Drive wheels and bogies

Abstract

To suppress vibrations that may occur around the pivot axis. [Solution] The system includes a wheel 15 mounted on an axle 37, a pivot shaft 35 that supports the wheel 15 via the axle 37 so that it can rotate infinitely, a wheel driving means that applies rotational force to the axle 37, a pivot driving means that applies rotational force to the pivot shaft 35, and a damping means 16 that applies a load to the rotation of the pivot shaft 35.

Description

Technical Field

[0001] The present invention relates to a drive wheel and a carriage.

Background Art

[0002] Patent Document 1 discloses a drive wheel and a carriage. This drive wheel includes a first input shaft and a second input shaft arranged coaxially, a first output shaft and a second output shaft arranged on a separate shaft, a first spur gear mechanism for transmitting the rotational force of the first input shaft to the first output shaft, a second spur gear mechanism for transmitting the rotational force of the second input shaft to the second output shaft, a wheel connected to an axle, a swivel shaft for supporting the wheel via the axle so as to be rotatable, a first power conversion mechanism for transmitting the rotational force of the first output shaft to one end of the axle, and a second power conversion mechanism for transmitting the rotational force of the second output shaft to the other end of the axle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, as shown in Patent Document 1, an omnidirectional moving wheel that can actively move the wheel and the swivel needs to set the characteristics of the motor according to the loading amount on the carriage. However, when the characteristics of the motor are set according to a high load for the drive wheel, there is a risk of generating vibration around the swivel shaft when the load is small. In particular, a drive wheel that distributes the swivel and the rotation of the wheel using a differential mechanism tends to exhibit significant vibration.

[0005] The present disclosure has been made in view of the above problems, and an object thereof is to provide a drive wheel and a carriage capable of suppressing vibration that may occur around the swivel shaft.

Means for Solving the Problems

[0006] A drive wheel according to one aspect of the present disclosure for achieving the above objectives includes a wheel mounted on an axle, a pivot shaft that supports the wheel via the axle so as to be infinitely pivotable, a wheel driving means for applying rotational force to the axle, a pivot driving means for applying rotational force to the pivot shaft, and a damping means for applying a load to the rotation of the pivot shaft.

[0007] A preferred configuration of the drive wheel further includes a first input shaft and a second input shaft arranged coaxially, and a first output shaft and a second output shaft arranged on separate axes, wherein the wheel driving means and the turning driving means include a first drive mechanism that inputs rotational force to the first input shaft, a second drive mechanism that inputs rotational force to the second input shaft, a first transmission mechanism that transmits the rotational force of the first input shaft to the first output shaft, a second transmission mechanism that transmits the rotational force of the second input shaft to the second output shaft, a first power conversion mechanism that transmits the rotational force of the first output shaft to one end of the axle, and a second power conversion mechanism that transmits the rotational force of the second output shaft to the other end of the axle.

[0008] A preferred configuration of the drive wheel includes, as described above, a damping means comprising a rotating shaft arranged on a separate axis from the pivot shaft and capable of rotation, a damping transmission mechanism that transmits the rotation of the pivot shaft to the rotating shaft, and a rotary damper provided on the rotating shaft.

[0009] A preferred configuration of the drive wheel includes a damping means comprising a rotating shaft coaxially arranged with the pivot shaft and rotatable together with the pivot shaft, and a rotary damper provided on the rotating shaft.

[0010] In a preferred configuration of the drive wheel, the damping means includes a rotating member that is rotatable together with the pivot axis, a fixed member that has an opposing surface facing the rotating surface of the rotating member and is fixed to it, a plurality of protrusions that project from either the rotating surface or the opposing surface with a gap between them, and a reservoir that stores fluid between the rotating surface and the opposing surface.

[0011] A trolley according to one aspect of the present disclosure for achieving the above objectives comprises one of the above-described drive wheels and a trolley body to which the drive wheel is attached. [Effects of the Invention]

[0012] According to this disclosure, vibrations that may occur around the pivot axis can be suppressed. [Brief explanation of the drawing]

[0013] [Figure 1] Figure 1 is a perspective view showing the basic configuration of the drive wheels in Embodiment 1. [Figure 2] Figure 2 is a right side view showing the basic configuration of the drive wheel in Embodiment 1. [Figure 3] Figure 3 is a cross-sectional view showing the drive system of the drive wheel in Embodiment 1. [Figure 4] Figure 4 is a cross-sectional view showing the drive system of the drive wheel in Embodiment 1. [Figure 5] Figure 5 is a plan view showing the drive system of the drive wheel in Embodiment 1. [Figure 6] Figure 6 is a perspective view showing the drive system of the drive wheels in Embodiment 1. [Figure 7] Figure 7 is a schematic diagram showing the power transmission path of the drive wheel in Embodiment 1. [Figure 8] Figure 8 is a cross-sectional view showing the basic configuration of the drive wheel in Embodiment 2. [Figure 9] Figure 9 is a schematic diagram showing the power transmission path of the drive wheel in Embodiment 2. [Figure 10] Figure 10 is a perspective view of a partially broken section of the drive wheel in Embodiment 3. [Figure 11] Figure 11 is a partially enlarged step view of the drive wheel of Embodiment 3. [Figure 12] Figure 12 is a schematic diagram showing the power transmission path of another example configuration of the drive wheels. [Figure 13] Figure 13 is a schematic diagram showing the power transmission path of another example configuration of the drive wheels. [Figure 14] Figure 14 is a schematic diagram showing an example of the configuration of the trolley in the embodiment.

Best Mode for Carrying Out the Invention

[0014] Hereinafter, with reference to the drawings, preferred embodiments of the drive wheels and the carriage according to the present disclosure will be described in detail. Note that the present invention is not limited by this embodiment, and when there are a plurality of embodiments, those configured by combining each embodiment are also included. Further, the constituent elements in the embodiment include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those within a so-called equivalent range.

[0015] FIG. 14 is a schematic diagram showing a configuration example of the carriage of the embodiment.

[0016] The carriage 100 includes a carriage body 101, a handle portion 102, four drive wheels 110 (120, 130, 140, 150), a power supply unit 104, and a control device 105.

