JPS6237285A - Running control method for wheel running device - Google Patents

Abstract

PURPOSE:To enable efficient control of turn, by a method wherein the front and the rear driving wheel of driving wheels mounted to the front, the central part, and the rear of a running device body are rotated at a speed higher than that of the driving wheel mounted to the central part. CONSTITUTION:A running device body 1 comprises a pair of driving wheels 2, a pair of front legs 3, and a pair of rear legs 4, an auxiliary wheel 5 is attached to the tip of the front leg 3, and an auxiliary wheel 6 to the tip of the rear leg 4. The driving wheels 2 are placed in positions allowing the driving wheels to support the center of gravity of the running device body 1. By rotating the auxiliary wheels 5 and 6 at a speed higher than that of the driving wheel 2 located to the central part during turn, a friction force, produced between the auxiliary wheels 5 and 6 and a running surface, is decreased, and this enables to perform smooth turn.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a travel control method for a wheel traveling device, and is intended to enable smooth turning.

<Prior Art> Fig. 5 shows an example of a wheel running device. The traveling device body 1 is equipped with a pair of drive wheels 2 (only one shown in the figure), a pair of front legs 3, and a pair of rear legs 4 (only one shown in the figure). A training wheel 5 is attached to the rear leg 4, and a training wheel 6 is attached to the tip of the rear leg 4. The drive wheels 2 are arranged at positions that support the center of gravity of the traveling device main body 1. The front leg 3 is a two-joint leg having an upper leg 3a and a lower leg 3b, and the position of the auxiliary wheel 5 at the tip changes by rotating each joint by a predetermined angle.

Similarly, the hind leg 4 has an upper leg 4a and a lower leg 1jIA4b.
It is an articulated type, and each joint rotates by a predetermined angle,
The position of the auxiliary wheel 6 at the tip changes. Each training wheel at the tip of the leg 5,
6 can be driven by a motor, or if not driven, it is turned by an external force as a driven wheel.

The driving wheel 2 and the auxiliary wheels 5 and 6 all independently have their rotation speed 2.
The direction of rotation can be changed.

Conventionally, in order to run on a running surface using such a wheel running device, as shown in FIG.
, 6 was run on the running surface 10 in a state where the surface connecting the lower end surfaces of the wheels was flat. The conventional operation of traveling in such a state will be described with reference to FIG. 6, which is schematically shown in a front view, and FIG. 7, which is schematically shown in plan view. As shown in both figures, the center of gravity 7 of the traveling device main body 1 overlaps the line connecting the driving wheels 2, so that the weight of the traveling device main body 1 (mostly supported by the driving wheels 2). The frictional force between the auxiliary wheels 5 and 6 and the running surface 10
This is extremely large compared to the frictional force between the Therefore, drive wheel 2
The driving mode is determined by controlling the rotation of the wheel. In other words, when the two drive wheels 2 are rotated in the same direction at the same angular velocity, the vehicle moves straight or backward. If the direction of rotation of the drive wheel 2 is reversed, it will rotate in the A direction on the spot as shown in FIG. Also,
When there is a difference in angular velocity, the traveling device main body 1 travels in a curved manner. During these travels, the auxiliary wheels 5 and 6 are used as driven wheels and are not actively rotated.

<Problems to be Solved by the Invention> By the way, in the conventional method shown in Figs. 6 and 7, there is no problem when traveling straight, but when turning, the auxiliary wheels 5 and 6 are considerably deviated from the direction of rotation. Since it is dragged while rubbing against the running surface 10 in the direction, a large portion of the driving force is consumed, and movement efficiency is poor. Further, the auxiliary wheels 5 and 6 may stick-slip and may not rotate smoothly.

SUMMARY OF THE INVENTION In view of the above-mentioned prior art, it is an object of the present invention to provide a method for controlling the running of a wheel running device that enables smooth turning.

Means for Solving the Problems> The present invention that achieves the above object is provided with three pairs of drive wheels whose rotations can be controlled independently on the left and right sides at the front, center and rear of the main body of the traveling device. Furthermore, in a wheel running device in which the center of gravity of the traveling device body is on a pair of drive wheels provided in the center, the rotational speed or direction of rotation of the drive wheels provided in the center is made different on the right and left sides. It is characterized by rotating the drive wheels at the front and rear at a higher speed than the drive wheels at the center when turning.

