JP7455626B2 - Wheels, drive units and moving devices - Google Patents

Description

The present invention relates to a wheel used for a wheel of a moving device, a drive unit, and a moving device.

Mecanum wheels are known as wheels for moving devices. This wheel includes a plurality of barrels that are barrel-shaped ground rotating bodies (rotating bodies that touch the floor or road surface), and a barrel holder that rotatably supports the plurality of barrels on the outer periphery. is rotationally driven by a drive device such as a motor (for example, see Patent Document 1).

The plurality of barrels are held on the outer periphery of the barrel holder in an inclined state with respect to the holder rotation axis of the barrel holder. The wheels are placed at approximately the four corners of the moving device, and each wheel placed at the four corners is independently controlled by a drive device. That is, the moving device can freely move in various directions by individually controlling the rotational direction and torque of each wheel. Note that the wheels arranged on the left and right sides of the moving device are set so that the inclination directions of the barrels held on the outer periphery of the barrel holder are opposite to each other.

Further, a pair of support flanges projecting outward in the radial direction are provided at both axially outer ends of the barrel holder, and a plurality of barrel support shafts are fixed so as to straddle the pair of support flanges. Each barrel is rotatably supported by a corresponding barrel support shaft via a bearing.

International Publication No. 2007/016917

In the conventional wheel described above, a corresponding barrel is rotatably supported via a bearing on a barrel support shaft installed between a pair of support flanges. However, with this type of wheel, a large reaction force from the road surface alternately acts on one end and the other end of the barrel in the axial direction while the moving device is running (while the wheel is rotating). For this reason, there is a concern that the bearing may move in the axial direction together with the barrel while the vehicle is running, and members around the bearing may receive a load in the axial direction and generate contact noise.

The present invention provides a wheel, a drive unit, and a moving device that can suppress axial fluctuations of a barrel and improve quietness.

A wheel according to an aspect of the present invention includes a rotationally driven barrel holder, a plurality of barrel support shafts supported by the barrel holder, a barrel supported by each of the barrel support shafts, and a barrel supported by the barrel support shaft. a bearing that is rotatably supported by a shaft; and a gap filling member that fills a gap between the opposing wall and the bearing, the opposing wall of the barrel holder facing the axial end surface of the barrel and the bearing. , the gap filling member includes an annular base block disposed around the outer periphery of the barrel support shaft, and an elastic member supported by the base block and urging the bearing inward in the axial direction of the barrel support shaft. It is equipped with.

In the wheel of this embodiment, the gap between the opposing wall of the barrel holder and the bearing is filled with the gap filling member. Therefore, fluctuations in the axial direction of the barrel due to rotation of the wheel are suppressed by the gap filling member via the bearing.

In this case, the biasing force of the elastic member directed inward in the axial direction acts on the barrel, so while allowing a slight displacement of the barrel in the axial direction, the impact caused by the input load is alleviated, and the impact of the members around the bearing is reduced. It is possible to suppress the occurrence of contact sounds. Furthermore, since the gap filling member includes the elastic member, the gap filling member can be compressed against the biasing force of the elastic member, and in this state can be assembled between the opposing wall of the barrel holder and the bearing. Therefore, when this configuration is adopted, the ease of assembling the barrel to the barrel holder is improved.

In this case, the gap between the opposing wall of the barrel holder and the bearing can be filled while having a simple configuration that is easy to manufacture.

The elastic member may be arranged at a substantially intermediate position in the radial width of the base block.

In this case, since the elastic member is disposed at a position approximately in the middle of the radial width of the base block, the elastic force of the elastic member can be applied to a position approximately at the center of the radial width of the bearing. Therefore, when this configuration is adopted, the performance of the bearing can be maintained favorably.

The elastic member may be arranged at an end portion on the inner peripheral side of the base block so as to come into contact with the barrel support shaft.

In this case, since the compressed elastic member contacts the base block and the barrel support shaft, rotation of the base block with respect to the barrel support shaft can be restricted by the elastic member. Therefore, when this configuration is adopted, sliding wear between the base block and the barrel support shaft due to rotation of the base block can be suppressed.