[0017] The carriage body 101 is, for example, a flat plate material and has a rectangular shape in a plan view. The handle portion 102 is fixed to one side in the longitudinal direction of the carriage body 101. Four drive wheels 110 are mounted at the four corners on the back side of the carriage body 101. The four drive wheels 110 are rotatable and steerable. Further, the power supply unit 104 and the control device 105 are mounted on the back surface between the front and rear drive wheels 110 of the carriage body 101. The control device 105 includes a computer system. The computer system includes a processor such as a CPU and a memory such as a ROM or a RAM. Therefore, in the carriage 100, the control device 105 controls the drive wheels 110.

[0018] The trolley body 101 has a flat surface, allowing objects to be placed on this flat surface. In other words, the trolley 100 can be configured as an automated guided vehicle (AGV). Furthermore, the trolley 100 can be configured as a mobile device by arranging equipment along the flat surface of the trolley body 101. Examples of such equipment include hand lifters, forklifts, picking robots, and medical equipment.

[0019] Furthermore, the bogie 100 and equipment are not limited to the above-described configuration in terms of the number and arrangement of the drive wheels 110. For example, in the four-wheel configuration described above, the bogie 100 and equipment may have a pair of drive wheels 110 attached to the rear side of the bogie 100 and a pair of driven wheels attached to the front side of the bogie 100. Also, although not shown in the figures, the bogie 100 and equipment may have a configuration with three or more wheels in which there is only one drive wheel 110 and all other wheels are driven wheels. Also, although not shown in the figures, the bogie 100 and equipment may have a configuration with three or more wheels in which there are no driven wheels and all wheels are drive wheels 110. In other words, the bogie 100 and equipment may have a configuration with three or more wheels in which there is only one drive wheel 110.

[0020] [Drive Wheel Embodiment 1] The drive wheel 110 will be described in detail below. Figure 1 is a perspective view showing the basic configuration of the drive wheel of Embodiment 1. Figure 2 is a right side view showing the basic configuration of the drive wheel of Embodiment 1. Figure 3 is a cross-sectional view (cross-sectional view AA in Figure 2) showing the drive system of the drive wheel of Embodiment 1. Figure 4 is a cross-sectional view (cross-sectional view BB in Figure 2) showing the drive system of the drive wheel of Embodiment 1. Figure 5 is a plan view showing the drive system of the drive wheel of Embodiment 1. Figure 6 is a perspective view showing the drive system of the drive wheel of Embodiment 1. Figure 7 is a schematic diagram showing the driving force transmission path of the drive wheel of Embodiment 1.

[0021] In the following explanation, of the three intersecting directions, the first direction will be referred to as the "forward / backward direction X," the second direction as the "width direction Y," and the third direction as the "up / down direction Z." The forward / backward direction X, the width direction Y, and the up / down direction Z are mutually orthogonal. The forward / backward direction X typically corresponds to the direction along which the drive wheel 110 moves in a straight line.

[0022] The drive wheel 110 has a body 10 that is fixed to the bogie body 101 of the bogie 100 as described above, and a drive mechanism 11, a swivel section 12, a transmission mechanism 13, a power conversion mechanism 14, a wheel 15, and a damping means 16 are provided on this body 10.

[0023] The main body 10 is formed in the shape of a plate with its surface facing upwards and downwards (see Figures 3 and 4). The drive mechanism 11 is the input of rotational force and is mainly located above the main body 10. The swivel section 12 is mainly located below the main body 10. The transmission mechanism 13 transmits the rotational force input by the drive mechanism 11. The power conversion mechanism 14 transmits the rotational force of the transmission mechanism 13 to the wheel 15. The wheel 15 is a single wheel and is rotatable by the rotational force input via the drive mechanism 11, transmission mechanism 13, and power conversion mechanism 14, and is also steerable by the swivel section 12. The damping means 16 is interposed between the main body 10 and the swivel section 12 and applies a load to the rotation of the swivel section 12.

[0024] The drive mechanism 11 includes a first drive mechanism 22A and a second drive mechanism 22B.

[0025] The first drive mechanism 22A is composed of, for example, a motor including a reduction gear. The first drive mechanism 22A includes a first drive shaft 22Ac. The first drive shaft 22Ac rotates in accordance with the output of the first drive mechanism 22A. In the drive wheel 110 of this embodiment, the first drive mechanism 22A is mounted on the main body 10 such that the axis O6 (see Figure 3) of the first drive shaft 22Ac extends along the vertical direction Z.

[0026] The second drive mechanism 22B is composed of, for example, a motor including a reduction gear. The second drive mechanism 22B includes a second drive shaft 22Bc. The second drive shaft 22Bc rotates in accordance with the output of the second drive mechanism 22B. In the drive wheel 110 of this embodiment, the second drive mechanism 22B is mounted on the main body 10 such that the axis O7 (see Figure 3) of the second drive shaft 22Bc extends along the vertical direction Z.

[0027] The swivel section 12 includes a swivel shaft 35, a first support member 36A, and a second support member 36B. The swivel shaft 35 has its disc-shaped center as axis O1 and is rotatably supported via a bearing 45 (see Figures 3 and 4) provided on the outer circumference of the main body 10. As a result, the swivel shaft 35 is supported so as to be able to rotate infinitely relative to the main body 10 with respect to axis O1.

[0028] The pivot shaft 35 is positioned so as to penetrate the first input shaft 25A in the vertical direction Z coaxially with the axis O1, and is rotatably supported via a bearing 43b (see Figure 3). The first input shaft 25A is rotatably supported on the main body 10 coaxially with the axis O1 via a bearing 43a (see Figure 3). Therefore, the first input shaft 25A is supported so as to be rotatable relative to the pivot shaft 35 with respect to the axis O1, and also so as to be rotatable relative to the main body 10 with respect to the axis O1. In other words, the pivot shaft 35 is provided so as to be rotatable relative to the main body 10 regardless of the rotation of the first input shaft 25A. For this reason, the drive wheel 110 of this embodiment can input rotational force to the first input shaft 25A on the axis O1, which is the pivot axis of the wheel 15.

