JP2017043218A - Wheels for omnidirectional vehicles - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an omnidirectional vehicle wheel capable of preventing a roller core material from being damaged even by a running behavior of a vehicle and performing stable running. An omnidirectional vehicle including a roller rotatably supported on a shaft portion provided to be inclined with respect to the rotation shaft in a circumferential direction of a rotation support that is rotatably supported by the rotation shaft. The roller includes a core member and a grounding portion that covers an outer periphery of the core member, and the core member includes a wall portion that protrudes in the outer peripheral direction of the core member in the grounding portion. An omnidirectional vehicle wheel characterized by that. [Selection] Figure 3

Description

  The present invention relates to an omnidirectional vehicle wheel installed in an omnidirectional vehicle.

  Conventionally, an omnidirectional vehicle wheel installed in an omnidirectional vehicle is known. For example, a first rim and a second rim for supporting a plurality of rollers arranged in a circumferential direction are provided, and each roller is rotatable about a roller rotation axis inclined with respect to the rotation axis of the rim. Between each rim, in the circumferential direction, in the direction orthogonal to the omnidirectional vehicle wheel rotation axis, in the direction orthogonal to the first rim rotation axis, the second rim rotation axis, and relatively inclined A device having a control means that enables a limited relative movement in at least one of the directions is known (see Patent Document 1).

JP 2014-526419 A

  However, in the structure of Patent Document 1, an unstable traveling state is avoided by two rims. However, since the rollers installed on the wheels are substantially the same as the conventional ones, the traveling behavior of the vehicle. Depending on the condition, a load may be applied to the end of the roller in one rim, and the core material of the roller may be cracked or the core material may come off the roller. Was a concern.

  Therefore, the present invention solves such a problem, and prevents the roller core material from being damaged by the traveling behavior of the vehicle, and is capable of stable traveling. It is an object to provide wheels.

  In order to solve the above problems, an omnidirectional vehicle wheel according to claim 1 of the present invention is provided in a circumferential direction of a rotary support that is rotatably supported by a rotary shaft with respect to the rotary shaft. A wheel for an omnidirectional vehicle including a roller rotatably supported by a shaft portion provided to be inclined, and the roller includes a core material and a grounding portion that covers an outer periphery of the core material, The core member includes a wall portion that protrudes in an outer peripheral direction of the core member in the grounding portion.

  An omnidirectional vehicle wheel according to claim 2 of the present invention is the omnidirectional vehicle wheel according to claim 1, wherein the wall portion is provided at least on both ends of the core member. is there.

  Moreover, the omnidirectional vehicle wheel according to claim 3 of the present invention is the omnidirectional vehicle wheel according to claim 1 or 2, wherein the wall portion is arranged in a circumferential direction of the core member. Are formed continuously.

  Moreover, the omnidirectional vehicle wheel according to claim 4 of the present invention is the omnidirectional vehicle wheel according to claim 1 or 2, wherein the wall portion is arranged in a circumferential direction of the core member. Thus, it is formed intermittently with a predetermined gap.

  Moreover, the omnidirectional vehicle wheel according to claim 5 of the present invention is the omnidirectional vehicle wheel according to any one of claims 1 to 4, wherein the wall portion includes the core member. And are formed integrally.

  In the omnidirectional vehicle wheel according to the present invention, since the wall portion that protrudes from the core material in the roller to the outer peripheral direction is provided, the strength of the core material can be increased, and the core material is also damaged by the running behavior of the vehicle. Can be prevented and stable running can be performed.

It is a front view of the wheel for omnidirectional vehicles in the example of the present invention. It is a side view of the wheel for omnidirectional vehicles in the example of the present invention. It is a partial exploded perspective view of the wheel for omnidirectional vehicles in the example of the present invention. It is a perspective view of the roller of the wheel for omnidirectional vehicles in the example of the present invention.

  Hereinafter, an omnidirectional vehicle wheel according to an embodiment of the present invention will be described with reference to the drawings. The omnidirectional vehicle wheel is a so-called mecanum wheel, and is provided with a shaft portion 30 that is inclined with respect to the rotation axis in the circumferential direction of the rotation support 10 that is rotatably supported by the rotation axis. The roller 20 includes a core material 21 and a grounding portion 22 that covers the outer periphery of the core material 21, and the core material 21 is a core material in the grounding portion 22. The wall part 24 which protrudes in the outer peripheral direction of 21 is provided. The omnidirectional vehicle wheel is used by being installed on a rotating shaft (not shown) of the omnidirectional vehicle.