The elastic member may be arranged outside an intermediate position of the radial width of the base block.

In this case, when the barrel is tilted due to the reaction force from the running surface, the elastic force of the elastic member can be applied to the radially outer position of the bearing. Therefore, when this configuration is adopted, the inclination of the barrel can be quickly restored by the elastic force of the elastic member.

The elastic member may be arranged at one end and the other end of the base block in the axial direction.

In this case, a sufficient expansion and contraction stroke can be ensured by the elastic members at one end and the other end in the axial direction of the base block. Therefore, when this configuration is adopted, it is possible to further improve the quietness during running, and also to improve the ease of assembling the barrel to the barrel holder.

The elastic member disposed at one axial end of the base block and the elastic member disposed at the other axial end may be disposed at positions offset in the radial direction.

In this case, the elastic force of the elastic member can be stably applied over a wide range in the radial direction of the bearing. Therefore, when this configuration is adopted, the performance of the bearing can be maintained favorably.

The elastic member may be formed in an annular shape.

In this case, the elastic force acting on the bearing from the elastic member becomes substantially uniform in the circumferential area of the barrel support shaft. Therefore, when this configuration is adopted, the performance of the bearing can be maintained favorably.

The elastic member may be integrally joined to the base block.

In this case, since the elastic member is integrated with the base block, handling of the parts during assembly becomes easier. Therefore, when this configuration is adopted, the barrel assembling workability is improved.

Further, a wheel according to one aspect of the present invention includes a rotationally driven barrel holder, a plurality of barrel support shafts supported by the barrel holder, a barrel supported by each of the barrel support shafts, and a barrel that is supported by the barrel support shafts. Filling a gap between a bearing that is rotatably supported by a barrel support shaft , a facing wall of the barrel holder facing an axial end surface of the barrel, and the bearing, and filling a gap between the facing wall and the bearing. The gap-filling member has an expandable bag body filled with fluid.

The fluid may be a resin that liquefies at a temperature higher than room temperature.

A drive unit according to one aspect of the present invention includes any one of the wheels described above and a drive device that rotationally drives the wheels.

A moving device according to one aspect of the present invention includes the drive unit and a vehicle body on which a plurality of the drive units are supported.

In the above-mentioned wheel, since the gap between the opposing wall of the barrel holder and the bearing is filled with the gap filling member, it is possible to suppress fluctuations in the axial direction of the barrel during use. Therefore, when the above-mentioned wheel is employed, quietness can be improved.

FIG. 1 is a plan view of a moving device according to an embodiment. FIG. 2 is a perspective view of a wheel according to the first embodiment. FIG. 3 is a cross-sectional view of the wheel of the first embodiment taken along line III-III in FIG. 2; 3 is a cross-sectional view of the wheel of the first embodiment taken along line IV-IV in FIG. 2. FIG. FIG. 3 is a front view of the gap filling member of the first embodiment. FIG. 2 is a cross-sectional view showing the state of the wheels of the moving device of the first embodiment when the moving device is running. The front view of the gap filling member of 2nd Embodiment. FIG. 5 is a sectional view corresponding to a part of FIG. 4 of a wheel according to a third embodiment. FIG. 5 is a sectional view corresponding to a part of FIG. 4 of a wheel according to a fourth embodiment. FIG. 5 is a sectional view corresponding to a part of FIG. 4 of the wheel of the fifth embodiment. 5 is a sectional view corresponding to a part of FIG. 4 of a wheel according to a sixth embodiment; FIG. FIG. 5 is a sectional view corresponding to a part of FIG. 4 of a wheel according to a seventh embodiment. FIG. 5 is a sectional view corresponding to a part of FIG. 4 of the wheel of the eighth embodiment.

