JP4427956B2

JP4427956B2 - Mobile device

Info

Publication number: JP4427956B2
Application number: JP2003056138A
Authority: JP
Inventors: 宏治川崎; 武典松江; 恵二重岡; 宏一松下
Original assignee: Nippon Soken Inc
Current assignee: Soken Inc
Priority date: 2003-03-03
Filing date: 2003-03-03
Publication date: 2010-03-10
Anticipated expiration: 2023-03-03
Also published as: JP2004262382A

Description

【０００１】
【発明の属する技術分野】
本発明は、車体に対して傾斜する回転部材の小車輪を転動させて二次元方向の移動、自転および回転運動を自在に行うことができる移動装置に関する。
【０００２】
【従来の技術】
移動装置のなかでも、二次元方向の移動および自転運動などが可能な走行装置としては、複数のホイールを備えたオムニ式ホイールが知られており、階段や起伏の多い荒れ地でも走行が可能なように構成している。また、同様な走行装置としては、キャタピラータイプのクローラベルトやスプロケットなどを用いて構成したクローラ式走行装置があり、モータの回転軸を駆動してウォーム式ギア機構を介してスプロケットを回転し、クローラベルトを移動して階段や高低差のある路面などを走行するものである（例えば特許文献１参照）。また、車椅子に適用したクローラ式自走装置では、前輪および後輪に掛け渡したベルトクローラを駆動輪により駆動して車椅子を階段などの起伏の大きな路面を走行させる（例えば特許文献２参照）。
【０００３】
【特許文献１】
特開平６−３０５４５５号公報（第２頁−第３頁、図４）
【特許文献２】
特開２００２−８５４７６号公報（第３頁−第４頁、図１）
【０００４】
【発明が解決しようとする課題】
しかしながら、前者のオムニ式ホイールでは、コンパクトな薄型化が困難であるうえに、耐荷重性も不十分であり、人や貨物の輸送・搬送などの用途に適するものでない不都合がある。後者のクローラ式走行装置やクローラ式自走装置では、構造が複雑で小型化が難しく四点接地でないと安定を保てず、高速運転が実現できない問題がある。
【０００５】
本発明は上記の事情に鑑みてなされたもので、その目的は路面の起伏の大小を問わず二次元の全方向に移動、自転および回転運動が可能で、全体の薄型化および小型化をはじめ、高速運転も実現できて利便性に優れた移動装置を提供することにある。
【０００６】
【課題を解決するための手段】
（請求項１について）
車体の中心に対して傾斜する少なくとも三本の回転軸にそれぞれ設けられた回転部材と、回転部材の周方向に配置されて回転部材の傾斜端に位置する一部が接地面に接する多数の小車輪とを有し、制御手段により駆動モータをそれぞれ別個に駆動制御して回転部材の回転速度を独立に調節する。
回転部材は所定方向に傾斜し、多数の小車輪のうち傾斜端に位置する一部が接地面に接するため、小車輪と接地面との動摩擦力により各回転部材の接線方向に回転速度に応じた大きさのトルクベクトルが生じる。各回転部材の回転速度を独立に調節することにより、各回転部材のトルクベクトルの和に応じた合力を車体が受けるので、二次元の全方向移動、旋回、自転および回転運動が可能になり、上下方向に薄型および小型化が図られて高速運転も実現できる。また、起伏の大きな路面走行も支障なく行うことができて重量物の積載も可能であり、人が起立状態で乗車する乗物、台車、車椅子、運搬式脚立、車両整備用の背板、ロボットの搬送脚部などに広く適用可能である。
また、回転部材を有する車体同士は連結部材で繋がれているため、回転部材の回転速度を制御することにより連結部材の回転中心の位置を自在に変更可能であることができる。これにより、建物の廊下や狭い路地などの角部を走行する際、連結部材の回転中心を適宜変更することで角部を通過できる場合がある。
（請求項２、３について）
車体を上下逆さに反転させて回転部材に被移動物を載せて送るように構成している。このため、回転部材に板材、加工材、展示・陳列品などの被移動物を載せて駆動モータで回転部材を別個に回転させることにより、回転部材上の被移動物に対して二次元の全方向移動、旋回、自転あるいは回転運動を行なうことが可能になる。
（請求項４について）
車体に取付けた回転部材をそれぞれロータとし各回転軸の周りにステータを設けて各回転部材を別個に回転駆動する駆動モータを構成したので、部品点数の削減により構造が簡素になり全体のコンパクト化に貢献する。
（請求項５について）
回転部材に小車輪の内側で同心的に位置して小車輪よりも径大な多数の内側小車輪を設けたので、走行時に小車輪と内側小車輪のうち一部が同時に接地面に接するようになり、全体の安定性が向上するとともに重量物の移動に適するようになる。
（請求項６について）
回転部材を有する車体同士は連結部材で繋がれているため、回転部材の回転速度を制御することにより連結部材の回転中心の位置を自在に変更可能であることができる。これにより、建物の廊下や狭い路地などの角部を走行する際、連結部材の回転中心を適宜変更することで角部を通過できる場合がある。
（請求項７について）
駆動モータを設けずとも車体を押し引きすることにより、車体が二次元の全方向移動、旋回、自転および回転運動を行なうので、車体に被移動物を載せて移動する際に便利である。また、回転部材を有する車体同士は連結部材で繋がれているため、回転部材の回転速度を制御することにより連結部材の回転中心の位置を自在に変更可能であることができる。これにより、建物の廊下や狭い路地などの角部を走行する際、連結部材の回転中心を適宜変更することで角部を通過できる場合がある。
（請求項８、９について）
車体を上下逆さに反転させて回転部材に被移動物を載せて送るように構成している。このため、回転部材に板材、加工材、展示・陳列品などの被移動物を載せて駆動モータで回転部材を別個に回転させることにより、回転部材上の被移動物に対して二次元の全方向移動、旋回、自転あるいは回転運動を行なうことが可能になる。また、駆動モータを設けない場合、回転部材上の被移動物を手動で押し引きすることで、被移動物を所望の方向に手軽に移動させることができて便利である。この場合、複数あるいは多数の車体を反転した状態で所定の角度だけ傾斜させて並べ、被移動物を最前列の回転部材に置くことにより、被移動物を後続の回転部材に対して順送りに移動させることができる便宜が得られる。
【０００７】
（請求項１０について）
回転部材に設けられた多数の小車輪は、回転方向が径方向に指向するか、あるいは径方向と所定の角度を成している。このため、使用目的や適用対象物に応じて小車輪の指向方向が異なるものをオプションとして提供できる便宜がある。
【０００８】
（請求項１１について）
三本の回転軸は、三角板状の車体の隅角部にそれぞれ取付けられて車体の中心に対して外側あるいは内側に傾斜する。このため、比較的簡素な構造で回転部材の制御が容易であり、かつ薄型で移動性に優れる。
【０００９】
（請求項１２について）
三本の回転軸は、三角板状の車体の隅角部に取付けられて車体の中心に対して外側あるいは内側に傾斜する。多数の小車輪は、回転軸を中心に回転部材の周方向に等角度間隔で配置されて回転方向が径方向に指向し、回転部材の傾斜端に位置する一部が接地面に接する。このため、請求項１１と同様に比較的簡素な構造で回転部材の制御が容易であり、かつ薄型で移動性に優れる。
【００１０】
（請求項１３について）
三本の回転軸は、三角板状の車体の隅角部に取付けられて車体の中心に対して外側あるいは内側に傾斜する。多数の小車輪は、回転軸を中心にディスク状の回転部材の周方向に等角度間隔で配置されて回転方向が径方向に指向し、回転部材の傾斜端に位置する一部が接地面に接する。駆動モータは、車体と回転部材のそれぞれの間に配されて回転部材を別個に回転駆動する。この場合、回転部材は円盤ばかりでなく環状、矩形、六角形、多角形、各種の枠体や偏平円錐台などの形状物を使用することができ、駆動モータと回転部材との伝動はギア列、ベルト、チェーンなどの伝動手段で実現することができる。
【００１２】
（請求項１４について）
回転部材のそれぞれに取付けて回転部材をプーリーおよびベルトを介して別個に回転駆動する駆動モータを構成したので、プーリーおよびベルトといった既存の部品を利用して組付けることができる。
【００１３】
（請求項１５について）
回転部材のそれぞれに取付けて回転部材を減速機構を介して別個に回転駆動する駆動モータを構成したので、所望の減速比により回転部材を無理なく駆動することができる。
（請求項１６について）
小車輪と回転部材の間にサスペンションを設けたので、走行時に路面から受ける衝撃を緩和できて車体の揺れを抑制するとともに、振動音の発生を低減することができる。
【００１４】
（請求項１７について）
車体は三角形を成し、かつ三本の回転軸は車体の中心に対して外側あるいは内側に傾斜して車体の隅角部にそれぞれ取付けられている。このため、簡素な構造で車体がバランスよく安定して走行性が向上する。
【００１５】
（請求項１８について）
回転部材はディスク状で、小車輪は回転部材の周方向に等角度間隔で回転方向が径方向に指向しているか、あるいは径方向と所定の角度を成している。このため、小車輪の規格化が容易に図れて製造し易くなる。
（請求項１９について）
回転軸は車体の中心方向に同一の角度で傾斜しているため、全体の構造がバランスよく安定する。
【００１６】
（請求項２０について）
接地面に対する回転部材の傾斜角は、走行する路面状態に応じて所望に変更できて好都合である。
【００１８】
【発明の実施の形態】
本発明の各実施例を図に基づいて説明する。
図１ないし図６は、本発明に係る移動装置１を示し、頂点部に丸みを付けた正三角形状の板材から形成した車体２を有する。車体２の裏面には、図１に示すように頂点部である隅角部に機枠３を介して回転軸４が位置する。各回転軸４は、車体２の中心Ｐの方向に所定の角度（α：例えば５度）で内側に傾斜する前傾状態に配置されている。回転軸４は、車体２に取付けた機枠３に対して回転可能になっており、図２ないし図４に示すように回転軸４と一体的に回転するディスク状の回転部材５を嵌着している。この場合、構造の簡素化、良好な効率および制御の容易性の観点から車体２を正三角形状に形成したが、車体２の形状は、用途や外観の見栄え等に応じて円形、矩形、五角形、六角形あるいは多角形あるいは枠体や偏平な円錐台等、所望に設定することができる。回転軸４は、車体２に対して下開きとなる前傾状態ばかりでなく、上開きとなって車体２の中心Ｐの方向に所定の角度で外側に傾斜する後傾状態に配してもよい。
【００１９】
三個の回転部材５は、各回転軸４に対して直角になっているため、図５に示すように回転部材５の傾斜端は接地面Ｇに対してαの角度で傾斜している。各回転部材５の裏面には、回転軸４を中心とする同一円周上に多数の小車輪６が径方向に指向して等角度間隔に隣接配置されている。これら小車輪６は、回転部材５の裏面に取付けたブラケット７の車軸８に回転自在に支持されている。多数の小車輪６が同一円上に並んで形成する基円は、回転部材５の外周縁部と接線方向を共有する。
【００２０】
回転部材５の傾斜端が接地面Ｇに対して傾斜しているため、多数の小車輪６のうち一輪あるいは二輪といった一部が接地面Ｇに接触状態に当接し、回転部材５の回転に伴って接地面Ｇに当接する小車輪６の一部が順送りに代わる。小車輪６は例えばゴムあるいは合成樹脂製で、そのトレッド部６ａは円弧状のプロフィールを有する。
【００２１】
各回転部材５の機枠３には、駆動モータ９が設置され、減速機構１０を介して回転軸４に連結されている。各駆動モータ９は、車体２の裏面に配され、図１に示す電子基盤１１を有する制御装置１２による制御を受けて各回転部材５の回転速度を個別に調節する。これにより、車体２が二次元の路面を前後左右に、自転および回転移動を行うことができる。例えば、図６の（イ）に示すように下側に位置する左右の回転部材５同士を逆方向に同一速度で回転させ、かつ上側の回転部材５をニュートラルな静止状態にすると、移動装置１の車体２は下方に移動する。また、同図の（ロ）に示すように下側の左右の回転部材５同士を同一方向に同一速度で回転させ、かつ上側の回転部材５を下側のものと逆方向に同一速度で回転させると、車体２は左方に移動する。
【００２２】
この際、各回転部材５の小車輪６と接地面Ｇとの動摩擦で発生するトルクベクトルの合力に応じた進行方向と進行速度で車体２が移動、回転および自転運動を行う。例えば、図６の（イ）の場合、左右の回転部材５の小車輪６は回転せずに接地面Ｇを車軸方向に滑りながら動摩擦力で車体２をトルクベクトルＡおよびＢ方向に付勢して百足歩行を繰り返す。同図の（ロ）の場合、各回転部材５の小車輪６と接地面Ｇとの動摩擦で発生するトルクベクトルＡ、ＢおよびＣにより車体２を付勢して小車輪６を接地面Ｇに滑らせながら移動させる。
【００２３】
図７は本発明の第２実施例を示す。第２実施例では、回転軸４を中心とする回転部材５の径方向Ｒに対して回転方向Ｍが所定の角度βを成すように小車輪６を取付けている。このため、車軸８は回転部材５の接線方向に対して角度βだけ偏向している。この構成により、回転部材５の回転速度に対して生じる接地面Ｇとの動摩擦力は変化するが、第１実施例と同様に車体２の全方向の二次元走行が可能である。
【００２４】
