Ball-type drive mechanism

Abstract

A spherical-driven motion device 10 comprises rotating bodies 14, 15, and 16 that rotate a number of n driving spherical bodies 11, 12, and 13 by being driven in a rotating manner in a state where they are in contact with each of the driving spherical bodies 11, 12, and 13 from two different directions, and moves on a locomotion surface G. If the locomotion surface G is a horizontal surface, corresponding centers P1, P2, and P3 of the driving spherical bodies 11, 12, and 13 are located on lateral edges S1, S2, and S3, respectively, of a virtual inverted n-gonal pyramid H, which has a base η located at a position higher than the respective centers P1, P2, and P3 of the driving spherical bodies 11, 12, and 13, and an apex O that is away from the base η and located at a position lower than the base η. as the respective center P1, P2 and P3 of the driving spherical bodies 11, 12 and 13.The rotating bodies 14, 15 and 16 come into contact with the driving spherical bodies 11, 12 and 13 at positions higher than the respective centers P1, P2 and P3 of the driving spherical bodies 11, 12 and 13 located in the virtual inverted n-gonal pyramid H, or at positions higher than the respective centers P1, P2 and P3 of the driving spherical bodies 11, 12 and 13 located on lateral surfaces α, β and γ of the virtual inverted n-gonal pyramid H, and are driven to rotate about a corresponding rotating shaft 19, 21 and 23, which is perpendicular to the lateral surfaces α, β and γ of the virtual inverted n-gonal pyramid H.

Description

[0001] The present invention relates to a motion device of the ball-drive type, which is capable of rotating by means of To propel spherical bodies to move in any direction. State of the art

[0002] Since a motion device with three ball bodies and three drive devices (i.e. drive motors) for providing a rotational force Since the spherical bodies (see patent literature 1) are capable of moving in any direction, it is effective to use such a motion device for to use an electric wheelchair, a self-propelled cart, or the like. Regarding the movement device of patent literature. 1. Two rotors, each driven to rotate by the power of one of the drive devices, come from different directions. Directions with each spherical body in contact. In this motion device, the rotors and the spherical bodies come into contact with each other at positions. Contact, whose height is identical to the respective center of the spherical bodies, and intermediate elements (i.e. wheel-shaped rollers) are provided to to press the spherical bodies towards the rotors. When the rotors are spinning freely, the moving device is no longer able to move into the to move in the desired direction. Therefore, it is important to maintain the state in which the rotors are pressed towards the spherical bodies so that so that the moving device can move stably. List of cited documents Patent literature

[0003] Patent literature 1: published unexamined Japanese patent application no. 2010-30360 Summary of the invention Technical problem

[0004] Nevertheless, in the motion device of patent literature 1, it happens in rare cases that the rotors come out of contact with the Spherical bodies are involved. If the motion device is operated by a user, as in a case where the motion device is used for... For example, when using an electric wheelchair, the user can easily correct the direction of movement themselves. In a system without Operator for the motion device, as in a case where the motion device is for example for a self-propelled cart However, when used, the problem arises that the direction of movement cannot be corrected and the movement device cannot can move according to a plan.

[0005] As a method for suppressing such idling rotation of the rotors, it is conceivable to design the rotors in such a way that they have a multi-layered structure made of materials with different tensile forces. In this case, however, another problem arises: The durability of the rotors decreases and the wear and tear on the rotors increases.

[0006] The present invention was made taking into account the above circumstances and has the objective of providing a motion device of the spherical drive type, which is capable of suppressing the idling rotation of rotating bodies that are in a state in which They are in contact with spherical bodies and are driven by a rotating motion. Solution to the problem

[0007] To solve the above-mentioned problem, according to a first aspect of the present invention, a motion device is provided from A spherical drive type is provided, comprising: a number n of driving spherical bodies, each rolling on a locomotion surface, and a number n or more rotating bodies that rotate the driving spherical bodies by being driven in a rotating manner in a state where they are in contact with each of the driving spherical bodies from two different directions, wherein the motion device is directed from A spherical drive type moves on the locomotion surface, wherein, if the locomotion surface is a horizontal surface, a center of each of the driving spherical bodies is arranged on one of the lateral edges of a virtual inverted n-gonal pyramid, which is a has a base that is positioned higher than the center of each of the driving spherical bodies, and also has a tip that points away from the base and is in a lower position than the center of each of the driving spherical bodies, furthermore each of the rotating bodies with at least one of the driving spherical bodies at a position or positions that is / are higher than the center of at least one of the in contact standing and lying in the virtual inverted n-gonal pyramid driving spherical bodies, or at a position or positions that is / are higher than the center of at least one of the driving elements in contact Spherical bodies, and if lateral faces of the virtual inverted n-gonal pyramid, each forming part of an outer edge of two of the lateral edges comprise, on each of which the center of one of the driving spherical bodies is arranged, as corresponding lateral surfaces are defined, comes into contact at one of the corresponding lateral surfaces, and furthermore each of the rotating bodies around a rotating shaft that is perpendicular to one of the corresponding lateral surfaces, is driven in a rotating manner, provided, however, that n is an integer of three or more.

[0008] To solve the above-mentioned problem, a motion device is provided according to a second aspect of the present invention. of the ball-type drive type, which includes: two driving ball bodies, each rolling on a propulsion surface, a a driven rotator that rolls on the locomotion surface, and a number of m rotating bodies that rotate the driving spherical bodies by They are driven in a rotating manner in a state where they are in contact with each of the driving spherical bodies from two different directions. are, wherein the motion device of the ball-body drive type moves on the locomotion surface, with each of the rotating bodies with at least one of the driving spherical bodies coming into contact at a position or positions that is / are higher than a center of the at least one of the driving spherical bodies in contact, wherein furthermore one of the number m of rotating bodies connected to both of the two driving spherical bodies are in contact with the driving spherical bodies at positions on the side of the driven rotator with reference to a virtual inclined plane that passes through the center of each of the driving spherical bodies, or at positions on the virtual inclined plane in Contact is made, and also one of the rotating bodies is in contact with both of the two driving spherical bodies to form a virtual The rotating shaft is driven in a rotating manner on an inclined plane perpendicular to the plane, provided, however, that m is an integer of three or more.

