Omnidirectional moving wheels

Abstract

To provide an omnidirectional moving wheel and an omnidirectional moving body that can improve running performance on soft ground.SOLUTION: Three or more rotary rollers 12 each form an annular shape, pass inside each other, pass a rotary shaft 11 inside, are lined up around a central axis of the rotary shaft 11, are arranged around the central axis of the rotary shaft 11 on the inner side, and are provided so as to be rotatable along a circumferential direction by rotation of the rotating shaft 11. Each rotary roller 12 is provided so that the same side on each side is tilted toward one end of the rotary shaft 11 with respect to the diameter extending from the point where it contacts the rotary shaft 11. A support member 13 rotatably supports each rotary roller 12. First rotation driving means is provided so as to rotate the rotary shaft 11 around the center axis. Second rotation driving means is provided so as to rotate the support member 13 around the center axis of the rotary shaft 11.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to omnidirectional wheels and omnidirectional moving bodies.

Background Art

[0002] As a conventional omnidirectional wheel, a so-called Mecanum wheel is known in which a plurality of sub-wheels are arranged on the outer periphery of a main wheel, and the sub-wheels are rotatably provided about an axis inclined with respect to the rotation axis of the main wheel (see, for example, Patent Document 1 or 2). The Mecanum wheel is assumed to move on a flat ground, and since the diameter of the sub-wheel is small, there is a problem that it is difficult to overcome a step.

[0003] Therefore, in order to solve this problem, a plurality of rollers have a plurality of arcuate units attached along the arcuate curve of the arcuate fitting such that the rotation direction of each roller is in the longitudinal direction of the arcuate fitting, and each arcuate unit is attached to the wheel base with a mutual shift in the circumferential direction of the wheel base to form a wheel. Further, an omnidirectional wheel mechanism has been proposed in which each arcuate unit is attached such that the longitudinal direction of the arcuate fitting is inclined with respect to the rotation direction of the wheel (see, for example, Patent Document 3). This omnidirectional wheel mechanism can easily overcome a step by increasing the diameter of the arcuate unit, but in a place where the traction of the ground surface such as uneven ground or mud is uneven, the combined force between the wheels is not stable, and there is a problem that the stability during movement is reduced.

[0004] Therefore, as something that can move stably even in a place where traction is uneven, unlike a Mecanum wheel, a sub-wheel is rotatably provided about an axis perpendicular to the rotation axis of the main wheel, and the sub-wheel is actively rotated, which has been developed by the present inventors (see, for example, Patent Document 4).

[0005] Note that a moving device configured to be movable in all directions even on soft ground, snow, ice, water, etc. has been developed by forming a helical screw corresponding to the rotation direction of the wheel on the surface of the wheel that contacts the installation surface (see, for example, Patent Documents 5, 6 or Non-Patent Document 1).

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Patent Document 6

Non-Patent Documents

[0007]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0008] The omnidirectional wheel mechanism described in Patent Document 4 can move stably even in places with uneven traction by actively rotating the auxiliary wheels. However, because the diameter of the auxiliary wheels is relatively small, they sink into soft ground, making it difficult to obtain propulsion and reducing the vehicle's ability to travel.

[0009] This invention was made in view of these problems, and aims to provide an omnidirectional wheel and an omnidirectional moving body that can improve traction on soft ground. [Means for solving the problem]

[0010] To achieve the above objective, the omnidirectional wheel according to the present invention comprises a rotating shaft rotatably mounted around a central axis; three or more rotating rollers, each forming an annular shape, passing inside each other and with the rotating shaft on its inside, arranged around the central axis of the rotating shaft, and positioned so as to contact the rotating shaft on its inner surface, and mounted to be rotatable along the circumferential direction by the rotation of the rotating shaft; a support member that rotatably supports each rotating roller; a first rotational drive means that rotatably mounts the rotating shaft around the central axis; and a second rotational drive means that rotatably mounts the support member around the central axis of the rotating shaft, relative to the rotating shaft. Each rotating roller is mounted such that, with respect to the diameter extending from the position in contact with the rotating shaft toward the opposite side of the rotating shaft, the same side on both the left and right is inclined toward one end of the rotating shaft, and the angle formed by the diameters of adjacent rotating rollers is greater than 0 degrees and less than 180 degrees.