[0029] The pivot shaft 35 has a second input shaft 25B positioned along the vertical direction Z. The second input shaft 25B is inserted through the first input shaft 25A and is rotatably positioned on the outside of the first input shaft 25A via a bearing 44 (see Figure 3). Therefore, the second input shaft 25B is supported so as to be rotatable relative to the pivot shaft 35 about the axis O1 via the first input shaft 25A, and is also supported so as to be rotatable relative to the main body 10 about the axis O1. In other words, the pivot shaft 35 is provided so as to be rotatable relative to the main body 10 regardless of the rotation of the second input shaft 25B. For this reason, the drive wheel 110 of this embodiment can input rotational force to the second input shaft 25B which is on the axis O1, which is the pivot axis of the wheel 15. With this configuration, the first input shaft 25A, the second input shaft 25B, and the pivot shaft 35 are rotatably arranged coaxially along the axis O1.

[0030] The pivot shaft 35 is provided with a first support member 36A and a second support member 36B extending downward from both sides of the wheel 15 in the width direction Y at its lower part. The wheel 15 is integrally provided with an axle 37 that extends in the width direction Y along an axis O2 which is perpendicular to the direction in which the axis O1 extends (vertical direction Z). One end of the axle 37 along the axis O2 is rotatably supported by the first support member 36A via a bearing 48 (see Figure 4), and the other end is rotatably supported by the second support member 36B via a bearing 48.

[0031] The pivot shaft 35 is positioned to penetrate the first output shaft 40A in the vertical direction Z, parallel to the axis O1, and rotatably supports it via a bearing 46 (see Figure 4). Therefore, the first output shaft 40A is supported so as to be rotatable relative to the pivot shaft 35, with respect to the axis O3 which is parallel to the axis O1.

[0032] The pivot shaft 35 is positioned to pass through the second output shaft 40B in the vertical direction Z, parallel to the axis O1, and rotatably supports it via a bearing 47 (see Figure 4). Therefore, the second output shaft 40B is supported so as to be rotatable relative to the pivot shaft 35, with respect to an axis O4 parallel to the axis O1.

[0033] As shown in Figures 4 to 6, the transmission mechanism 13 includes a first transmission mechanism 13A and a second transmission mechanism 13B.

[0034] The first transmission mechanism 13A transmits the rotational force of the first drive shaft 22Ac to the first output shaft 40A via the first input shaft 25A. The first transmission mechanism 13A includes a first transmission drive gear 31A, a first transmission main-slave drive gear 32A, a first transmission sub-slave drive gear 33A, and a first transmission output gear 34A. In the drive wheel 110 of this embodiment, the first transmission drive gear 31A, the first transmission main-slave drive gear 32A, the first transmission sub-slave drive gear 33A, and the first transmission output gear 34A are composed of spur gears.

[0035] In the first transmission mechanism 13A, the first transmission drive gear 31A is fixed to the first drive shaft 22Ac of the first drive mechanism 22A. Therefore, the first transmission drive gear 31A rotates about the axis O6 of the first drive shaft 22Ac due to the rotational force driven by the first drive mechanism 22A. The first transmission master-slave drive gear 32A and the first transmission sub-slave drive gear 33A are fixed to the first input shaft 25A. Therefore, the first transmission master-slave drive gear 32A and the first transmission sub-slave drive gear 33A rotate about the axis O1 of the first input shaft 25A. The first transmission output gear 34A is fixed to the first output shaft 40A. Therefore, the first transmission output gear 34A rotates about the axis O3 of the first output shaft 40A. The first transmission drive gear 31A meshes with the first transmission master-slave drive gear 32A. The first transmission sub-slave drive gear 33A meshes with the first transmission output gear 34A. Therefore, the first transmission mechanism 13A transmits the rotational force of the first drive mechanism 22A from the first transmission drive gear 31A to the first transmission master / slave drive gear 32A, thereby providing rotational force to the first input shaft 25A, and further transmits the rotational force of the first input shaft 25A from the first transmission sub-slave drive gear 33A to the first transmission output gear 34A, thereby providing rotational force to the first output shaft 40A.

[0036] The second transmission mechanism 13B transmits the rotational force of the second drive shaft 22Bc to the second output shaft 40B via the second input shaft 25B. The second transmission mechanism 13B includes a second transmission drive gear 31B, a second transmission main-slave drive gear 32B, a second transmission sub-slave drive gear 33B, and a second transmission output gear 34B. In the drive wheel 110 of this embodiment, the second transmission drive gear 31B, the second transmission main-slave drive gear 32B, the second transmission sub-slave drive gear 33B, and the second transmission output gear 34B are composed of spur gears.

[0037] In the second transmission mechanism 13B, the second transmission drive gear 31B is fixed to the second drive shaft 22Bc of the second drive mechanism 22B. Therefore, the second transmission drive gear 31B rotates about the axis O7 of the second drive shaft 22Bc by the rotational force driven by the second drive mechanism 22B. The second transmission master / slave drive gear 32B and the second transmission sub-slave drive gear 33B are fixed to the second input shaft 25B. Therefore, the second transmission master / slave drive gear 32B and the second transmission sub-slave drive gear 33B are fitted loosely around the outside of the first input shaft 25A via the second input shaft 25B, and rotate about the axis O1 of the second input shaft 25B. These second transmission master / slave drive gear 32B and the second transmission sub-slave drive gear 33B are positioned between the first transmission master / slave drive gear 32A and the first transmission sub-slave drive gear 33A of the first transmission mechanism 13A. The second transmission output gear 34B is fixed to the second output shaft 40B. Therefore, the second transmission output gear 34B rotates around the axis O4 of the second output shaft 40B. The second transmission drive gear 31B meshes with the second transmission master-slave drive gear 32B. The second transmission sub-slave drive gear 33B meshes with the second transmission output gear 34B. Therefore, the second transmission mechanism 13B transmits the rotational force of the second drive mechanism 22B from the second transmission drive gear 31B to the second transmission master-slave drive gear 32B, thereby providing rotational force to the second input shaft 25B. Furthermore, it transmits the rotational force of the second input shaft 25B from the second transmission sub-slave drive gear 33B to the second transmission output gear 34B, thereby providing rotational force to the second output shaft 40B.