図８の（イ）は本発明の第３実施例を示す。第３実施例では、回転部材５の外周縁部に間欠的に設けた切欠部１３に架設した車軸８を設け、この車軸８に小車輪６を支持させている。同図の（ロ）は本発明の第４実施例であり、球状に形成した小車輪６を車軸８に支持させた態様を示す。
【００２５】
図９の（イ）は本発明の第５実施例を示す。第５実施例では、回転部材５に回転軸４を中心とする二重の同心円上に小車輪６および内側小車輪１４を設けている。この場合、内側のブラケット１５を外側のブラケット７よりも若干長尺にして内外に隣接する小車輪６および内側小車輪１４が同時に接地面Ｇに当接するように構成している。このため、車体２の安定化が図られるとともに、耐荷重性が向上して重量物の運搬に適するようになる。同図の（ロ）は本発明の第６実施例を示し、内側のブラケット１５と外側のブラケット７を同一高さ寸法にして内側小車輪１４を小車輪６よりも径大に設定し、内外に隣接する小車輪６および内側小車輪１４が同時に接地面Ｇに当接するようにしている。
【００２６】
図１０は本発明の第７実施例を示す。第７実施例では、小車輪６にサスペンション１６を設けている。サスペンション１６は、回転部材５の裏面とブラケット７との間に設けたコイルスプリングＳｐであり走行時の振動を低減する。
図１１は本発明の第８実施例を示す。第８実施例のサスペンション１６は、車体２の裏面と駆動モータ９との間に設けたコイルスプリングＳｐから成る。
【００２７】
図１２は本発明の第９実施例を示す。第９実施例のサスペンション１６は、機枠３と車体２の裏面との間に設けたリンクレバー１７と、リンクレバー１７の反対側で機枠３と車体２の裏面との間に設置したダンパー１８とにより構成している。この場合、ダンパー１８による減衰作用により振動低減効果が一層向上する。
【００２８】
図１３は本発明の第１０実施例を示す。第１０実施例のサスペンション１６は、回転軸４と回転部材５との間に設けたユニバーサルジョイント１９と、機枠３と回転部材５との間に設置したダンパー２０とから構成している。
【００２９】
図１４および図１５は本発明の第１１実施例を示す。第１１実施例のサスペンション１６は、各機枠３から車体２の中央に向かって延びるリンク機構２１と車体２の裏面との間に設けたコイルスプリングＳｐである。各機枠３の外端部と車体２との間に、リンク機構２１を上下動可能にする短尺リンク２２を連結している。
【００３０】
図１６は本発明の第１２実施例を示す。第１２実施例では、接地面Ｇに対する回転部材５の傾斜角αを変更可能にするため、車体２の裏面と機枠３との間に可変板２３を設けている。可変板２３は、螺子２４を受ける縦長の長孔２５を三列に有し、回転部材５を駆動モータ９とともに適宜に傾動して螺子２４を締めることにより、回転部材５を所望の傾斜角αに調節することができる。
【００３１】
図１７の（イ）、（ロ）は本発明の第１３実施例を示す。第１３実施例では、回転部材５を円形の板バネにより形成し、板バネの外周縁部に切込部２６を等角度間隔に設けて形成した各支片部２７に小車輪６を配置している。機枠３の裏面には、回転部材５の接線方向に回転可能なローラ２８を切込部２６に対応するように取付けている。回転部材５の回転に伴い、ローラ２８が押圧により支片部２７を順送りに下方に撓ませて小車輪６を接地面Ｇに次々に当接させる。この場合、回転部材５は接地面Ｇに対して若干傾斜しても水平状態にあってもよい。
【００３２】
図１８は本発明の第１４実施例を示す。第１４実施例では、回転部材５を皿状に形成し、面軸受２９を介して車体２の裏面に回転可能に取付けている。駆動モータ９は、遊星歯車機構などの減速機構３０および回転軸４を介して回転部材５を回転駆動する。面軸受２９により全体が安定するとともに、耐圧荷重が向上して重量物の積載にも適するようになる。
【００３３】
図１９は本発明の第１５実施例を示し、図２０は本発明の第１６実施例を示す。第１５実施例では、各回転部材５をロータ５Ａとして回転軸４の周りにステータ３１を設けて駆動モータ９を構成し、各回転部材５を別個に回転駆動する。皿状の回転部材５の内底部中央から筒状に形成されたボス部３２が回転軸４に回転可能に嵌入されている。車体２の裏面に固定したステータ３１の内側には、リング状の磁石３３がボス部３２に同心的に嵌着されている。
第１６実施例では、第１５実施例で用いた磁石３３をステータ３１の外側で回転部材５の内側面に嵌着している。なお、第１５実施例および第１６実施例では、回転軸４を固定する代わりに回転軸４が磁石３３およびボス部３２と一体的に回転するように構成してもよい。
【００３４】
図２１は本発明の第１７実施例を示す。第１７実施例では、回転部材５を面軸受２９を用いて回転可能な径大プーリー５Ｂで形成し、駆動モータ９側の出力軸９ａに径小プーリー３４を嵌着し、径大プーリー５Ｂと径小プーリー３４とにベルト３５を掛け渡している。この構成では、回転部材５と駆動モータ９とが横方向に並列するため、厚み方向の寸法が減少して全体の薄型化が図られる。
なお、径大プーリー５Ｂおよび径小プーリー３４に代わって径大スプロケットおよび径小スプロケットを伝動手段として用い、両スプロケットにチェーンを掛け渡すように構成してもよい。
【００３５】
図２２の（イ）、（ロ）は本発明の第１８実施例を示す。第１８実施例では、小車輪６を有する回転部材５を径方向に二個づつ一部が重複する状態に設けている。この構成では、回転部材５を径方向に二個づつ設けたので、全体の安定化と耐荷重性の向上に資する。
【００３６】
図２３および図２４は本発明の第１９実施例および第２０実施例を示す。第１９実施例では、移動装置１の車体２同士を梁状の連結部材３６により繋いでいる。第２０実施例では、移動装置１の車体２同士を矩形板状の連結部材３６により繋いでいる。これらの実施例によれば、回転部材５の回転速度を個別に制御することにより連結部材３６を含む全体の回転中心の位置Ｐｃを自在に変更することができる。これにより、建物の廊下や狭い路地などの角部を走行する際、連結部材３６の回転中心の位置Ｐｃを適宜変更することで角部を通過できる場合がある。
【００３７】
図２５および図２６は本発明の第２１実施例および第２２実施例を示す。これら実施例では、正三角形に代わって車体２をそれぞれ正方形および六角形に形成して各隅角部に、小車輪６を設けた回転部材５を配置している。
【００３８】
本発明の第２３実施例として図１の駆動モータ９を設けず省略した場合を便宜上、図１および図２を参照して説明する。この場合、回転軸４は車体２に回転可能に取り付けられているため、駆動モータ９を設けずとも車体２を手動により押し引きするだけで、車体２が二次元の全方向移動、旋回、自転および回転運動を円滑に行なうので、車体２に被移動物を載せて移動する際に便利である。
【００３９】
本発明の第２４実施例として図１の状態のままで車体２を使用する態様を説明する。第２４実施例では、車体２を上下逆さに反転させて回転部材５に被移動物を載せて送るように構成している。このため、回転部材５に板材、加工材、展示・陳列品などの被移動物を載せて駆動モータ９で回転部材５を別個に回転させることにより、回転部材５上の被移動物が二次元の全方向移動、旋回、自転および回転運動を行なうことが可能になる。また、駆動モータ９を設けない場合、回転部材５上の被移動物を手動で押し引きすることで、被移動物を小さな力で所望の方向に簡単に移動させることができて便利である。
【００４０】
この場合、複数あるいは多数の車体２を反転した状態で所定の角度だけ傾斜させて並べ、被移動物を最前列の回転部材５上に置くことにより、被移動物を後続の回転部材５に対して順送りに移動させることができる便宜が得られる。このため、車体２の両側に一続きのガイド板（図示せず）を配置しておくことにより、小包や梱包した葉書などを被移動物として回転部材５上に置くだけで、所望の配送地点に迅速かつ円滑に移動することができる。この時、ガイド板による移送経路は直線に限らず円弧状、つずら折り状あるいは迷路状などに曲成してもよい。被移動物が凹凸状を呈したり、起伏の多い立体物の場合は、被移動物を移送板に載置して回転部材５上に置くようにしてもよい。
【００４１】
なお、第２実施例ないし第２２実施例では、第１実施例と同一部分には同一符号を付して異なる部分のみ説明した。
【図面の簡単な説明】
【図１】裏面から見た移動装置の斜視図である（第１実施例）。
【図２】移動装置の正面図である。
【図３】一部破断して示す移動装置の平面図である。
【図４】移動装置の底面図である。
【図５】駆動モータの周りを示す正面図である。
【図６】（イ）、（ロ）は移動装置が進行する原理を説明するため示す車体の底面図である。
【図７】回転部材の底面図である（第２実施例）。
【図８】（イ）は回転部材の底面図（第３実施例）、（ロ）は回転部材の底面図（第４実施例）である。
【図９】（イ）は駆動モータの周りを示す正面図（第５実施例）、（ロ）は駆動モータの周りを示す正面図（第６実施例）である。
【図１０】駆動モータの周りを示す正面図である（第７実施例）。
【図１１】駆動モータの周りを示す正面図である（第８実施例）。
【図１２】駆動モータの周りを示す正面図である（第９実施例）。
【図１３】駆動モータの周りを示す正面図である（第１０実施例）。
【図１４】移動装置の正面図である（第１１実施例）。
【図１５】移動装置の底面図である。
【図１６】移動装置の正面図である（第１２実施例）。
【図１７】（イ）は移動装置の正面図、（ロ）は回転部材の斜視図である（第１３実施例）。
【図１８】移動装置の正面図である（第１４実施例）。
【図１９】移動装置の部分縦断面図である（第１５実施例）。
【図２０】移動装置の部分縦断面図である（第１６実施例）。
【図２１】移動装置の部分縦断面図である（第１７実施例）。
【図２２】（イ）は移動装置の底面図、（ロ）は回転部材の正面図である（第１８実施例）。
【図２３】移動装置の底面図である（第１９実施例）。
【図２４】移動装置の底面図である（第２０実施例）。
【図２５】移動装置の底面図である（第２１実施例）。
【図２６】移動装置の底面図である（第２２実施例）。
【符号の説明】
１移動装置
２車体
４回転軸
５回転部材
６小車輪
９駆動モータ
１０、３０減速機構
１２制御機構（制御手段）
１４内側小車輪
１６サスペンション
１８、２０ダンパー（サスペンション）
３１ステータ
３４径小プーリー
３５ベルト
３６連結部材
５Ａロータ（回転部材）
５Ｂ径大プーリー（回転部材）
Ｇ接地面
Ｓｐコイルスプリング（サスペンション）
Ｒ径方向
Ｍ回転方向[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a moving device that can freely move, rotate, and rotate in a two-dimensional direction by rolling a small wheel of a rotating member that is inclined with respect to a vehicle body.
[0002]
[Prior art]
Among traveling devices, omni wheels with multiple wheels are known as traveling devices that can move in two dimensions and rotate, so that they can travel even on stairs and rough rough terrain. It is configured. In addition, as a similar traveling device, there is a crawler type traveling device configured by using a caterpillar type crawler belt or a sprocket, and the crawler rotates a sprocket via a worm gear mechanism by driving a rotating shaft of a motor. A belt is moved to travel on stairs and road surfaces with different heights (see, for example, Patent Document 1). Moreover, in the crawler type self-propelled device applied to the wheelchair, the belt crawler hung around the front wheel and the rear wheel is driven by the driving wheel so that the wheelchair travels on a road with a large undulation such as stairs (see, for example, Patent Document 2).
[0003]
[Patent Document 1]
Japanese Patent Application Laid-Open No. 6-305455 (page 2 to page 3, FIG. 4)
[Patent Document 2]
JP 2002-85476 A (page 3 to page 4, FIG. 1)
[0004]
[Problems to be solved by the invention]