[0009] To solve the above-mentioned problem, a motion device is provided according to a third aspect of the present invention. of the ball-type drive type, which includes: two driving ball bodies, each rolling on a propulsion surface, a a driven rotator that rolls on the locomotion surface, and a number r of rotating bodies that rotate the driving spherical bodies by They are driven in a rotating manner in a state where they are in contact with each of the driving spherical bodies from two different directions. are, wherein the motion device of the ball-body drive type moves on the locomotion surface, with each of the rotating bodies with at least one of the driving spherical bodies coming into contact at a position or positions that is / are higher than a center of the at least one of the contacting driving spherical bodies, wherein furthermore two of the number r rotating bodies which exert a driving rotational force obtained from a common motor, correspondingly with the driving spherical bodies at positions on the side of the driven rotator with reference to a virtual inclined plane passing through the center of each of the driving spherical bodies, or at positions on the virtual inclined plane The plane comes into contact, and furthermore, the two of the rotating bodies each rotate about a rotating shaft perpendicular to the virtual inclined plane. can be driven, provided, however, that r is an integer of three or more. Advantageous effects of the invention

[0010] In the motion device of the ball-drive type according to the first aspect of the present invention, when the The surface of motion on which the number n driving spherical bodies roll is a horizontal surface, and each rotating body with at least one the driving spherical body at a position or positions that is / are higher than the center of at least one of the contacting and the driving spherical body located in the virtual inverted n-gonal pyramid, or at a position or positions that is / are higher as the center of at least one of the contacting driving spherical bodies, and at one of the corresponding lateral surfaces that the lateral faces of the virtual inverted n-gonal pyramid, each forming part of its outer edge, are two of the lateral edges encompass, on each of which the center of one of the driving spherical bodies is arranged, in contact, and furthermore, each rotating body The drive mechanism rotates around the pivot shaft, which is perpendicular to one of the corresponding lateral surfaces. The motion device of the spherical body- The drive type according to the second aspect of the present invention comprises the two driving spherical bodies and the driven rotator, which is mounted on the surface of movement rolls, and from the number of m of rotating bodies, each connected to at least one of the driving spherical bodies on a Position or positions in contact that are higher than the center of at least one of the driving spherical bodies in contact, One of the rotating bodies, which is in contact with both of the two driving spherical bodies, comes to positions with the driving spherical bodies on the side of the driven rotator with respect to the virtual inclined plane passing the center of each of the driving spherical bodies, or at positions on the virtual inclined plane in contact, and furthermore, one of the rotating bodies, which is connected to both of the two driving The spherical bodies are in contact with each other, causing the rotating shaft perpendicular to the virtual inclined plane to rotate. The motion device from The spherical drive type according to the third aspect of the present invention comprises the two driving spherical bodies and the one mounted on the The moving surface of a rolling, driven rotator. Of the number r rotating bodies, each equipped with at least one of the driving elements. Spherical bodies are in contact at a position or positions that is / are higher than the center of at least one of the contacting bodies The driving spherical body, the two rotating bodies that receive the driving torque from the common motor, come accordingly. with the driving spherical bodies at positions on the side of the driven rotator with reference to the virtual inclined plane which is the center Each of the driving spherical bodies passes through, or comes into contact at positions on the virtual inclined plane, and furthermore, the two of the Each rotating body is driven by rotating about the rotating shaft perpendicular to the virtual inclined plane.

[0011] Therefore, the motion device of the ball body drive type is in accordance with both the first and the second and third aspects The present invention relates to the weight of the motion device of the ball-type drive type itself and the weight on the motion device. In spherical body drive types, the loaded object is placed on the driving spherical bodies and is partially distributed over the rotating bodies, thus the The rotating body is reliably pressed against the driving ball bodies. Therefore, the ball-drive type motion device is capable of to prevent the idle rotation of the rotating bodies, which are in a state where they are in contact with the driving spherical bodies. be powered. List of characters Fig. 1 is an explanatory diagram of a motion device of the ball-drive type according to a first embodiment. of the present invention. Fig. 2 is a top view showing the arrangement of the driving spherical bodies and the rotating bodies of the same. Figure 3 shows a motion device of the ball-drive type. Figure 3 is a perspective view showing the arrangement of the driving spheres. and the rotating body of the same motion device of the ball-drive type. Fig. 4 is an explanatory diagram showing a Figure 5 shows the spatial coordinate system of each of the driving spherical bodies of the same spherical drive type motion device. explanatory diagram showing a coordinate system of the driving spherical bodies of the same motion device of the spherical body drive type Fig. 6 is an explanatory diagram of a ball-drive type motion device according to a second embodiment of the present invention. Description of the embodiment

[0012] The embodiments of the present invention are described below with reference to the accompanying figures in order to illustrate the to make the present invention understandable.

[0013] As shown in Fig. 1, Fig. 2 and Fig. 3, a motion device of ball-type drive 10 according to the first embodiment is of the present invention a device comprising: three (an example of a ‘number of n’; n is an integer of three or more) driving spherical bodies 11, 12 and 13, each rolling on a locomotion surface G, and three (an example of a number of n or more”) rotating bodies 14, 15 and 16, which rotate the driving spherical bodies 11, 12 and 13 by being in a state in which they are driven by two different directions with each of the driving spherical bodies 11, 12 and 13, are driven in a rotating manner, and wherein the The device moves on the locomotion surface G. A detailed explanation follows below.

[0014] In this embodiment, the driving spherical bodies 11, 12 and 13, as shown in Fig. 1, Fig. 2 and Fig. 3, are actual spheres with of the same size (i.e., with the same diameter). A center P1 of the driving spherical body 11, a center P2 of the driving spherical body 12 and a center P3 of the driving spherical body 13 are in a arranged at the same height if the locomotion surface G is a horizontal surface and the driving spherical bodies 11, 12 and 13 are on are placed on the locomotion surface G. In the following, it is assumed that the locomotion surface G is a horizontal surface and that The driving spherical bodies 11, 12 and 13 are placed on the locomotion surface G.

[0015] The rotating bodies 14, 15 and 16 are circular, frustoconical parts that have identical size and shape, and which are in are arranged at an identical height. The rotating body 14 arrives with the driving spherical bodies 11 and 12 via the lateral surface 28. Positions of identical height in contact, the rotating body 15 comes into contact with the driving spherical bodies 12 and 13 via the lateral surface 29 at positions of identical height, the rotating body 16 comes into contact with the driving spherical bodies 11 and 13 via a lateral Surface 30 is in contact at positions of identical height. A rotating shaft 19 is formed with a shaft center of the rotating body 14, as shown in Fig. 2. a rotating shaft 21 of a motor 20 is connected to a shaft center of a motor 18, and to a shaft center of the rotating body 15. A rotating shaft 23 of a motor 22 is connected to the rotating body 16. The rotating body 14 is driven to rotate around the rotating shaft 19 when the When motor 18 is activated, the rotating body 15 is driven to rotate around the rotating shaft 21; when motor 20 is activated, the rotating body 16 is driven rotating around the rotating shaft 23 when the motor 22 is activated.

[0016] The rotating bodies 14 and 15 come into contact with the driving spherical body 12 from different directions, the rotating bodies 15 and 16 come into contact with the driving spherical body 13 from different directions, and the rotating bodies 14 and 16 come from different directions with the driving spherical body 11 in contact.

[0017] In addition to the rotating bodies 14 and 16, a ball roller 24 is included with the driving ball body 11, as shown in Fig. 1 and Fig. 2. In addition to the rotating bodies 14 and 15, a ball roller 25 is in contact with the driving ball body 12, and with the driving In addition to the rotating bodies 15 and 16, a ball roller 26 is in contact with the spherical body 13.

[0018] In this embodiment, the motors 18, 20 and 22 are attached to a base element 27 (see Fig. 1), which supports the ball rollers 24, 25 and 26 supports, and the rotating bodies 14, 15 and 16 are rotatably attached to bearing mechanisms that are fixed to the base element 27. In Fig. 1 and Fig. 2 shows only the balls of the ball rollers 24, 25 and 26. Intermediate elements can also be used, each with a the driving spherical bodies 11, 12 and 13 come into contact to prevent the driving spherical bodies 11, 12 and 13 from falling off.