[0038] In this transmission mechanism 13, the first transmission drive gear 31A of the first transmission mechanism 13A and the second transmission drive gear 31B of the second transmission mechanism 13B have the same pitch circle diameter and number of teeth. Also, in the transmission mechanism 13, the first transmission master / slave drive gear 32A and the first transmission sub-slave drive gear 33A of the first transmission mechanism 13A and the second transmission master / slave drive gear 32B and the second transmission sub-slave drive gear 33B of the second transmission mechanism 13B have the same pitch circle diameter and number of teeth. Also, in the transmission mechanism 13, the first transmission output gear 34A of the first transmission mechanism 13A and the second transmission output gear 34B of the second transmission mechanism 13B have the same pitch circle diameter and number of teeth.

[0039] As shown in Figures 1 to 6, the power conversion mechanism 14 includes a first power conversion mechanism 14A and a second power conversion mechanism 14B.

[0040] The first power conversion mechanism 14A transmits the rotational force of the first output shaft 40A to the axle 37. The first power conversion mechanism 14A is composed of a first conversion drive gear 41A and a first conversion driven gear 42A. In the drive wheel 110 of this embodiment, the first power conversion mechanism 14A and the first conversion driven gear 42A are composed of bevel gears.

[0041] The first conversion drive gear 41A is fixed to the lower part of the first output shaft 40A. Therefore, the first conversion drive gear 41A rotates together with the first output shaft 40A around the axis O3. The first conversion driven gear 42A is fixed to one end of the axle 37. Therefore, the first conversion driven gear 42A rotates together with the axle 37 around the axis O2. The first conversion drive gear 41A meshes with the first conversion driven gear 42A. Thus, the first power conversion mechanism 14A converts the rotation of the first output shaft 40A around the axis O3 into the rotation of the axle 37 around the axis O2.

[0042] The second power conversion mechanism 14B transmits the rotational force of the second output shaft 40B to the axle 37. The second power conversion mechanism 14B is composed of a second conversion drive gear 41B and a second conversion driven gear 42B. In the drive wheel 110 of this embodiment, the second power conversion mechanism 14B and the second conversion driven gear 42B are composed of bevel gears.

[0043] The second conversion drive gear 41B is fixed to the lower part of the second output shaft 40B. Therefore, the second conversion drive gear 41B rotates together with the second output shaft 40B around the axis O4. The second conversion driven gear 42B is fixed to the other end of the axle 37. Therefore, the second conversion driven gear 42B rotates together with the axle 37 around the axis O2. The second conversion drive gear 41B meshes with the second conversion driven gear 42B. Thus, the second power conversion mechanism 14B converts the rotation of the second output shaft 40B around the axis O4 into rotation of the axle 37 around the axis O2.

[0044] Furthermore, as shown in Figures 2 and 5, in the embodiment, the drive wheel 110 has a rotational axis O5 of the wheel 15 that is aligned vertically, intersecting the axis O2 of the axle 37, and is offset horizontally (in the longitudinal direction X) perpendicular to the axis O2 of the axle 37 relative to the axis O1 of the pivot axis 35. Also, in a plan view, the drive wheel 110 in the embodiment has the axis O3 of the first output shaft 40A and the axis O4 of the second output shaft 40B overlapping the axis O2 of the axle 37.

[0045] As shown in Figures 1, 2, and 7, the damping means 16 includes a rotating shaft 51, a damping transmission mechanism 52, and a rotary damper 53.

[0046] The rotating shaft 51 is positioned parallel to the axis O1 of the pivot shaft 35, on a different axis from the pivot shaft 35, and is rotatably mounted.

[0047] The damping transmission mechanism 52 includes a pivot-side gear 521 provided on the pivot shaft 35 and a rotation-side gear 522 provided on the rotation shaft 51. The pivot-side gear 521 and the rotation-side gear 522 mesh with each other. Therefore, the damping transmission mechanism 52 transmits the rotation of the pivot shaft 35 around its axis O1 to the rotation shaft 51. In the drive wheel 110 of this embodiment, the pivot-side gear 521 and the rotation-side gear 522 are made of spur gears. Note that the damping transmission mechanism 52 is not limited to the gear mechanism described above, but may also be a belt mechanism in which a belt is wrapped around a pair of pulleys.

[0048] The rotary damper 53 has a rotor rotatably mounted inside an oil-filled casing, and generates a braking force on the rotating rotor due to the viscous resistance of the oil. The rotor is connected to a rotating shaft 51 and rotates due to the rotational force of the rotating shaft 51.

[0049] Therefore, the damping means 16 applies a load to the rotation of the pivot shaft 35 by transmitting the rotation of the pivot shaft 35 from the rotating shaft 51 to the rotary damper 53 via the damping transmission mechanism 52.

[0050] As described above, the drive wheel 110 can be rotated and steered by rotating the first input shaft 25A and the second input shaft 25B using the drive mechanism 11. For example, by rotating the first input shaft 25A and rotating the second input shaft 25B in the opposite direction to the first input shaft 25A, and by making the rotational speed transmitted to the first input shaft 25A and the second input shaft 25B the same, the wheel 15 can be rotated without steering. At this time, by making the rotational speeds of the first input shaft 25A and the second input shaft 25B different, the wheel 15 can be steered while rotating or stationary.