Next, each embodiment of the present invention will be described based on the drawings. In each of the embodiments described below, common parts are denoted by the same reference numerals, and overlapping explanations will be omitted.
The wheel 10 of each embodiment is used, for example, in a moving device 1 as shown in FIG. FIG. 1 is a diagram showing a state in which the moving device 1 is viewed from above.
The wheels 10 of each embodiment are arranged on both left and right sides of the front side of the vehicle body 2 of the moving device 1, and on both left and right sides of the rear side of the vehicle body 2. Each wheel 10 is independently driven by a drive device 3 supported by the vehicle body 2. The drive device 3 includes a motor 4 and a reducer 5 that reduces rotation of the motor 4 and transmits the rotation to the wheels 10. In this embodiment, the wheel 10 and the drive device 3 that rotationally drives the wheel 10 constitute a drive unit.
Note that the wheels 10 disposed on the left and right sides of the moving device 1 are set such that the inclination directions of the barrels 13 held on the outer periphery of a barrel holder 11 (described later) are opposite to each other.

<First embodiment>
FIG. 2 is a perspective view of the wheel 10 of the first embodiment, and FIG. 3 is a cross-sectional view taken along line III-III in FIG. 2. Further, FIG. 4 is a sectional view taken along the line IV-IV in FIG. 2.
As shown in these figures, the wheel 10 includes a substantially cylindrical barrel holder 11 that is rotationally driven by a drive device 3 (see FIG. 1), and a plurality of barrel support shafts 12 that are supported on the outer periphery of the barrel holder 11. , and a barrel 13 which is a barrel-shaped ground rotating body supported by each barrel support shaft 12. In addition, in FIG. 2, only one barrel support shaft 12 and one barrel 13 are shown, and only the center axis L2 of the other barrel support shaft 12 and barrel 13 is shown.

The barrel holder 11 includes a pair of support flanges 14 that are spaced apart in the axial direction (the width direction of the vehicle body 2), and a connecting tube 15 that connects the pair of support flanges 14. The pair of support flanges 14 are formed in the shape of a perforated disk, and together with the connecting tube 15 form a continuous substantially cylindrical shape. Inside the substantially cylindrical barrel holder 11, the drive device 3 (part of the speed reducer 5 and the motor 4) shown in FIG. 1 is arranged. The output part of the reducer 5 is connected to the support flange 14 , for example, and transmits the reduced rotation of the motor 4 to the barrel holder 11 . Note that the rotational axis of the barrel holder 11 when the barrel holder 11 rotates in response to the rotation of the motor 4 will be referred to as the holder rotational axis L1.

The outer diameter of the connecting cylinder 15 is smaller than the outer diameter of the support flange 14. Both ends in the axial direction of the barrel support shaft 12 that supports each barrel 13 are fixed in fixing grooves 16 formed in the outer circumferential surface of each support flange 14, for example, by bolts 17. The barrel support shaft 12 is fixed to a pair of support flanges 14 so as to be inclined at a predetermined angle in one direction with respect to the holder rotation axis L1. Furthermore, a barrel receiving recess 18 is formed in the side edge of each support flange 14 on the connecting cylinder 15 side, in which the axial end of the barrel 13 supported by the barrel support shaft 12 is accommodated. Each barrel receiving recess 18 is provided with an opposing wall 19 that faces the axial end surface of the barrel 13 . The opposing wall 19 is formed to be orthogonal to the central axis L2 of the barrel 13 accommodated in the barrel receiving recess 18.

The barrel 13 supported by each barrel support shaft 12 is made of a metal barrel base material 20 whose central region in the axial direction is bulged into a barrel shape, and a urethane-made barrel base material 20 fixed to the outer peripheral surface of the barrel base material 20 by adhesive or the like. A skin material 21 is provided. An axial hole 22 extending along the axial direction is formed at the axial center position of the barrel base material 20 . The barrel support shaft 12 is inserted into the shaft hole 22 . A radial bearing 23 and a thrust bearing 24 are interposed between the shaft hole 22 of the barrel base material 20 and the barrel support shaft 12 for rotatably supporting the barrel 13 on the barrel support shaft 12. The radial bearing 23 and the thrust bearing 24 are respectively arranged at both ends of the shaft hole 22 in the axial direction. The thrust bearing 24 is disposed within the shaft hole 22 adjacent to the radial bearing 23 at an axially outer position.