  As shown in FIGS. 1 to 4, the omnidirectional vehicle wheel according to the embodiment of the present invention is supported so as to be rotatable with respect to a rotating shaft (not shown) of the omnidirectional vehicle. 10 and a roller 20 that is rotatably supported by a shaft portion 30 that is inclined with respect to the rotation axis in the circumferential direction of the rotation support 10.

  The rotary support 10 is composed of a pair of left and right support pieces 13 formed from a base 11 installed on a rotating shaft in an omnidirectional vehicle and a bracket 12 formed to extend outward from an outer edge of the base 11. Are arranged opposite to each other and fixed through fixing means 14 such as a bolt. The pair of support pieces 13 are formed, for example, by pressing a metal plate or the like, but can also be formed from a synthetic resin or the like.

  A rotation shaft hole 15 for inserting the rotation shaft of the omnidirectional vehicle is formed in a substantially central portion of the base portion 11, and both the pair of support pieces 13 are fixed around the rotation shaft hole 15. A predetermined number of fixing holes (not shown) are formed. In addition, the bracket 12 is formed by bending a substantially central portion of a length dimension from the outer edge of the base portion 11 toward the outer side toward the support piece 13 that is disposed to face the shaft portion 30, and a shaft portion 30 on the distal end portion side. A through hole 16 is formed for insertion of the through hole 16.

  In the pair of left and right support pieces 13, the rotary support body 10 is configured by being fixed via a fixing means 14 such as a bolt with a predetermined interval between the brackets 12 facing each other. The shaft portion 30 is pivotally supported between the brackets 12 facing each other, and the roller 20 is pivotally supported on the shaft portion 30 in a rotatable state. At this time, as shown in FIG. 2, the rotary support 10 is configured such that the shaft portion 30 is inclined with respect to the rotary shaft inserted through the rotary support 10.

  In the present embodiment, the number of brackets 12 formed on the base 11 is twelve, and the rollers 20 are installed at equal intervals in the circumferential direction of the rotation support 10 and the rotation inserted through the rotation support 10 is performed. The shaft portion 30 is installed to be inclined 45 degrees with respect to the shaft. Since the basic structure of the rotating support 10 is substantially the same as a known structure, it can be changed as appropriate and is not particularly limited.

  As shown in FIGS. 3 and 4, the roller 20 includes a core member 21 that passes through the shaft portion 30 of the rotary support 10 and a grounding portion 22 that covers the outer periphery of the core member 21. The core member 21 has an insertion hole 23 through which the shaft portion 30 can be inserted. The core member 21 is made of, for example, an aluminum alloy, steel, or the like, and is a cylindrical member except for a wall portion described later. In addition, the grounding portion 22 covered on the outer periphery of the core material 21 is a member having a substantially cylindrical shape or a substantially barrel shape made of an elastic body such as urethane rubber or natural rubber, or a synthetic resin such as 6 nylon or 66 nylon. It is said.

  Further, the core member 21 is provided with a wall portion 24 that protrudes in the outer peripheral direction of the core member 21 within the grounding portion 22. The wall portion 24 is formed integrally with the core material 21 and is larger than the outer shape of the core material 21 and is formed to have a predetermined width dimension in the axial direction of the core material 21. There is no particular limitation. That is, the wall portion 24 may be formed continuously in the circumferential direction of the core material 21 or may be formed intermittently with a predetermined gap. In other words, it is only necessary to form a stepped portion protruding from the core material 21 in the outer peripheral direction.

  Specifically, the wall portion 24 continuously formed in the circumferential direction of the core material 21 is formed from, for example, an annular shape, a quadrangular shape, a polygonal shape, or the like. From the viewpoint of load, it is desirable to have a ring shape or a polygonal shape that approximates a ring shape. That is, the wall portion 24 is preferably formed in a substantially annular shape including an annular shape.

  In addition, the wall portion 24 that is intermittently formed with a predetermined gap with respect to the circumferential direction of the core material 21 has, for example, two places at opposite positions and three places with a predetermined gap. Although formed at equal intervals in the direction, it is desirable to form them radially so as to approximate an annular shape from the viewpoint of the load on the core member 21 during traveling.