[0011] The omnidirectional wheel according to the present invention can rotate three or more rotating rollers, which form an annular shape and are arranged in line with respect to the central axis of the rotating shaft, along the circumferential direction by rotating the rotating shaft around its central axis using a first rotational drive means. Furthermore, since the angle formed by the diameters of adjacent rotating rollers extending from the point of contact with the rotating shaft toward the opposite side of the rotating shaft is greater than 0 degrees and less than 180 degrees, one or two rotating rollers can always be in contact with the ground surface. At this time, since each rotating roller is positioned such that the same left and right sides of its diameter are inclined toward one end of the rotating shaft, the rotation of the one or two rotating rollers in contact with the ground allows the wheel to move along the ground surface toward one side or the other along a direction inclined with respect to the central axis of the rotating shaft, depending on the rotation direction of the rotating shaft.

[0012] Furthermore, the omnidirectional wheel according to the present invention can move on the ground surface in one direction perpendicular to the central axis of the rotating shaft or the other, depending on the rotation direction of the support member, by rotating the support member that supports each rotating roller around the central axis of the rotating shaft relative to the rotating shaft using a second rotational drive means. In this way, the omnidirectional wheel according to the present invention can move in all directions on the ground surface by combining movement in a direction inclined with respect to the central axis of the rotating shaft by the first rotational drive means and movement perpendicular to the central axis of the rotating shaft by the second rotational drive means.

[0013] The omnidirectional wheel according to the present invention allows for a larger diameter for each rotating roller. By increasing the diameter of each rotating roller, sinking into soft ground is prevented, thereby improving its ability to travel on soft ground. Furthermore, by increasing the diameter of each rotating roller, it is possible to easily overcome obstacles such as steps. In addition, by actively rotating each rotating roller, stable movement is possible even in areas with uneven traction.

[0014] In the omnidirectional moving wheel according to the present invention, it is preferable that each rotating roller is in contact with the rotating shaft at the same position in the central axis direction of the rotating shaft. Further, each rotating roller may be in contact with one end of the rotating shaft, or each rotating roller may be in contact with the central portion along the central axis direction. Further, it is preferable that the second rotation driving means is rotatable about the central axis of the rotating shaft so as to move in a balanced manner in a direction perpendicular to the central axis of the rotating shaft. The first rotation driving means and the second rotation driving means may be arranged on the same side or the opposite side of the rotating shaft with respect to the contact position of each rotating roller along the central axis direction of the rotating shaft.

[0015] In the omnidirectional moving wheel according to the present invention, it is preferable that each rotating roller has the same shape and the same size. Further, it is preferable that each rotating roller is formed along a perfect circle. In these cases, it is possible to move smoothly and in a balanced manner in all directions.

[0016] In the omnidirectional moving wheel according to the present invention, it is preferable that the diameter of each rotating roller is perpendicular to the central axis of the rotating shaft, and the left and right inclinations with respect to the diameter form the same angle. In particular, when the number of each rotating roller is n, it is preferably provided so as to form an n-fold symmetric shape about the central axis of the rotating shaft. Also in these cases, it is possible to move smoothly and in a balanced manner in all directions.

[0017] In the omnidirectional moving wheel according to the present invention, each rotating roller is formed along one of a pair of Villarceau circles formed when a torus of a predetermined size having the central axis of the rotating shaft as the axis of rotational symmetry is cut by different planes passing through its center point. Further, each rotating roller may be formed along one of a pair of circles (non-perfect circles) formed when an annular body (toroid) is cut by different planes passing through its center point, not limited to a torus.