[0019] If the contact points where the driving spherical body 11 contacts the lateral surface 28 of the rotating body 14 and the lateral Surface 30 of the body of revolution 16 comes into contact, which are defined as contact points T14 and T16, the contact points at which the driving spherical body 12 comes into contact with the lateral surface 28 of the rotating body 14 and with the lateral surface 29 of the rotating body 15, accordingly defined as contact points T24 and T25, and the contact points at which the driving spherical body 13 makes contact with the lateral Surface 29 of the body of revolution 15 and comes into contact with the lateral surface 30 of the body of revolution 16, accordingly as contact points T35 and As defined by T36, the contact points T14, T16, T24, T25, T35 and T36 are arranged at the same height in positions higher than the center P1 of the driving spherical body 11, the center P2 of the driving spherical body 12 and the center P3 of the driving spherical body 13 lie (hence the lateral surface 28 of the solid of revolution 14, the lateral surface 29 of the solid of revolution 15 and the lateral surface 30 of the Rotating body 16 at positions of identical height with the driving spherical bodies 11, 12 and 13 in contact).

[0020] In other words, the rotating body 14 with the driving spherical body 11 comes to a position higher than the center P1 of the driving spherical body 11 comes into contact with the driving spherical body 12 and comes into contact with the driving spherical body 12 at a position higher than the center P2 of the driving When the rotating body 15 comes into contact with the driving spherical body 12, it reaches a position higher than the center P2 of the rotating body 15. driving spherical body 12 comes into contact and comes into contact with the driving spherical body 13 at a position higher than the The center P3 of the driving spherical body 13 comes into contact, and the rotating body 16 comes into contact with the driving spherical body 11 at a higher position. when the center P1 of the driving spherical body 11 comes into contact and comes into contact with the driving spherical body 13 at a position higher than the center P3 of the driving spherical body 13 is in contact.

[0021] If, as shown in Fig. 1, Fig. 2 and Fig. 3, a trigonal pyramid (an example of the n-gonal pyramid) with a base area ≥ with a triangular shape (in this embodiment a regular triangular shape as an example of an equiangular polygon), which is attached to a position higher than the center P1 of the driving spherical body 11, the center P2 of the driving spherical body 12 and the center P3 of the driving spherical body 13 is arranged, and a tip O which is away from the base ε and at a position lower than the Center P1 of the driving spherical body 11, the center P2 of the driving spherical body 12 and the center P3 of the driving spherical body 13 is arranged as a virtual inverted trigonal pyramid (an example of the virtual inverted n-gonal pyramid) H is defined in In this embodiment, the motion device of ball-type drive 10 is designed to meet all of the conditions listed below. 1 to 6 fulfilled.

[0022] In the virtual inverted trigonal pyramid H, three vertices of the base ε are defined as vertices A, B and C, is a A triangular lateral surface whose three vertices are vertices O, A and B, defined as a lateral surface ↦, is a triangular lateral surface. defined as a lateral surface κ, whose three vertices are vertices O, B and C, is a triangular lateral surface whose three vertices are the Vertices O, A and C are defined as a lateral surface; a linear edge connecting vertices O and A is defined as a lateral edge S1. A linear edge connecting vertices O and B is defined as a lateral edge S2, and a linear edge connecting vertices O and C is defined as a lateral edge S3. In this embodiment, the base is a regular triangle (an example of the The equiangular polygon and the lateral edges S1, S2, and S3 have identical lengths. Fig. 2 shows the driving spheres 11 and 12. and 13, the rotating bodies 14, 15 and 16 and some others seen from above. In Fig. 3, the motors 18 and 22 and some others are not shown. Drawing shown.

[0023] Condition 1: The center P1 of the driving spherical body 11, the center P2 of the driving spherical body 12 and the center P3 of the The driving spherical body 13 are located on the lateral edges S1, S2 and S3 respectively.

[0024] Condition 2: The rotating body 14 is connected to the driving spherical bodies 11 and 12 at positions inside the virtual inverted trigonal pyramid H in contact (i.e., the contact points T14 and T24 are located inside the virtual inverted trigonal pyramid H) ), the rotating body 15 is connected to the driving spherical bodies 12 and 13 at positions inside the virtual inverted trigonal pyramid H in contact (i.e., the contact points T25 and T35 are located inside the virtual inverted trigonal pyramid H), and the body of revolution 16 is in contact with the driving spherical bodies 11 and 13 at positions inside the virtual inverted trigonal pyramid H (i.e. the Contact points T16 and T36 are located inside the virtual inverted trigonal pyramid H).

[0025] Condition 3: The rotating shaft 19 is perpendicular to the lateral surface Σ (the corresponding lateral surface of the rotating body 14) (i.e. The rotating body 14 is driven so as to be rotatable about the rotating shaft 19, which is perpendicular to the lateral surface Σ, which forms part of its outer edge. lateral edges S1 and S2, on which the respective centers P1 and P2 of the driving spherical bodies 11 and 12 are located, which are connected to the rotating body 14 are in contact, arranged accordingly), the rotating shaft 21 is perpendicular to the lateral surface κ (the corresponding lateral surface of the (rotating body 15) (i.e., the rotating body 15 is driven to rotate about the rotating shaft 21, which is perpendicular to the lateral surface κ, which is part of its outer edge has the lateral edges S2 and S3, on which the respective centers P2 and P3 of the driving spherical bodies 12 and 13 are located. the rotating body 15 are in contact with it, arranged accordingly), and the rotating shaft 23 is perpendicular to the lateral surface ↑ (the corresponding lateral surface of the rotating body 16 ) (i.e. the rotating body 16 is driven rotatably about the rotating shaft 23, which is perpendicular to the lateral surface �ggr; is, which as part of its outer edge has the lateral edges S1 and S3, on which the respective centers P1 and P3 of the driving spherical bodies 11 are located. and 13, which are in contact with the rotating body 16, are arranged accordingly).

[0026] According to condition 3, in this embodiment it can be said that the rotating shaft 19 of the rotating body 14, which is connected to the driving spherical body 11 is in contact, and the rotating shaft 23 of the rotating body 16, which is also in contact with the driving spherical body 11, is not are parallel, such that the rotating shaft 19 of the rotating body 14, which is in contact with the driving spherical body 12, and the rotating shaft 21 of the The rotating body 15, which is also in contact with the driving spherical body 12, are not parallel, and the rotating shaft 21 of the rotating body 15, which is in contact with the driving spherical body 13, and the rotating shaft 23 of the rotating body 16, which is also in contact with the driving The spherical bodies 13 are in contact, but are not parallel.

[0027] In this embodiment, by arranging the driving spherical bodies 11, 12 and 13, the rotating body 14, 15 and 16, and the Rotating shafts 19, 21 and 23 such that they satisfy conditions 1, 2 and 3, and by adjusting the angular velocity of the rotating bodies 14 , 15 and 16 , the motion device of spherical drive type 10 is designed such that it can move in any direction on the locomotion surface G is movable and simultaneously maintains a state in which lateral slippage of the driving spherical bodies 11 and 12 with respect to the Rotating body 14, a lateral sliding of the driving spherical bodies 12 and 13 with respect to the rotating body 15 and a lateral sliding The driving spherical bodies 11 and 13 are suppressed with respect to the rotating body 16. The lateral The sliding of the driving spherical body 11 relative to the rotating body 14 means that the relative motion of the driving spherical body 11 with respect to the rotating body 14 at contact point T14 a different movement than the rotational movement centered on contact point T14 includes, and if the lateral slippage of the driving spherical body 11 relative to the rotating body 14 occurs, this reinforces the Wear of the rotating body 14 and the driving spherical body 11 .