  The wall portions 24 are provided at least on both ends in the axial direction of the core material 21. Specifically, since the wall portions 24 are formed at least at both ends of the core material 21, the wall portions 24 can be formed at both edge portions of the core material 21, or from the edge portions of the core material 21. It can also be formed on both end sides in a state of being located inside by a predetermined dimension. Moreover, the separate wall part 24 can also be formed in the state which has the predetermined space | interval between both wall parts 24, It is not restricted to this.

  As a result, the strength of both ends of the core material 21 can be increased, and even if a load is applied to the end portion of the roller 20 due to the running behavior of the vehicle, the core material 21 is not cracked. Can be prevented. Further, even if the load applied to the end of the roller 20 is large and the core member 21 is cracked or the like, the wall portion 24 is formed integrally with the core member 21. At the same time, since the wall portion 24 is formed larger than the outer shape of the core material 21, the damage can be stopped at the edge portion of the core material 21, or can be stopped from the edge portion to the position where the wall portion 24 is provided. .

  Furthermore, even if a load is applied in the axial direction from the side surface of the roller 20 due to the running behavior of the vehicle, the wall portion 24 forms a step portion that protrudes from the core material 21 toward the outer peripheral direction. Therefore, it is possible to prevent the core material 21 from coming off from the grounding portion 22 due to the stress being dispersed. As a result, the durability of the roller 20 can be improved and the commercial value can be increased.

  In the present embodiment, the ground contact portion 22 is made of substantially barrel-shaped urethane rubber, and the core material 21 and the wall portion 24 are integrally formed by cutting a cylindrical aluminum alloy. In the direction, annular wall portions 24 are formed at two positions on both ends in a state where the inner wall is positioned by a predetermined dimension from the edge portion of the core material 21. Specifically, the ratio of the length dimension from the edge of the core member 21 to the wall part 24, the width dimension of the wall part 24, and the total length dimension in the axial direction of the core member 21 is 1 to 1.2 pairs. It is about 10. Further, the ratio of the outer dimension of the core member 21, the outer dimension of the wall portion 24, and the maximum outer dimension of the roller 20 is about 1 to 1.3 to 2. As shown in FIG. 3, the roller 20 configured in this manner has bushes 31 and the like fixed to both end edges, and is inserted with a pipe 33 and a shaft 30 through a washer 32 and fixed with a nut 34. By doing so, it is installed at equal intervals in the circumferential direction of the rotary support 10.

  As described above, according to the omnidirectional vehicle wheel according to the present invention described above, in the axial direction of the core member 21 in the roller 20, at least the both ends are provided with the wall portions 24 projecting from the core member 21 in the outer peripheral direction. Even with this traveling behavior, the core material 21 of the roller 20 can be prevented from being damaged, the durability of the roller 20 can be improved, and the omnidirectional vehicle can travel stably.

  In the embodiment described above, it is possible to appropriately change the shape, dimensions, etc. of the roller 20 including the rotary support 10, the core material 21, the grounding portion 22, and the wall portion 24. Furthermore, it is needless to say that a part of the configuration can be omitted or a part of the configuration can be extracted.

DESCRIPTION OF SYMBOLS 10 Rotating support body 20 Roller 21 Core material 22 Grounding part 24 Wall part 30 Shaft part

Claims (5)

An omnidirectional vehicle wheel comprising a roller rotatably supported on a shaft portion provided to be inclined with respect to the rotation shaft in a circumferential direction of a rotation support that is rotatably supported by the rotation shaft. And
The roller includes a core member and a grounding portion that covers an outer periphery of the core member, and the core member includes a wall portion that protrudes in the outer peripheral direction of the core member in the grounding portion. Wheel for direction moving vehicle.   The omnidirectional vehicle wheel according to claim 1, wherein the wall portion is provided at least on both ends of the core member.   The omnidirectional vehicle wheel according to claim 1, wherein the wall portion is formed continuously with respect to a circumferential direction of the core member.   The omnidirectional vehicle wheel according to claim 1, wherein the wall portion is formed intermittently with a predetermined gap with respect to a circumferential direction of the core member. The omnidirectional vehicle wheel according to any one of claims 1 to 4, wherein the wall portion is formed integrally with the core member.

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