[0051] The operation of the drive wheel 110 will now be explained. As shown in Figure 7, when the first input shaft 25A of the drive wheel 110 is rotated in the A1 direction, the first transmission master-slave drive gear 32A and the first transmission sub-slave drive gear 33A rotate in the same direction, and the first transmission output gear 34A, which meshes with the first transmission sub-slave drive gear 33A, rotates in the A2 direction, which is opposite to the A1 direction. When the first transmission output gear 34A rotates in the A2 direction, the first conversion drive gear 41A, which is integrally provided with the first transmission output gear 34A via the first output shaft 40A, rotates in the same direction. Then, the first conversion drive gear 42A, which meshes with the first conversion drive gear 41A, rotates in the A3 direction, causing the axle 37, which is integral with the first conversion drive gear 42A, to rotate in the same direction. On the other hand, when the drive wheel 110 rotates the second input shaft 25B in the B1 direction, which is opposite to the A1 direction, the second transmission master-slave drive gear 32B and the second transmission sub-slave drive gear 33B rotate in the same direction, and the second transmission output gear 34B, which meshes with the second transmission sub-slave drive gear 33B, rotates in the B2 direction, which is opposite to the B1 direction. When the second transmission output gear 34B rotates in the B2 direction, the second conversion drive gear 41B, which is integrally provided with the second transmission output gear 34B via the second output shaft 40B, rotates in the same direction. Then, the second conversion-slave drive gear 42B, which meshes with the second conversion-slave drive gear 41B, rotates in the B3 direction, causing the axle 37, which is integral with the second conversion-slave gear 42B, to rotate in the same direction.

[0052] At this time, when the drive wheel 110 reduces the rotational speed of the second input shaft 25B relative to the rotational speed of the first input shaft 25A, the rotational speed input to the second transmission master / slave gear 32B and the second transmission sub-slave gear 33B becomes lower than the rotational speed input to the first transmission master / slave gear 32A and the first transmission sub-slave gear 33A. As a result, the pivot shaft 35 rotates by the difference in rotational speed, causing the wheel 15 to pivot and steer. Also, when the rotation of the first input shaft 25A or the second input shaft 25B of the drive wheel 110 stops, the rotational speed input to the first transmission master / slave gear 32A and the first transmission sub-slave gear 33A, or the rotational speed input to the second transmission master / slave gear 32B and the second transmission sub-slave gear 33B, becomes 0, and the wheel 15 pivots and steers without rotating. Furthermore, when the pivot shaft 35 of the drive wheel 110 rotates, a load is applied to that rotation by the damping means 16.

[0053] In this type of drive wheel 110, the drive mechanism 11, the transmission mechanism 13, and the power conversion mechanism 14 constitute a wheel drive means that applies rotational force to the axle 37 and a slewing drive means that applies rotational force to the slewing shaft 35.

[0054] Furthermore, in this drive wheel 110, the rotation axis O5 of the wheel 15, which intersects the axis O2 of the axle 37 and lies vertically, is positioned so as to be horizontally offset from the axis O1 of the pivot axis 35, perpendicular to the axis O2 of the axle 37. Therefore, when the drive wheel 110 is not driven, the wheel 15 can be passively rotated by an external force acting from the horizontal. In other words, the drive wheel 110 can be manually driven and manually steered.

[0055] The drive wheel 110 of the embodiment is characterized by including a wheel 15 mounted on an axle 37, a pivot shaft 35 that supports the wheel 15 via the axle 37 so that it can rotate infinitely, a wheel driving means (drive mechanism 11, transmission mechanism 13, and power conversion mechanism 14) that applies rotational force to the axle 37, a pivot driving means (drive mechanism 11, transmission mechanism 13, and power conversion mechanism 14) that applies rotational force to the pivot shaft 35, and a damping means 16 that applies a load to the rotation of the pivot shaft 35.

[0056] With this drive wheel 110, by providing a damping function to the pivot axis 35, vibrations generated around the pivot axis 35 can be suppressed even when the drive load of the pivot axis 35 fluctuates. As a result, this drive wheel 110 absorbs the oscillation of the motor of the drive mechanism 11 and the backlash between the gears in the transmission of rotational force as a drive wheel through its damping effect, enabling stable movement in all directions.

[0057] Furthermore, the drive wheel 110 further includes a first input shaft 25A and a second input shaft 25B arranged coaxially, and a first output shaft 40A and a second output shaft 40B arranged on a separate shaft. The wheel driving means and the slewing driving means include a first drive mechanism 22A that inputs rotational force to the first input shaft 25A, a second drive mechanism 22B that inputs rotational force to the second input shaft 25B, a first transmission mechanism 13A that transmits the rotational force of the first input shaft 25A to the first output shaft 40A, a second transmission mechanism 13B that transmits the rotational force of the second input shaft 25B to the second output shaft 40B, a first power conversion mechanism 14A that transmits the rotational force of the first output shaft 40A to one end of the axle 37, and a second power conversion mechanism 14B that transmits the rotational force of the second output shaft 40B to the other end of the axle 37.

[0058] This drive wheel 110 has a differential omnidirectional movement mechanism. Specifically, in the drive wheel 110, the rotational force of the first input shaft 25A is transmitted to the first output shaft 40A via the first transmission mechanism 13A, the rotational force of the second input shaft 25B is transmitted to the second output shaft 40B via the second transmission mechanism 13B, the force is transmitted from the first output shaft 40A to one end of the axle 37 via the first power conversion mechanism 14A, and from the second output shaft 40B to the other end of the axle 37 via the second power conversion mechanism 14B. By adjusting the rotational speeds of the first input shaft 25A and the second input shaft 25B, this drive wheel 110 can switch between the rotation of the wheel 15 connected to the axle 37 and the steering of the wheel 15 by the rotation of the pivot shaft 35.

[0059] Thus, the drive wheel 110 distributes the rotation of the wheel 15 between turning and the rotation of the wheel 15 by a differential omnidirectional movement mechanism, and since vibrations of the pivot shaft 35 tend to be significant, by providing a damping function to the pivot shaft 35, a significant effect can be obtained in suppressing vibrations generated around the pivot shaft 35 even when the drive load of the pivot shaft 35 fluctuates.

[0060] Furthermore, in the drive wheel 110, the damping means 16 includes a rotating shaft 51 that is rotatable and arranged on a separate axis from the pivot shaft 35, a damping transmission mechanism 52 that transmits the rotation of the pivot shaft 35 to the rotating shaft 51, and a rotary damper 53 provided on the rotating shaft 51.

[0061] This drive wheel 110 makes it possible to provide a means for applying a load to the rotation of the pivot axis 35.