[0028] Furthermore, the rotating body 14 with the driving spherical body 11 comes to a position higher than the center P1 of the driving spherical body 11 and also with the driving spherical body 12 at a position higher than the center P2 of the driving spherical body 12 in Upon contact, the rotating body 15 comes into contact with the driving spherical body 12 at a position higher than the center P2 of the driving spherical body. 12 and also with the driving spherical body 13 at a position higher than the center P3 of the driving spherical body 13 in contact, and The rotating body 16 with the driving spherical body 11 comes to a position higher than the center P1 of the driving spherical body 11 and also with the driving spherical body 13 at a position higher than the center P3 of the driving spherical body 13. Therefore, it acts the force of the vertical component via the rotating bodies 14 and 16 on the driving spherical body 11, the force of the vertical component via the rotating bodies 14 and 15 onto the driving spherical body 12 and the force of the vertical component via the rotating bodies 15 and 16 onto the driving spherical body 13. Therefore, the motion device of spherical body drive type 10 is able to drive the rotating body 14 to the to push the driving spherical bodies 11 and 12, to push the rotating body 15 towards the driving spherical bodies 12 and 13 and the rotating body 16 to push the driving spherical bodies 11 and 13 by exerting their own weight including the weight of, for example, the Base element 27 and heavy goods loaded on base element 27 are used, resulting in an idle rotation of the rotating bodies 14, 15 and 16 is suppressed.

[0029] In cases where the contact point T14 is located at a position that is in relation to the center P1 of the driving spherical body 11 slightly higher, and the contact point T24 is located in a position that is, compared to the center P2 of the driving spherical body 12 If the value is slightly higher, the driving spherical bodies 11 and 12 do not essentially slide laterally relative to the rotating body 14, even if the rotating body 14 with the driving spherical bodies 11 and 12 at positions on the lateral surface Σ (i.e. the corresponding surface) of the virtual inverted n-gonal pyramid H is in contact, and this applies equally to the relationship between the body of revolution 15 and the driving spherical bodies 12 and 13 and the ratio between the rotating body 16 and the driving spherical bodies 11 and 13 .

[0030] Therefore, the motion device of ball-type drive 10 can be designed such that, instead of condition 2, it meets the following: The aforementioned condition 2' is fulfilled.

[0031] Condition 2': The rotating body 14 is connected to the driving spherical bodies 11 and 12 at positions on the lateral surface Σ (the corresponding lateral surface of the solid of revolution 14) of the virtual inverted trigonal pyramid H in contact, the solid of revolution 15 is with the driving spherical bodies 12 and 13 at positions on the lateral surface κ (the corresponding lateral surface of the rotating body 15) of the virtual inverted trigonal pyramid H in contact, and the rotating body 16 is connected to the driving spherical bodies 11 and 13 at positions on the lateral surface ↑ (the corresponding lateral surface of the body of revolution 16 ) of the virtual inverted trigonal pyramid H in contact.

[0032] From the perspective of the occurrence of the idling rotation of the rotating body 14 with respect to the driving spherical bodies 11 and 12 , the idle rotation of the rotating body 15 with respect to the driving spherical bodies 12 and 13 and the idle rotation of the rotating body 16 with respect to To stably suppress the driving spherical bodies 11 and 13, it was confirmed by verification that it is preferable that, in addition to the Conditions 1, 2 and 3, or one of the conditions 4, 5 and 6 listed below is met (preferably two or more of them are met, and furthermore (preferably, that all three are fulfilled). It should be noted that it has been confirmed that, with regard to suppressing the idle rotation of the For bodies of revolution 14, 15 and 16, it is more important that conditions 1, 2 and 3 are met than that conditions 4, 5 and 6 are met.

[0033] Condition 4: A virtual straight line J14 (an example of the virtual straight line J) passing through the contact point T14 of the driving the spherical body 11 and the rotating body 14, and also passes through the center P1 of the driving spherical body 11, intersects the lateral edge S1, on which the center P1 of the driving spherical body 11 is located (see Fig. 1), and a virtual straight line J16 (an example of the virtual straight line J), ​​which passes through the contact point T16 of the driving spherical body 11 and the rotating body 16 and also through the center P1 of the passing through the driving spherical body 11, intersects orthogonally the lateral edge S1, on which the center P1 of the driving spherical body 11 is located. is located; a virtual straight line J24 (an example of the virtual straight line J) passing through the contact point T24 of the driving spherical body 12 and the rotating body 14 and also through the center P2 of the driving passing through the spherical body 12, it intersects orthogonally the lateral edge S2, on which the center P2 of the driving spherical body 12 is located. (see Fig. 1), and a virtual straight line J25 (an example of the virtual straight line J) passing through the contact point T25 of the driving spherical body 12 and of the rotating body 15 and also through the center P2 of the driving spherical body 12, intersects the lateral edge orthogonally. S2, on which the center P2 of the driving spherical body 12 is located; and a virtual line J35 (an example of the virtual line J), ​​which through the contact point T35 of the driving spherical body 13 and the rotating body 15 and also through the center P3 of the driving spherical body passing through 13, it intersects orthogonally the lateral edge S3, on which the center P3 of the driving spherical body 13 is located, and a virtual Straight line J36 (an example of the virtual straight line J), ​​which passes through the contact point T36 of the driving spherical body 13 and the rotating body 16 and also passing through the center P3 of the driving spherical body 13, intersects orthogonally the lateral edge S3 on which the center P3 of the driving spherical body 13 is located.

[0034] Condition 5: The virtual straight line J14, which passes through the contact point T14 of the driving spherical body 11 and the rotating body 14 and also passing through the center P1 of the driving spherical body 11, intersects orthogonally the lateral surface 28 of the body of revolution 14, and the virtual straight line J24, which passes through the contact point T24 of the driving spherical body 12 and the rotating body 14 and also through the center P2 of the passing through the driving spherical body 12, intersects orthogonally the lateral surface 28 of the body of revolution 14; the virtual line J25, which passes through the contact point T25 of the driving spherical body 12 and the rotating body 15 and also through the center P2 of the driving spherical body 12 passing through, intersects orthogonally the lateral surface 29 of the solid of revolution 15, and the virtual line J35, which passes through the contact point T35 of the the driving spherical body 13 and the rotating body 15, and also passes through the center P3 of the driving spherical body 13, intersects orthogonal to the lateral surface 29 of the body of revolution 15; and the virtual straight line J16 passing through the contact point T16 of the driving spherical body 11 and of the rotating body 16 and also passes through the center P1 of the driving spherical body 11, intersects the lateral surface orthogonally. 30 of the rotating body 16, and the virtual straight line J36, which passes through the contact point T36 of the driving spherical body 13 and the rotating body 16 and also passes through the center P3 of the driving spherical body 13, intersects orthogonally the lateral surface 30 of the body of revolution 16 .

