【０００１】[0001]
【発明の属する技術分野】本発明は、管内清掃ロボット
や荷搬送用ロボットなどの作業ロボットに用いられる走
行車輪装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling wheel device used for a work robot such as a pipe cleaning robot and a load transfer robot.
【０００２】[0002]
【従来の技術】例えば、上下水道管や給排水管などの管
路や円筒状タンクの内面を清掃する管内清掃ロボットが
あり、この管内清掃ロボットは、図１０に示すように、
マンホールから管５２内に挿入したロボット本体５０
を、ロボット支持ローラ装置５１により管５２の軸心位
置５２ａに保持するとともに、押圧用シリンダ装置５３
を収縮して走行車輪装置５４のオムニ車輪５５を管５２
の内面に押付け、走行用モータ５６を起動してロボット
本体５０を前進させ、同時に噴射ノズル５７からジェッ
ト水５８を管５２の内面に向けて噴射し、管５２の内面
に付着した滓を剥離除去するように構成されている。2. Description of the Related Art For example, there is a pipe cleaning robot that cleans pipe lines such as water and sewer pipes and water supply / drainage pipes, and the inner surface of a cylindrical tank. As shown in FIG.
Robot body 50 inserted from manhole into tube 52
Is held at the axial center position 52a of the pipe 52 by the robot supporting roller device 51, and the pressing cylinder device 53
The omni wheel 55 of the traveling wheel device 54 by
, The traveling motor 56 is activated to advance the robot main body 50, and at the same time, jet water 58 is jetted from the jet nozzle 57 toward the inner surface of the pipe 52 to remove the slag adhering to the inner surface of the pipe 52. Is configured to.
【０００３】ところで従来、上記走行車輪装置５４は、
回収管６０に支軸６１を介して回動自在に取付けられた
走行用脚筒６２の両側に一対で設けられており、各走行
車輪装置５４の構成は、走行用モータ５６に、例えばハ
イポイド駆動ギヤ６４およびハイポイド受動ギヤ６５か
ら構成されるギヤ装置６３を介して回転自在に支持され
た走行軸６６と、この走行軸６６に取付けられた取付け
部材６７に、両側で回転自在に軸支された樽型で複数個
の前記オムニ車輪５５とを有し、走行用モータ５６を駆
動することにより、ギヤ装置６５を介してオムニ車輪５
５が走行軸６６回りに回転するものである。Conventionally, the traveling wheel device 54 is
The traveling wheel device 54 is provided in a pair on both sides of a traveling leg cylinder 62 that is rotatably attached to the recovery pipe 60 via a support shaft 61. The traveling wheel devices 54 are driven by a traveling motor 56, for example, by hypoid drive. A traveling shaft 66 rotatably supported via a gear device 63 composed of a gear 64 and a hypoid passive gear 65, and a mounting member 67 attached to the traveling shaft 66 are rotatably supported on both sides. The omni wheel 5 has a barrel shape and a plurality of omni wheels 55. The omni wheel 5 is driven via a gear device 65 by driving a traveling motor 56.
5 rotates around the traveling shaft 66.
【０００４】また図１１および図１２に示すように、こ
の走行車輪装置５４では、オムニ車輪５５を四個、同一
円周上に並べて一組のオムニ車輪群６８とし、このよう
なオムニ車輪群６８を左右に二組設けている。Further, as shown in FIGS. 11 and 12, in the traveling wheel device 54, four omni wheels 55 are arranged on the same circumference to form a set of omni wheel groups 68. Two sets are provided on the left and right.
【０００５】このように、左右に二組のオムニ車輪群６
８を設ける理由は、一方のオムニ車輪群６８において各
オムニ車輪５５間の隙間が大きく、このようなオムニ車
輪群６８が走行軸６６回りに回転した場合に、管内清掃
ロボットに与える衝撃が大きいので、このような状態を
回避するためであり、上記従来の走行車輪装置５４で
は、他方のオムニ車輪群６８のオムニ車輪５５を、一方
のオムニ車輪群６８のオムニ車輪５５間に配置すること
により管内清掃ロボットに与える衝撃を緩和している。In this way, two sets of omni wheel groups 6 are provided on the left and right.