At the axially outer end of the shaft hole 22 of the barrel base material 20, an enlarged diameter part 22a whose inner diameter increases in a stepped manner is provided, and a thrust bearing 24 is disposed within the enlarged diameter part 22a. The thrust bearing 24 has, for example, a pair of raceway plates 24a, 24b and a rolling element 24c interposed between the pair of raceway plates 24a, 24b. In the case of this embodiment, one raceway plate 24a is in contact with the axially inner end surface 25 of the enlarged diameter portion 22a of the barrel base material 20.

An axial end of the barrel 13 faces an opposing wall 19 of the barrel holder 11 within the barrel receiving recess 18 of the barrel holder 11 . Further, the outer raceway plate 24b of the thrust bearing 24 disposed within the enlarged diameter portion 22a of the barrel base material 20 similarly faces the opposing wall 19 of the barrel holder 11 within the barrel receiving recess 18 of the barrel holder 11. ing. There is a predetermined gap (space) between the opposing wall 19 of the barrel holder 11 and the raceway plate 24b of the thrust bearing 24, and a spacer unit 26, which is a gap filling member, is interposed in the gap.

FIG. 5 is a front view of the spacer unit 26 viewed from the side where the thrust bearing 24 is arranged.
As shown in FIGS. 4 and 5, the spacer unit 26 includes a short-axis cylindrical base block 27 made of metal, and an annular elastic member 28 held at the end of the base block 27 on the thrust bearing 24 side. , is equipped with. An annular holding groove 29 is formed in the end surface of the base block 27 on the thrust bearing 24 side. The elastic member 28 is held in a holding groove 29 of the base block 27. The holding groove 29 is formed at approximately the center of the radial width of the end face of the annular base block 27 . Therefore, the elastic member 28 is arranged at approximately the middle position of the radial width of the base block 27.

The elastic member 28 is made of rubber, soft resin, or the like and has, for example, a circular cross-sectional shape. The elastic member 28 is formed to have an outer diameter that allows a portion of the elastic member 28 to bulge outward from within the holding groove 29 . Note that the elastic member 28 does not necessarily have to have a circular cross-sectional shape, but may have a shape that partially bulges out to the outside of the holding groove 29 at least when no external force is applied.

The base block 27 is attached to the outer periphery of the barrel support shaft 12 while holding the elastic member 28 in the holding groove 29 . The spacer unit 26 is interposed between the raceway plate 24b of the thrust bearing 24 and the opposing wall 19 of the support flange 14 when the barrel support shaft 12 to which the barrel 13 is assembled is assembled to the support flange 14 of the barrel holder 11. At this time, the elastic member 28 held by the base block 27 comes into contact with the end surface of the raceway plate 24b of the thrust bearing 24 and is compressed. As a result, the gap in the axial direction between the opposing wall 19 and the thrust bearing 24 (raceway plate 24b) is filled by the base block 27 and the elastic member 28, and the elastic force of the elastic member 28 is applied to the raceway plate 24b of the thrust bearing 24. It acts on This elastic force of the elastic member 28 acts as a biasing force that biases the barrel 13 inward in the axial direction through the thrust bearing 24 .

FIG. 6 is a diagram showing the state of the wheel 10 when the moving device 1 is traveling. (A) in FIG. 6 shows a state in which the barrel 13 of the wheel 10 is inclined toward one end in the axial direction and is in contact with the running surface 50, and (B) in FIG. A state in which the vehicle is inclined toward the other end in the direction and is in contact with the running surface 50 is shown.
When the moving device 1 is traveling, as the wheel 10 rotates, the barrel 13 is tilted alternately toward one end and the other end in the axial direction, so that the traveling surface 50 may be grounded above. At this time, the reaction force F1 from the running surface 50 acts on the barrel 13 as a component force F2 along the axial direction. The direction of this component force F2 alternately changes toward one end of the barrel 13 in the axial direction and toward the other end. Therefore, a load toward one end in the axial direction and a load toward the other end in the axial direction alternately act on the barrel 13 of each wheel 10 while the moving device 1 is running.