[0035] Condition 6: Of the virtual inverted trigonal pyramid H, the lateral surface Σ, of whose outer edge a part of two the lateral edges S1 and S2 are composed, on which the centers P1 and P2 of two of the driving spherical bodies 11 are located. and 12 is located parallel to a virtual line K12 (an example of a virtual line K) that passes through the contact point T14, on which the rotating body 14 placed between the two driving spherical bodies 11 and 12 is connected to one of the two driving spherical bodies 11 comes into contact, and also passes through the contact point T24, where the rotating body 14 meets the other of the two driving spherical body 12 comes into contact; of the virtual inverted trigonal pyramid H, the lateral surface κ is , from whose outer edge a The part is composed of two of the lateral edges S2 and S3, on which the center P2 or P3 of two of the driving Spherical bodies 12 and 13 are located parallel to a virtual line K23 (an example of the virtual line K) that passes through the contact point T25 passes through, at which the rotating body 15, placed between the two driving spherical bodies 12 and 13, is connected to one of the two driving spherical body 12 comes into contact, and also passes through the contact point T35, where the rotating body 15 meets the other of the two driving spherical body 13 comes into contact; and of the virtual inverted trigonal pyramid H is the lateral surface Γ, of whose The outer edge is composed of two of the lateral edges S1 and S3, on which the midpoint P1 or P3 of two is located. the driving spherical bodies 11 and 13 are located parallel to a virtual line K13 (an example of the virtual line K) that passes through the contact point T16 passes through, at which the rotating body 16, placed between the two driving spherical bodies 11 and 13, engages with one of the two driving spherical body 11 comes into contact, and also passes through the contact point T36, where the rotating body 16 meets the other of the both driving spherical bodies 13 come into contact.

[0036] Based on the above information, the movement of the motion device of ball body drive type 10 is described below under The use of numerical formulas was examined.

[0037] If an angle of the lateral edge S1 with respect to the locomotion surface G (which is a horizontal surface) is defined as θ and, as shown in Fig. 4, a unit position vector from the center P1 of the driving spherical body 11 to the contact point T14 is defined as I1, a The unit position vector from the center P1 of the driving spherical body 11 to the contact point T16 is defined as I2, and a vector formed by I1 and I2 Since the angle is defined as μ, the following equation (1) applies in this embodiment, since I1 is a vector that has the tip O as its starting point and the The line has tip A as its endpoint and intersects it orthogonally. Mathematical expression 1 OA→⋅I1=(0-1tan&thgr;)⋅(abc) =-b+ctan&thgr;=0

[0038] The following equation (2) also applies. Mathematical expression 2 |I1|2=|I2|2=a2+b2+c2 =a2+c2(tan2θ+1)=1

[0039] If I1 and I2 are expressed as the following equation (3), the following equation (4) holds true. Mathematical expression 3 I1=(a,b,c)T, I2=(-a,b,c)T cosφ = I1⋅I2|I1||I2| =-a2+b2+c2 =-a2+c2(tan2θ+1)

[0040] According to equation (2) and equation (4), the following equation (5) and the following equation (6) apply. Mathematical expression 4 1+cosφ = 2c2(tan2θ+1) = 2c2sin2θ+cos2θcos2θ = 2c2cos2θ 1-cosφ = 2a2

[0041] Therefore, according to equation (1), equation (5) and equation (6), a, b and c can be expressed as the following equation (7), equation (8) and equation (6). (9) can be expressed. Mathematical expression 5 a=1-cosφ2 b=sin√1+cosφ2 c=cos√1+cosφ2

[0042] According to equation (7), equation (8) and equation (9), I1 and I2 can be expressed as the following equation (10) and equation (11), respectively. become. Mathematical expression 6 I1=(IxIyIz)=12(1-cosφsin&thgr;1+cosφcos&thgr;1+cosφ) I2=(-IxIyIz)

[0043] Since Ix and Iy have a ratio shown in the following equation (12), the following equation (13) also applies. Mathematical expression 7 3Ix=Iy cosφ=3-sin2&thgr;3+sin2&thgr;

[0044] Since sin&phgr; is expressed as the following equation (14), Ix and Iy can be expressed by the following equation (15) and equation (16) respectively. be expressed. Mathematical expression 8 sinφ = sin(arccos3-sin2&thgr;3+sin2&thgr;) = 1-(3-sin2&thgr;3+sin2&thgr;)2 =12sin2&thgr;3+sin2&thgr; =23sinθ3+sin2θ Ix=1-cosφ2=1-3-sin2θ3+sin2θ2 =sinθ3+sin2θ Iy=sinθ1+cosφ2 =sinθ1+3- sin2θ3+sin2θ2=sinθ63+sin2θ2 =sinθ33+sin2θ

[0045] If, as shown in Fig. 5, two orthogonally intersecting virtual axes parallel to the locomotion surface G are considered as a x-axis and a y-axis are defined, distances from a center of a regular triangle that is the center P1 of the driving spherical body 11, which has the center P2 of the driving spherical body 12 and the center P3 of the driving spherical body 13 as its tips, to the center P1 of the driving spherical body 11, to the center P2 of the driving spherical body 12 and to the center P3 of the driving spherical body 13, each as 1 are defined, distances from contact point T14 (contact point T24) to the shaft center of the rotating body 14, from contact point T25 (contact point T35) to the shaft center of the rotating body 15 and from contact point T16 (contact point T36) of the rotating body 16 to the shaft center of the rotating body 16, respectively as r are defined (see Fig. 4), a velocity vector of the motion device of spherical drive type 10 is defined as V, and a angular velocity vector supplied by the rotating bodies 14, 15 and 16 to the entire driving spherical bodies 11, 12 and 13 as > V and > are defined, have a relationship shown in the following equation (17). Mathematical expression 9 >=QVV=Q-1&lgr;

[0046] Furthermore, if the velocity in the x-axis direction of the motion device of the ball-type drive 10 is defined as vx, the The speed in the y-axis direction of the motion device of the ball-body drive type 10 is defined as vy, and the rotational speed The motion device of spherical drive type 10 is defined as Δ, the velocity vector V of the motion device is determined by Spherical drive type 10 expressed as V = (vx, vy, &ohgr;)T.

[0047] If the angular velocity transmitted from the rotating body 14 to the driving spherical bodies 11 and 12 is defined as >1, the The angular velocity transmitted from the rotating body 15 to the driving spherical bodies 12 and 13 is defined as >2, and the angular velocity from the rotating body 16 The angular velocity transmitted to the driving spherical bodies 11 and 13 is defined as >3, the angular velocity vector > expressed as > = (&lgr;1, >lgr;2, >lgr;3)T.

