JPH02211005A - Electric automobile - Google Patents
Electric automobileInfo
- Publication number
- JPH02211005A JPH02211005A JP1028046A JP2804689A JPH02211005A JP H02211005 A JPH02211005 A JP H02211005A JP 1028046 A JP1028046 A JP 1028046A JP 2804689 A JP2804689 A JP 2804689A JP H02211005 A JPH02211005 A JP H02211005A
- Authority
- JP
- Japan
- Prior art keywords
- directions
- stator
- spheres
- vehicle
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000006698 induction Effects 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 239000004020 conductor Substances 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Landscapes
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
- Linear Motors (AREA)
Abstract
Description
【発明の詳細な説明】 （産業上の利用分野） この発明は、全方向に転回可能な電気自動車に関する。[Detailed description of the invention] (Industrial application field) The present invention relates to an electric vehicle that can turn in all directions.
（従来の技術）
近年、工場内や比較的狭い場所では、資材等の運搬に電
気自動車を使用する傾向にある。(Prior Art) In recent years, there has been a trend of using electric vehicles to transport materials, etc. inside factories and in relatively narrow spaces.
かかる電気自動車は、バッテリを電源としてモータを駆
動させることにより移動するものであるから、排気ガス
の発生がなく、しかも低騒音である等の多くの利点があ
る。Since such electric vehicles move by driving a motor using a battery as a power source, they have many advantages such as no exhaust gas generation and low noise.
（発明が解決しようとする課題）
しかしながら、従来の電気自動車にあっては、車両の転
回はハンドル掃作によって前輪のみを操舵させることに
よって行なっている。そして、その前輪の最大操舵角は
数１０＠以下であるので、車両の回転半径は数メートル
と大きくなり、小回りが要求される工場内では非常に不
便である等の問題があった。(Problems to be Solved by the Invention) However, in conventional electric vehicles, turning of the vehicle is performed by steering only the front wheels by sweeping the steering wheel. Since the maximum steering angle of the front wheels is less than a few tens of meters, the turning radius of the vehicle becomes large, several meters, which is very inconvenient in factories where small turns are required.
（目 的）
この発明は、上記問題点に鑑みてなされたもので、その
目的とするところは、全方向に転回可能な電気自動車を
提供することにある。(Objective) This invention was made in view of the above-mentioned problems, and its object is to provide an electric vehicle that can turn in all directions.
（ａｌｌを解決するための手段）
この発明は、上記目的を達成するため、前輪と後輪を球
体で構成するとともに該球体を全方向に回転自在に取り
付けて全方向に転回可能にした電気自動車であって、
前記球体をリニアモータの回転子で構成し、該球体に回
転力を与える固定子を垂直軸周りに回転可能に設け、該
固定子の回転位置によって前記球体の回転方向を変える
ことを特徴とする。(Means for Solving All) In order to achieve the above object, the present invention is an electric vehicle in which the front wheels and the rear wheels are constructed of spheres, and the spheres are attached so as to be rotatable in all directions, so that the electric vehicle can turn in all directions. The spherical body is composed of a rotor of a linear motor, a stator that applies rotational force to the spherical body is rotatably provided around a vertical axis, and the direction of rotation of the spherical body is changed depending on the rotational position of the stator. It is characterized by
（作 用）
この発明は、上記構成であるから、固定子の回転位置に
よって回転子である球体の回転方向が変わる。(Function) Since the present invention has the above configuration, the direction of rotation of the spherical body that is the rotor changes depending on the rotational position of the stator.
（実施例） 以下、この発明の実施例を図面に基づいて説明する。(Example) Embodiments of the present invention will be described below based on the drawings.
第１図はこの発明に係わる電気自動車の底面図であり、
図において、１は車両本体の底面を形成するシャーシで
、このシャーシ１には４つの球体２〜５が装着されてい
る０球体２は、ｊＦ！２ｒＩ！Ｊに示すように、シャー
シ１から下方に延びた１対の支持杆６の先端に取り付け
られた保持部材１１によって全方向に回転自在に保持さ
れている。１５はベアリングである。他の球体３〜５も
同様に支持杆７〜９の先端部の保持部材１２〜１４によ
って全方向に回転自在に保持されている。FIG. 1 is a bottom view of an electric vehicle according to the present invention,
In the figure, 1 is a chassis forming the bottom surface of the vehicle body, and four spheres 2 to 5 are attached to this chassis 1.0 sphere 2 is jF! 2rI! As shown in J, it is held rotatably in all directions by a holding member 11 attached to the tips of a pair of support rods 6 extending downward from the chassis 1. 15 is a bearing. The other spheres 3 to 5 are similarly held by holding members 12 to 14 at the tips of the support rods 7 to 9 so as to be rotatable in all directions.