The reason for providing 8 is that there is a large gap between the omni wheels 55 in one omni wheel group 68, and when such an omni wheel group 68 rotates around the traveling shaft 66, the impact on the pipe cleaning robot is large. In order to avoid such a state, in the conventional traveling wheel device 54, by disposing the omni wheel 55 of the other omni wheel group 68 between the omni wheels 55 of the one omni wheel group 68, It reduces the impact on the cleaning robot.
【０００６】[0006]
【発明が解決しようとする課題】上記従来の走行車輪装
置５４において、オムニ車輪群６８は二組設けているの
で、一組の場合に比べて構造が複雑であるし、スペース
的にも大きくなってしまう。In the above-described conventional traveling wheel device 54, since two sets of omni wheel groups 68 are provided, the structure is more complicated and the space is larger than the case of one set. Will end up.
【０００７】さらに図１３に示すように、管内清掃ロボ
ットが曲り面や傾斜面を走行する場合、各走行車輪装置
５４における対角線上の一方のオムニ車輪群６８しか走
行面に接触しないため、がたつきが発生し易く円滑な走
行がしにくく、また樽型のオムニ車輪５５は両側で支持
されているので、オムニ車輪５５間の隙間が大きく、通
常の走行であってもがたつきが発生しやすい。Further, as shown in FIG. 13, when the pipe cleaning robot travels on a curved surface or an inclined surface, only one diagonal omni wheel group 68 of each traveling wheel device 54 makes contact with the traveling surface. Rugging easily occurs and smooth running is difficult, and since the barrel-shaped omni wheels 55 are supported on both sides, there is a large gap between the omni wheels 55, which causes rattling even during normal driving. Cheap.
【０００８】そこで本発明は、上記課題を解決し得る走
行車輪装置の提供を目的とする。Therefore, an object of the present invention is to provide a traveling wheel device that can solve the above problems.
【０００９】[0009]
【課題を解決するための手段】本発明における課題を解
決するための手段は、第一支軸部材の軸心に直交する平
面内でかつ第一支軸部材の半径方向に複数の取付け部材
が取付けられ、この各取付け部材の先端部両側に、第一
支軸部材の軸心に直交する平面内でかつ取付け部材の軸
心に直角な方向に第二支軸部材が張り出すように設けら
れ、この各第二支軸部材に、第一支軸部材の軸心を中心
とする円周方向に沿った曲面を有するとともに第二支軸
部材の軸心を中心とする円周方向に沿った曲面を有する
円錐状のオムニ車輪が取付けられている。Means for solving the problems of the present invention is to provide a plurality of mounting members in a plane orthogonal to the axis of the first support shaft member and in the radial direction of the first support shaft member. The second support shaft member is mounted on both sides of the tip end of each mounting member so as to project in a plane orthogonal to the shaft center of the first support shaft member and in a direction perpendicular to the shaft center of the mounting member. , Each of the second support shaft members has a curved surface along the circumferential direction centered on the shaft center of the first support shaft member and along the circumferential direction centered on the shaft center of the second support shaft member. A conical omni wheel having a curved surface is attached.
【００１０】また、第一支軸部材の半径方向に設けられ
た取付け部材を、３個〜１０個としている。さらに、各
オムニ車輪の頂点近傍部が、隣合うオムニ車輪の頂点近
傍部と接触されている。Further, the number of mounting members provided in the radial direction of the first support shaft member is three to ten. Further, the vertices of the respective omni wheels are in contact with the vertices of the adjacent omni wheels.
【００１１】そして、オムニ車輪を、取付け部材の先端
部両側に張り出すように取付けた第二支軸部材に片持ち
式に支持するとともにオムニ車輪を円錐状形になしたの
で、隣合う各オムニ車輪どうし間の隙間が小さくなり、
一つの平面内に複数のオムニ車輪を設けただけであって
もがたつきを抑え、構造が簡単になるとともに設置スペ
ースが小さくなる。Since the omni wheel is supported in a cantilever manner on the second support shaft member mounted so as to project to both sides of the tip end of the mounting member, and the omni wheel has a conical shape, each adjacent omni wheel is attached. The gap between the wheels gets smaller,
Even if a plurality of omni wheels are provided in one plane, rattling is suppressed, the structure is simplified, and the installation space is reduced.