In the wheel 10 of this embodiment, a spacer unit 26 is interposed between the opposing wall 19 of each support flange 14 of the barrel holder 11 and the raceway plate 24b of the thrust bearing 24, and the elastic member 28 of the spacer unit 26 has a resilient force. acts on the barrel 13 as a biasing force directed inward in the axial direction. Therefore, the function of the elastic member 28 of the spacer unit 26 suppresses the sudden movement of the barrel 13 in the axial direction when the moving device 1 travels.

As described above, in the wheel 10 of this embodiment, the spacer unit 26, which is a gap filling member, is interposed in the gap between each opposing wall 19 of the barrel holder 11 and the thrust bearing 24. Therefore, it is possible to suppress fluctuations in the axial direction of the barrel 13 during traveling of the moving device 1, and to suppress generation of contact noise by members around the thrust bearing 24. Therefore, when the wheel 10 of this embodiment is employed, it is possible to improve the quietness when the moving device 1 runs.
Note that, in the wheel 10 of this embodiment, since a gap is provided between each opposing wall 19 of the barrel holder 11 and the thrust bearing 24, the barrel can be moved without providing a gap between each opposing wall 19 and the thrust bearing 24. 13 to the barrel holder 11 together with the thrust bearing 24, the assembly workability is improved.

Further, in the wheel 10 of the present embodiment, since the spacer unit 26 includes the elastic member 28 which is a form of an urging member, the wheel 10 allows the barrel 13 to be slightly displaced in the axial direction while the moving device 1 is traveling. Also, it is possible to reduce the impact caused by the input load and suppress the occurrence of contact noise. Furthermore, when placing the spacer unit 26 in the gap between the opposing wall 19 of the barrel holder 11 and the thrust bearing 24, the elastic member 28 of the spacer unit 26 is compressed, and in this state, the spacer unit 26 is placed between the opposing wall 19 and the thrust bearing 24. It can be interposed between the thrust bearings 24. Therefore, when the structure of the wheel 10 of this embodiment is adopted, the workability of assembling the barrel 13 to the barrel holder 11 can be improved.

Note that the biasing member of the gap filling member interposed between the opposing wall 19 of the barrel holder 11 and the thrust bearing 24 is not limited to the elastic member 28, but may be a disc spring, a spring washer, an air spring, etc. . However, when the elastic member 28 is used as in this embodiment, the gap between the opposing wall 19 of the barrel holder 11 and the thrust bearing 24 can be filled with a simple configuration that is easy to manufacture.

Furthermore, in the case of the wheel 10 of this embodiment, since the elastic member 28 of the spacer unit 26 is disposed approximately at the center of the radial width of the base block 27, the elastic force of the elastic member 28 is transferred to the diameter of the thrust bearing 24. It can be applied to approximately the center position of the width in the direction. Therefore, when the structure of this embodiment is adopted, the performance of the thrust bearing 24 can be maintained favorably.

Furthermore, in the wheel 10 of this embodiment, since the annular elastic member 28 is held by the base block 27, the elastic force acting on the thrust bearing 24 from the elastic member 28 is applied to the circumferential area of the barrel support shaft 12. This has the advantage of being substantially uniform and maintaining good performance of the thrust bearing 24.

<Second embodiment>
FIG. 7 is a front view of the gap filling member of this embodiment.
The wheel of this embodiment differs from that of the first embodiment in the configuration of a spacer unit 126, which is a gap filling member.