[0048] Furthermore, Q in equation (17) is expressed by the following equation (18). Mathematical expression 10 Q=sinφ2rIy(13l-20l1-3l)

[0049] Therefore, Q-1 is expressed by the following equation (19). Mathematical expression 11 Q-1=rIy3sinφ(1-2130-32 / l2 / l2 / l)

[0050] If k = Iy / sin&phgr; holds true, k can be expressed by the following equation (20). Mathematical expression 12 k = Iysinφ=sin&thgr;33+sin2&thgr;23sin&thgr;3+sin2&thgr; =3+sin2&thgr;23+sin2&thgr; =3+sin2&thgr;2

[0051] If, as shown in Fig. 4 and Fig. 5, the radius of the driving spherical bodies 11, 12 and 13 is each defined as R, an angle which is formed by a straight line connecting the center P1 of the driving spherical body 11 and the center P2 of the driving spherical body 12, and a straight line connecting the center P1 of the driving spherical body 11 and the center P3 of the driving spherical body 13, an angle which is formed by a straight line connecting the center P1 of the driving spherical body 11 and the center P2 of the driving spherical body 12, and a straight line connecting the center P2 of the driving spherical body 12 and the center P3 of the driving spherical body 13, and an angle which is formed by a straight line connecting the center P1 of the driving spherical body 11 and the center P3 of the driving spherical body 13, and a straight line connecting the center of P2 of the driving spherical body 12 and the center of P3 of the driving spherical body 13, each as &psgr; are defined as a distance from a straight line that defines the The contact point T14 and the contact point T24 are connected to the lateral surface Σ, a distance from a straight line that connects the contact point T25 and the contact point T35 connects the lateral surface &bgr; and a distance from a straight line that connects the contact point T16 and the contact point T36 connects with the lateral surface ↑, each defined as d, and an angle of the lateral surface 28 with respect to the wave center of the of the rotating body 14, an angle of the lateral surface 29 with respect to the shaft center of the rotating body 15 and an angle of the lateral surface 30 with respect to Since the center of the shaft of the rotating body 16 is defined as Δ, the following equation (21), equation (22) and equation (23) apply. Mathematical expression 13 &dgr;=&psgr;-φ2 d = Rsin&dgr; r = r+R(1-cos&dgr;)

[0052] The above investigation was carried out in connection with the cases in which the three driving spherical bodies 11, 12 and 13 have an identical size and the triangle whose vertices are the center P1 of the driving spherical body 11, the center P2 of the driving The spherical body 12 and the center P3 of the driving spherical body 13 have a regular triangular shape. Even in cases where the The driving spherical bodies each have a different size (diameter), and the three edges of the triangle, whose vertices are the respective centers of the Even if there are three driving spheres, each with a different length, the same result is obtained. This also applies if the number of driving spheres changes. If the number of spherical bodies is four or more, the same result is obtained. In cases where all driving spherical bodies have the same size, the result is the same. Given that a polygon whose vertices are the respective centers of each of the driving spherical bodies is an equiangular polygon, the calculation to determine the rotational frequency of each motor such that the motion device changes from the ball-type drive type to a desired The direction is moved slightly, and in cases where the polygon is a uniform polygon, the calculation becomes easier compared to the Cases where the polygon is an equiangular polygon but not a uniform polygon. As long as each driving spherical body has an identical The size is determined by the polygon whose vertices are the respective center of each of the driving spherical bodies, and the base of the virtual The inverted n-gonal pyramid has the same shape but a different size.

[0053] Although the motion device of ball-type drive 10 described below has three driving ball bodies 11, 12 and 13 The number of driving spherical bodies can be four or more, or it can also be two.

[0054] In cases where the number of driving sphere bodies q is (q ≥ 4), the arrangement of the driving sphere bodies and the Solid of revolution determined based on a virtual inverted q-gonal pyramid (i.e., an upside-down polygonal pyramid), and The number of rotating bodies that come into contact with each driving spherical body becomes two.

[0055] In cases where the number of driving spherical bodies is two, one driven rotator (e.g. a spherical body or a roller with a rotating shaft whose direction can be freely changed) or several driven rotators that roll on the movement surface are provided, and the ball-drive type motion device moves in a state in which the two driving ball bodies and the one or the multiple driven rotators are in contact with the moving surface.

[0056] A motion device of ball-type drive 40 with two driving ball bodies 11 and 12 and a driven The spherical body (an example of the driven rotator) 43 is explained below with reference to Fig. 6. The components of the motion device The components of the ball-type drive type 40, which are identical to the components of the motion device of the ball-type drive type 10, are provided with identical reference numerals, and these components are not described in detail.

[0057] The motion device of ball-body drive type 40 according to the second embodiment of the present invention is, as in Fig. 6 shows a device comprising: two driving spherical bodies 11 and 12, each rolling on a propulsion surface G, a driven spherical body 43, which rolls on the locomotion surface G, and three (an example of a ‘number of m’; m is an integer) of three or more) rotating bodies 14, 15 and 46, which rotate the driving spherical bodies 11 and 12 by being in a state in which they are two different directions with each of the driving spherical bodies 11 and 12 in contact, are driven in a rotating manner, and wherein the Device moves on the movement surface G.

[0058] The rotating body 14 is driven rotatably about a rotating shaft 19 of a motor 18 when the motor 18 is activated. The rotating body 45 is driven rotatably about a rotating shaft 47 when a motor 48 is activated, the rotating shaft 47 of which is connected to a The shaft center of the rotating body 45 is connected. The rotating body 46 is driven rotatably about a rotating shaft 49 when the motor 50 is activated. whose rotating shaft 49 is connected to a shaft center of the rotating body 46.

[0059] The rotating bodies 14 and 46 are in contact with the driving spherical body 11 from different directions, and the rotating bodies 14 and 45 are in contact with the driving spherical body 12 from different directions. The driven spherical body 43 is in a The predetermined position is maintained by bringing ball rollers 51, 52 and 53 into contact with the driven ball body 43. Figure 6 shows... Only the balls of the ball rollers 24, 25, 51, 52 and 53 are shown.

[0060] If the contact points at which the driving spherical body 11 contacts a lateral surface 28 of the rotating body 14 and a lateral Surface 54 of the rotating body 46 comes into contact, are defined as contact points T14 and T16', respectively, and the contact points at which the driving Spherical body 12 comes into contact with a lateral surface 28 of the body of revolution 14 and with a lateral surface 55 of the body of revolution 45, as Contact points T24 and T25' are defined, and contact points T14, T16', T24 and T25' are at the same height in positions higher than a center P1 of the driving spherical body 11 and a center P2 of the driving spherical body 12 arranged (and additionally in this embodiment also higher than a center P3' of the driven spherical body 43 ).

[0061] Therefore, the rotating body 14 with the driving spherical body 11 comes to a position higher than the center P1 of the driving spherical body 11 comes into contact and comes into contact with the driving spherical body 12 at a position higher than the center P2 of the driving spherical body 12 in contact, and the rotating body 45 comes into contact with the driving spherical body 12 at a position higher than the center P2 of the driving spherical body 12 comes into contact, and the rotating body 46 comes into contact with the driving spherical body 11 at a position higher than the center P1 of the driving spherical body 11 in contact.

[0062] If a trigonal pyramid with a base area ' with a triangular shape (in this embodiment an isosceles triangle), which is located at a position higher than the center P1 of the driving spherical body 11, the center P2 of the driving spherical body 12 and the center P3' of the driven spherical body 43 is arranged, and also has a tip O' which is away from the base ε' and at a position lower than the center P1 of the driving spherical body 11, the center P2 of the driving spherical body 12 and the center P3' of the driven spherical body 43 is arranged as a virtual inverted trigonal pyramid H', three apexes of the base ' defined as vertices A' , B' and C', a triangular lateral surface whose three vertices are vertices O' , A' and B', as a lateral surface &agr;' is defined (an example of the virtual inclined plane that passes through the center P1 of the driving spherical body 11 and the center P2 of the driving spherical body 12), a triangular lateral surface whose three vertices are the vertices O' , B' and C', as a lateral The surface ' is defined as a lateral surface whose three vertices are vertices O', A' and C', as a lateral surface ' is defined as a a linear edge connecting the vertices O' and A' is defined as a lateral edge S1', a linear edge connecting the vertices O' and B', defined as a lateral edge S2', and a linear edge connecting the vertices O' and C' defined as a lateral edge S3', is the Motion device of ball-type drive 40 designed to meet all of the following conditions 7 to 9.