球体２は、磁性体である例えば鉄とその表面は導体であ
る例えば銅等からなる中空の球状剛体２ａで構成され、
この球状剛体２ａの表面は例えばゴム２ｂ等で被覆され
ている０球状剛体２ａはリニアモータの二次鉄心を構成
するものである。他の球体３〜５も上記と全く同様に構
成されている。The sphere 2 is composed of a hollow spherical rigid body 2a made of a magnetic material such as iron and a conductive surface such as copper.
The surface of this spherical rigid body 2a is coated with, for example, rubber 2b.The spherical rigid body 2a constitutes a secondary core of the linear motor. The other spheres 3 to 5 are constructed in exactly the same manner as above.
１６は間隙を有するように球体２の上に配置された湾曲
した皿状のステータ部材で、このステータ部材１６は磁
性体である例えば鉄等からなる。Reference numeral 16 denotes a curved dish-shaped stator member disposed on the sphere 2 with a gap therebetween, and the stator member 16 is made of a magnetic material such as iron.
そして、 ステータ部材１６には上方に延びた軸２１が
設けられ、この軸２１がシャーシ１に設けられた孔Ｈに
挿入されてステータ部材１６が垂直軸２１ｍ周りに回転
自在となっている。The stator member 16 is provided with a shaft 21 extending upward, and this shaft 21 is inserted into a hole H provided in the chassis 1, so that the stator member 16 can freely rotate around a vertical shaft 21m.
その軸２１の先端部がシャーシ１の上面から突出し、こ
の先端部にはギヤ２５が固着されている。The tip of the shaft 21 protrudes from the upper surface of the chassis 1, and a gear 25 is fixed to this tip.
ステータ部材１６の下面には銹導コイルＳが配設されて
おり（第３図参照）、 このステータ部材１６はりニア
モータの一次鉄心を構成するものである。A rust conductor coil S is disposed on the lower surface of the stator member 16 (see FIG. 3), and this stator member 16 constitutes the primary core of the near motor.
他の球体３〜５の上にも同様にステータ部材１７〜１９
が設けられ、ステータ部材１７〜１９から軸２２〜２４
が延び、また、 ステータ部材１７〜１９の下面には銹
導コイルＳが配設されている。そして、ステータ部材１
７〜１９は垂直軸周りに回転自在となっている。そして
、軸２２の先端部には、第４図に示すように、ギヤ２６
が固着され、軸２３．２４ の先端部にはプーリ ２
７゜２８が固定されている。Similarly, stator members 17 to 19 are placed on other spheres 3 to 5.
are provided, and the shafts 22 to 24 are connected from the stator members 17 to 19.
The stator members 17 to 19 extend, and a rust conductor coil S is disposed on the lower surface of the stator members 17 to 19. And stator member 1
7 to 19 are rotatable around a vertical axis. As shown in FIG. 4, a gear 26 is attached to the tip of the shaft 22.
is fixed, and a pulley 2 is attached to the tip of the shaft 23.24.
7°28 is fixed.
ところで、ｌｌ導コイルＳに電流を流して矢印入方向に
磁界を走らせると、球体２は時計方向（第２図において
）に回転する。したがって、ステータ部材１６〜１９の
向きを変えることにより、磁界の走る方向が変わるので
、球体２〜５の回転方向を変えることができる。By the way, when a current is passed through the conductive coil S and a magnetic field is applied in the direction of the arrow, the sphere 2 rotates clockwise (in FIG. 2). Therefore, by changing the orientation of the stator members 16 to 19, the direction in which the magnetic field runs changes, so the direction of rotation of the spheres 2 to 5 can be changed.
第４図はステータ部材１６〜１９の向きを変える操舵機
構を概略的に示したもので、図において、３１はハンド
ル、′３２はハンドル軸で、このハンドル軸３２の先端
にギヤ３３が装着されており、このギヤ３３と横杆３４
に形成されたラック３５とが噛合して、ハンドル３１の
回転操作により横杆３４が矢印Ｐ、Ｑ方向に移動するよ
うになっている。FIG. 4 schematically shows a steering mechanism that changes the direction of the stator members 16 to 19. In the figure, 31 is a handle, '32 is a handle shaft, and a gear 33 is attached to the tip of this handle shaft 32. This gear 33 and horizontal rod 34
The horizontal rod 34 is engaged with a rack 35 formed in the horizontal direction, and the horizontal rod 34 is moved in the directions of arrows P and Q by rotating the handle 31.