In the spacer unit 126, hemispherical or circular holding grooves 129 are formed at three positions on the circumference of a concentric circle c centered on the axis o1 of the end face of the annular base block 127. Each holding groove 129 holds a spherical or cylindrical elastic member 128 . The three elastic members 128 are arranged at equal intervals on the circumference of a concentric circle c on the end face of the base block 127. Further, each elastic member 128 is arranged at a substantially central position of the radial width of the end surface of the base block 127.

In the wheel of this embodiment, although the compact elastic member 128 is used, the elastic force of the elastic member 128 can be applied to the approximately center position of the radial width of the thrust bearing, and the elastic force can be applied to the barrel support. The effect can be applied substantially uniformly around the shaft.

<Third embodiment>
FIG. 8 is a sectional view corresponding to a part of FIG. 4 of the attachment portion of the thrust bearing 24 of this embodiment.
The wheel of this embodiment is different from those of the first and second embodiments in the configuration of a spacer unit 226, which is a gap filling member.

In the spacer unit 226, an annular notch 31 is formed in an inner circumferential edge portion adjacent to the end surface of the annular base block 227 on the thrust bearing 24 side. An annular elastic member 28 is held in the notch 31 . The elastic member 28 is formed, for example, in a circular cross-sectional shape. The elastic member 28 held in the notch 31 is in contact with the outer raceway plate 24b of the thrust bearing 24 and the outer peripheral surface of the barrel support shaft 12.

In the wheel of this embodiment, the compressed elastic member 28 of the spacer unit 226 contacts the inner circumferential edge of the base block 227 and the outer circumferential surface of the barrel support shaft 12 . Therefore, the rotation of the base block 227 with respect to the barrel support shaft 12 can be restricted by the elastic member 28. Therefore, when the wheel of this embodiment is employed, sliding wear between the base block 227 and the barrel support shaft 12 due to the rotation of the base block 227 can be suppressed.

<Fourth embodiment>
FIG. 9 is a sectional view corresponding to a part of FIG. 4 of the attachment portion of the thrust bearing 24 of this embodiment.
The wheel of this embodiment is different from those of the first to third embodiments in the configuration of a spacer unit 326, which is a gap filling member.

In the spacer unit 326, an annular notch 31 is formed in the outer peripheral edge portion of the annular base block 327 adjacent to the end surface on the thrust bearing 24 side. An annular elastic member 28 is held in the notch 31 . The elastic member 28 is formed, for example, in a circular cross-sectional shape. In the example shown in FIG. 9, the elastic member 28 is held at the outer peripheral edge of the base block 327, but the elastic member 28 can be held at any position outside the intermediate position p1 of the radial width of the base block 327. , it may be held at a location other than the outer peripheral edge of the base block 327.

The wheel of this embodiment allows the elastic force of the elastic member 28 to act on the radially outer position of the thrust bearing 24 when the barrel is tilted due to reaction force from the running surface while the moving device 1 is running. can. Therefore, when the wheel of this embodiment is adopted, a large moment that resists the inclination (falling down) of the barrel can be applied from the elastic member 28 to the thrust bearing 24, and the elastic force of the elastic member 28 can cause the barrel to move. The slope can be quickly restored.

<Fifth embodiment>
FIG. 10 is a sectional view corresponding to a part of FIG. 4 of the attachment portion of the thrust bearing 24 of this embodiment.
The wheel of this embodiment is different from those of the first to fourth embodiments in the configuration of a spacer unit 426, which is a gap filling member.

In the spacer unit 426, annular holding grooves 429a and 429b are formed in an end surface of an annular base block 427 on the thrust bearing 24 side and an end surface on the opposing wall 19 side. The holding grooves 429a and 429b are formed at substantially the center of the radial width of the base block 427. An annular elastic member 28 is held in each of the holding grooves 429a and 429b. The elastic member 28 held in one holding groove 429a contacts the outer raceway plate 24b of the thrust bearing 24, and the elastic member 28 held in the other holding groove 429b contacts the opposing wall 19 of the barrel holder 11. are in contact with each other.