[0018] Here, the outer diameter d of the toruso and inner diameter d s The ratio k = d o / d s For each of the cases where k is 1.2, 2.0, 8.0, and 100, the arrangement of each Villarceau circle when the number n of Villarceau circles is from 2 to 50 is obtained and shown in Fig. 1. At this time, each Villarceau circle is arranged so as to form an n-fold symmetric shape with respect to the rotational symmetry axis of the torus. From Fig. 1, when each rotating roller is formed along the Villarceau circle, it is preferable that 3 ≤ n ≤ 8 and 2.0 ≤ k ≤ 8.0. When n = 2, if the rotating shaft is rotated with two rotating rollers grounded, the rotating shaft moves along a direction perpendicular to the central axis of the rotating shaft, so it cannot move in all directions. Also, when n is increased, since each rotating roller is arranged densely, for example, when n is greater than 8, it is difficult to arrange the adjacent rotating rollers so that they do not contact each other, or to form each rotating roller with sufficient rigidity. Further, when k is decreased, it is necessary to make each rotating roller thinner. For example, when k is less than 2.0, it is difficult to form each rotating roller with sufficient rigidity or to transmit power from the rotating shaft to each rotating roller. Also, when k is increased, the range where each rotating roller contacts the rotating shaft becomes narrow. For example, when k is greater than 8.0, it is difficult to arrange the adjacent rotating rollers so that they do not contact each other, or to transmit power from the rotating shaft to each rotating roller.

[0019] In the omnidirectional moving wheel according to the present invention, each rotating roller may contact the rotating shaft in any configuration as long as it can rotate along the circumferential direction by the rotation of the rotating shaft. For example, it may contact the rotating shaft by using a helical gear, a friction gear, a magnetic force, or the like. When contacting with a helical gear, the rotating shaft preferably has a helical gear provided rotatably around the central axis, and each rotating roller preferably has a plurality of teeth provided on the inner surface so as to mesh with the helical gear and be rotatable along the circumferential direction by the rotation of the rotating shaft.

[0020] In the omnidirectional wheel according to the present invention, the support member may be formed to cover most of the inside of each rotating roller in a planar manner, excluding the portion through which other rotating rollers and the rotating shaft pass. In this case, each rotating roller and the support member can form a screw. This allows the wheel to move along the rotation axis of the rotating shaft by rotating the support member with a second rotational drive means, for example, on extremely soft ground where the entire rotating roller sinks, or on snow, ice, or water. By combining this movement with movement in a direction inclined with respect to the central axis of the rotating shaft by the first rotational drive means, the wheel can move in all directions even on extremely soft ground, or on snow, ice, or water. In particular, by making the tread pattern of each rotating roller a shape that can scrape water, it is possible to move in the rotation direction of each rotating roller on extremely soft ground, or on snow, ice, or water, and to move efficiently in all directions.

[0021] The omnidirectional moving body according to the present invention has one or more omnidirectional moving wheels according to the present invention, and is characterized in that the first rotational driving means and the second rotational driving means of the omnidirectional moving wheels are configured to be independently operable.

[0022] The omnidirectional moving body according to the present invention has omnidirectional moving wheels according to the present invention, and therefore can move in all directions. Furthermore, since the first rotational driving means and the second rotational driving means can be operated independently, the direction of movement and posture can be precisely controlled.

[0023] The omnidirectional moving body according to the present invention has a moving body body, and preferably the omnidirectional moving wheels consist of four wheels, each attached to the side of the moving body body so as to be able to support and move the moving body body. In this case, it can move in all directions with four-wheel drive. In particular, when moving on water by forming a screw with each rotating roller and support member, it can be easily moved in all directions by the four omnidirectional moving wheels. [Effects of the Invention]

[0024] According to the present invention, it is possible to provide an omnidirectional wheel and an omnidirectional moving body that can improve traction on soft ground. [Brief explanation of the drawing]