However, the former omni wheel is difficult to make compact and thin, and has insufficient load resistance, which is not suitable for applications such as transportation and transportation of people and cargo. The latter crawler type traveling device and crawler type self-propelled device have a problem that the structure is complicated and miniaturization is difficult, and it is impossible to maintain stability unless it is four-point grounding, and high speed operation cannot be realized.
[0005]
The present invention has been made in view of the above circumstances, and its purpose is that it can move, rotate, and rotate in all directions in two dimensions regardless of the undulations of the road surface. It is an object of the present invention to provide a mobile device that can realize high-speed driving and has excellent convenience.
[0006]
[Means for Solving the Problems]
(About claim 1)
Rotating members respectively provided on at least three rotating shafts that are inclined with respect to the center of the vehicle body, and a number of small members that are arranged in the circumferential direction of the rotating member and that are located at the inclined ends of the rotating members are in contact with the ground contact surface. Each of which has a wheel, and the drive motor is independently driven and controlled by the control means to independently adjust the rotation speed of the rotating member.
The rotating member is inclined in a predetermined direction, and some of the small wheels located at the inclined end are in contact with the ground contact surface, so that the dynamic frictional force between the small wheel and the contact surface depends on the rotational speed in the tangential direction of each rotating member. A torque vector of a certain magnitude is generated. By independently adjusting the rotational speed of each rotating member, the vehicle body receives a resultant force corresponding to the sum of the torque vectors of each rotating member, so that two-dimensional omnidirectional movement, turning, rotation, and rotational motion are possible. Thinner and smaller in the vertical direction can be achieved and high speed operation can be realized. It can also run on rough roads without hindrance and can load heavy objects. Vehicles, trolleys, wheelchairs, transported stepladders, backboards for vehicle maintenance, robot It can be widely applied to transportation legs.
Moreover, since the vehicle bodies which have a rotation member are connected by the connection member, the position of the rotation center of a connection member can be freely changed by controlling the rotational speed of a rotation member. Thereby, when driving | running | working corner | angular parts, such as a corridor of a building and a narrow alley, a corner | angular part may be able to be passed by changing suitably the rotation center of a connection member.
(Claims 2 and 3)
The vehicle body is inverted upside down, and the moving object is placed on the rotating member and sent. For this reason, by placing a moving object such as a plate material, processed material, display or display on the rotating member and rotating the rotating member separately with a drive motor, the two-dimensional object is completely moved against the moving object on the rotating member. Directional movement, turning, rotation or rotational movement can be performed.
(About claim 4)
A rotating motor attached to the vehicle body is used as each rotor, and a stator is provided around each rotating shaft, and a drive motor that rotates each rotating member separately is configured. This simplifies the structure by reducing the number of parts and reduces the overall size. To contribute.
(Claim 5)
Since a large number of inner small wheels that are concentrically located inside the small wheels and are larger in diameter than the small wheels are provided on the rotating member, some of the small wheels and the inner small wheels are in contact with the grounding surface at the same time during traveling. As a result, the overall stability is improved and it is suitable for moving heavy objects.
(About claim 6)
Since the vehicle bodies having the rotating member are connected by the connecting member, the position of the rotation center of the connecting member can be freely changed by controlling the rotation speed of the rotating member. Thereby, when driving | running | working corner | angular parts, such as a corridor of a building and a narrow alley, a corner | angular part may be able to be passed by changing suitably the rotation center of a connection member.
(About claim 7)
By pushing and pulling the vehicle body without providing a drive motor, the vehicle body performs two-dimensional omnidirectional movement, turning, rotation, and rotation, which is convenient when moving a moving object on the vehicle body. Moreover, since the vehicle bodies which have a rotation member are connected by the connection member, the position of the rotation center of a connection member can be freely changed by controlling the rotational speed of a rotation member. Thereby, when driving | running | working corner | angular parts, such as a corridor of a building and a narrow alley, a corner | angular part may be able to be passed by changing suitably the rotation center of a connection member.
(Claims 8 and 9)
The vehicle body is inverted upside down, and the moving object is placed on the rotating member and sent. For this reason, by placing a moving object such as a plate material, processed material, display or display on the rotating member and rotating the rotating member separately with a drive motor, the two-dimensional object is completely moved against the moving object on the rotating member. Directional movement, turning, rotation or rotational movement can be performed. Further, when the drive motor is not provided, it is convenient that the object to be moved can be easily moved in a desired direction by manually pushing and pulling the object to be moved on the rotating member. In this case, a plurality or many of the vehicle bodies are inverted and arranged at a predetermined angle, and the object to be moved is placed on the rotating member in the front row so that the object to be moved is moved forward with respect to the following rotating member. The convenience that can be made is obtained.
[0007]
(About claim 10 )
A large number of small wheels provided on the rotating member have their rotational directions oriented in the radial direction or have a predetermined angle with the radial direction. For this reason, there is an advantage that it is possible to provide as an option a different direction of the small wheels depending on the purpose of use and the application object.
[0008]
(About claim 11 )
The three rotation shafts are respectively attached to the corners of the triangular plate-like vehicle body and are inclined outward or inward with respect to the center of the vehicle body. For this reason, it is easy to control the rotating member with a relatively simple structure, and it is thin and excellent in mobility.
[0009]
(About claim 12)
The three rotation shafts are attached to the corners of the triangular plate-like vehicle body and are inclined outward or inward with respect to the center of the vehicle body. A large number of small wheels are arranged at equal angular intervals in the circumferential direction of the rotating member around the rotating shaft, the rotating direction is directed in the radial direction, and a part located at the inclined end of the rotating member is in contact with the ground plane. For this reason, similarly to the eleventh aspect, the rotation member can be easily controlled with a relatively simple structure, and is thin and excellent in mobility.
[0010]
(About claim 13)
The three rotation shafts are attached to the corners of the triangular plate-like vehicle body and are inclined outward or inward with respect to the center of the vehicle body. Many small wheels are arranged at equiangular intervals in the circumferential direction of the disk-shaped rotating member around the rotating shaft, the rotating direction is directed in the radial direction, and a part located at the inclined end of the rotating member is on the ground plane Touch. The drive motor is disposed between the vehicle body and the rotating member, and separately rotates the rotating member. In this case, the rotating member can be not only a disk but also an annular shape, a rectangular shape, a hexagonal shape, a polygonal shape, various types of frames and flat frustums, and the transmission between the drive motor and the rotating member is a gear train. It can be realized by a transmission means such as a belt or a chain.
[0012]
(About claim 14 )
Since the drive motor that is attached to each of the rotating members and rotates the rotating member separately via a pulley and a belt is configured, it can be assembled using existing components such as a pulley and a belt.
[0013]
(About claim 15 )
Since the drive motor that is attached to each of the rotating members and separately drives the rotating member via the speed reduction mechanism is configured, the rotating member can be driven without difficulty with a desired reduction ratio.
(About claim 16 )
Since the suspension is provided between the small wheel and the rotating member, it is possible to mitigate the impact received from the road surface during traveling, suppress the shaking of the vehicle body, and reduce the generation of vibration noise.
[0014]
( About claim 17 )
The vehicle body forms a triangle, and the three rotation shafts are attached to the corners of the vehicle body so as to be inclined outward or inward with respect to the center of the vehicle body. As a result, the vehicle body is balanced and stable with a simple structure, and the running performance is improved.
[0015]
(About claim 18 )
The rotating member is disk-shaped, and the small wheels are oriented in the radial direction at equal angular intervals in the circumferential direction of the rotating member, or have a predetermined angle with the radial direction. For this reason, standardization of the small wheels can be easily achieved and the manufacturing becomes easy.
(About claim 19 )
Since the rotating shaft is inclined at the same angle with respect to the center direction of the vehicle body, the entire structure is stabilized in a balanced manner.
[0016]
(About claim 20)
The inclination angle of the rotating member with respect to the ground contact surface can be changed as desired according to the traveling road surface condition, which is convenient.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described with reference to the drawings.
1 to 6 show a moving device 1 according to the present invention, which has a vehicle body 2 formed of a regular triangular plate material with a rounded apex. On the back surface of the vehicle body 2, as shown in FIG. 1, the rotation shaft 4 is positioned via the machine frame 3 in a corner portion that is a vertex portion. Each rotary shaft 4 is arranged in a forward tilt state in which it is tilted inward at a predetermined angle (α: 5 degrees, for example) in the direction of the center P of the vehicle body 2. The rotating shaft 4 is rotatable with respect to the machine frame 3 attached to the vehicle body 2, and a disc-shaped rotating member 5 that rotates integrally with the rotating shaft 4 is fitted as shown in FIGS. is doing. In this case, the vehicle body 2 is formed in an equilateral triangle shape from the viewpoint of simplification of structure, good efficiency, and controllability, but the shape of the vehicle body 2 may be circular, rectangular, or pentagonal depending on the application and appearance. Hexagon, polygon, frame, flat frustum, etc. can be set as desired. The rotary shaft 4 may be arranged not only in a forward inclined state that opens downward with respect to the vehicle body 2 but also in a rearward inclined state that opens upward and inclines outward at a predetermined angle in the direction of the center P of the vehicle body 2. Good.
[0019]
Since the three rotation members 5 are perpendicular to the respective rotation shafts 4, the inclined ends of the rotation members 5 are inclined at an angle α with respect to the ground plane G as shown in FIG. On the back surface of each rotating member 5, a large number of small wheels 6 are arranged adjacent to each other at equal angular intervals on the same circumference around the rotating shaft 4 so as to be directed in the radial direction. These small wheels 6 are rotatably supported on an axle 8 of a bracket 7 attached to the back surface of the rotating member 5. A base circle formed by a large number of small wheels 6 aligned on the same circle shares a tangential direction with the outer peripheral edge of the rotating member 5.
[0020]
Since the inclined end of the rotary member 5 is inclined to the ground plane G, a portion such as one wheel or two wheels of a number of small wheel 6 abuts the contact with the ground surface G, with the rotation of the rotary member 5 Then, a part of the small wheel 6 that abuts against the ground contact surface G replaces the forward feed. The small wheel 6 is made of, for example, rubber or synthetic resin, and the tread portion 6a has an arcuate profile.
[0021]
A drive motor 9 is installed in the machine casing 3 of each rotating member 5 and is connected to the rotating shaft 4 via a speed reduction mechanism 10. Each drive motor 9 is arranged on the back surface of the vehicle body 2 and individually adjusts the rotational speed of each rotary member 5 under the control of the control device 12 having the electronic board 11 shown in FIG. Thereby, the vehicle body 2 can rotate and rotate on a two-dimensional road surface in the front-rear and left-right directions. For example, as shown in FIG. 6A, when the left and right rotating members 5 are rotated in the opposite directions at the same speed and the upper rotating member 5 is in a neutral stationary state, the moving device 1 The vehicle body 2 moves downward. Also, as shown in (b) of the figure, the lower left and right rotating members 5 are rotated at the same speed in the same direction, and the upper rotating member 5 is rotated at the same speed in the opposite direction to the lower one. Then, the vehicle body 2 moves to the left.
[0022]
At this time, the vehicle body 2 moves, rotates, and rotates in a traveling direction and a traveling speed according to the resultant force of the torque vector generated by the dynamic friction between the small wheel 6 and the ground contact surface G of each rotating member 5. For example, in the case of (a) in FIG. 6, the small wheels 6 of the left and right rotating members 5 do not rotate, and the vehicle body 2 is urged in the directions of the torque vectors A and B by the dynamic friction force while sliding on the ground contact surface G in the axle direction. Repeat 100-foot walk. In the case of (b) in the figure, the vehicle body 2 is urged by the torque vectors A, B, and C generated by the dynamic friction between the small wheels 6 of the rotating members 5 and the ground contact surface G to bring the small wheels 6 to the ground contact surface G. Move while sliding.
[0023]
FIG. 7 shows a second embodiment of the present invention. In the second embodiment, the small wheels 6 are attached so that the rotation direction M forms a predetermined angle β with respect to the radial direction R of the rotation member 5 centering on the rotation shaft 4. For this reason, the axle 8 is deflected by an angle β with respect to the tangential direction of the rotating member 5. With this configuration, the dynamic friction force with the ground contact surface G generated with respect to the rotational speed of the rotating member 5 changes, but the vehicle body 2 can travel in two dimensions in all directions as in the first embodiment.
[0024]
FIG. 8 (a) shows a third embodiment of the present invention. In the third embodiment, an axle 8 is provided on a notch 13 provided intermittently on the outer peripheral edge of the rotating member 5, and the small wheel 6 is supported on the axle 8. (B) of the figure is a fourth embodiment of the present invention and shows a mode in which a small wheel 6 formed in a spherical shape is supported on an axle 8.
[0025]
FIG. 9 (a) shows a fifth embodiment of the present invention. In the fifth embodiment, the small wheel 6 and the inner small wheel 14 are provided on the rotating member 5 on a double concentric circle centered on the rotating shaft 4. In this case, the inner bracket 15 is made slightly longer than the outer bracket 7 so that the small wheel 6 and the inner small wheel 14 adjacent to the inside and outside are in contact with the ground contact surface G at the same time. For this reason, the vehicle body 2 is stabilized and the load resistance is improved so that it is suitable for transporting heavy objects. (B) of the figure shows a sixth embodiment of the present invention, in which the inner bracket 15 and the outer bracket 7 are set to the same height, the inner small wheel 14 is set to be larger in diameter than the small wheel 6, and the inner and outer The small wheel 6 and the inner small wheel 14 that are adjacent to each other are in contact with the ground contact surface G at the same time.
[0026]
FIG. 10 shows a seventh embodiment of the present invention. In the seventh embodiment, the suspension 16 is provided on the small wheel 6. The suspension 16 is a coil spring Sp provided between the back surface of the rotating member 5 and the bracket 7 and reduces vibration during traveling.
FIG. 11 shows an eighth embodiment of the present invention. The suspension 16 according to the eighth embodiment includes a coil spring Sp provided between the back surface of the vehicle body 2 and the drive motor 9.
[0027]
FIG. 12 shows a ninth embodiment of the present invention. The suspension 16 of the ninth embodiment includes a link lever 17 provided between the machine frame 3 and the back surface of the vehicle body 2, and a damper installed between the machine frame 3 and the back surface of the vehicle body 2 on the opposite side of the link lever 17. 18. In this case, the vibration reduction effect is further improved by the damping action of the damper 18.
[0028]
FIG. 13 shows a tenth embodiment of the present invention. The suspension 16 of the tenth embodiment includes a universal joint 19 provided between the rotating shaft 4 and the rotating member 5 and a damper 20 installed between the machine frame 3 and the rotating member 5.
[0029]
14 and 15 show an eleventh embodiment of the present invention. The suspension 16 of the eleventh embodiment is a coil spring Sp provided between the link mechanism 21 extending from each machine frame 3 toward the center of the vehicle body 2 and the back surface of the vehicle body 2. A short link 22 that allows the link mechanism 21 to move up and down is connected between the outer end of each machine casing 3 and the vehicle body 2.
[0030]
FIG. 16 shows a twelfth embodiment of the present invention. In the twelfth embodiment, a variable plate 23 is provided between the rear surface of the vehicle body 2 and the machine casing 3 in order to change the inclination angle α of the rotating member 5 with respect to the ground contact surface G. The variable plate 23 has longitudinally long holes 25 for receiving the screws 24 in three rows, and the rotating member 5 is appropriately tilted together with the drive motor 9 to tighten the screws 24, whereby the rotating member 5 is tilted to a desired inclination angle α. Can be adjusted to.
[0031]
FIGS. 17A and 17B show a thirteenth embodiment of the present invention. In the thirteenth embodiment, the rotating member 5 is formed by a circular leaf spring, and the small wheels 6 are arranged on the respective support pieces 27 formed by providing the cut portions 26 at equal angular intervals on the outer peripheral edge of the leaf spring. ing. A roller 28 that is rotatable in the tangential direction of the rotating member 5 is attached to the rear surface of the machine frame 3 so as to correspond to the cut portion 26. As the rotating member 5 rotates, the roller 28 presses and deflects the support piece 27 downward in order to bring the small wheels 6 into contact with the ground contact surface G one after another. In this case, the rotating member 5 may be slightly inclined with respect to the ground plane G or in a horizontal state.
[0032]
FIG. 18 shows a fourteenth embodiment of the present invention. In the fourteenth embodiment, the rotating member 5 is formed in a dish shape and is rotatably attached to the back surface of the vehicle body 2 via a surface bearing 29. The drive motor 9 rotationally drives the rotary member 5 via a speed reduction mechanism 30 such as a planetary gear mechanism and the rotary shaft 4. The entire surface bearing 29 stabilizes and the pressure load is improved, so that it is suitable for loading heavy objects.
[0033]
FIG. 19 shows a fifteenth embodiment of the present invention, and FIG. 20 shows a sixteenth embodiment of the present invention. In the fifteenth embodiment, each rotary member 5 is a rotor 5A, and a stator 31 is provided around the rotary shaft 4 to constitute a drive motor 9, and each rotary member 5 is rotationally driven separately. A boss portion 32 formed in a cylindrical shape from the center of the inner bottom portion of the dish-shaped rotating member 5 is rotatably fitted on the rotating shaft 4. A ring-shaped magnet 33 is concentrically fitted to the boss portion 32 inside the stator 31 fixed to the back surface of the vehicle body 2.
In the sixteenth embodiment, the magnet 33 used in the fifteenth embodiment is fitted to the inner surface of the rotating member 5 outside the stator 31. In the fifteenth and sixteenth embodiments, the rotating shaft 4 may be configured to rotate integrally with the magnet 33 and the boss portion 32 instead of fixing the rotating shaft 4.
[0034]
FIG. 21 shows a seventeenth embodiment of the present invention. In the seventeenth embodiment, the rotary member 5 is formed by a large-diameter pulley 5B that can be rotated by using a surface bearing 29, and a small-diameter pulley 34 is fitted to the output shaft 9a on the drive motor 9 side. A belt 35 is stretched around a pulley 34 having a small diameter. In this configuration, since the rotating member 5 and the drive motor 9 are arranged in parallel in the lateral direction, the dimension in the thickness direction is reduced, and the overall thickness is reduced.
Instead of the large-diameter pulley 5B and the small-diameter pulley 34, a large-diameter sprocket and a small-diameter sprocket may be used as transmission means, and the chain may be hung over both sprockets.
[0035]
22 (a) and 22 (b) show an eighteenth embodiment of the present invention. In the eighteenth embodiment, two rotating members 5 having small wheels 6 are provided so as to partially overlap each other in the radial direction. In this configuration, two rotating members 5 are provided in the radial direction, which contributes to overall stabilization and improved load resistance.
[0036]
23 and 24 show the 19th and 20th embodiments of the present invention. In the nineteenth embodiment, the vehicle bodies 2 of the moving device 1 are connected by a beam-like connecting member 36. In the twentieth embodiment, the vehicle bodies 2 of the moving device 1 are connected to each other by a rectangular plate-like connecting member 36. According to these embodiments, the position Pc of the entire rotation center including the connecting member 36 can be freely changed by individually controlling the rotation speed of the rotation member 5. Thereby, when traveling along corners such as hallways and narrow alleys of buildings, the corners may be able to pass through by appropriately changing the position Pc of the rotation center of the connecting member 36.
[0037]
25 and 26 show the twenty-first and twenty-second embodiments of the present invention. In these embodiments, instead of an equilateral triangle, the vehicle body 2 is formed into a square and a hexagon, and a rotating member 5 provided with a small wheel 6 is arranged at each corner.
[0038]
A case where the drive motor 9 of FIG. 1 is omitted without being provided as a twenty-third embodiment of the present invention will be described with reference to FIGS. 1 and 2 for convenience. In this case, since the rotating shaft 4 is rotatably attached to the vehicle body 2, the vehicle body 2 can be moved, swiveled and rotated in two dimensions only by manually pushing and pulling the vehicle body 2 without providing the drive motor 9. In addition, since the rotating motion is performed smoothly, it is convenient when the object to be moved is moved on the vehicle body 2.
[0039]
A mode in which the vehicle body 2 is used in the state shown in FIG. 1 will be described as a twenty-fourth embodiment of the present invention. In the twenty-fourth embodiment, the vehicle body 2 is inverted upside down, and the moving object is placed on the rotating member 5 and sent. For this reason, a moving object such as a plate material, a processed material, and an exhibition / display product is placed on the rotating member 5, and the rotating member 5 is separately rotated by the drive motor 9. It is possible to perform omnidirectional movement, turning, rotation and rotation. Further, when the drive motor 9 is not provided, it is convenient that the moving object on the rotating member 5 can be easily moved in a desired direction with a small force by manually pushing and pulling the moving object.
[0040]
In this case, a plurality or many of the vehicle bodies 2 are tilted and arranged at a predetermined angle, and the object to be moved is placed on the rotating member 5 in the foremost row, so that the object to be moved is placed on the following rotating member 5. Thus, it is possible to obtain the convenience of moving forward. Therefore, by arranging a series of guide plates (not shown) on both sides of the vehicle body 2, a desired delivery point can be obtained simply by placing a package or a packed postcard on the rotating member 5 as a moving object. Can move quickly and smoothly. At this time, the transfer path by the guide plate is not limited to a straight line, but may be curved in an arc shape, a zigzag fold shape, a maze shape, or the like. If the object to be moved is uneven or a three-dimensional object with many undulations, the object to be moved may be placed on the transfer plate and placed on the rotating member 5.
[0041]
In the second to twenty-second embodiments, the same parts as those in the first embodiment are denoted by the same reference numerals, and only different parts are described.
[Brief description of the drawings]
FIG. 1 is a perspective view of a moving device as seen from the back (first embodiment).
FIG. 2 is a front view of the moving device.
FIG. 3 is a plan view of the moving device shown partially broken.
FIG. 4 is a bottom view of the moving device.
FIG. 5 is a front view showing the periphery of a drive motor.
FIGS. 6A and 6B are bottom views of the vehicle body for explaining the principle of movement of the moving device. FIGS.
FIG. 7 is a bottom view of a rotating member (second embodiment).
8A is a bottom view of the rotating member (third embodiment), and FIG. 8B is a bottom view of the rotating member (fourth embodiment).
9A is a front view showing the periphery of the drive motor (fifth embodiment), and FIG. 9B is a front view showing the periphery of the drive motor (sixth embodiment).
FIG. 10 is a front view showing the periphery of a drive motor (seventh embodiment).
FIG. 11 is a front view showing the periphery of a drive motor (eighth embodiment).
FIG. 12 is a front view showing the periphery of a drive motor (Ninth Embodiment).
FIG. 13 is a front view showing the periphery of a drive motor (a tenth embodiment).
FIG. 14 is a front view of a moving device (an eleventh embodiment).
FIG. 15 is a bottom view of the moving device.
FIG. 16 is a front view of a moving device (a twelfth embodiment).
17A is a front view of a moving device, and FIG. 17B is a perspective view of a rotating member (a thirteenth embodiment).
FIG. 18 is a front view of a moving device (fourteenth embodiment).
FIG. 19 is a partial longitudinal sectional view of a moving device (fifteenth embodiment).
FIG. 20 is a partial vertical sectional view of a moving device (sixteenth embodiment).
FIG. 21 is a partial longitudinal sectional view of a moving device (seventeenth embodiment).
22A is a bottom view of the moving device, and FIG. 22B is a front view of a rotating member (eighteenth embodiment).
FIG. 23 is a bottom view of the moving device (19th embodiment).
FIG. 24 is a bottom view of a moving device (20th embodiment).
FIG. 25 is a bottom view of the moving device (a twenty-first embodiment).
FIG. 26 is a bottom view of a moving device (a twenty-second embodiment).
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Mobile device 2 Car body 4 Rotating shaft 5 Rotating member 6 Small wheel 9 Drive motor 10, 30 Deceleration mechanism 12 Control mechanism (control means)
14 Inner small wheel 16 Suspension 18, 20 Damper (suspension)
31 Stator 34 Small-diameter pulley 35 Belt 36 Connecting member 5A Rotor (rotating member)
5B diameter large pulley (rotary member)
G grounding surface Sp coil spring (suspension)
R radial direction M rotational direction

Claims

Rotating members respectively provided on at least three rotating shafts attached to the vehicle body and inclined with respect to the center of the vehicle body;
A number of small wheels that are arranged at predetermined angular intervals in the circumferential direction of the rotating member around the rotating shaft, and a portion of the rotating member that is located at the inclined end of the rotating member is in contact with the ground contact surface;
A drive motor attached to each of the rotating members to drive the rotating member separately;
A moving device comprising control means for independently controlling the drive motor to independently adjust the rotational speed of the rotating member;
The vehicle body having the rotating member is connected by a connecting member, and the rotational center of the connecting member can be freely changed by controlling the rotational speed of the rotating member.

Rotating members respectively provided on at least three rotating shafts attached to the vehicle body and inclined with respect to the center of the vehicle body;
A number of small wheels that are arranged at predetermined angular intervals in the circumferential direction of the rotating member around the rotating shaft, and a portion of the rotating member that is located at the inclined end of the rotating member is in contact with the ground contact surface;
A drive motor attached to each of the rotating members to drive the rotating member separately;
A moving device comprising control means for independently controlling the drive motor to independently adjust the rotational speed of the rotating member;
A moving apparatus characterized in that the vehicle body is inverted upside down and a moving object is placed on the rotating member and sent.

The mobile device according to claim 1,
A moving apparatus characterized in that the vehicle body is inverted upside down and a moving object is placed on the rotating member and sent .

Rotating members respectively provided on at least three rotating shafts attached to the vehicle body and inclined with respect to the center of the vehicle body;
A number of small wheels that are arranged at predetermined angular intervals in the circumferential direction of the rotating member around the rotating shaft, and a portion of the rotating member that is located at the inclined end of the rotating member is in contact with the ground contact surface;
A drive motor that rotates each of the rotating members separately by providing each of the rotating members as a rotor and providing a stator around the rotating shaft;
A moving device comprising: control means for independently controlling the drive motor to independently adjust the rotational speed of the rotating member.

Rotating members respectively provided on at least three rotating shafts attached to the vehicle body and inclined with respect to the center of the vehicle body;
A number of small wheels that are arranged at predetermined angular intervals in the circumferential direction of the rotating member around the rotating shaft, and a portion of the rotating member that is located at the inclined end of the rotating member is in contact with the ground contact surface;
A plurality of inner small wheels that are concentrically provided inside the small wheel on the rotating member, a part of which is in contact with the ground contact surface and larger in diameter than the small wheel;
A drive motor attached to each of the rotating members to drive the rotating member separately;
A moving device comprising: control means for independently controlling the drive motor to independently adjust the rotational speed of the rotating member.

The mobile device according to claim 4 or 5,
The vehicle body having the rotating member is connected by a connecting member, and the rotational center of the connecting member can be freely changed by controlling the rotational speed of the rotating member .

Rotating members respectively provided on at least three rotating shafts attached to the vehicle body and inclined with respect to the center of the vehicle body;
A plurality of small wheels that are arranged at predetermined angular intervals in the circumferential direction of the rotating member around the rotating shaft, and a part of the rotating member that is located at the inclined end of the rotating member is in contact with the ground contact surface;
A moving device characterized in that the rotating member moves individually by rotating on the ground contact surface by pushing and pulling the vehicle body,
The vehicle body having the rotating member is connected by a connecting member, and the rotational center of the connecting member can be freely changed by controlling the rotational speed of the rotating member.

The mobile device according to any one of claims 4 to 7,
A moving apparatus characterized in that the vehicle body is inverted upside down and a moving object is placed on the rotating member and sent .

Rotating members respectively provided on at least three rotating shafts attached to the vehicle body and inclined with respect to the center of the vehicle body;
A plurality of small wheels that are arranged at predetermined angular intervals in the circumferential direction of the rotating member around the rotating shaft, and a part of the rotating member that is located at the inclined end of the rotating member is in contact with the ground contact surface;
A moving device characterized in that the rotating member moves individually by rotating on the ground contact surface by pushing and pulling the vehicle body,
A moving apparatus characterized in that the vehicle body is inverted upside down and a moving object is placed on the rotating member and sent.

The mobile device according to any one of claims 1 to 3,
The small wheel is characterized in that the rotational direction is directed in the radial direction at a predetermined angular interval in the circumferential direction of the rotating member around the rotational axis, or has a predetermined angle with the radial direction. the mobile device to be.

The mobile device according to any one of claims 1 to 3,
The vehicle body has a triangular plate shape,
The three rotation shafts are respectively attached to corner portions of the vehicle body so as to be inclined outward or inward with respect to the center of the vehicle body .

The mobile device according to any one of claims 1 to 3,
The vehicle body has a triangular plate shape,
The three rotation shafts are respectively attached to the corners of the vehicle body so as to be inclined outward or inward with respect to the center of the vehicle body ,
The moving device characterized in that the rotation direction of the small wheels is directed in the radial direction at equal angular intervals in the circumferential direction of the rotation member around the rotation axis .

The mobile device according to claim 12,
The rotating member is disk-shaped,
The moving device , wherein the drive motor is disposed between the vehicle body and the rotating member .

The mobile device according to any one of claims 1 to 3,
The driving device is attached to each of the rotating members, and separately drives the rotating members via a pulley and a belt .

The mobile device according to any one of claims 1 to 3,
The driving device is attached to each of the rotating members, and separately drives the rotating members via a speed reduction mechanism .

The mobile device according to any one of claims 1 to 3,
A moving apparatus comprising a suspension provided between the small wheel and the rotating member .

In the moving apparatus in any one of Claims 4-9 and 14-16,
The vehicle body forms a triangle,
The three rotation shafts are attached to corner portions of the vehicle body so as to be inclined outward or inward with respect to the center of the vehicle body .

In the movement apparatus in any one of Claims 4-9 and 14-17,
The rotating member has a disk shape,
The moving device according to claim 1, wherein the small wheel has a rotational direction oriented in a radial direction at equal angular intervals in a circumferential direction of the rotating member, or has a predetermined angle with the radial direction.

The mobile device according to any one of claims 1 to 18,
The rotating device is characterized in that the rotation shaft is inclined at the same angle with respect to the center direction of the vehicle body.

The mobile device according to any one of claims 1 to 19,
The moving device characterized in that an inclination angle of the rotating member with respect to the ground surface can be changed.