In the wheel spacer unit 426 of this embodiment, the elastic members 28 are held at one end and the other end in the axial direction of the base block 427. Therefore, a sufficient expansion and contraction stroke can be ensured by the elastic members 28 on both sides of the base block 427 in the axial direction. Therefore, when the wheels of this embodiment are employed, it is possible to further improve the quietness of the moving device when it travels, and also to improve the ease of assembling the barrel to the barrel holder 11.

<Sixth embodiment>
FIG. 11 is a sectional view corresponding to a part of FIG. 4 of the attachment portion of the thrust bearing 24 of this embodiment.
The wheel of this embodiment is different from those of the first to fifth embodiments in the configuration of a spacer unit 526, which is a gap filling member.

In the spacer unit 526, as in the fifth embodiment, annular holding grooves 529a and 529b are formed on the end surface of the annular base block 527 on the thrust bearing 24 side and the end surface on the opposing wall 19 side. The elastic member 28 is held in the grooves 529a and 529b. However, in the spacer unit 526 of this embodiment, the radial position of the holding groove 529a formed on one end surface of the base block 527 is different from the radial position of the holding groove 529b formed on the other end surface. Therefore, the elastic member 28 disposed at one end of the base block 527 in the axial direction and the elastic member disposed at the other end in the axial direction are disposed at positions offset in the radial direction. In the case of this embodiment, the elastic member 28 disposed at one end of the base block 527 in the axial direction is disposed radially inward from the center position p1 of the radial width of the base block member 527, and The elastic member 28 disposed on the other end side in the direction is disposed radially outward from the center position p1 of the radial width of the base block member 527.

In the spacer unit 526 of this embodiment, the elastic member 28 disposed at one end of the base block 527 in the axial direction and the elastic member 28 disposed at the other end are disposed offset in the radial direction. The elastic force of the two elastic members 28 can be stably applied to a wide range in the radial direction of the thrust bearing 24. Therefore, when the wheel of this embodiment is adopted, there is an advantage that not only the basic effects similar to those of the fifth embodiment can be achieved, but also the performance of the thrust bearing 24 can be maintained well.

<Seventh embodiment>
FIG. 12 is a sectional view corresponding to a part of FIG. 4 of the attachment portion of the thrust bearing 24 of this embodiment.
The wheel of this embodiment is different from those of the first to sixth embodiments in the configuration of a spacer unit 626, which is a gap filling member.

In the spacer unit 626 of this embodiment, a sheet of an annular elastic member 628 is integrally joined to an end surface of an annular base block 627 on the thrust bearing 24 side and an end surface on the opposing wall 19 side by vulcanization adhesive or the like. . An elastic member 628 joined to one surface of the base block 627 contacts the outer raceway plate 24b of the thrust bearing 24, and an elastic member 628 joined to the other surface contacts the opposing wall 19 of the barrel holder 11. are in contact with each other.

In the spacer unit 626 of this embodiment, since the elastic member 28 is integrated with the base block 627 by vulcanization adhesion or the like, handling of the parts during assembly becomes easy. Therefore, when the wheel of this embodiment is employed, the barrel assembling workability is improved.
In the example shown in FIG. 12, sheets of elastic members 628 are joined to both sides of the base block 627 in the axial direction, but the elastic members 628 are attached to either one end of the base block 627 in the axial direction It may be possible to bond only to one side.

<Eighth embodiment>
FIG. 13 is a sectional view corresponding to a part of FIG. 4 of the attachment portion of the thrust bearing 24 of this embodiment.
The wheel of this embodiment is different from those of the first to sixth embodiments in the configuration of a spacer unit 726, which is a gap filling member.

The spacer unit 726 of this embodiment does not have a base block made of a hard material, and has a structure in which the inside of an expandable bag 40 is filled with a fluid 41 such as gas or liquid .
When the inside of the bag 40 is filled with gas, the elastic force of the gas can act on the outer track plate 24b of the thrust bearing 24, and the action of the bag 40 and the gas inside The gap between the thrust bearing 24 and the opposing wall 19 can be filled.