[0025] [Figure 1] This is a perspective view showing the arrangement of each Villarseau circle for the arrangement of the rotating rollers of an omnidirectional wheel according to the present invention, where the ratio k = do / ds of the outer diameter do to the inner diameter ds of the torus is in the range of 1.0 to 100, and the number of Villarseau circles n is 2 to 50. [Figure 2] These are (a) a plan view, (b) a perspective view, (c) a front view, and (d) a right side view of an omnidirectional moving wheel according to an embodiment of the present invention, when it has three rotating rollers. [Figure 3] Figure 2 is a perspective view of the omnidirectional wheel shown, with the support portion of the support member and the rotating tip portion omitted. [Figure 4] Figure 2 is a perspective view of the omnidirectional wheel shown, with all but one rotating roller omitted. [Figure 5] This is a perspective view of an omnidirectional wheel according to an embodiment of the present invention, with six rotating rollers. [Figure 6] This is a perspective view of an omnidirectional moving body according to an embodiment of the present invention. [Figure 7] This is a perspective view showing the omnidirectional moving body of the present invention in use on water. [Modes for carrying out the invention]

[0026] Embodiments of the present invention will be described below with reference to the drawings. Figures 2 to 7 show omnidirectional wheels and omnidirectional moving bodies according to embodiments of the present invention. As shown in Figures 2 to 4, the omnidirectional wheel 10 includes a rotating shaft 11, three or more rotating rollers 12, a support member 13, a first rotational drive means (not shown), and a second rotational drive means (not shown).

[0027] The rotating shaft 11 is slender and cylindrical, and is rotatable around its central axis. As shown in Figures 3 and 4, a helical gear 21 is fixed to one end of the rotating shaft 11, a predetermined distance from the end face towards the center. The helical gear 21 is designed to rotate together with the rotating shaft 11 around its central axis.

[0028] As shown in Figures 2 to 4, each rotating roller 12 is formed along a perfect circle and forms an annular shape of the same shape and size. Each rotating roller 12 passes inside the other and is arranged so as to be aligned around the central axis of the rotating shaft 11, with the rotating shaft 11 passing through the inside of each roller. A tread pattern or grouser may be formed on the outer surface of each rotating roller 12.

[0029] Each rotating roller 12 has an internal gear and multiple teeth 22 on its inner surface that mesh with the helical gear 21 of the rotating shaft 11. Each tooth 22 is arranged along the circumferential direction of each rotating roller 12 and extends along the width direction of each rotating roller 12. Each rotating roller 12 is positioned to mesh with the helical gear 21 of the rotating shaft 11 and to be in contact with the rotating shaft 11. Note that each rotating roller 12 may be in contact with the rotating shaft 11 using friction gears, magnetism, or other means, as long as it can rotate along the circumferential direction due to the rotation of the rotating shaft 11, rather than being limited to helical gears 21.

[0030] Furthermore, each rotating roller 12 is positioned such that, with respect to the diameter extending from its contact point with the rotating shaft 11 toward the opposite side of the rotating shaft 11 (hereinafter referred to as the "reference diameter"), the same side on both sides is tilted toward one end of the rotating shaft 11. Each rotating roller 12 is positioned such that its reference diameter is perpendicular to the central axis of the rotating shaft 11, and the left and right inclinations with respect to the reference diameter are at the same angle. In this way, each rotating roller 12 is able to rotate along the circumferential direction by the rotation of the rotating shaft 11.

[0031] More specifically, each rotating roller 12 is arranged so as to be n times symmetrical with respect to the central axis of the rotating shaft 11, where n is the number of rollers. As a result, the angle formed by the reference diameter vectors of adjacent rotating rollers 12 (the direction of which extends from the position where it is in contact with the rotating shaft 11 toward the opposite side of the rotating shaft 11) is greater than 0 degrees and less than 180 degrees.

[0032] Furthermore, each rotating roller 12 is formed along one of a pair of Villarseau circles formed when a torus of a predetermined size, whose central axis is the axis of rotational symmetry of the rotating shaft 11, is cut by two different planes passing through its center point. In particular, each rotating roller 12 is 3≦n≦8, and in the arrangement of Villarseau circles shown in Figure 1, the outer diameter d of the torus o and inner diameter d s The ratio k=d o / d s However, it is preferable that they be arranged according to the arrangement when 2.0 ≤ k ≤ 8.0. Also, each rotating roller 12 does not have to be a perfect circle as long as it can be used as a wheel, and in that case, each rotating roller 12 is not limited to a torus, but may be formed along one of a pair of circles (circles that are not perfect circles) formed when a toroidal ring is cut by two different planes passing through its center point. In a specific example shown in Figures 2 to 4, there are three rotating rollers 12, and k is approximately 3.9. An example of the case where there are six rotating rollers 12 is shown in Figure 5.

[0033] As shown in Figures 2 and 4, the support member 13 has a plurality of support parts 23, a tip-side rotating part 24, and a drive shaft 25. Each support part 23 is provided corresponding to each rotating roller 12 and is provided along the inner circumference of the corresponding rotating roller 12 to rotatably support the corresponding rotating roller 12. Each support part 23 is provided in a wheel shape relative to the corresponding rotating roller 12, but has a hole shape that does not block at least the portion through which other rotating rollers 12 and the rotating shaft 11 pass. Each support part 23 rotatably supports the corresponding rotating roller 12 at multiple locations on the inner circumference of the corresponding rotating roller 12 via bearings 26.

[0034] The tip-side rotating part 24 is provided at one end of the rotating shaft 11, closer to the end face than the helical gear 21, so as to cover the outer surface of the rotating shaft 11. The tip-side rotating part 24 is provided so as to be rotatable independently of the rotating shaft 11, about the central axis of the rotating shaft 11. Each support part 23 is fixed to the outer circumference of the tip-side rotating part 24. The drive shaft 25 is provided at one end of the rotating shaft 11, closer to the center than the helical gear 21, so as to cover the outer surface of the rotating shaft 11. The drive shaft 25 is provided so as to be rotatable independently of the rotating shaft 11, about the central axis of the rotating shaft 11. Each support part 23 is fixed to the outer circumference of the drive shaft 25.

[0035] The first rotational drive means has a rotary motor and is attached to the other end of the rotating shaft 11. The first rotational drive means is provided by the rotary motor so that the rotating shaft 11 can rotate around its central axis. As a result, the first rotational drive means is able to rotate each rotating roller 12 together with the rotating shaft 11.

[0036] The second rotational drive means has a rotary motor and is attached to the drive shaft 25. The second rotational drive means uses the rotary motor to rotatably mount the drive shaft 25 around the central axis of the rotation shaft 11. As a result, the second rotational drive means, together with the support member 13, allows the entire wheel to rotate around the central axis of the rotation shaft 11, relative to the rotation shaft 11.

[0037] Next, I will explain the mechanism of action. The omnidirectional wheel 10 can rotate each rotating roller 12 along its circumference by rotating the rotating shaft 11 around its central axis using the first rotational drive means. Furthermore, since the angle formed by the reference diameter vectors of adjacent rotating rollers 12 is greater than 0 degrees and less than 180 degrees, one or two rotating rollers 12 can always be in contact with the ground surface. At this time, each rotating roller 12 is positioned such that the same side on both sides is inclined toward one end of the rotating shaft 11 with respect to its reference diameter. Therefore, the rotation of the one or two rotating rollers 12 in contact with the ground allows the wheel to move along the ground surface toward one side or the other along a direction inclined with respect to the central axis of the rotating shaft 11, depending on the rotation direction of the rotating shaft 11.

[0038] Furthermore, the omnidirectional wheel 10 can move on the ground surface in one direction or the other perpendicular to the central axis of the rotating shaft 11, depending on the rotation direction of the support member 13, by rotating the support member 13 that supports each rotating roller 12 around the central axis of the rotating shaft 11 relative to the rotating shaft 11 using the second rotational drive means. In this way, the omnidirectional wheel 10 can move in all directions on the ground surface by combining movement in a direction inclined with respect to the central axis of the rotating shaft 11 by the first rotational drive means and movement perpendicular to the central axis of the rotating shaft 11 by the second rotational drive means.