横杆３４の両１１ｆｌｌａｆｌＧ： ｌｅｔ ラッ９３
６．３７ ｈ’形８．すれ、このラック３６．３７と軸
２１．２２に固着されたギヤ２５．２６とが噛合されて
いる。したがって、横杆３４の矢印Ｐ、Ｑ方向の移動に
よって軸２１．２２が反時計方向０時計方向（第４図に
おいて）に回転してステータ部材１６．１７の向きが変
わるようになってｉる。Both 11flaflG of horizontal rod 34: let 93
6.37 h' shape 8. This rack 36.37 is meshed with a gear 25.26 fixed to the shaft 21.22. Therefore, the movement of the horizontal rod 34 in the directions of arrows P and Q causes the shaft 21.22 to rotate counterclockwise and clockwise (in FIG. 4), thereby changing the direction of the stator member 16.17. .
４１．４２は軸２１．２２ に固着されたギヤ２５．
２６に一合したギヤで、このギヤ４１．４２にプーリ４
３．４４が固着され、このプーリ４３゜４４と軸２３．
２４に固着されたプーリ２７．２８とにベルト４５．４
６が巻回されている。そして、軸２１．２２の回転がギ
ヤ４１．４２およびベルト４５．４８を介して軸２３．
２４に伝達されるようになっている。41.42 is a gear 25.42 fixed to the shaft 21.22.
26, and pulley 4 is attached to this gear 41.42.
3.44 is fixed, and this pulley 43.44 and the shaft 23.
Pulley 27.28 fixed to 24 and belt 45.4
6 is wound. The rotation of shaft 21.22 is then transmitted to shaft 23.22 through gear 41.42 and belt 45.48.
24.
いま、ハンドル３１の操作により横杆３４が例えば矢印
Ｑ方向に移動すると、軸２１．２２は時計方向に回転し
、この回転はギヤ４１．４２およびベルト４５．４６等
により軸２３．２４に伝達されて軸２３．２４は反時計
方向に回転する。そして、軸わる。そして、銹導コイル
Ｓに電流を流して矢印Ｍ、Ｎ方向に磁界を走らせると、
球体２〜５は矢印Ｍ、Ｎ方向に回転することとなり、車
両は矢印Ｎ方向に転回する。Now, when the horizontal rod 34 is moved, for example, in the direction of arrow Q by operating the handle 31, the shaft 21.22 rotates clockwise, and this rotation is transmitted to the shaft 23.24 by the gear 41.42, the belt 45.46, etc. The shafts 23,24 are rotated counterclockwise. And pivot. Then, when a current is applied to the induction coil S and a magnetic field is run in the directions of arrows M and N,
The spheres 2 to 5 rotate in the directions of arrows M and N, and the vehicle turns in the direction of arrow N.
ところで、後輪となる球体４．５も矢印Ｎ方向に転回さ
れるので、車両の回転半径は小さなものとなる。Incidentally, since the sphere 4.5 which becomes the rear wheel is also rotated in the direction of the arrow N, the turning radius of the vehicle becomes small.
また、ステータ部材１６〜１９を車両の向きと直交する
方向（破線で示す方向）に向けると車両は中心Ｇを軸に
して転回することとなり、したがって、車両を自由な方
向に転回することができる。Furthermore, when the stator members 16 to 19 are oriented in a direction perpendicular to the direction of the vehicle (the direction indicated by the broken line), the vehicle will turn around the center G, and therefore the vehicle can be turned in any direction. .
さらに、例えばステータ１８，１９の磁界を電気的にＮ
方向と反対方向に走らせると、横走行も可能であり、球
体４．５をＮ方向と同方向に操舵できるようにすれば、
斜走行も可能である。また、転回は球体２〜５の向きを
変えることなくステータ部材１６〜１９のみを回転させ
るだけでよいので、ハンドル操作に必用とする力は小さ
なものでよい。Furthermore, for example, the magnetic fields of the stators 18 and 19 may be electrically N
If you run it in the opposite direction, you can also run sideways, and if you make it possible to steer the sphere 4.5 in the same direction as the N direction,
Diagonal running is also possible. Further, since the rotation only requires rotating the stator members 16 to 19 without changing the direction of the spheres 2 to 5, the force required for operating the handle may be small.