【００１２】[0012]
【発明の実施の形態】以下、本発明の走行車輪装置の実
施の形態を、管内清掃ロボット（作業ロボットの一例）
に用いた場合の例として、図１〜図３に基づいて説明す
る。BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a traveling wheel device of the present invention will be described below with reference to a pipe cleaning robot (an example of a work robot).
As an example of the case used for the above, it will be described based on FIGS.
【００１３】まず、管内清掃ロボット１の概略を説明す
ると、これは、管内清掃用のジェット水２を管３の内面
に向けて噴射するための噴射ノズル４を有するロボット
本体５と、このロボット本体５を管３の軸心５ａ位置に
保持するためのロボット支持ローラ装置６と、清掃滓を
回収するための回収管７に、支軸８を介して回動自在に
取付けられた走行用脚筒１０と、この走行用脚筒１０の
両側に一対で設けられてロボット本体５を管３内で前進
させるための走行車輪装置１１と、走行用脚筒１０を支
軸８回りに回動して走行車輪装置１１を管３の内面に押
付けるための押圧用シリンダ装置１２と、走行車輪装置
１１を駆動するための走行用モータ１３とを有してい
る。First, an outline of the pipe cleaning robot 1 will be described. This is a robot main body 5 having a spray nozzle 4 for spraying jet water 2 for cleaning the pipe toward the inner surface of the pipe 3, and the robot main body. Robot supporting roller device 6 for holding 5 at the axial center 5a of pipe 3, and recovery pipe 7 for recovering cleaning slag, which is rotatably mounted via a support shaft 8 10, a pair of traveling wheel devices 11 provided on both sides of the traveling leg cylinder 10 for advancing the robot body 5 in the pipe 3, and the traveling leg cylinder 10 is rotated around the support shaft 8. It has a pressing cylinder device 12 for pressing the traveling wheel device 11 against the inner surface of the pipe 3, and a traveling motor 13 for driving the traveling wheel device 11.
【００１４】このように構成された管内清掃ロボット１
では、マンホール（図示せず）から管３内に挿入したロ
ボット本体５を、ロボット支持ローラ装置６により管３
の軸心位置に保持するとともに、押圧用シリンダ装置１
２を収縮して走行車輪装置１１を管３の内面に押付け、
走行用モータ１３を起動してロボット本体５を前進さ
せ、同時に噴射ノズル４からジェット水２を管３の内面
に向けて噴射し、管３の内面に付着した滓を剥離除去す
るものである。A pipe cleaning robot 1 having the above structure
Then, the robot main body 5 inserted into the pipe 3 from the manhole (not shown) is moved to the pipe 3 by the robot supporting roller device 6.
Cylinder device for pressing 1 while maintaining the axial center position of
2 is contracted and the traveling wheel device 11 is pressed against the inner surface of the pipe 3,
The traveling motor 13 is activated to move the robot main body 5 forward, and at the same time, the jet water 4 is jetted from the jet nozzle 4 toward the inner surface of the pipe 3 to remove and remove the slag adhering to the inner surface of the pipe 3.
【００１５】次に、前記各走行車輪装置１１の構成を説
明すると、これは、走行用モータ１３に、ハイポイド駆
動ギヤおよびハイポイド受動ギヤから構成されるギヤ装
置（図１０および図１１の従来技術参照）を介して回転
自在に支持された第一支軸部材（走行軸）１５と、この
第一支軸部材１５に取付けられた複数個（図では９０°
間隔で４個）の杆状の取付け部材１６と、取付け部材１
６の先端部両側に張り出すように設けられた第二支軸部
材１７と、この各第二支軸部材１７に回転自在に取付け
られたオムニ車輪２１とから構成されている。Next, the structure of each of the traveling wheel devices 11 will be explained. This is a gear device including a hypoid drive gear and a hypoid passive gear in a traveling motor 13 (see the prior arts of FIGS. 10 and 11). ) Through which a first support shaft member (travel shaft) 15 is rotatably supported, and a plurality (90 ° in the figure) attached to the first support shaft member 15.