[0039] The omnidirectional wheel 10 allows for larger diameters of each rotating roller 12. By increasing the diameter of each rotating roller 12, sinking into soft ground is prevented, improving its ability to travel on soft ground. Furthermore, increasing the diameter of each rotating roller 12 allows it to easily overcome obstacles such as steps. Additionally, by actively rotating each rotating roller 12, it can move relatively stably even on uneven terrain with uneven traction.

[0040] As shown in Figure 6, the omnidirectional moving body 30 has a moving body body 31 and four omnidirectional moving wheels 10.

[0041] The mobile body 31 is shaped like a thin plate, with the front, rear, and central parts extending outwards on both sides. The mobile body 31 is provided with shaft boxes 32 at the lower central parts of the front and rear sections, respectively.

[0042] Each omnidirectional wheel 10 has a storage box 33 that houses a first rotational drive mechanism and a second rotational drive mechanism. Each omnidirectional wheel 10 is provided such that the other end of the rotating shaft 11 protrudes from the storage box 33. Each omnidirectional wheel 10 is configured so that the first rotational drive mechanism and the second rotational drive mechanism can be operated independently. In addition, the support member 13 of each omnidirectional wheel 10 has a cover 34 that covers most of the side surface of each support part 23, excluding the portion through which the other rotating rollers 12 and rotating shafts 11 pass.

[0043] Each omnidirectional wheel 10 is mounted on both the front and rear sides of the mobile body 31. The other end of each rotating shaft 11 of each omnidirectional wheel 10 is housed in the front and rear shaft boxes 32 so as to be able to rotate independently of each other, and one end of the rotating shaft 11 is mounted so as to extend outward from the mobile body 31. Each omnidirectional wheel 10 is provided such that each rotating roller 12 protrudes outward from the side edge of the mobile body 31.

[0044] Next, I will explain the mechanism of action. The omnidirectional moving body 30 has four omnidirectional wheels 10, allowing it to move in all directions with four-wheel drive. Furthermore, since the first rotational drive means and the second rotational drive means can be operated independently, the direction of movement and posture can be precisely controlled.

[0045] The omnidirectional moving body 30 can have each rotating roller 12 and support member 13 configured as a screw by the cover 34 of the support member 13 of each omnidirectional moving wheel 10. This allows the support member 13 to be rotated by the second rotational drive means, enabling movement along the rotation axis of the rotating shaft 11, even on extremely soft ground where the entire rotating roller 12 would sink, or on snow, ice, or water. By combining this movement with movement in a direction inclined with respect to the central axis of the rotating shaft 11 by the first rotational drive means, movement in all directions is possible even on extremely soft ground, or on snow, ice, or water. In particular, by making the tread pattern of each rotating roller 12 a shape that can scrape water, it is possible to make it easier to move in the rotation direction of each rotating roller 12 on extremely soft ground, or on snow, ice, or water, enabling efficient movement in all directions.

[0046] As shown in Figure 7, for example, when the omnidirectional moving body 30 moves on water, the support member 13 is rotated by the second rotational drive means, allowing it to move along the rotation axis direction of the rotating shaft 11. By combining this movement with movement in a direction inclined with respect to the central axis of the rotating shaft 11 by the first rotational drive means, it can move in all directions even on water. In this way, the omnidirectional moving body 30 can be configured as an amphibious moving body that can move in all directions not only on land but also on water. Figure 7 shows the case where the moving body body 31 has a rectangular parallelepiped shape and each omnidirectional moving wheel 10 has 6 rotating rollers 12. [Examples]

[0047] A prototype of the omnidirectional wheel 10 was fabricated and its operation was verified. The design parameters of the prototype omnidirectional wheel 10 are shown in Table 1. The prototype omnidirectional wheel 10 consists of nylon rotating rollers 12 and support members 13, an acrylic photopolymerized resin helical gear 21, an acrylic photocurable resin tip-side rotating part 24 and drive shaft 25, and a PP-like photocurable resin cover 34, all manufactured using a 3D printer. The rotating shaft 11 is made of SUS304 stainless steel.