[0062] Furthermore, the trolley 100 of this embodiment includes the aforementioned drive wheels 110 and a trolley body 101 to which the drive wheels 110 are attached. Therefore, the trolley 100 can suppress vibrations generated around the pivot axis 35 even when the driving load of the pivot axis 35 fluctuates in the drive wheels 110, thereby suppressing vibrations during travel.

[0063] [Drive Wheel Embodiment 2] Figure 8 is a cross-sectional view showing the basic configuration of the drive wheel of Embodiment 2 (corresponding to the AA cross-sectional position in Figure 2). Figure 9 is a schematic diagram showing the drive force transmission path of the drive wheel of Embodiment 2.

[0064] The drive wheel 120 of this embodiment differs from the drive wheel 110 described above mainly in the arrangement of the damping means 216. In the following description of the drive wheel 120 of Embodiment 2, the same reference numerals are used for parts equivalent to those of the drive wheel 110 described above, and their descriptions are omitted.

[0065] The damping means 216 includes a rotating shaft 51 and a rotary damper 53.

[0066] The rotating shaft 51 is arranged coaxially with the first input shaft 25A and the second input shaft 25B. The rotating shaft 51 is rotatably inserted inside the cylindrical first input shaft 25A, with its lower part fixed to the pivot shaft 35 and its upper part protruding from the top after passing through the main body 10. Therefore, the rotating shaft 51 is rotatable together with the pivot shaft 35, regardless of the main body 10.

[0067] The rotary damper 53 is provided with a casing fixed to the main body 10 and a rotor connected to a rotating shaft 51 fixed to the pivot shaft 35.

[0068] Therefore, the damping means 216 applies a load to the rotation of the pivot shaft 35 by transmitting its rotation to the rotary damper 53 via the rotating shaft 51.

[0069] Thus, in the drive wheel 120, the damping means 216 includes a rotating shaft 51 that is arranged coaxially with the pivot shaft 35 and can rotate together with the pivot shaft 35, and a rotary damper 53 provided on the rotating shaft 51, thereby realizing a means for applying a load to the rotation of the pivot shaft 35.

[0070] Therefore, as shown in Figure 9, the drive wheel 120 can operate in the same way as the drive wheel 110 described above, and the same effects and advantages as the drive wheel 110 and the bogie 100 can be obtained.

[0071] [Drive Wheel Embodiment 3] Figure 10 is a perspective view of a partially broken section of the drive wheel of Embodiment 3. Figure 11 is a partially enlarged stepped view of the drive wheel of Embodiment 3.

[0072] The drive wheel 130 of Embodiment 3 differs from the drive wheel 110 described above mainly in the arrangement of the damping means 316. In the following description of the drive wheel 120 of Embodiment 2, the same reference numerals are used for parts equivalent to those of the drive wheel 110 described above, and their descriptions are omitted.

[0073] The damping means 316 includes a rotating member 54, a fixed member 55, a protrusion 56, and a storage section 57.

[0074] The pivot axis 35 of the pivot section 12 is configured as a case that houses the transmission mechanism 13, and the rotating member 54 has a flat rotating surface 54a facing upward in the case.

[0075] The fixing member 55 is configured as a lid that closes the top of the case of the pivot shaft 35 in the main body 10, is fixed to the main body 10, and has a flat opposing surface 55a that faces the rotation surface 54a of the rotating member 54.

[0076] The protrusions 56 are provided projecting from the rotation surface 54a of the rotating member 54. The protrusions 56 extend radially with respect to the rotation axis O1 of the pivot shaft 35, and multiple protrusions are provided around the rotation axis O1. The protrusions 56 are provided with a gap between them and the opposing surface 55a of the fixed member 55. Alternatively, the protrusions 56 may be configured to project from the opposing surface 55a of the fixed member 55, extend radially with respect to the rotation axis O1 of the pivot shaft 35, be provided in multiples around the rotation axis O1, and be provided with a gap between them and the rotation surface 54a of the rotating member 54.

[0077] The storage section 57 is configured to store fluid (for example, oil O) between the rotating surface 54a and the opposing surface 55a. The storage section 57 stores fluid in such a way that the fluid does not leak to the outside of the case of the pivot shaft 35 and does not enter the transmission mechanism 13 side.

[0078] The damping means 316 acts as an orifice that, when the pivot shaft 35 pivots around the rotation axis O1 (indicated by arrow R in Figure 11), blocks the fluid O in the reservoir 57 with the protrusion 56 and allows it to pass through the gap between the protrusion 56 and the opposing surface 55a, thereby applying a load to the rotation of the pivot shaft 35.

[0079] Thus, in the drive wheel 130, the damping means 316 includes a rotating member 54 that can rotate together with the pivot shaft 35, a fixed member 55 that has an opposing surface 55a facing the rotating surface 54a of the rotating member 54 and is fixed to it, a plurality of protrusions 56 that protrude from either the rotating surface 54a or the opposing surface 55a with a gap between them and the other, and a reservoir 57 that stores fluid between the rotating surface 54a and the opposing surface 55a, thereby realizing a means to apply a load to the rotation of the pivot shaft 35.

[0080] Therefore, this drive wheel 130 can operate in the same way as the drive wheel 110 described above, and the same effects and advantages as the drive wheel 110 and the bogie 100 can be obtained.

[0081] [Other drive wheel configurations] Figures 12 and 13 are schematic diagrams illustrating the power transmission paths of other configurations of the drive wheels.

[0082] The drive wheel 140 shown in Figure 12 has the same functional configuration as the drive wheel 110 described above, but differs in the configuration of the drive mechanism 11, the transmission mechanism 13, and the power conversion mechanism 14. In the following description of the drive wheel 140, the same reference numerals are used for parts equivalent to those of the drive wheel 110 described above, and their explanations are omitted.

[0083] The drive mechanism 11 includes a first drive mechanism 22A and a second drive mechanism 22B.