(4 at intervals) Rod-like mounting members 16 and mounting member 1
The second support shaft member 17 is provided so as to project to both sides of the tip end portion of the reference numeral 6, and the omni wheel 21 rotatably attached to each of the second support shaft members 17.
【００１６】前記取付け部材１６は、第一支軸部材１５
の軸心方向Ｄ２に直交する平面内でかつ第一支軸部材１
５の半径放射方向Ｄ１に配置されている。前記第二支軸
部材１７は、第一支軸部材１５の軸心方向Ｄ２に直交す
る平面内でかつ取付け部材１６の軸心方向Ｄ４に直角な
方向の軸心１９を有している。The mounting member 16 is the first support shaft member 15.
In the plane orthogonal to the axial direction D2 of the first support shaft member 1
5 are arranged in the radial radiation direction D1. The second support shaft member 17 has a shaft center 19 in a plane orthogonal to the shaft center direction D2 of the first support shaft member 15 and perpendicular to the shaft center direction D4 of the mounting member 16.
【００１７】前記オムニ車輪２１は、第二支軸部材１７
の軸心１９回りに回転自在とされて、第一支軸部材１５
の軸心２２を中心とする円周方向Ｄ３に沿った曲面１８
を有するとともに、第二支軸部材１７の軸心１９を中心
とした曲面２０を有する円錐状（半卵型）に形成され、
この各オムニ車輪２１は、その基底部が第二支軸部材１
７に軸受け２４を介して取付けられた心金部材２５と、
この心金部材２５を外被する合成ゴム製の外被部材２６
とから構成され、各オムニ車輪２１の外被部材２６の頂
点近傍部どうしはわずかに離間することにより隙間３０
を有している。The omni wheel 21 includes a second support shaft member 17
Is rotatable about an axis 19 of the first support shaft member 15
Of the curved surface 18 along the circumferential direction D3 centered on the axis 22 of
And a conical shape (half-oval shape) having a curved surface 20 centered on the axis 19 of the second support shaft member 17,
The base of each of the omni wheels 21 has the second support shaft member 1
7, a mandrel member 25 mounted via a bearing 24,
An outer cover member 26 made of synthetic rubber for covering the mandrel member 25.
And each of the omni wheels 21 is slightly separated from each other in the vicinity of the apex of the outer cover member 26, thereby forming a gap 30.
have.
【００１８】上記構成において、押圧用シリンダ装置１
２を駆動して走行車輪装置１１のオムニ車輪２１を管３
の内面に押付け、走行用モータ１３を起動すると、ギヤ
装置を介して第一支軸部材１５が回転し、ロボット本体
５を前進させることができる。In the above structure, the pressing cylinder device 1
2 to drive the omni wheel 21 of the traveling wheel device 11 into the tube 3
When the traveling motor 13 is pressed against the inner surface of the robot, the first support shaft member 15 rotates via the gear device, and the robot body 5 can be moved forward.
【００１９】そして、走行車輪装置１１のオムニ車輪２
１は、円錐状に形成されるとともに取付け部材１６の先
端部両側に張り出すように取付けられた各第二支軸部材
１７に片持ち式に支持されているので、各オムニ車輪２
１どうしが近い位置にあり、隣合うオムニ車輪２１の頂
点近傍部によって形成される凹部が小さく、従って、ロ
ボット本体５を前進させる際に、走行車輪装置１１が第
一支軸部材１５回りに回転した場合であっても、走行車
輪装置１１そのもののがたつきが小さく、管内清掃ロボ
ット１全体に与える衝撃が小さくなり、管内清掃ロボッ
ト１が円滑に走行するようになる。The omni wheel 2 of the traveling wheel device 11
Each of the omni wheels 2 has a conical shape and is supported in a cantilever manner by each second support shaft member 17 mounted so as to project to both sides of the tip of the mounting member 16.
1 is close to each other, and the concave portion formed by the vicinity of the apexes of the adjacent omni wheels 21 is small. Therefore, when the robot body 5 is advanced, the traveling wheel device 11 rotates around the first support shaft member 15. Even in such a case, the traveling wheel device 11 itself has less rattling, the impact on the entire pipe cleaning robot 1 is small, and the pipe cleaning robot 1 travels smoothly.
【００２０】このように本発明の実施の形態によれば、
オムニ車輪２１を、取付け部材１６の先端部両側に張り
出すように取付けた第二支軸部材１７に片持ち式に支持
するとともにオムニ車輪２１を円錐状形になしたので、
頂点近傍部側で隣合う各オムニ車輪２１どうし間の隙間
を小さくすることができ、従って、従来のように、二つ
の異なった平面内にそれぞれ複数のオムニ車輪を設けた
場合に比べて構造を簡単にし得、走行車輪装置１１を設
けるのに必要なスペースを小さくすることができ、さら
に、走行車輪装置１１が回転した場合でも走行車輪装置
１１そのもののがたつきが小さく、管内清掃ロボット１
全体に与える衝撃が小さくなり、管内清掃ロボット１を
円滑に走行させることができる。As described above, according to the embodiment of the present invention,
Since the omni wheel 21 is supported in a cantilevered manner on the second support shaft member 17 mounted so as to project to both sides of the tip of the mounting member 16, the omni wheel 21 has a conical shape.
It is possible to reduce the gap between adjacent omni wheels 21 on the side near the apex, and therefore, the structure can be reduced as compared with the conventional case where a plurality of omni wheels are provided in two different planes. It can be simplified, and the space required for providing the traveling wheel device 11 can be reduced. Further, even when the traveling wheel device 11 rotates, the traveling wheel device 11 itself has less rattling, and the pipe cleaning robot 1
The impact given to the whole is reduced, and the pipe cleaning robot 1 can smoothly travel.
【００２１】なお上記実施の形態では、管内清掃ロボッ
ト１の走行に用いる場合を説明したがこれに限定される
ものではなく、例えば倉庫内を走行して荷を所定の位置
まで搬送する荷搬送用ロボット４０などにも適用可能
で、この場合、図４の平面図および図５の側面図に示す
ように、四組の走行車輪装置４１〜４４を、荷台４５を
支持した駆動装置４６に取付け、この駆動装置４６に
は、各第一支軸部材１５を駆動させる支軸駆動装置およ
びこの支軸駆動装置の駆動を制御する制御装置を設け
る。In the above embodiment, the case where the pipe cleaning robot 1 is used for traveling has been described, but the present invention is not limited to this. For example, for transporting a load when traveling in a warehouse and transporting a load to a predetermined position. It is also applicable to the robot 40 and the like, and in this case, as shown in the plan view of FIG. 4 and the side view of FIG. 5, four sets of traveling wheel devices 41 to 44 are attached to a drive device 46 which supports the platform 45, The drive device 46 is provided with a support shaft drive device that drives each first support shaft member 15 and a control device that controls the drive of the support shaft drive device.
【００２２】上記のように構成した荷搬送用ロボット４
０において、例えば図６に示すように、支軸駆動装置を
駆動して走行車輪装置４２，４４の第一支軸部材１５を
同方向に同じ回転数で回転させ、また走行車輪装置４
１，４３の第一支軸部材１５は駆動せずにおけば、荷台
４５を前進や後退（図において上下方向）させることが
できる。The load carrying robot 4 having the above structure.
0, for example, as shown in FIG. 6, the spindle drive device is driven to rotate the first support shaft members 15 of the traveling wheel devices 42 and 44 in the same direction at the same rotational speed, and the traveling wheel device 4
If the first support shaft members 15 of Nos. 1 and 43 are not driven, the loading platform 45 can be moved forward or backward (vertical direction in the figure).
【００２３】また図７に示すように、支軸駆動装置を駆
動して走行車輪装置４１，４３の第一支軸部材１５を同
方向に同じ回転数で回転させ、また走行車輪装置４２，
４４の第一支軸部材１５は駆動せずにおけば、荷台４５
を左右方向に移動させることができる。Further, as shown in FIG. 7, the support shaft driving device is driven to rotate the first support shaft members 15 of the traveling wheel devices 41 and 43 in the same direction at the same rotation speed, and the traveling wheel devices 42 and 43 are also rotated.
If the first support shaft member 15 of 44 is not driven,
Can be moved left and right.
【００２４】また図８に示すように、支軸駆動装置を駆
動して走行車輪装置４２，４４の第一支軸部材１５を同
方向に同じ回転数で回転させ、走行車輪装置４１，４３
の第一支軸部材１５を同方向に同じ回転数で回転させる
ことにより、四方への斜め移動が可能であり、かつ各走
行車輪装置４１〜４４の第一支軸部材１５の回転数を調
節することにより、水平面内のあらゆる方向に荷台４５
を移動させることができる。Further, as shown in FIG. 8, the drive shaft drive device is driven to rotate the first support shaft member 15 of the traveling wheel devices 42 and 44 in the same direction at the same rotational speed, and the traveling wheel devices 41 and 43 are rotated.
By rotating the first support shaft member 15 in the same direction at the same number of rotations, it is possible to move diagonally in all directions and adjust the number of rotations of the first support shaft member 15 of each of the traveling wheel devices 41 to 44. By doing so, the cargo bed 45 can be moved in any direction in the horizontal plane.
Can be moved.
【００２５】さらに図９に示すように、対向する走行車
輪装置４２，４４、走行車輪装置４１，４３の第一支軸
部材１５どうしを反対方向に回転させることにより、荷
台４５をその場回転させることができる。Further, as shown in FIG. 9, by rotating the first support shaft members 15 of the traveling wheel devices 42, 44 and traveling wheel devices 41, 43 facing each other in the opposite directions, the bed 45 is rotated in place. be able to.
【００２６】このように支軸駆動装置の駆動を制御する
ことにより、所望の方向に荷搬送用ロボット４０を移動
させることができ、そして何れの方向に走行する場合
も、上記実施の形態と同様に、円滑な走行を実現し得
る。By controlling the drive of the spindle drive device in this way, it is possible to move the load carrying robot 40 in a desired direction, and when traveling in any direction, the same as in the above embodiment. In addition, smooth running can be realized.
【００２７】なお上記各実施の形態では、第一支軸部材
１５に４個の取付け部材１６を設けたが、これに限定さ
れるものではなく、図示しないが、第一支軸部材に、３
個あるいは５個〜１０個の取付け部材を等間隔で設け、
各取付け部材に第二支軸部材を先端部両側に張り出すよ
うに取付け、各第二支軸部材に、上記実施の形態と同様
の構成で、上記実施の形態より大型あるいは小型のオム
ニ車輪を取付けても、上記実施の形態と同様の作用効果
を奏し得る。In each of the above embodiments, the four mounting members 16 are provided on the first support shaft member 15. However, the number is not limited to this, and although not shown, the first support shaft member 3 has three mounting members 16.
Or 5 to 10 mounting members at equal intervals,
The second support shaft member is attached to each mounting member so as to project to both sides of the tip portion, and the omni wheel larger or smaller than the above-mentioned embodiment is attached to each second support shaft member with the same configuration as the above-mentioned embodiment. Even when attached, the same operational effects as those of the above-described embodiment can be obtained.
【００２８】また上記各実施の形態では、各オムニ車輪
の頂点近傍部どうしをわずかに離間させたが、これに限
定されるものではなく、第二支軸部材に各オムニ車輪の
頂点近傍部を隣合うオムニ車輪の頂点近傍部と接触させ
るようにすることにより、一層、隣合うオムニ車輪の頂
点近傍部によって形成される凹部を小さくすることがで
き、管内清掃ロボットを極めて円滑に走行させることが
できる。In each of the above embodiments, the vertices near the vertices of the omni wheels are slightly separated from each other, but the present invention is not limited to this. By making contact with the vicinity of the apex of the adjacent omni wheels, the recess formed by the vicinity of the apex of the adjacent omni wheels can be made even smaller, and the pipe cleaning robot can run extremely smoothly. it can.
【００２９】[0029]
【発明の効果】以上の説明から明らかな通り、本発明に
よれば、オムニ車輪を、取付け部材の先端部両側に張り
出すように取付けた第二支軸部材に片持ち式に支持する
とともに円錐状になしたので、頂点近傍部側で隣合う各
オムニ車輪どうし間の隙間を小さくすることができ、従
って、従来のように、二つの異なった平面内にそれぞれ
複数のオムニ車輪を設けなくとも、走行車輪装置が回転
した場合にそのがたつきを抑えることができ、さらに従
来に比べて装置の構造を簡単にし得るとともに、装置を
設けるのに必要なスペースを小さくし得る。As is apparent from the above description, according to the present invention, the omni wheel is supported in a cantilevered manner on the second support shaft member mounted so as to project to both sides of the tip end portion of the mounting member, and at the same time the conical shape is provided. Since it has been made into a shape, it is possible to reduce the gap between the adjacent omni wheels on the side near the apex side, and therefore, unlike the conventional case, there is no need to provide a plurality of omni wheels in two different planes. In addition, when the traveling wheel device rotates, the rattling thereof can be suppressed, and the structure of the device can be simplified as compared with the conventional one, and the space required for installing the device can be reduced.
【００３０】また本発明の走行車輪装置を、荷搬送用ロ
ボットの走行車輪に適用することにより、その荷台をあ
らゆる方向へ移動することができ、非常に便利である。Further, by applying the traveling wheel device of the present invention to the traveling wheels of a load carrying robot, the loading platform can be moved in all directions, which is very convenient.
【図１】本発明の走行車輪装置を管内清掃ロボットに用
いた場合の実施の形態を示す概略側面図である。FIG. 1 is a schematic side view showing an embodiment in which a traveling wheel device of the present invention is used in a pipe cleaning robot.
【図２】同じく走行車輪装置の拡大側面図である。FIG. 2 is also an enlarged side view of the traveling wheel device.
【図３】同じく走行車輪装置の拡大正面図である。FIG. 3 is likewise an enlarged front view of the traveling wheel device.
【図４】本発明の走行車輪装置を荷搬送用ロボットに用
いた場合の実施の形態を示す概略平面図である。FIG. 4 is a schematic plan view showing an embodiment in which the traveling wheel device of the present invention is used in a load carrying robot.
【図５】同じく側面図である。FIG. 5 is a side view of the same.
【図６】同じく使用状態を示す平面図である。FIG. 6 is a plan view showing a use state of the same.
【図７】同じく使用状態を示す平面図である。FIG. 7 is a plan view showing the same usage state.
【図８】同じく使用状態を示す平面図である。FIG. 8 is a plan view showing a use state of the same.
【図９】同じく使用状態を示す平面図である。FIG. 9 is a plan view showing a usage state of the same.
【図１０】従来の走行車輪装置の概略側面図である。FIG. 10 is a schematic side view of a conventional traveling wheel device.
【図１１】同じく拡大側面図である。FIG. 11 is an enlarged side view of the same.
【図１２】同じく拡大正面図である。FIG. 12 is an enlarged front view of the same.
【図１３】同じく傾斜面を走行する走行車輪装置の概略
側面図である。FIG. 13 is a schematic side view of a traveling wheel device that also travels on an inclined surface.
１ 管内清掃ロボット ３ 管 ４ 噴射ノズル ５ ロボット本体 ６ ロボット支持ローラ装置 １０ 走行用脚筒 １１ 走行車輪装置 １２ 押圧用シリンダ装置 １３ 走行用モータ １５ 第一支軸部材 １６ 取付け部材 １７ 第二支軸部材 １８ 曲面 ２１ オムニ車輪 ４０ 荷搬送用ロボット ４１ 走行車輪装置 ４６ 駆動装置 Ｄ１ 半径放射方向 DESCRIPTION OF SYMBOLS 1 In-pipe cleaning robot 3 Pipe 4 Injection nozzle 5 Robot main body 6 Robot support roller device 10 Traveling leg cylinder 11 Traveling wheel device 12 Pressing cylinder device 13 Traveling motor 15 First supporting shaft member 16 Mounting member 17 Second supporting shaft member 18 curved surface 21 omni-wheel 40 load-carrying robot 41 traveling wheel device 46 drive device D1 radius radial direction
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7213861AJPH0958461A (en) | 1995-08-23 | 1995-08-23 | Traveling wheel device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7213861AJPH0958461A (en) | 1995-08-23 | 1995-08-23 | Traveling wheel device |
| Publication Number | Publication Date |
|---|---|
| JPH0958461Atrue JPH0958461A (en) | 1997-03-04 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7213861APendingJPH0958461A (en) | 1995-08-23 | 1995-08-23 | Traveling wheel device |
| Country | Link |
|---|---|
| JP (1) | JPH0958461A (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010024819A (en)* | 2008-06-19 | 2010-02-04 | Kurimoto Kasei Kogyo Kk | Pipe conveying truck and pipe conveying method |
| US8237792B2 (en) | 2009-12-18 | 2012-08-07 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and system for describing and organizing image data |
| US8269616B2 (en) | 2009-07-16 | 2012-09-18 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and system for detecting gaps between objects |
| US8452599B2 (en) | 2009-06-10 | 2013-05-28 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and system for extracting messages |
| KR101360645B1 (en)* | 2012-04-30 | 2014-02-10 | 주식회사 포스코 | Robot Device for Pipe Line |
| CN105773569A (en)* | 2016-02-25 | 2016-07-20 | 四川阿泰因机器人智能装备有限公司 | Chassis system of ground mobile robot |
| JP2017507056A (en)* | 2013-12-20 | 2017-03-16 | ソフトバンク・ロボティクス・ヨーロッパＳｏｆｔｂａｎｋ Ｒｏｂｏｔｉｃｓ Ｅｕｒｏｐｅ | Spherical wheel for moving vehicle and vehicle using the wheel |
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|---|---|---|---|---|
| JPS61113555A (en)* | 1984-11-06 | 1986-05-31 | 工業技術院長 | Travelling device in duct |
| JPH01132458A (en)* | 1987-11-14 | 1989-05-24 | Sumitomo Electric Ind Ltd | Automatic extending device for cable |
| JPH0232252A (en)* | 1988-07-22 | 1990-02-02 | Power Reactor & Nuclear Fuel Dev Corp | Ultrasonic flaw detecting device for inside of branch piping |
| JPH02121773A (en)* | 1988-10-28 | 1990-05-09 | Osaka Gas Co Ltd | In-pipe welding equipment |
| JPH03178801A (en)* | 1989-12-08 | 1991-08-02 | Hitachi Ltd | running car |
| JPH04135963A (en)* | 1990-09-28 | 1992-05-11 | Toshiba Corp | Travel device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61113555A (en)* | 1984-11-06 | 1986-05-31 | 工業技術院長 | Travelling device in duct |
| JPH01132458A (en)* | 1987-11-14 | 1989-05-24 | Sumitomo Electric Ind Ltd | Automatic extending device for cable |
| JPH0232252A (en)* | 1988-07-22 | 1990-02-02 | Power Reactor & Nuclear Fuel Dev Corp | Ultrasonic flaw detecting device for inside of branch piping |
| JPH02121773A (en)* | 1988-10-28 | 1990-05-09 | Osaka Gas Co Ltd | In-pipe welding equipment |
| JPH03178801A (en)* | 1989-12-08 | 1991-08-02 | Hitachi Ltd | running car |
| JPH04135963A (en)* | 1990-09-28 | 1992-05-11 | Toshiba Corp | Travel device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010024819A (en)* | 2008-06-19 | 2010-02-04 | Kurimoto Kasei Kogyo Kk | Pipe conveying truck and pipe conveying method |
| US8452599B2 (en) | 2009-06-10 | 2013-05-28 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and system for extracting messages |
| US8269616B2 (en) | 2009-07-16 | 2012-09-18 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and system for detecting gaps between objects |
| US8237792B2 (en) | 2009-12-18 | 2012-08-07 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and system for describing and organizing image data |
| KR101360645B1 (en)* | 2012-04-30 | 2014-02-10 | 주식회사 포스코 | Robot Device for Pipe Line |
| JP2017507056A (en)* | 2013-12-20 | 2017-03-16 | ソフトバンク・ロボティクス・ヨーロッパＳｏｆｔｂａｎｋ Ｒｏｂｏｔｉｃｓ Ｅｕｒｏｐｅ | Spherical wheel for moving vehicle and vehicle using the wheel |
| CN105773569A (en)* | 2016-02-25 | 2016-07-20 | 四川阿泰因机器人智能装备有限公司 | Chassis system of ground mobile robot |
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