To provide an omnidirectional moving type traveling device including at least three drive wheels composed of omni-wheels which are interspatially arranged in a circumferential direction around a predetermined axis and each of which is movable in all directions, the traveling device being designed to reduce the size of each drive wheel and to suppress wear deterioration caused by friction of each drive wheel against a floor surface.SOLUTION: At least three drive wheels 13 are arranged so that the axes of respective axles 19 pass through a predetermined axis C in a plan view. For each of the at least three drive wheels 13, a traveling device 10 includes: a driven wheel 14 composed of an omni-wheel provided on the inner or outer side in a radial direction around the predetermined axis C; and a support arm 15 which supports, as a set, each of the drive wheels 13 and the driven wheel 14 corresponding to each of the driving wheels 13. The support arm 15 is connected to a vehicle body 2 so as to be swingable up and down with an intermediate part in an arm length direction as a fulcrum, and a swing center position of the support arm 15 is deviated toward the driven wheel 14.SELECTED DRAWING: Figure 7
【課題】所定軸線を中心として周方向に間隔を空けて配置されるとともにそれぞれが全方位に移動可能なオムニホイールからなる少なくとも三つの駆動車輪を備えた全方位移動型の走行装置において、各駆動車輪の小型化を図るとともに、各駆動車輪の床面との摩擦による摩耗劣化を抑制する。【解決手段】少なくとも三つの駆動車輪13は、それぞれの車軸19の軸線が平面視で所定軸線Cを通るように配置されている。走行装置10は、少なくとも三つの駆動車輪13のそれぞれに対して、前記所定軸線Cを中心とする径方向の内側又は外側に設けられたオムニホイールからなる従動車輪14と、各駆動車輪13と該各駆動車輪13に対応する従動車輪14とを一組として支持する支持アーム15とを備えている。この支持アーム15は、アーム長さ方向の中間部を支点に上下に揺動可能に車両本体2に接続されており、支持アーム15の揺動中心位置は従動車輪14側に偏位している。【選択図】図7
TRAVELING DEVICE AND UNMANNED DOLLY WITH THE TRAVELING DEVICE
走行装置及び該走行装置を備えた無人搬送車
2022-09-26
Patent
Elektronische Ressource
Japanisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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