動機構。
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JP2012519394A JP5445879B2 (ja) | 2010-06-11 | 2011-06-07 | トロコイド駆動機構 |
US13/702,451 US8757316B2 (en) | 2010-06-11 | 2011-06-07 | Trochoid drive system |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2012246961A (ja) * | 2011-05-25 | 2012-12-13 | Osaka Univ | トロコイド駆動機構及び移動体 |
JP2013244853A (ja) * | 2012-05-25 | 2013-12-09 | Osaka Univ | トロコイド駆動機構 |
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Also Published As
Publication number | Publication date |
---|---|
JPWO2011155485A1 (ja) | 2013-08-01 |
US20130081499A1 (en) | 2013-04-04 |
JP5445879B2 (ja) | 2014-03-19 |
US8757316B2 (en) | 2014-06-24 |
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