[0063] Condition 7: The center P1 of the driving spherical body 11, the center P2 of the driving spherical body 12 and the center P3' of the The driven spherical body 43 are located on the lateral edges S1' , S2' and S3' respectively .

[0064] Condition 8: The rotating body 14 is connected to the driving spherical bodies 11 and 12 at positions inside the virtual inverted trigonal pyramid H' (i.e. on the side of the driven spherical body 43 with reference to the lateral surface Σ' , which is an example of the virtual (inclined plane) is in contact, the rotating body 45 is with the driving spherical body 12 at a position inside the virtual inverted trigonal pyramid H' in contact and the rotating body 46 is with the driving spherical body 11 at a position inside the virtual inverted trigonal pyramid H' in contact.

[0065] Condition 9: The rotating shaft 19 is perpendicular to the lateral surface Σ' , the rotating shaft 47 is perpendicular to the lateral surface Σ' and the The rotating shaft 49 is perpendicular to the lateral surface >' .

[0066] In cases where the contact point T14 is located at a position which is in comparison to the center P1 of the driving spherical body 11 is slightly higher, and the contact point T24 is located in a position that is, compared to the center P2 of the driving spherical body If 12 is slightly higher, the motion device of ball-bearing drive type 40 may be able to perform the following instead of condition 8. Condition 8' to be fulfilled.

[0067] Condition 8': The rotating body 14 is connected to the driving spherical bodies 11 and 12 at positions on the lateral surface ↑' of the virtual inverted trigonal pyramid H' in contact, the rotating body 45 is connected to the driving spherical body 12 a position on the lateral surface ' of the virtual inverted trigonal pyramid H' in contact and the body of revolution 46 is with the driving spherical body 11 at a position on the lateral surface ↑' of the virtual inverted trigonal pyramid H' in contact.

[0068] Also according to condition 9, the rotating shaft 19 of the rotating body 14, which is in contact with the driving spherical body 11, and the The rotating shaft 49 of the rotating body 46, which is in contact with the driving spherical body 11, is not parallel, and the rotating shaft 19 of the rotating body 14 , which is in contact with the driving spherical body 12, and the rotating shaft 47 of the rotating body 45 , which is connected to the driving spherical body 12 is in contact, not parallel. By adjusting the angular velocity of the rotating bodies 14, 45 and 46, the motion device is controlled by The spherical drive type 40 is movable in any direction on the locomotion surface G, and at the same time a state is maintained in which the lateral sliding of the driving spherical bodies 11 and 12 with respect to the rotating body 14, the lateral sliding of the driving spherical body 12 with respect to the rotating body 45 and the lateral sliding of the driving spherical body 11 with respect to the rotating body 46 is prevented.

[0069] As in the case of the motion device of ball-type drive 10, the rotating bodies 14, 45 and 46 of the motion device All spherical drive types 40 have a circular frustum cone shape. A virtual straight line passing through the contact point T14 of the driving element. spherical body 11 and the lateral surface 28 of the rotating body 14 and also passes through the center P1 of the driving spherical body 11, intersects the lateral surface 28 of the body of revolution 14 orthogonally, a virtual straight line that passes through the contact point T24 of the driving spherical body 12 and the lateral surface 28 of the body of revolution 14 and also through the center P2 of the driving spherical body 12, intersects the lateral surface 28 of the body of revolution 14 orthogonally, a virtual straight line passing through the contact point T16' of the driving spherical body 11 and the lateral surface 54 of the rotating body 46 and also passes through the center P1 of the driving spherical body 11, intersects the lateral surface 54 of the body of revolution 46 orthogonally, and a virtual straight line passing through the contact point T25' of the driving spherical body 12 and the lateral surface 55 of the rotating body 45 and also passes through the center P2 of the driving spherical body 12, The lateral surface 55 of the body of revolution 45 intersects orthogonally. The positional ratio between the driving spherical bodies 11 and 12 and the rotating bodies 14, 45 and 46 in the motion device of ball-type drive 40 equal to the position ratio between the driving spherical bodies 11 and 12 and the rotating bodies 14, 15 and 16 in the motion device of spherical body drive type 10 .

[0070] The embodiments of the present invention have been described above. However, the present invention is not limited to the The configurations described above are limited, and any changes to the conditions or the like that are not in keeping with the spirit of the invention are prohibited. Any deviations are included in the scope of protection of the present invention.

[0071] For example, two rotating bodies over which a power-transmitting belt or the like is stretched can be connected using a The motors are driven by rotation and can be brought into contact with one or the other of the adjacent driving spherical bodies. Alternatively, two different rotating bodies can each be brought into contact with the adjacent driving spherical bodies, and a The motor can be connected to either of the two rotating bodies.

[0072] Regarding a motion device of the ball-drive type, which has: two driving ball bodies, each mounted on a rolling locomotion surface, a driven rotator rolling on the locomotion surface, and a number of r (r is an integer of three or more) rotating bodies that rotate the driving spherical bodies by being in a state in which they are approached from two different directions are in contact with each of the driving spherical bodies, are driven in a rotating manner, and wherein the motion device is oriented away from the spherical body- The drive type moves on the locomotion surface; in cases where two of the rotating bodies, over which a power-transmitting belt or such a tension is to be driven by a rotating motor and connected to one or the other of the adjacent The driving spherical bodies are brought into contact; it is only necessary that each rotating body is connected to one of the driving spherical bodies at a The position is brought into contact higher than the center of the driving spherical body, and the two rotating bodies have a number r of rotating bodies. which receive the driving torque from the common motor, with the driving spherical bodies at positions on the side of the driven Rotators with reference to a virtual inclined plane passing through the center of each driving spherical body, or at positions on the virtual are brought into contact with the inclined plane, and furthermore, the two rotating bodies are each rotated around a rotating shaft perpendicular to the virtual inclined plane. The plane is driven by rotation. In these cases, the positional ratio between the driving spherical bodies and the rotating bodies is equal to the ratio between the driving spherical bodies 11 and 12 and the Rotating bodies 14, 15 and 16 in the motion device of spherical drive type 10 and also equal to the ratio between the driving spherical bodies 11 and 12 and the rotating bodies 14, 45 and 46 in the motion device of spherical body drive type 40 .

[0073] Furthermore, not every rotating body needs to have a circular truncated cone shape, but can, for example, have a circular cylindrical shape. or have a spherical shape.

[0074] Furthermore, the rotating shaft of each rotating body can be a material shaft (i.e. made of a real material) or a virtual shaft.

[0075] Furthermore, the support for the driving ball bodies is not limited to the ball rollers, but also includes free-rolling wheels as well as Swivel casters and omni wheels can be used instead of ball casters.