[0084] The first drive mechanism 22A includes a first drive unit 23A, a first drive pulley 24A, a first input shaft 25A, a first driven pulley 26A, and a first drive belt 27A. The first drive unit 23A is composed of a motor. The first drive unit 23A is fixed to the main body 10. The first drive unit 23A has a drive shaft 23Aa that protrudes above the main body 10 and extends in the vertical direction. The first drive pulley 24A is fixed to the drive shaft 23Aa. The first input shaft 25A is provided extending in the vertical direction parallel to the drive shaft 23Aa and is rotatably supported about the axis O1. The first driven pulley 26A is fixed to the portion of the first input shaft 25A that protrudes above the main body 10. The first driven pulley 26A and the first drive pulley 24A are provided side by side in directions perpendicular to the first input shaft 25A and the drive shaft 23Aa. The first drive belt 27A is formed in an annular shape and is wrapped around the first driven pulley 26A and the first drive pulley 24A. Therefore, the first drive mechanism 22A is driven by the first drive unit 23A, which causes the first drive pulley 24A to rotate, and this rotation is transmitted from the first drive pulley 24A to the first driven pulley 26A via the first drive belt 27A, causing the first input shaft 25A to rotate.

[0085] The second drive mechanism 22B includes a second drive unit 23B, a second drive pulley 24B, a second input shaft 25B, a second driven pulley 26B, and a second drive belt 27B. The second drive unit 23B is composed of a motor. The second drive unit 23B is fixed to the main body 10. The second drive unit 23B has a drive shaft 23Ba that protrudes above the main body 10 and extends vertically. The second drive pulley 24B is fixed to the drive shaft 23Ba. The second drive pulley 24B is formed to have the same diameter as the first drive pulley 24A. The second input shaft 25B is provided extending vertically parallel to the drive shaft 23Ba and is rotatably supported about the axis O1. The second input shaft 25B has a cylindrical shape and passes through the first input shaft 25A, and is positioned outside the first input shaft 25A via a pair of bearings 44 so as to rotate independently of the first input shaft 25A. The second driven pulley 26B is fixed to a portion of the second input shaft 25B that protrudes above the main body 10. The second driven pulley 26B is formed to the same diameter as the first driven pulley 26A and is located below the first driven pulley 26A. The second driven pulley 26B and the second drive pulley 24B are arranged side by side in a direction perpendicular to the second input shaft 25B and the drive shaft 23Ba. The second drive belt 27B is formed in an annular shape and is wrapped around the second driven pulley 26B and the second drive pulley 24B. Thus, the second drive mechanism 22B drives the second drive unit 23B, causing the second drive pulley 24B to rotate, and this rotation is transmitted from the second drive pulley 24B to the second driven pulley 26B via the second drive belt 27B, causing the second input shaft 25B to rotate.

[0086] The transmission mechanism 13 includes a first transmission mechanism 13A and a second transmission mechanism 13B.

[0087] The first transmission mechanism 13A transmits the rotational force of the first input shaft 25A to the first output shaft 40A. The first transmission mechanism 13A includes a first transmission driven gear 33A and a first transmission output gear 34A. The first transmission driven gear 33A and the first transmission output gear 34A are composed of spur gears.

[0088] In the first transmission mechanism 13A, the first driven transmission gear 33A is fixed to the first input shaft 25A. Therefore, the first driven transmission gear 33A rotates about the axis O1 of the first input shaft 25A. The first output transmission gear 34A is fixed to the first output shaft 40A. Therefore, the first output transmission gear 34A rotates about the axis O3 of the first output shaft 40A. The first driven transmission gear 33A meshes with the first output transmission gear 34A. Therefore, the first transmission mechanism 13A transmits the rotational force of the first input shaft 25A from the first driven transmission gear 33A to the first output transmission gear 34A, thereby providing rotational force to the first output shaft 40A.

[0089] The second transmission mechanism 13B transmits the rotational force of the second input shaft 25B to the second output shaft 40B. The second transmission mechanism 13B includes a second transmission driven gear 33B and a second transmission output gear 34B. The second transmission driven gear 33B and the second transmission output gear 34B are composed of spur gears.

[0090] In the second transmission mechanism 13B, the second transmission driven gear 33B is fixed to the second input shaft 25B. Therefore, the second transmission driven gear 33B rotates about the axis O1 of the second input shaft 25B. The second transmission output gear 34B is fixed to the second output shaft 40B. Therefore, the second transmission output gear 34B rotates about the axis O4 of the second output shaft 40B. The second transmission driven gear 33B meshes with the second transmission output gear 34B. Therefore, the second transmission mechanism 13B transmits the rotational force of the second input shaft 25B from the second transmission driven gear 33B to the second transmission output gear 34B, thereby providing rotational force to the second output shaft 40B.

[0091] In this transmission mechanism 13, the first driven gear 33A of the first transmission mechanism 13A and the second driven gear 33B of the second transmission mechanism 13B have the same pitch circle diameter and number of teeth. Also, in the transmission mechanism 13, the first output gear 34A of the first transmission mechanism 13A and the second output gear 34B of the second transmission mechanism 13B have the same pitch circle diameter and number of teeth.

[0092] The power conversion mechanism 14 includes a first power conversion mechanism 14A and a second power conversion mechanism 14B.

[0093] The first power conversion mechanism 14A transmits the rotational force of the first output shaft 40A to the axle 37. The first power conversion mechanism 14A is composed of a first conversion drive gear 41A and a first conversion driven gear 42A. In the drive wheel 110 of this embodiment, the first power conversion mechanism 14A and the first conversion driven gear 42A are composed of screw gears.

[0094] The second power conversion mechanism 14B transmits the rotational force of the second output shaft 40B to the axle 37. The second power conversion mechanism 14B is composed of a second conversion drive gear 41B and a second conversion driven gear 42B. In the drive wheel 110 of this embodiment, the second power conversion mechanism 14B and the second conversion driven gear 42B are composed of screw gears.

[0095] By providing the damping means 16 for the drive wheel 110 and the damping means 316 for the drive wheel 130 as described above, the drive wheel 140 can operate in the same way as the drive wheel 110 and the drive wheel 130, and the same effects and capabilities as the drive wheels 110, 130 and the trolley 100 can be obtained.

[0096] The drive wheel 150 shown in Figure 13 has the same functional configuration as the drive wheel 110 described above, but the configuration of the drive mechanism 11 and the transmission mechanism 13 are different. In the following description of the drive wheel 150, the same reference numerals are used for parts equivalent to those of the drive wheel 110 described above, and their explanation is omitted.