[0048] [Table 1]

[0049] Regarding the prototype omnidirectional wheel 10, when the drive shaft 25 was fixed and the rotating shaft 11 was rotated, it was possible to rotate the three rotating rollers 12 arbitrarily. Furthermore, when the rotating shaft 11 and the drive shaft 25 were rotated by the same angle, it was possible to rotate the entire wheel while keeping each rotating roller 12 stationary. It was also confirmed that the same operation occurred when the drive shaft 25 and the rotating shaft 11 were rotated in opposite directions. Thus, it was confirmed that the prototype omnidirectional wheel 10 can apply force in two directions simultaneously with a single wheel. From this, it can be said that the omnidirectional wheel 10 is capable of movement in all directions.

[0050] Next, an experiment was conducted to confirm the screw-like capability of each rotating roller 12 of the prototype omnidirectional wheel 10. In the experiment, a frame made of aluminum was assembled that could slide in the linear direction of one axis, and the prototype omnidirectional wheel 10 was installed on this sliding part so that it could rotate passively. This was placed on a snowfield, the lower half of the prototype omnidirectional wheel 10 was buried, and it was slid in the axial direction of the rotating shaft 11 relative to the snowfield. As a result, it was confirmed that the entire wheel rotated passively around the rotation axis of the rotating shaft 11. From this, it can be inferred that by rotating the entire wheel together with the drive shaft 25 and actively driving each rotating roller 12 like a screw, a thrust force in the axial direction of the rotating shaft 11 can be obtained as a reaction force. [Explanation of Symbols]

[0051] 10 omnidirectional moving wheels 11 Rotating shafts 21 Helical gear 12 Rotating Rollers 22 teeth 13 Support Member 23 Support part 24. Rotating part at the tip 25 Drive shaft 26 bearings 30 Omnidirectional Moving Body 31 Mobile Unit 32 Shaft Box 33 Storage Boxes 34 Cover

Claims

1. A rotating shaft that is rotatable around a central axis, A rotating roller consisting of three or more parts, each forming an annular shape, passing through the inside of each other and with the rotating shaft passing through its inside, arranged around the central axis of the rotating shaft, with its inner surface in contact with the rotating shaft, and provided to be rotatable along the circumferential direction by the rotation of the rotating shaft, A support member that rotatably supports each rotating roller, The first rotational drive means is provided so as to be rotatable around the central axis of the rotating shaft, The support member has a second rotational drive means that is provided so as to be rotatable relative to the rotational shaft, around the central axis of the rotational shaft. Each rotating roller is positioned such that, with respect to the diameter extending from the point of contact with the rotating shaft toward the opposite side of the rotating shaft, the same side on both sides is inclined toward one end of the rotating shaft, and the angle formed by the diameters of adjacent rotating rollers is greater than 0 degrees and less than 180 degrees. Its distinguishing feature is its omnidirectional wheels.

2. The omnidirectional wheel according to claim 1, characterized in that each rotating roller has the same shape and size.

3. The omnidirectional wheel according to claim 1 or 2, characterized in that each rotating roller has a diameter perpendicular to the central axis of the rotating shaft and the left and right inclinations with respect to the diameter are at the same angle.

4. The omnidirectional wheel according to claim 1, characterized in that each rotating roller is arranged to form a shape that is symmetrical by n times with respect to the central axis of the rotating shaft, where n is the number of such rollers.

5. The omnidirectional wheel according to claim 1 or 4, characterized in that each rotating roller is formed along one of a pair of Villarseau circles formed when a torus of a predetermined size, whose central axis of the rotating shaft forms an axis of rotational symmetry, is cut by different planes passing through its center point.

6. The rotating shaft has a helical gear that is rotatably mounted around the central axis, Each rotating roller has multiple teeth on its inner surface that mesh with the helical gear, so that it can rotate along the circumferential direction by the rotation of the rotating shaft. The omnidirectional wheel described in claim 1 is characterized by its features.

7. The omnidirectional wheel according to claim 1, characterized in that the support member is formed to cover most of the inside of each rotating roller, excluding the portion through which the other rotating rollers and the rotating shaft pass.

Images