In addition, when filling the inside of the bag 40 with liquid, by adjusting the amount of liquid filled inside the bag 40 when assembling the barrel to the barrel holder, the thrust bearing 24 and the opposing wall 19 can It is possible to fill the gap therebetween and apply an appropriate pressing force in the axial direction to the thrust bearing 24.
Note that the liquid filled inside the bag 40 may be a thermoplastic resin or the like that liquefies at a temperature higher than room temperature. In this case, when assembling the barrel to the barrel halter, the bag is filled with thermoplastic resin in a liquefied state, and when the thermoplastic resin is cooled and hardened, the gap between the thrust bearing 24 and the opposing wall 19 is filled with a spacer. It may be configured to be filled by unit 726.

The spacer unit 726 of this embodiment allows the bag body 40 and its interior to be used even when the opposing wall 19 of the barrel holder 11 or the raceway plate 24b of the thrust bearing 24 is inclined with respect to a plane orthogonal to the rotational axis of the barrel. The gap between the opposing wall 19 and the thrust bearing 24 can be reliably filled with the fluid 41 filled in the space.

Note that the present invention is not limited to the above-described embodiments, and various design changes can be made without departing from the gist thereof.
For example, in the embodiments described above, a barrel-shaped barrel is used, but the barrel may be a rotating body whose central region in the axial direction bulges outward in the radial direction, and does not necessarily have to be barrel-shaped.

1...Movement device 2...Vehicle body 3...Drive device (drive unit)
10...Wheel (drive unit)
11... Barrel holder 12... Barrel support shaft 13... Barrel 19... Opposing wall 24... Thrust bearing (bearing)
26, 126, 226, 326, 426, 526, 626, 726...Spacer unit (gap filling member)
27,127,227,327,427,527,627...Base block 28,128,628...Elastic member (biasing member)

Claims (12)

A rotationally driven barrel holder,
a plurality of barrel support shafts supported by the barrel holder;
a barrel supported by each of the barrel support shafts;
a bearing that rotatably supports the barrel on the barrel support shaft;
a gap filling member that fills a gap between the opposing wall and the bearing between the opposing wall of the barrel holder facing the axial end surface of the barrel and the bearing;
Equipped with
The gap filling member is
an annular base block disposed around the outer periphery of the barrel support shaft;
an elastic member supported by the base block and urging the bearing inward in the axial direction of the barrel support shaft;
Wheels equipped with. The wheel according to claim 1 , wherein the elastic member is arranged at a substantially intermediate position of the radial width of the base block. The wheel according to claim 1 , wherein the elastic member is disposed at an inner peripheral end of the base block and abuts the barrel support shaft. The wheel according to claim 1 , wherein the elastic member is disposed outside an intermediate position of a radial width of the base block. The wheel according to any one of claims 1 to 4 , wherein the elastic member is arranged at one end and the other end of the base block in the axial direction. The elastic member disposed at one end of the base block in the axial direction and the elastic member disposed at the other end in the axial direction are disposed at positions offset in the radial direction . wheel. The wheel according to any one of claims 1 to 6 , wherein the elastic member is formed in an annular shape. The wheel according to claim 1 , wherein the elastic member is integrally joined to the base block. A rotationally driven barrel holder,
a plurality of barrel support shafts supported by the barrel holder;
a barrel supported by each of the barrel support shafts;
a bearing that rotatably supports the barrel on the barrel support shaft;
a gap filling member that fills a gap between the opposing wall and the bearing between the opposing wall of the barrel holder facing the axial end surface of the barrel and the bearing;
Equipped with
The gap filling member is a wheel in which the inside of an expandable and contractible bag is filled with fluid . The wheel according to claim 9, wherein the fluid is a resin that liquefies at a temperature higher than room temperature. The wheel according to any one of claims 1 to 10 ,
a drive device that rotationally drives the wheel;
A drive unit equipped with. A drive unit according to claim 11 ;
a vehicle body on which a plurality of the drive units are supported;
A mobile device equipped with

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