Embodiments First, the present invention will be described in detail based on FIG. 3, which shows a perspective view of the auxiliary wheel, and FIG. 4, which shows a plan view thereof. When the auxiliary wheels 5 or 6 are not rotating, the coefficient of static friction is μ.

, the force with which the auxiliary mounting 5.6 is pressed against the running surface 10 is W
Then, the maximum static friction force F when pulled in the y direction in equilibrium with the running surface 10. BaFo-μ.・W. The auxiliary wheels 5 and 6 are rotating and the X is perpendicular to the axle.
Assuming that the direction is fixed, the friction force F in the y direction when the dynamic friction coefficient is μ6.

is known to be as small as Fd<μ6·W, and μ6·W. As a result, Fd becomes F. It will be a fraction of that. Therefore, if the auxiliary wheels 5, 6 are rotated at high speed when turning, the frictional force generated between the auxiliary wheels 5, 6 and the running surface will be reduced, allowing smooth turning.

Here, a specific application example of the method of the present invention will be described with reference to FIG. 1, which schematically shows a front view of the traveling device shown in FIG. 5, and FIG. 2, which is a plan view thereof. As shown in both figures, in this method, the auxiliary wheels 5 and 6 are driven when the central drive wheel 2, on which the center of gravity 7 is resting, is turned in the direction A with different rotation directions on the right and left sides. Rotate at the same circumferential speed as wheel 2 or higher. In this case, the right auxiliary wheels 5, 6 rotate in the same direction as the right drive wheel 2, and the left auxiliary wheels 5.6 rotate in the same direction as the left drive wheel 2. Since the auxiliary wheels 5, 6 are rotated at high speed in this manner, the frictional force generated between the auxiliary wheels 5, 6 and the running surface 10 is reduced, allowing smooth turning. Of course, when the left and right drive wheels 2 are rotated in the same direction and the rotational speed of both wheels is changed to a curved line, the same operation can be performed to enable smooth curve running. In addition, g) of training wheels 5 and 6! Considering only friction reduction, the rotation direction of the auxiliary wheels 5 and 6 is arbitrary regardless of the moving direction of the device, but by rotating them in the same direction as the drive wheel 2 as shown in the figure, the driving force of the auxiliary wheels 5 and 6 can also be adjusted to turn. This method is more efficient. Further, when the vehicle is traveling straight, it is more preferable that the circumferential speeds of the driving wheels 2 and the auxiliary wheels 5 and 6 are equal to prevent slippage.

<Effects of the Invention> According to the present invention specifically explained with the embodiments above,
Turning control of the wheel traveling device can be performed more smoothly and efficiently than in the past. Furthermore, since the torque required for the drive wheels is reduced, the drive device can be made smaller or faster.

[Brief explanation of the drawing]

FIG. 1 is a front view schematically showing a wheel running device for explaining the present invention, FIG. 2 is a plan view thereof, FIG. 3 is a perspective view showing an auxiliary wheel for explaining the present invention in detail, and FIG. 5 is a perspective view showing the wheel running device, FIG. 6 is a front view schematically showing the wheel running device for explaining the prior art, and FIG. 7 is a plan view thereof. In the drawing, 1 is the main body of the traveling device, 2 is the drive wheel, 3 is the front leg, 4 is the rear leg, 5.6 is the auxiliary wheel, 7 is the center of gravity, and 10 is the running surface. Figure 1 Figure 2 Figure 5

Claims (1)

[Claims] Three pairs of drive wheels whose rotations can be controlled independently on the left and right sides are provided at the front, center, and rear of the main body of the traveling device, and furthermore, the center of gravity of the main body of the traveling device is set at the center. In a wheel running device mounted on a pair of drive wheels, when the drive wheel mounted at the center is turned with different rotational speeds or directions of rotation on the right and left sides, the drive wheels mounted at the front and rear are rotated. A running control method for a wheel running device characterized by rotating the drive wheel at a higher speed than the drive wheels in the center.