[0076] Each driving spherical body can also have a different size, and each rotating body can have a different size and / or a different have a shape. Furthermore, each rotating body can be arranged such that the height at which each rotating body is in contact with the driving spherical body is determined by the shape. Contact occurs in a state where each driving spherical body is placed on a horizontal surface.

[0077] Furthermore, the present invention can also be used for a motion device of the ball-drive type, the The direction of movement is fixed on a locomotion surface (e.g., a ball-type drive mechanism that only moves forward). and can move backwards). Industrial applicability

[0078] Since the motion device of the ball body drive type according to the present invention moves forward and thereby changes the state maintained by suppressing any idling rotation of the rotating bodies that are in contact with the driving spherical bodies, moves The ball-type drive mechanism moves stably along a desired route and can therefore be used for a wheelchair and a Unattended trucks may be used. Reference symbol list 10 Ball-type drive mechanism 11, 12, 13 driving spherical body 14, 15, 16 Rotating body 18 Motor 19 Rotating shaft 20 Motor 21 Rotating shaft 22 Motor 23 Rotating shaft 24, 25, 26 ball bearing 27 Basic element 28, 29, 30 lateral area 40 Ball-type drive mechanism 43 driven spherical body 45,46 Rotating body 47 Rotating shaft 48 Motor 49 Rotating shaft 50 Motor 51, 52, 53 ball bearing 54, 55 lateral area A, B, C, A', B', C' Great G Movement area H, H' virtual inverted trigonal pyramid J14, J16, J24, J25, J35, J36 virtual straight line K12, K13, K23 virtual straight line O, O' Great P1, P2, P3, P3' center S1, S2, S3, S1', S2', S3' lateral edge T14, T16, T24, T25, T35, T36, T16', T25' Contact point &agr;, &bgr;, &ggr;, &agr;', &bgr;', &ggr;' lateral area ≥, ≥' Base area QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was generated automatically and is solely for the better information of the Readers' contributions were included. The list is not part of the German patent or utility model application. The DPMA assumes no liability whatsoever. for any errors or omissions. Cited patent literature

[0000] JP 2010

[0003]

Claims

[1] A ball-type drive mechanism comprising: a number n of driving spherical bodies, each rolling on a locomotion surface, and a number n or more rotating bodies that rotate the driving spherical bodies, by rotating in a state in which they are in contact with each of the driving spherical bodies from two different directions be powered wherein the motion device of the ball-type drive moves on the locomotion surface, where, if the locomotion surface is a horizontal surface, a center of each of the driving spherical bodies is located on one of the lateral edges is arranged in a virtual inverted n-gonal pyramid, which has a base positioned higher than the center of each of the is arranged in the driving spherical body, and also has a tip that is away from the base and is in a lower position than the center of each of the driving spherical bodies, furthermore, each of the rotating bodies is connected to at least one of the driving spherical bodies at a position or positions that is / are higher than the center of the driving spherical body of at least one of the contacting bodies located in the virtual inverted n-gonal pyramid, or at a position or positions that is / are higher than the center of at least one of the contacting driving spherical bodies, and if lateral faces of the virtual inverted n-gonal pyramid, each as part of an outer edge of which two of the lateral edges comprise, on each of which the center of one of the driving spherical bodies is arranged, defined as corresponding lateral surfaces, at one of the corresponding lateral surfaces comes into contact, and furthermore each of the rotating bodies is rotated around a rotating shaft perpendicular to one of the The corresponding lateral surfaces are driven by a rotating mechanism. Provided, however, that n is an integer of three or more. [2] Motion device of the ball-body drive type according to claim 1, wherein virtual straight lines J, each passing through a contact point at which one of the driving spherical bodies comes into contact with one of the rotating bodies, and also through the center of one of the driving spherical bodies pass through, intersecting orthogonally one of the lateral edges on which the center of one of the driving spherical bodies is located. [3] Motion device of the spherical body drive type according to claim 1, wherein each of the rotating bodies has a circular frustum cone shape, a lateral surface of each of the rotating bodies with which at least one of the driving spherical bodies comes into contact, and virtual straight lines J, which each through a contact point where one of the driving spherical bodies comes into contact with the lateral surface of one of the rotating bodies, and also through pass through the center of one of the driving spherical bodies, intersecting the lateral surface of one of the rotating bodies orthogonally. [4] Motion device of the spherical drive type according to one of claims 1 to 3, wherein the virtual inverted n-gonal Pyramid: each of the lateral faces, a part of whose outer edge is composed of two of the lateral edges, on which the respective The center of two of the driving spherical bodies is arranged parallel to a virtual straight line K, which is defined by a contact point where one the rotating body placed between the two driving spherical bodies comes into contact with one of the two driving spherical bodies, and also through another contact point where one of the rotating bodies comes into contact with the other of the two driving spherical bodies, passes through it. [5] Motion device of the spherical drive type according to one of claims 1 to 4, wherein the base surface of the virtual inverted n- The gonal pyramid is an equiangular polygon. [6] Motion device of the ball-drive type according to one of claims 1 to 5, wherein each of the driving ball bodies has a each of the driving spherical bodies has an identical size, each has a circular truncated cone shape of identical size, and the lateral area of ​​each of the Rotating body at an identical height with which at least one of the driving spherical bodies comes into contact. [7] A ball-type drive mechanism comprising: two driving spherical bodies, each rolling on a moving surface, a powered rotator that rolls on the movement surface, and a number of m rotating bodies that rotate the driving spherical bodies by being in a state in which they are turned from two different directions are in contact with each of the driving spherical bodies and are driven in a rotating manner, wherein the motion device of the ball-type drive moves on the locomotion surface, wherein each of the rotating bodies comes into contact with at least one of the driving spherical bodies at a position or positions that is higher / are as a center of at least one of the driving spherical bodies in contact, furthermore, one of the number m of rotating bodies that are in contact with both of the two driving spherical bodies is connected to the driving spherical bodies at positions on the side of the driven rotator with respect to a virtual inclined plane that defines the center of each of the driving The spherical body passes through, or comes into contact with at positions on the virtual inclined plane, and also one of the bodies of rotation that is connected to Both of the two driving spherical bodies are in contact in order to drive a rotating shaft perpendicular to the virtual inclined plane. provided, however, that m is an integer of three or more. [8] A ball-type drive mechanism comprising: two driving spherical bodies, each rolling on a moving surface, a powered rotator that rolls on the movement surface, and a number r of rotating bodies that rotate the driving spherical bodies by being in a state where they are turned from two different directions are in contact with each of the driving spherical bodies and are driven in a rotating manner, wherein the motion device of the ball-type drive moves on the locomotion surface, wherein each of the rotating bodies comes into contact with at least one of the driving spherical bodies at a position or positions that is higher / are as a center of at least one of the driving spherical bodies in contact, furthermore, two of the number r rotating bodies, which receive a driving torque from a common motor, are correspondingly equipped with the driving spherical bodies at positions on the side of the driven rotator with respect to a virtual inclined plane that is the center of each of the driving spherical body, or come into contact at positions on the virtual inclined plane, and also the two of the rotating bodies each is driven rotating around a rotating shaft perpendicular to the virtual inclined plane, Provided, however, that r is an integer of three or more.