したがって、ハンドル機構は、てこの原理を利用しない
で済むので、従来のハンドル操作のようにハンドル３１
を何回も回転させる必用がなく、−回の回転操作で車両
の向きを自由に変えることができる。Therefore, the handle mechanism does not require the use of the lever principle, so the handle 31
There is no need to rotate the vehicle many times, and the direction of the vehicle can be freely changed by rotating the vehicle - times.
（効 果）
この発明は、以上説明したように、前輪と後輪を球体で
構成するとともに該球体を全方向に回転自在に取り付け
て全方向に転回可能にした電気自動車であって、前記球
体をリニアモータの回転子で構成し、該球体に回転力を
与える固定子を垂直軸周りに回転可能に設け、該固定子
の回転位置によって前記球体の回転方向を変えるように
したものであるから、車両を全方向に転回させることが
でき、しかも車両の回転半径が小さなものとなる。(Effect) As explained above, the present invention is an electric vehicle in which the front wheels and the rear wheels are constructed of spheres, and the spheres are attached so as to be freely rotatable in all directions, thereby making it possible to turn in all directions. is composed of a rotor of a linear motor, a stator that applies rotational force to the sphere is rotatably provided around a vertical axis, and the direction of rotation of the sphere is changed depending on the rotational position of the stator. , the vehicle can be turned in all directions, and the turning radius of the vehicle is small.
また、その回転操作は１回の操作で済ませることもでき
る。Moreover, the rotation operation can be completed in one operation.
第１図はこの発明に係る電気自動車の底面図、２５Ｉ！
は球体の断面図、第３図は第２図のＢ−Ｂ矢視線から見
た図、第４図は操舵機構の構成を示した概略構成図であ
る。
第１図
２〜５・・・球体
２ａ・・・球状剛体（回転子）FIG. 1 is a bottom view of the electric vehicle according to the present invention, 25I!
3 is a sectional view of the sphere, FIG. 3 is a view seen from the line of arrow B-B in FIG. 2, and FIG. 4 is a schematic configuration diagram showing the configuration of the steering mechanism. Fig. 1 2-5... Sphere 2a... Spherical rigid body (rotor)
Claims (1)
回転自在に取り付けて全方向に転回可能にした電気自動
車であって、 前記球体をリニアモータの回転子で構成し、該球体に回
転力を与える固定子を垂直軸周りに回転可能に設け、該
固定子の回転位置によって前記球体の回転方向を変える
ようにしたことを特徴とする電気自動車。[Scope of Claims] An electric vehicle in which front wheels and rear wheels are constructed of spheres, and the spheres are attached so as to be rotatable in all directions so as to be rotatable in all directions, wherein the spheres are constituted by a rotor of a linear motor. An electric vehicle characterized in that a stator that applies rotational force to the spherical body is rotatably provided around a vertical axis, and the direction of rotation of the spherical body is changed depending on the rotational position of the stator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1028046A JPH07106006B2 (en) | 1989-02-07 | 1989-02-07 | Electric car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1028046A JPH07106006B2 (en) | 1989-02-07 | 1989-02-07 | Electric car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02211005A true JPH02211005A (en) | 1990-08-22 |
| JPH07106006B2 JPH07106006B2 (en) | 1995-11-13 |
Family
ID=12237805
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1028046A Expired - Fee Related JPH07106006B2 (en) | 1989-02-07 | 1989-02-07 | Electric car |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07106006B2 (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62203824A (en) * | 1986-02-28 | 1987-09-08 | Toyoda Autom Loom Works Ltd | Omnidirectional traveling type driving gear for industrial vehicle |
| JPH0198072U (en) * | 1987-12-22 | 1989-06-29 | ||
| JPH0198073U (en) * | 1987-12-22 | 1989-06-29 |
-
1989
- 1989-02-07 JP JP1028046A patent/JPH07106006B2/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62203824A (en) * | 1986-02-28 | 1987-09-08 | Toyoda Autom Loom Works Ltd | Omnidirectional traveling type driving gear for industrial vehicle |
| JPH0198072U (en) * | 1987-12-22 | 1989-06-29 | ||
| JPH0198073U (en) * | 1987-12-22 | 1989-06-29 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07106006B2 (en) | 1995-11-13 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |