JP2009234524A - Transporting device and drive mechanism - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To establish easy movability with a high degree of freedom using a simple configuration. <P>SOLUTION: Omni-wheels 31a, 31b, 31c are installed at a prescribed spacing with respect to a hollow, globular rotor 20 whose surface is made of a resilient material, and driven by wheel driving parts 32a, 32b, 32c. On a frame 40, drive holding parts 33a, 33b, 33c are mounted to hold the omni-wheels in the condition that the wheels are pressed to the globular rotor 20, and further, rotor holding parts 51a, 51b, 51c are provided for holding the rotor 20. The rotor 20 is rolled by the wheel driving parts in the desired direction so as to move and/or rotate the frame in the condition that the rotor 20 and the frame 40 are consolidated. The frame 40 is furnished with a direct move driving part 35 so as to make movable the frame 40 even in the direction which is not established by rolling the rotor 20. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a transport device and a drive mechanism. Specifically, by providing at least three or more spherical rotating body driving parts at a predetermined interval with respect to the spherical rotating body in the frame part, and rolling the spherical rotating body in a desired direction with this spherical rotating body drive part, The frame portion is moved and / or rotated. Furthermore, by providing a linear motion drive unit and driving the spherical rotating body in the central direction of the spherical rotating body, the frame portion is moved in a direction different from the moving direction by rolling the spherical rotating body. is there.

In recent years, a moving mechanism having mobility in various directions has been realized. For example, Patent Literature 1 discloses that a spherical traveling body is rolled in an arbitrary direction by an omnidirectional movement driving unit to move a robot main body in X and Y directions. Further, in Patent Document 2, an approximately spherical rotating body is provided, the rotating body is rotatably held, and a rotational force is applied to the rotating body by a driving unit, thereby moving the apparatus in the X and Y directions. It is disclosed.
JP 2006-282160 A JP 2004-129435 A

  By the way, in patent document 1 and patent document 2, a spherical body or a rotating body is driven to move in the X and Y directions, and mobility with a high degree of freedom cannot be obtained. Moreover, a mechanism called a Stewart platform has been realized as a method of obtaining mobility with a high degree of freedom. This Stewart platform is a platform in which the platforms are connected in parallel by six pairs of even-numbered links. A large output is easily generated, but the movable range is narrow, and the mechanism becomes large.

  Therefore, the present invention provides a transport device and a drive mechanism that can easily move with a high degree of freedom with a simple configuration.

  The concept of the present invention is to use a spherical rotating body and a spherical rotating body driving section that is provided in the frame section at a predetermined interval with respect to the spherical rotating body and rolls the spherical rotating body in a desired direction. The spherical rotary body is moved and / or rotated in a desired direction by rolling the spherical rotary body with the spherical rotary body driving unit. Furthermore, by providing a linear drive unit and driving the spherical rotating body in the central direction of the spherical rotating body, the frame section can be moved in a direction that cannot be moved by rolling the spherical rotating body.

  The conveying device according to the present invention includes a spherical rotating body, a spherical rotating body driving unit that is provided at least three or more at a predetermined interval with respect to the spherical rotating body, and rolls the spherical rotating body in a desired direction. A drive holding unit that is attached to a unit and holds the spherical rotating body driving unit pressed against the spherical rotating unit, and a control unit that performs drive control of the spherical rotating unit driving unit, The frame portion is moved and / or rotated by rolling the spherical rotating body on the surface.

  The drive mechanism of the present invention includes a spherical rotator, and a spherical rotator drive unit that is provided at least three or more at a predetermined interval with respect to the spherical rotator and rolls the spherical rotator in a desired direction. And a linear drive unit that drives the spherical rotating body in the central direction of the spherical rotating body.

  In the present invention, for example, a spherical rotating body that is a hollow body and has a surface portion made of an elastic body and provided with a balancer therein is used. In addition, at least three or more spherical rotors are provided at a predetermined interval to roll the spherical rotor in a desired direction, and the spherical rotor driver attached to the frame unit is provided with the spherical rotor driver. A driving holding unit that holds the spherical rotating body in a pressed state and a control unit that performs driving control of the spherical rotating body driving unit are used. The spherical rotating body driving unit drives the spherical rotating body and is capable of moving in a direction different from the driving direction, for example, an omni wheel, and a wheel that drives the omni wheel to roll the spherical rotating body. It is configured using a drive unit. The omni wheel is provided on one hemispherical side of the spherical rotating body, and a spherical rotating body holding portion that holds the spherical rotating body is provided on the other hemispherical side of the spherical rotating body. Further, a linear motion drive unit is provided in the frame portion, and the linear motion drive unit drives the spherical rotary body in the center direction of the spherical rotary body, so that it cannot move by rolling the spherical rotary body. The frame part is moved.

  According to the present invention, at least three or more spherical rotating body driving portions are provided in the frame portion at a predetermined interval with respect to the spherical rotating body, and the spherical rotating body rolls in a desired direction by the spherical rotating body driving portion. As a result, the frame portion is moved and / or rotated. For this reason, a highly flexible transfer operation can be performed with a simple configuration.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows the configuration of the transport apparatus. 1A is a top view, FIG. 1B is a front view, FIG. 1C is a bottom view, and FIG. 1D is a side view.

  The conveying device 10 includes a spherical rotating body 20, a driving unit 30 that can roll while holding the spherical rotating body 20, and a frame unit 40 to which the driving unit 30 is attached.

  At least three or more driving units 30 are provided at a predetermined interval with respect to the spherical rotating body, and the spherical rotating body driving unit that rolls the spherical rotating body 20 in a desired direction, and the spherical rotating body attached to the frame unit 40. The body holding unit is configured by a drive holding unit that holds the body driving unit pressed against the spherical rotating body 20. Further, the driving unit 30 drives the spherical rotating body 20 in the central direction of the spherical rotating body 20 and moves the frame unit 40 in a direction that cannot be moved by rolling the spherical rotating body. Etc. are provided.

  The spherical rotator drive unit includes a wheel that rolls the spherical rotator 20, for example, an omni wheel, and a wheel drive unit that rotationally drives the omni wheel. FIG. 1 shows a case where three omni wheels 31a, 31b, 31c are arranged at regular intervals (120 degree intervals), for example.

  The omni wheel not only rotationally drives the spherical rotator 20, but is also capable of moving in a direction different from the driving direction.

  Here, the omni wheel will be described. FIG. 2 illustrates a perspective view of the omni wheel. The omni wheel 31 includes a wheel main body 311 and a plurality of barrel wheels 315. A shaft hole 312 is formed in the center of the wheel main body 311. In addition, a barrel-shaped wheel support portion 313 that supports the barrel-shaped wheel 315 protrudes from the outer edge of the wheel body portion 311, and a plurality of barrel-shaped wheel support portions 313 are formed at intervals corresponding to the barrel-shaped wheel 315. A rotation shaft (not shown) of the wheel drive unit 32 is inserted into the shaft hole 312, and the wheel body unit 311 is rotated by the wheel drive unit 32. The barrel-shaped wheel support portion 313 supports the barrel-shaped wheel 315 so that the barrel-shaped wheel 315 can rotate in a direction orthogonal to the rotation direction of the wheel main body portion 311, for example. That is, the omni wheel 31 not only rotationally drives the spherical rotating body 20, but also can move in a direction different from the direction of this driving.

  Further, in the omni wheel 31, for example, when the interval between the adjacent barrel-shaped wheels 315 is wide or the diameter of the barrel-shaped wheels 315 is small, the barrel-shaped wheel support portion 313 may come into contact with the surface of the spherical rotating body 20. Here, when the barrel-shaped wheel support portion 313 comes into contact with the surface of the spherical rotator 20, the omni wheel 31 cannot move in the direction of the rotation axis of the wheel main body portion 311.

  Then, when there exists a possibility that the barrel-shaped wheel support part 313 may contact the surface of the spherical rotary body 20, the omni wheel 31 is provided in multiple steps in the rotating shaft direction. Further, the plurality of omni wheels 31 are integrated and configured so that the position of the barrel-shaped wheel support portion 313 is the position of the barrel-shaped wheel 315 in the omni wheel 31 at the other stage. FIG. 3 shows a configuration when the omni wheel 31 is provided in two stages in the rotation axis direction. As shown in FIG. 3, when the omni wheel 31 is provided in two stages in the rotation axis direction, the barrel wheel 315 of the other omni wheel 31 is positioned on the ground plane even when the barrel wheel support portion 313 is positioned on the ground plane. It becomes. Therefore, the omni wheel 31 can move in the direction of the rotation axis of the wheel main body 311 regardless of the rotational position.

  Next, as shown in FIG. 1, the omni wheel 31a and the wheel drive unit 32a are held by a drive holding unit 33a. The drive holding portion 33 a is attached to the frame portion 40 and holds the omni wheel 31 a in a state of being pressed against the spherical rotating body 20.

  The rotation shaft of the wheel drive section 32a is inserted through the rotation shaft of the omni wheel 31a, and the wheel body section of the omni wheel 31a is rotated by the wheel drive section 32a. The holding frame 331a of the drive holding unit 33a holds the omni wheel 31a in a rotatable state. Further, the holding frame 331a fixes and holds the main body of the wheel driving unit 32a.

  One end of the holding frame 331a is connected to the loading platform 41 of the frame portion 40, and the other end holds the omni wheel 31a and the wheel driving portion 32a as described above. The holding frame 331a can be rotated in a direction in which the omni wheel 31a abuts on the spherical rotating body 20 or a direction in which the omni wheel 31a is detached from the spherical rotating body 20 with a connection portion with the loading platform 41 as a fulcrum 332a.

  The suspension 333a is interposed between the holding frame 331a and the loading platform 41. The suspension 333a presses the holding frame 331a so that the omni wheel 31a is pressed against the spherical rotating body 20 with an optimum force.

  For this reason, the omni wheel 31a is hold | maintained in the state pressed by the spherical rotary body 20 by the drive holding | maintenance part 33a. Therefore, the drive part 30 can transmit a drive force from the wheel drive part 32a to the spherical rotating body 20 via the omni wheel 31a. Further, since the omni wheel 31a is pressed against the spherical rotator 20 with an optimum force, it is transmitted from the wheel drive unit 32a to the spherical rotator 20 using the frictional force between the spherical rotator 20 and the omni wheel 31a. The loss of driving force can be reduced. A stopper 334a is provided between the holding frame 331a and the loading platform 41. The stopper 334a restricts the rotation of the holding frame 331a by a predetermined amount or more in the separation direction.

  Further, the omni wheels 31b, 31c, the wheel driving units 32b, 32c, the holding frames 331b, 331c of the driving holding units 33b, 33c, the suspensions 333b, 333c, and the stoppers 334b, 334c are also equipped with the omni wheel 31a, the wheel driving unit 32a, and the driving holding unit. The holding frame 331a, the suspension 333a, and the stopper 334a of the portion 33a are configured similarly.

  A linear motion drive unit 35 is provided at the top of the spherical rotating body 20. One end of the linear drive unit 35 is fixed to the loading platform 41. A ball caster 36 is provided at the other end of the linear motion drive unit 35 so that when the linear motion drive unit 35 operates, the ball caster 36 moves forward and backward in the central direction of the spherical rotating body 20. Yes. For this reason, the spherical body 20 can be moved in the advancing / retreating direction of the linear motion drive unit 35 by the linear motion drive unit 35. In addition, since the ball caster 36 is provided in the linear motion drive unit 35, the spherical rotary body 20 can be rolled even if the spherical motion body 20 is moved by the linear motion drive unit 35.

  A plurality of support columns are erected on the loading platform 41 of the frame portion 40 in the direction of the spherical rotating body 20 to be held. For example, as shown in FIG. 1, three support columns 42a, 42b, and 42c are erected. The tips of the columns 42a, 42b, 42c are fixed to one surface of the annular frame 43. On the other surface of the annular frame 43, a plurality of spherical rotating body holding portions, for example, three spherical rotating body holding portions 51a, 51b, 51c are provided as shown in FIG. Here, the omni wheels 31a, 31b, 31c are provided on one hemispherical side of the spherical rotating body 20, and the spherical rotating body holding portions 51a, 51b, 51c are provided on the other hemispherical side of the spherical rotating body 20. Is provided.

  The spherical rotating body holding portion 51a can be rotated in a direction in which the spherical rotating body 20 abuts or leaves the spherical rotating body 20 with a connecting portion with the annular frame 43 as a fulcrum 511a. In addition, a ball caster 52a is installed on the front end side of the spherical rotating body holding portion 51a and facing the spherical rotating body 20. Further, the spherical rotating body holding portion 51a is provided with a suspension (not shown) that presses the ball caster 52a provided on the distal end side of the spherical rotating body holding portion 51a against the spherical rotating body 20 with an optimum force. It has been. The spherical rotating body holding parts 51b and 51c are configured in the same manner as the spherical rotating body holding part 51a.

  FIG. 4 illustrates changes in the position of the omni wheel and the position of the spherical rotating body holding unit when the driving operation is performed by the wheel driving unit and the linear motion driving unit. In FIG. 4, the vertical direction based on the center of the spherical rotating body 20 is taken as the z axis. In addition, the loading platform 41 is in a horizontal state, and the direction in which the omni wheel 31c is provided with respect to the z axis with respect to the center of the spherical rotating body 20 is defined as the x axis and the center of the spherical rotating body 20 is defined as x. The direction perpendicular to the axis and the z-axis is taken as the y-axis. Further, FIG. 4 shows a position PMa where the omni wheel 31a abuts on the spherical rotating body 20 and a position PHa where the spherical rotating body holding portion 51a abuts. Also,

  Here, when the surface of the spherical rotating body 20 is indicated by polar coordinates, when the omni wheel 31a is driven by the wheel driving unit 32a, only the deviation angle φ is changed and the position PMa is moved. Also, the position PHa moves in conjunction with the position PMa.

  Next, when the spherical rotating body 20 is driven by the linear motion drive unit 35, the spherical rotating body 20 moves in the z-axis direction. Here, the omni wheel 31a can be moved in a direction orthogonal to the rotational direction of the omni wheel 31a by a barrel-shaped wheel. Moreover, the omni wheel 31a is hold | maintained in the state pressed by the spherical rotary body by the drive holding | maintenance part 33a. Therefore, when the center of the spherical rotating body 20 is used as a reference, only the declination θ changes and the position PMa moves. Also, the position PHa moves in conjunction with the position PMa. Furthermore, when the other omni wheel 31b or omni wheel 31c is driven, or when the linear motion drive unit 35 and the other omni wheel 31b or omni wheel 31c are driven, the deflection angle φ and the deflection angle θ change. The position PMa moves. Also, the position PHa moves in conjunction with the position PMa.

  FIG. 5 shows a schematic cross-sectional view of the spherical rotating body 20 and the drive unit 30. 5A is a front view of the transport apparatus, and FIG. 5B shows a schematic cross-sectional view at the position A-A ′ in FIG. 5A.

  The spherical rotating body 20 includes a spherical frame portion 21 that is a hollow body, a surface portion 22 that is provided on the outer surface side of the spherical frame portion 21, and a balancer 25 that is provided inside the spherical frame portion 21.

  The surface portion 22 is configured using a material capable of obtaining a sufficient frictional force against the traveling surface of the spherical rotating body 20 and the omni wheel 31. Moreover, the surface part 22 is comprised using the material which can deform | transform so that it can respond to the change state (for example, unevenness | corrugation) of a running surface. Specifically, an elastic body such as rubber is used.

  Here, if the spherical frame portion 21 is a rigid body, even if the surface portion 22 is formed on the surface of the spherical frame portion 21 using an elastic body such as rubber, it is affected by the change state of the running surface of the spherical rotating body 20. Further, it becomes difficult to absorb vibrations of the drive unit 30 and the like. Therefore, the spherical rotating body 20 has a so-called tire structure by providing a compressed gas filling portion 23 between the spherical frame portion 21 and the surface portion 22 to compress and fill the gas. If the compressed gas filling part 23 in which the gas is compressed and filled is provided as described above, the spherical rotating body 20 can absorb the influence of the change state of the running surface, the vibration of the driving unit 30, and the like. .

  The balancer 25 can roll along the inner wall of the spherical frame portion 21 that is a hollow body, and is positioned at the bottom of the spherical rotating body 20 regardless of the rotational position of the spherical rotating body 20. The balancer 25 uses, for example, a solid sphere having a large specific gravity. Further, a balancer 25 may be formed by injecting an appropriate amount of liquid, granular or sandy solid or the like into the spherical frame portion 21.

  Although not shown in FIGS. 1 and 5, the conveyance device 10 has a control for driving and controlling a sensor unit, a wheel driving unit, and a linear driving unit that generate a detection signal corresponding to the movement of the frame unit 40. A power supply unit that supplies power necessary to drive the motor unit, the wheel drive unit, and the linear drive unit, and an operation unit that is operated when the user performs operation settings of the transport device 10 and the like. .

  As described above, by providing the omni wheel, the spherical rotating body holding portion, and the like in the transfer device 10, it is possible to stably roll the spherical rotating body 20 while holding the spherical rotating body, and the spherical rotating body on the traveling surface. Can be moved and / or rotated. Further, by providing the linear motion drive unit 35, the frame unit 40 can be moved in a direction that cannot be moved by rolling of the spherical rotating body.

  Next, the operation of the transport device 10 will be described. FIG. 6 shows the degree of freedom of movement that can be realized by the transport device. In the transport device 10, the omni wheel is driven by the wheel driving unit, thereby moving in five degrees of freedom, that is, moving in the x-axis direction and the y-axis direction, roll rotation with the x-axis as the rotation axis, and pitch with the y-axis as the rotation axis. Rotation and Yaw rotation with the z axis as the rotation axis are possible. Furthermore, by driving the linear motion drive unit, one degree of freedom, that is, movement in the z-axis direction that cannot be performed by rolling of the spherical rotating body becomes possible.

  The principle for realizing this degree of freedom will be described below. In the following description, the vertical direction with respect to the center of the spherical rotating body 20 is the z axis, and the loading platform 41 is in a horizontal state, and the omni wheel 31c is relative to the z axis with respect to the center of the spherical rotating body 20. The direction in which is provided is the x axis, and the direction perpendicular to the x axis and the z axis is the y axis with the center of the spherical rotating body 20 as a reference.

  An operation when the spherical rotating body 20 is rolled to move the transport device 10 in all directions not including a component in the vertical direction with respect to the traveling surface will be described. When the driving force generated by the wheel driving unit is transmitted to the spherical rotating body 20 via the omni wheel, a driving force vector is generated for the spherical rotating body 20. FIG. 7 shows a driving force vector generated for the spherical rotating body. In FIG. 7, a driving force vector VCa indicates a driving force vector generated by the omni wheel 31a. The driving force vector VCb indicates a driving force vector generated by the omni wheel 31b, and the driving force vector VCc indicates a driving force vector generated by the omni wheel 31c.

  The driving force vector generated by each omni wheel is determined by the rotation direction and rotation speed of the omni wheel. In addition, the driving force vector for moving the transport device 10 is determined by the resultant force of the driving force vectors VCa, VCb, and VCc. That is, when the transport device 10 is moved in the x direction, the resultant force of the x component in the driving force vectors VCa, VCb, and VCc is used. Further, when the transport device 10 is moved in the y direction, the resultant force of the y component in the driving force vectors VCa, VCb, and VCc is used.

  Therefore, the conveying apparatus 10 can move the conveying apparatus 10 in all directions not including a component in the vertical direction with respect to the traveling surface by rolling the spherical rotating body 20 with the driving force in each direction. In addition, when rolling the spherical rotary body 20, the conveying apparatus 10 is not restricted to using three omni wheels and a wheel drive part as mentioned above, It is good also as what uses four or more. Also in this case, the conveyance device 10 can move in all directions by rolling the spherical rotating body 20 by the resultant force of the driving force vector as described above by driving each omni wheel by the wheel driving unit. .

  FIG. 8 is a diagram for explaining the operation when the rotation in the pitch direction is performed. Since the pitch rotation is a rotation with the y axis as a rotation axis, the rotation is an arrow Mp shown in FIG. The spherical rotating body 20, the drive unit 30, and the frame unit 40 are integrated to realize rotation in the direction of the arrow Mp when the spherical rotating body 20 rolls on the traveling surface 90. Here, the principle of realizing the rotation will be described.

  The drive unit 30 moves at a constant speed in the x-axis direction by the movement method described above. The drive unit 30 generates an acceleration in a direction (−x direction) opposite to the traveling direction (for example, the x direction) by applying a brake. Due to this acceleration, inertial force is generated in the traveling direction (x direction) which is opposite to the acceleration (law of inertia). Here, since the spherical rotating body 20, the drive unit 30, and the frame unit 40 are integrated, a rotational moment is generated with the center of the spherical rotating body 20 as the rotation center in the traveling direction (x direction). Therefore, the drive unit 30 can cause the pitch rotation shown in FIG.

  In addition, the drive unit 30 may cause pitch rotation by starting movement in the x-axis direction when the transport device 10 is in a stopped state. That is, the drive unit 30 starts moving in the x-axis direction and generates acceleration in the traveling direction (for example, in the −x direction). This acceleration causes an inertial force in the direction opposite to the acceleration (x direction). Here, since the spherical rotating body 20, the drive unit 30, and the frame unit 40 are integrated, a rotational moment is generated about the center of the spherical rotating body 20 in the opposite direction (x direction). Therefore, the drive unit 30 can cause pitch rotation.

  The drive unit 30 can apply a brake when moving at a constant speed in the -x direction, or can cause a pitch rotation in the reverse direction by starting movement in the x direction from a stopped state. . Moreover, the drive part 30 is good also as what performs Pitch rotation by the same principle using four or more omni wheels and a wheel drive part as mentioned above.

  FIG. 9 is a diagram for explaining an operation when performing rotation in the Roll direction. Since the Roll rotation is a rotation with the x axis as the rotation axis, the rotation is indicated by the arrow Mr shown in FIG. The spherical rotating body 20, the drive unit 30, and the frame unit 40 are integrated to realize rotation in the direction of the arrow Mr when the spherical rotating body 20 rolls on the traveling surface 90. Next, the principle for realizing rotation will be described.

  The drive unit 30 moves at a constant speed in the y-axis direction by the moving method described above. The drive unit 30 generates an acceleration in a direction (−y direction) opposite to the traveling direction (for example, the y direction) by applying a brake. This acceleration causes an inertial force in the traveling direction (y direction) opposite to the acceleration (law of inertia). Here, since the spherical rotating body 20, the drive unit 30, and the frame unit 40 are integrated, a rotational moment is generated with the center of the spherical rotating body 20 as the rotational center in the traveling direction (y direction). Therefore, the drive unit 30 can cause the Roll rotation shown in FIG.

  Further, the drive unit 30 may cause Roll rotation by starting movement in the y-axis direction when the transport device 10 is stopped. That is, the drive unit 30 starts moving in the y-axis direction and generates acceleration in the traveling direction (for example, the −y direction). This acceleration causes an inertial force in the direction opposite to the acceleration (y direction). Here, since the spherical rotating body 20, the drive unit 30, and the frame unit 40 are integrated, a rotational moment is generated with the center of the spherical rotating body 20 as the rotation center in the opposite direction (y direction). Therefore, the drive unit 30 can cause Roll rotation.

  The drive unit 30 can apply a brake when moving at a constant speed in the -y direction, or can start a roll in the reverse direction by starting movement in the y direction from a stopped state. . Moreover, the drive part 30 is good also as what performs Roll rotation by the same principle using four or more omni wheels and a wheel drive part as mentioned above.

  Next, rotation in the Yaw direction will be described. The rotation in the Yaw direction is rotation with the z axis as the rotation axis. Here, when the magnitudes of the driving force vectors VCa, VCb, and VCc shown in FIG. 7 are equal, the resultant force of each of the x component and the y component is canceled, and the rotational moment in the clockwise direction with the z axis as the rotational axis. Only remains. Therefore, the drive unit 30 equalizes the magnitudes of the driving force vectors VCa, VCb, and VCc, and turns on the spherical rotating body 20 by the rotational moment generated at this time, thereby generating Yaw rotation. Further, when the directions of the driving force vectors VCa, VCb, and VCc are reversed and the magnitudes thereof are made equal, the resultant force of each of the x component and the y component is canceled and the counterclockwise direction with the z axis as the rotation axis Only the rotational moment remains in Therefore, the drive unit 30 can also cause Yaw rotation in the reverse direction by making the magnitudes of the drive force vectors VCa, VCb, and VCc equal to each other in the reverse direction.

  Next, the movement in the z direction will be described with reference to FIGS. 10 and 11. The movement in the z direction is performed by the linear motion drive unit 35. FIG. 10 shows a state in which the linear motion drive unit 35 is most contracted. When the linear drive unit 35 contracts most, the spherical rotating body 20 and the loading platform 41 are in the closest state. FIG. 11 shows a state in which the linear drive unit 35 is extended most. When the linear drive part 35 is extended most, the spherical rotary body 20 and the loading platform 41 will be in the most separated state. That is, when the linear motion drive unit 35 extends, the cargo bed 41 rises, and when the linear motion drive unit 35 contracts, the cargo bed 41 descends. Accordingly, movement in the z direction is enabled by the linear motion drive unit 35.

  The omni wheels 31a, 31b, 31c and the ball casters 52a, 52b, 52c are urged to be pressed against the spherical rotating body 20 by the suspension, and as shown in FIGS. The omni wheels 31 a, 31 b, 31 c and the ball casters 52 a, 52 b, 52 c move along the spherical rotator 20 while in contact with the spherical rotator 20 even if the wheel expands or contracts. Therefore, the conveying device 10 can also maintain its posture when the omni wheels 31a, 31b, 31c and the ball casters 52a, 52b, 52c are in contact with the spherical rotating body 20.

  Next, drive operation control will be described. FIG. 12 shows the configuration of a control system that controls the drive operation of the drive unit 30.

  The sensor unit 60 generates a detection signal corresponding to the movement of the frame unit 40, and includes, for example, a drive state detection sensor unit 61, an angle detection sensor unit 62, and a transport device state detection unit 63.

  The drive state detection sensor unit 61 detects the drive state of the spherical rotating body 20 by the drive unit 30 as the movement of the frame unit 40, and supplies a drive state detection signal SEa indicating the detection result to the control unit 70 described later. The drive state detection sensor unit 61 is a speed sensor that detects the rotational speed of the omni wheels 31a, 31b, 31c, the spherical rotating body 20, and the like, and the acceleration generated in the loading platform 41 when the rotational speed of the spherical rotating body 20 is changed. The acceleration sensor to detect, the position sensor which detects the position of the spherical rotary body 20 (frame part 40) moved by the linear motion drive part 35, etc. are comprised.

  The angle detection sensor unit 62 detects the tilt state of the loading platform 41 and supplies an angle detection signal SEb indicating the detection result to the control unit 70. The angle detection sensor unit 62 is configured using, for example, an angle sensor or a gyro sensor.

  The transport device state detection unit 63 detects the state of the transport device 10 and supplies a device state detection signal SEc indicating the detection result to the control unit 70. The conveyance device state detection unit 63 includes, for example, a distance measuring sensor that detects a moving distance of the conveyance device 10, a contact sensor that detects whether or not the conveyance device 10 has contacted a surrounding object, and a weight of the conveyance device 10 (the conveyance device 10 When other devices are mounted, the load sensor is used to determine the weight including other devices. Note that the distance measurement sensor may detect not only the movement distance but also the movement direction.

  The operation unit 65 is for a user to operate the transport device 10. The operation unit 65 generates an operation signal PS corresponding to a user operation and supplies the operation signal PS to the control unit 70.

  The control unit 70 includes a calculation unit 71 and a drive signal generation unit 72. The calculation unit 71 generates the control signal CT so that the operation of the transport apparatus 10 is an operation corresponding to the user operation indicated by the operation signal PS, and supplies the control signal CT to the drive signal generation unit 72. Here, when generating the control signal CT, the calculation unit 71 drives the spherical rotating body 20 indicated by the drive state detection signal SEa, the tilt state indicated by the angle detection signal SEb, and the device state detection signal SEc. The control signal CT is generated in consideration of the state of the transfer device 10 indicated by.

  For example, the calculation unit 71 can determine whether the spherical rotating body 20 is correctly driven by the omni wheel 31 by using the detection result of the speed sensor or the acceleration sensor. Moreover, the calculating part 71 can discriminate | determine whether the movement of the spherical rotary body 20 is performed correctly by the linear motion drive part 35 by using the detection result of a position sensor. Furthermore, the calculating part 71 can discriminate | determine the inclination of the loading platform 41 by using the detection result of an angle sensor or a gyro sensor. Therefore, by using these detection results, the calculation unit 71 correctly performs a motion combining one or a plurality of degrees of freedom instructed by the user among the motions of the six degrees of freedom described above. It is possible to determine whether or not there is. Further, when determining that the correct movement is not performed, the calculation unit 71 corrects the control signal CT so that the movement is correct.

  The calculation unit 71 can detect the moving distance by using, for example, the detection result of the distance measuring sensor, and therefore automatically stops the conveying device 10 when the conveying device 10 moves by the distance instructed by the user. be able to. Moreover, since the calculating part 71 can detect whether it contacted the surrounding object by using the detection result of a contact sensor, when it contacts a surrounding object, the conveyance apparatus 10 is automatically stopped. be able to. Further, the calculation unit 71 uses the detection result of the load sensor to determine the weight of the transport device 10 (the weight including the other device when another device is mounted on the transport device 10). Therefore, for example, when a heavy device or the like is placed, the movement instructed by the user can be performed by increasing the driving force of the wheel drive units 32a, 32b, 32c and the linear drive unit 35. Furthermore, even when the mounted device is too heavy to be transported by the transport device 10, it is possible to prevent the wheel drive unit 32 and the linear drive unit 35 from being driven. It becomes.

  The drive signal generation unit 72 generates a drive signal based on the control signal CT so that the operation of the transport apparatus 10 becomes an operation according to a user operation. For example, the drive signal DRa is generated and supplied to the wheel drive unit 32a. Further, the drive signal DRb is generated to generate the wheel drive unit 32b, the drive signal DRc is generated to generate the wheel drive unit 32c, and the drive signal DRd is supplied to the linear motion drive unit 35.

  The wheel drive unit 32a rotationally drives the omni wheel 31a based on the drive signal DRa. The wheel drive unit 32b rotationally drives the omni wheel 31b based on the drive signal DRb. The wheel drive unit 32c rotationally drives the omni wheel 31c based on the drive signal DRc. The linear drive unit 35 moves the ball caster 36 forward and backward in the central direction of the spherical rotating body 20 based on the drive signal DRd.

  FIG. 13 is a diagram for explaining control when a moving operation in the x direction is performed. When it is determined by the operation signal PS from the operation unit 65 that the movement operation in the x direction has been performed, the calculation unit 71 generates a control signal CT for rotationally driving the omni wheels 31a and 31b and generates a drive signal generation unit. 72. It is assumed that the omni wheel 31c is oriented in a direction orthogonal to the x direction as shown in FIG.

  The drive signal generation unit 72 generates drive signals DRa and DRb based on the control signal CT, and supplies the drive signal DRa to the wheel drive unit 32a and the drive signal DRb to the wheel drive unit 32b.

  The wheel drive unit 32a rotationally drives the omni wheel 31a based on the drive signal DRa. Further, the wheel drive unit 32b rotationally drives the omni wheel 31b based on the drive signal DRb.

  The sensor unit 60 detects the rotation of the omni wheels 31 a and 31 b and the spherical rotating body 20 and supplies a detection signal to the calculation unit 71. Based on the detection signal from the sensor unit 60, the calculation unit 71 determines whether or not the movement in the x direction is correctly performed. When it is determined that the movement in the x direction is not performed correctly, the calculation unit 71 moves in the x direction. The control signal CT is corrected so that is correctly performed. That is, the computing unit 71 corrects the control signal CT so that the resultant force of the driving force vector generated by the omni wheel 31a and the driving force vector generated by the omni wheel 31b is in the x direction. Further, the calculation unit 71 determines whether or not the movement of the spherical rotating body 20 in the x direction is performed by a desired amount of movement, and generates and supplies the control signal CT until the desired amount of movement is reached.

  If such control is performed, the transport apparatus 10 can correctly perform a movement operation by a desired movement amount in the x direction.

  FIG. 14 is a diagram for explaining the control when the movement operation in the y direction is performed. When the calculation unit 71 determines that the movement operation in the y direction has been performed based on the operation signal PS from the operation unit 65, the calculation unit 71 generates a control signal CT for rotationally driving the omni wheels 31a, 31b, and 31c to generate a drive signal. It supplies to the production | generation part 72. It is assumed that the omni wheel 31c is oriented in a direction orthogonal to the x direction as shown in FIG.

  The drive signal generation unit 72 generates drive signals DRa, DRb, DRc based on the control signal CT, the drive signal DRa is the wheel drive unit 32a, the drive signal DRb is the wheel drive unit 32b, and the drive signal DRc is the wheel drive unit 32c. To supply.

  The sensor unit 60 detects the rotation of the omni wheels 31 a, 31 b, 31 c, the spherical rotating body 20, and the like and supplies a detection signal to the calculation unit 71. Based on the detection signal from the sensor unit 60, the calculation unit 71 determines whether or not the movement in the y direction is correctly performed. When the calculation unit 71 determines that the movement in the y direction is not performed correctly, the calculation unit 71 moves in the y direction. The control signal CT is corrected so that is correctly performed. That is, the computing unit 71 corrects the control signal CT so that the resultant force of each driving force vector generated by the omni wheels 31a, 31b, 31c is in the y direction. In addition, the calculation unit 71 determines whether or not the movement of the spherical rotating body 20 in the y direction is performed by a desired amount of movement, and generates and supplies the control signal CT until the desired amount of movement is reached.

  If such control is performed, the transport apparatus 10 can correctly perform a movement operation by a desired movement amount in the y direction.

  FIG. 15 is a diagram for explaining control when the movement operation in the z direction is performed. When determining that the movement operation in the z direction has been performed based on the operation signal PS from the operation unit 65, the calculation unit 71 generates a control signal CT for moving the ball caster 36 forward and backward in the center direction of the spherical rotating body 20. To the drive signal generator 72.

  The drive signal generator 72 generates a drive signal DRd based on the control signal CT, and supplies the drive signal DRd to the linear motion drive unit 35. The linear drive unit 35 moves the ball caster 36 forward and backward in the center direction of the spherical rotating body 20 based on the drive signal DRd.

  The sensor unit 60 detects the position of the ball caster 36 or the spherical rotating body 20 and supplies the detection signal to the calculation unit 71. Based on the detection signal from the sensor unit 60, the calculation unit 71 determines whether or not the movement of the spherical rotating body 20 in the z direction is performed by a desired amount of movement, and controls the control signal until the desired amount of movement is reached. Generate and supply CT.

  If such control is performed, the transport device 10 can correctly perform the moving operation in the z direction.

  When performing Pitch rotation, the control shown in FIG. 13 is performed. When the calculation unit 71 determines that the pitch rotation operation has been performed based on the operation signal PS from the operation unit 65, the calculation unit 71 generates and drives the control signal CT so as to generate an acceleration in the x direction or the -x direction. The signal is supplied to the signal generator 72.

  The drive signal generation unit 72 generates drive signals DRa and DRb based on the control signal CT, and supplies the drive signal DRa to the wheel drive unit 32a and the drive signal DRb to the wheel drive unit 32b.

  The wheel drive unit 32a changes the rotational speed of the omni wheel 31a based on the drive signal DRa. The wheel drive unit 32b changes the rotation speed of the omni wheel 31b based on the drive signal DRb.

  The sensor unit 60 detects the rotation of the omni wheels 31 a and 31 b and the spherical rotating body 20 and the inclination of the loading platform 41 and supplies a detection signal to the calculation unit 71. Based on the detection signal from the sensor unit 60, the calculation unit 71 determines whether or not the pitch rotation is correctly performed. When the calculation unit 71 determines that the pitch rotation is not correctly performed, the pitch rotation is performed correctly. The control signal CT is corrected. That is, the calculation unit 71 corrects the control signal CT so that desired pitch rotation occurs by adjusting the rotational speed of the omni wheels 31a and 31b to change the acceleration in the x direction or the −x direction.

  If such control is performed, the transport apparatus 10 can correctly perform the pitch rotation.

  When performing Roll rotation, the control shown in FIG. 14 is performed. When the operation unit 71 determines that the Roll rotation operation has been performed based on the operation signal PS from the operation unit 65, the calculation unit 71 generates and drives the control signal CT so as to generate an acceleration in the y direction or the -y direction. The signal is supplied to the signal generator 72.

  The drive signal generation unit 72 generates drive signals DRa, DRb, DRc based on the control signal CT, the drive signal DRa is the wheel drive unit 32a, the drive signal DRb is the wheel drive unit 32b, and the drive signal DRc is the wheel drive unit 32c. To supply.

  The wheel drive unit 32a changes the rotational speed of the omni wheel 31a based on the drive signal DRa. The wheel drive unit 32b changes the rotation speed of the omni wheel 31b based on the drive signal DRb. The wheel drive unit 32c changes the rotational speed of the omni wheel 31c based on the drive signal DRc.

  The sensor unit 60 detects the rotation of the omni wheels 31 a, 31 b, 31 c, the spherical rotating body 20, etc. and the inclination of the loading platform 41 and supplies a detection signal to the calculation unit 71. Based on the detection signal from the sensor unit 60, the calculation unit 71 determines whether or not the Roll rotation is performed correctly. When it is determined that the Roll rotation is not performed correctly, the Roll rotation is performed correctly. The control signal CT is corrected. For example, the calculation unit 71 corrects the control signal CT so that desired Roll rotation occurs by adjusting the rotational speed of the omni wheels 31a, 31b, and 31c to change the acceleration in the y direction or the -y direction.

  If such control is performed, the transport device 10 can correctly perform the Roll rotation.

  When performing Yaw rotation, the control shown in FIG. 14 is performed. When the calculation unit 71 determines that the Yaw rotation operation has been performed based on the operation signal PS from the operation unit 65, the calculation unit 71 generates and drives the control signal CT so as to rotationally drive the omni wheels 31a, 31b, and 31c. The signal is supplied to the signal generator 72.

  The drive signal generation unit 72 generates drive signals DRa, DRb, DRc based on the control signal CT, the drive signal DRa is the wheel drive unit 32a, the drive signal DRb is the wheel drive unit 32b, and the drive signal DRc is the wheel drive unit 32c. To supply.

  The wheel drive unit 32a rotationally drives the omni wheel 31a based on the drive signal DRa. Further, the wheel drive unit 32b rotationally drives the omni wheel 31b based on the drive signal DRb. Furthermore, the wheel drive unit 32c rotationally drives the omni wheel 31c based on the drive signal DRc.

  The sensor unit 60 detects the rotation of the omni wheels 31 a, 31 b, 31 c, the spherical rotating body 20, and the like and supplies a detection signal to the calculation unit 71. The calculation unit 71 determines whether or not the Yaw rotation is correctly performed based on the detection signal from the sensor unit 60, and when it is determined that the Yaw rotation is not performed correctly, the Yaw rotation is performed correctly. The control signal CT is corrected. That is, the calculation unit 71 corrects the control signal CT so that the resultant force of each driving force vector generated by the omni wheels 31a, 31b, and 31c is canceled and only the rotational moment in the desired direction centering on the z axis remains. .

  If such control is performed, the transport device 10 can correctly perform the Yaw rotation.

  In this way, the spherical rotating body, the spherical rotating body driving unit that rolls the spherical rotating body in a desired direction, and the frame rotating unit are attached to the spherical rotating body, and the spherical rotating body driving unit is held in a pressed state against the spherical rotating body. If the drive holding unit is provided to control the driving of the spherical rotating body driving unit, the frame unit can be freely moved and / or rotated by rolling the spherical rotating body on the running surface. it can. Further, since the transport device can be reduced in size, it can be moved even in a narrow space, for example, and the driving range can be expanded. Further, by providing the linear motion drive unit, it is possible to move in a direction that cannot be moved by rolling the spherical rotating body.

  By the way, although FIG. 12 demonstrated the case where the conveying apparatus 10 was driven according to the operation signal PS which shows user operation, the drive information which showed what kind of drive the conveying apparatus 10 performed was preset, If the conveying device 10 is driven based on the set drive information, a desired operation can be easily performed without the user setting the operation of the conveying device 10 each time.

  FIG. 16 shows a case where the drive operation of the drive unit 30 is controlled based on drive information set in advance as another configuration of the control system. In FIG. 16, the same reference numerals are given to the portions corresponding to those in FIG. The operation unit 65 generates the operation signal PS in response to a user operation as described above and supplies the operation signal PS to the drive information acquisition unit 68.

  When the drive information acquisition unit 68 determines that a drive information registration start operation has been performed by the operation signal PS, the drive information acquisition unit 68 stores, for example, various detection signals generated by the sensor unit 60 in the memory unit 69 as the drive information DS. Start processing. In addition, when the drive information acquisition unit 68 determines that the drive information registration end operation has been performed by the operation signal PS, the drive information acquisition unit 68 ends the process of storing the drive information DS in the memory unit 69.

  After performing the drive information registration start operation from the operation unit 65, the user manually operates the transport apparatus 10 to perform a desired movement (movement, rotation, swinging, etc.). In addition, when the operation for performing a desired movement is completed, the user performs a drive information registration end operation from the operation unit 65.

  As described above, when the drive information registration operation is performed, the drive information acquisition unit 68 sequentially receives the detection signals generated by the sensor unit 60 during the period from the registration start operation to the registration end operation. 69 is stored.

  When the drive information acquisition unit 68 determines that the drive instruction operation of the transport apparatus 10 has been performed based on the operation signal PS, the drive information acquisition unit 68 reads the drive information DS instructed by the user from the memory unit 69 and calculates the calculation unit 71 of the control unit 70. To supply.

  The calculation unit 71 generates the control signal CT so that the detection signal generated by the sensor unit 60 becomes a signal corresponding to the drive information DS read from the memory unit 69. For example, when various detection signals generated by the sensor unit 60 are the drive information DS, the detection signal indicated by the drive information DS supplied from the memory unit 69 and the detection signal supplied from the sensor unit 60 Are generated so as to coincide with each other and supplied to the drive signal generator 72. The drive signal generation unit 72 generates a drive signal based on the control signal CT and supplies the drive signal to the drive unit 30.

  If the drive operation of the drive unit 30 is controlled in this way, the user manually operates the transport device 10 to perform a desired movement, and the drive information obtained at this time is stored in the memory unit 69. The desired movement can be registered in the transport device 10. Further, by using the stored drive information, the registered movement can be automatically reproduced by the transport device 10.

  Next, a device to which the transfer device is applied will be described. FIG. 17 shows a case where, for example, a rocking chair is configured using the transport device. A transport device (not shown) is provided below the seat 81 of the rocking chair 80. In the transport device, the loading platform is fixed to, for example, the seat portion 81, and the spherical rotating body is in contact with the floor surface.

  As described above, if the rocking chair 80 is configured by using the transport device, the rocking chair 80 moves in the x direction and the y direction in the transport device 10, roll rotation around the x axis, pitch rotation around the y axis, and z axis. By performing Yaw rotation around and further movement in the z direction, it is possible to perform a swinging operation with a high degree of freedom.

  Further, if the user manually swings the rocking chair 80 and registers drive information corresponding to the movement at this time in the memory unit, the registered drive information is used to perform the swing operation performed by the user. This can be done automatically by the rocking chair 80.

  FIG. 18 shows a case where the transport device 10 is applied to an imaging device. The imaging device 85 is configured such that an imaging unit 86 made of, for example, a lens or an imaging element is provided on the loading platform 41 of the transport device 10.

  As described above, when the transport apparatus 10 is applied to the image capturing apparatus 85, the image capturing apparatus 85 moves in the x direction and y direction, roll rotation around the x axis, pitch rotation around the y axis, and around the z axis. It is possible to perform an imaging operation with a high degree of freedom by performing Yaw rotation and further movement in the z direction. For example, the imaging device 85 has a high degree of freedom by moving the imaging unit 86 by the transport device 10 even in places where people are not allowed to enter or places where people cannot enter because the space is small. An imaging operation can be performed.

  Furthermore, if the user manually moves the imaging device 85 and registers the drive information corresponding to the movement at this time in the memory unit, the user can perform the movement operation performed by the user by using the registered drive information. Since it can be automatically reproduced, the imaging device 85 can easily perform a desired imaging operation with a high degree of freedom. Further, if a video presentation device, for example, a projector device is configured using the transport device 10, a video can be projected in an arbitrary direction, so that a video presentation operation with a high degree of freedom can be performed.

  According to the present invention, since a movement with a high degree of freedom is possible with a simple configuration, the invention can be applied to a device that performs a moving operation such as a robot or a device that performs a swinging operation such as a rocking chair. In addition, various imaging operations and video presentation operations can be performed by using in a device having no moving means such as an imaging device or a video presentation device.

It is a figure which shows the structure of a conveying apparatus. It is a perspective view which shows an omni wheel. It is a perspective view when the omni wheel is provided in two stages in the direction of the rotation axis. It is a figure which shows the change of the position of an omni wheel and a spherical rotating body holding | maintenance part when drive operation is performed by the wheel drive part and the linear motion drive part. It is a figure which shows the cross-sectional schematic of a spherical rotary body and a drive part. It is a figure which shows the freedom degree realizable with a conveying apparatus. It is a figure which shows the driving force vector which arises with respect to a spherical rotary body. It is a figure for demonstrating operation | movement in the case of rotating in a Pitch direction. It is a figure for demonstrating operation | movement in the case of performing rotation of Roll direction. It is a figure for demonstrating the movement operation | movement of az axis direction. It is a figure for demonstrating the movement operation | movement of az axis direction. It is a figure which shows the structure of a control system. It is a figure for demonstrating the control when performing the moving operation | movement of a x-axis direction. It is a figure for demonstrating the control when performing the moving operation | movement of the y-axis direction. It is a figure for demonstrating the control when performing the moving operation | movement of az axis direction. It is a figure which shows the other structure of a control system. It is a figure which shows the case where a rocking chair is comprised using a conveying apparatus. It is a figure which shows the case where a conveying apparatus is applied to an imaging device.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Conveying device, 20 ... Spherical rotating body, 21 ... Spherical frame part, 22 ... Surface part, 23 ... Compressed gas filling part, 25 ... Balancer, 30 ... Drive Part, 31, 31a, 31b, 31c ... Omni wheel, 32, 32a, 32b, 32c ... wheel drive part, 33a, 33b, 33c ... drive holding part, 35 ... linear motion drive part, 36... Ball caster, 40... Frame part, 41... Loading platform, 42 a, 42 b, 42 c .. column, 43... Annular frame, 51 a, 51 b, 51 c. , 52a, 52b, 52c ... ball caster, 60 ... sensor unit, 61 ... drive state detection sensor unit, 62 ... angle detection sensor unit, 63 ... transport device state detection unit, 65 ..Operation unit, 68 ... drive Information acquisition unit, 69 ... Memory unit, 70 ... Control unit, 71 ... Calculation unit, 72 ... Drive signal generation unit, 80 ... Rocking chair, 81 ... Seat part, 85 ..Imaging device, 86 ... imaging part, 90 ... running surface, 311 ... wheel body part, 312 ... shaft hole, 313 ... barrel wheel support part, 315 ... barrel shape Wheel, 331a, 331b, 331c ... holding frame, 332a, 511a ... fulcrum, 333a, 333b, 333c ... suspension, 334a, 334b, 334c ... stopper

Claims (10)

A spherical rotating body,
A spherical rotating body driving unit that is provided at least three or more at a predetermined interval with respect to the spherical rotating body and rolls the spherical rotating body in a desired direction;
A drive holding part that is attached to a frame part and holds the spherical rotary body driving part pressed against the spherical rotary body;
A control unit that performs drive control of the spherical rotating body drive unit;
The said control part is a conveying apparatus which moves and / or rotates the said frame part by rolling the said spherical rotary body on a driving | running | working surface. A linear drive part is provided in the frame part,
The control unit performs drive control of the linear motion unit,
The linear motion drive unit drives the spherical rotating body in a central direction of the spherical rotating body, and moves the frame unit in a direction that cannot be moved by rolling the spherical rotating body. Conveying device. The spherical rotating body driving unit is
A wheel that drives the spherical rotating body and is capable of moving in a direction different from the direction of the drive;
The transport apparatus according to claim 2, further comprising a wheel driving unit that drives the wheel to roll the spherical rotating body. The wheel is provided on one hemispherical side of the spherical rotating body,
The conveying apparatus according to claim 3, wherein a spherical rotating body holding portion that holds the spherical rotating body is provided on the other hemispherical side of the spherical rotating body. The transport device according to claim 4, wherein an omni wheel is used as the wheel. The conveying device according to claim 5, wherein the spherical rotating body is a hollow body and has a surface portion formed of an elastic body. The transport apparatus according to claim 6, wherein a balancer is provided inside the spherical rotating body. A sensor unit for generating a detection signal corresponding to the movement of the frame unit is provided,
The transport device according to claim 2, wherein the control unit performs drive control of the spherical rotating body driving unit based on the detection signal so that the frame unit has a desired movement. A memory unit for storing drive information is provided,
The transport device according to claim 8, wherein the control unit performs drive control of the spherical rotating body drive unit so that a detection signal generated by the sensor unit is a signal corresponding to drive information read from the memory unit. . A spherical rotating body,
A spherical rotating body driving unit that is provided at least three or more at a predetermined interval with respect to the spherical rotating body and rolls the spherical rotating body in a desired direction;
A drive mechanism comprising: a linear motion drive unit that drives the spherical rotating body in a central direction of the spherical rotating body.

Images