[0097] The drive mechanism 11 has a two-axis integrated motor and inputs two rotational forces onto the axis O1 of the pivot shaft 35. The two-axis integrated motor has a cylindrical support cylinder 121 fixed to the main body 10. Inside the support cylinder 121, the first rotating cylinder 122A is supported so as to be rotatable about the axis O1. Also, outside the support cylinder 121, the second rotating cylinder 122B is supported so as to be rotatable about the axis O1. Although not shown in the figure, the support cylinder 121 is provided with coils (not shown) on its inner and outer surfaces. The first rotating cylinder 122A has a magnet on its outer surface and a first input shaft 25A extending in the direction of the axis O1 at its lower part. The second rotating cylinder 122B has a magnet on its inner surface and a second input shaft 25B extending in the direction of the axis O1 at its lower part. Therefore, by energizing each coil of the support cylinder 121, rotational force is input to the first input shaft 25A via the first rotating cylinder 122A, and rotational force is input to the second input shaft 25B via the second rotating cylinder 122B. On the other hand, when the coils of the support cylinder 121 are not energized, the first rotating cylinder 122A and the first input shaft 25A become rotatable relative to the support cylinder 121, and the second rotating cylinder 122B and the second input shaft 25B become rotatable.

[0098] The transmission mechanism 13 is configured in the same way as the drive wheel 140 described above.

[0099] By providing the damping means 16 for the drive wheel 110 and the damping means 316 for the drive wheel 130 as described above, the drive wheel 150 can operate in the same way as the drive wheel 110 and the drive wheel 130, and the same effects and advantages as the drive wheels 110, 130 and the trolley 100 can be obtained.

[0100] [Other drive wheel configuration examples] Although not explicitly shown in the diagram, the drive wheels may not include a differential omnidirectional movement mechanism like the drive wheels 110, 120, 130, 140, and 150, but may instead have a wheel drive means that applies rotational force to the axle 37 and a slewing drive means that applies rotational force to the slewing axis 35, each independently provided. By applying the damping means 16, 216, and 316 described above to such drive wheels, they can operate in the same way as the drive wheels 110, 120, 130, 140, and 150, and the same effects and advantages as the drive wheels 110, 120, 130, 140, and 150 and the bogie 100 can be obtained.

[0101] [Differentiation] In the drive wheels 110, 120, 130, 140, and 150 described above, the gears described as spur gears may be composed of, for example, helical gears. Also, in the drive wheels 110, 120, and 130 described above, the gears described as bevel gears or screw gears may be composed of, for example, worm gears, crown gears, or universal joints. [Explanation of symbols]

[0102] 13A First transmission mechanism (13 Transmission mechanism: wheel drive means, swivel drive means) 13B Second transmission mechanism (13 Transmission mechanism: wheel drive means, swivel drive means) 14A First power conversion mechanism (14 Power conversion mechanism: wheel drive means, slewing drive means) 14B Second power conversion mechanism (14 Power conversion mechanism: wheel drive means, slewing drive means) 15 wheels 16,216,316 Damping means 22A First drive mechanism (11 Drive mechanism: wheel drive means, swivel drive means) 22B Second drive mechanism (11 Drive mechanism: wheel drive means, swivel drive means) 25A First input shaft 25B Second input axis 35 Swivel axis 37 axles 40A first output shaft 40B Second output shaft 52 Damping transmission mechanism 53 Rotary damper 54 Rotating member 54a Rotation surface 55 Fixing member 55a Opposing surface 56 Convex Strip 57 Storage section 100 carts 110, 120, 130, 140, 150 drive wheels

Claims

1. Wheels mounted on axles, A pivot shaft that supports the wheel so that it can rotate infinitely via the axle, A wheel drive means that applies rotational force to the axle, A pivoting drive means for applying rotational force to the pivot axis, A damping means for applying a load to the rotation of the pivot axis, Drive wheels, including the drive wheels.

2. A first input shaft and a second input shaft are arranged on the same axis, The first output shaft and the second output shaft are located on separate axes, It further includes, The wheel driving means and the slewing driving means are A first drive mechanism that inputs rotational force to the first input shaft, A second drive mechanism that inputs rotational force to the second input shaft, A first transmission mechanism that transmits the rotational force of the first input shaft to the first output shaft, A second transmission mechanism that transmits the rotational force of the second input shaft to the second output shaft, A first power conversion mechanism that transmits the rotational force of the first output shaft to one end of the axle, A second power conversion mechanism that transmits the rotational force of the second output shaft to the other end of the axle, The drive wheel according to claim 1, including the drive wheel described in claim 1.

3. The damping means is A rotating shaft is positioned on a separate axis from the aforementioned pivot axis and is rotatable, A damping transmission mechanism that transmits the rotation of the pivot axis to the rotating shaft, A rotary damper provided on the aforementioned rotating shaft, The drive wheel according to claim 1, including the drive wheel described in claim 1.

4. The damping means is The aforementioned pivot axis is a rotating shaft that is arranged coaxially with the pivot axis and is rotatable together with the pivot axis, A rotary damper provided on the aforementioned rotating shaft, The drive wheel according to claim 1, including the drive wheel described in claim 1.

5. The damping means is A rotating member that is rotatable together with the aforementioned pivot axis, A fixing member having an opposing surface facing the rotating surface of the aforementioned rotating member, A plurality of protrusions that project from either the rotating surface or the opposing surface with a gap between them and the other, A storage section for storing fluid between the rotating surface and the opposing surface, The drive wheel according to claim 1, including the drive wheel described in claim 1.

6. Drive wheels and, The bogie body to which the drive wheels are attached, Equipped with, The aforementioned drive wheel is Wheels mounted on axles, A pivot shaft that supports the wheel so that it can rotate infinitely via the axle, A wheel driving means for applying rotational force to the wheel, A pivoting drive means for applying rotational force to the pivot axis, A damping means for applying a load to the rotation of the pivot axis, A trolley, including a cart.

Images