JP2015128973A - Movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movable body capable of preventing the movable body from rolling over in association with displacement of a position of center of gravity of the movable body without performing complicated control.SOLUTION: A movable body 1 related to one embodiment of the present invention comprises: a wheeled platform 2; and a rotating section 3 rotatably coupled to the wheeled platform 2 via a pivot shaft 5. In the movable body 1, a position of center of gravity of the movable body 1 is displaced in association with rotation of the rotating section 3 with respect to the wheeled platform 2. The movable body 1 further comprises: a plurality of supporting sections 7 supported by the wheeled platform 2 at angular positions preset with the pivot shaft 5 as a center in a vertical direction of the movable body 1 in a displaceable manner; and a push-in section 8 mechanically pushing in the supporting section 7 closest to the position of center of gravity out of the plurality of supporting sections 7 downward the movable body 1 when the rotating section 3 rotates with respect to the wheeled platform 2.

Description

  The present invention relates to a moving body, and for example, relates to a moving body whose center of gravity is displaced according to the turning of a turning portion when the turning portion turns around a turning axis with respect to a carriage.

  In a moving body in which the turning unit turns about the turning axis with respect to the carriage, the position of the center of gravity of the moving body may be displaced when the turning unit turns due to the influence of the shape of an object mounted on the turning unit. . In such a moving body, it is necessary to have a configuration in which the moving body does not fall over even if the turning unit turns and the position of the center of gravity of the moving body is displaced.

  Here, the moving body of Patent Literature 1 is provided with a linear motion actuator in the periphery of the moving body, and based on the inclination of the moving body detected by the tilt angle detection device, the moving body is arranged on the inclined side. The actuator is extended to prevent the moving body from overturning.

JP 2006-53731 A

  The moving body of patent document 1 is a structure which controls a linear motion actuator based on the inclination of the mobile body which the inclination angle detection apparatus detected, Complicated control is required in order to control a linear motion actuator.

  This invention is made in view of the above, Comprising: It aims at providing the moving body which can prevent the fall of the said mobile body accompanying the displacement of the gravity center position of a mobile body, without performing complicated control. .

A moving body according to an aspect of the present invention includes a carriage and a turning section that is connected to the carriage via a turning shaft so as to be turnable, and the center of gravity position of the moving body according to the turning of the turning section relative to the carriage. Is a moving body that displaces,
A plurality of support portions supported by the carriage at a preset angular position centered on the pivot axis so as to be displaceable in the vertical direction of the movable body;
When the turning portion turns with respect to the carriage, a pushing portion that mechanically pushes the support portion closest to the center of gravity position among the plurality of support portions to the lower side of the movable body is provided.
As a result, when the turning part turns with respect to the carriage and the center of gravity position of the moving body is displaced, the support part closest to the center of gravity position among the plurality of supporting parts is mechanically moved below the moving body by the push-in part. Can be pushed in. Therefore, it is possible to prevent the moving body from falling over with a simple configuration without performing complicated control as in the prior art.

In the above-described moving body, the support portion has a protruding portion that protrudes above the moving body from the carriage, and is urged above the moving body by an elastic member,
When the plurality of push-in portions corresponding to each of the support portions protrude below the movable body from the turning portion, and the turning portion turns with respect to the carriage, the center of gravity of the plurality of support portions is the highest. It is preferable that the pushing portion corresponding to the close support portion is in contact with the protruding portion of the support portion and pushes the support portion below the moving body.
Accordingly, when the turning unit turns with respect to the carriage, the support unit on the turning direction side of the turning unit can be pushed below the moving body, and the moving body can be prevented from falling.

In the above moving body, when the arm is connected to the swivel unit, and the swivel angle of the swivel unit is 0 °, the direction in which the arm extends is the front of the moving body,
The cart is arranged on a center line extending in the front-rear direction of the movable body through the center of the cart, and arranged at equal intervals with the first wheel fixed to the front portion of the cart and the center line. And a second wheel and a third wheel fixed to the rear part of the carriage,
As the support portion, the first wheel and the second wheel or the third wheel are arranged at equal intervals across the center line, and in the front-rear direction of the moving body as seen from the left-right direction of the moving body. A first support portion and a second support portion disposed between the wheels,
As the push-in portion, a first push-in that pushes in the first support portion when the turning portion turns to a first turning angle set in advance within a range where the turning angle of the turning portion is not less than 0 ° and less than 180 °. And a second push-in portion that pushes in the second support portion when the turning portion turns to a second turning angle that is set in advance within a range of 180 ° to less than 360 °. Are preferably provided.
As a result, the mobile body can be prevented from falling in a relatively unstable left-right direction.

In the above moving body, each of the first pushing portion and the second pushing portion is formed in an arc shape centered on the turning axis when viewed from the up and down direction of the moving body, and the turning portion is It is preferable to have an inclined surface that displaces the corresponding first support portion or the second support portion below the movable body as it turns.
Thereby, the 1st support part or the 2nd support part can be pushed below the moving body as the gravity center position of the moving body leaves the right or left side of the moving body from the center line.

In the above-described moving body, it is preferable that the first pushing portion and the second pushing portion have different radii around the turning axis.
Accordingly, when the turning unit turns with respect to the carriage, the support unit closest to the position of the center of gravity of the moving body among the first support unit and the second support unit is moved to the moving body. Can be pushed downward.

In the above-described moving body, it is preferable that the support portion is supported by the carriage via a bush having elastic characteristics.
Thereby, shakiness of the 1st and 2nd support part can be controlled.

  ADVANTAGE OF THE INVENTION According to this invention, the mobile body which can prevent the fall of the said mobile body accompanying the displacement of the gravity center position of a mobile body can be provided, without performing complicated control.

It is a perspective view which shows typically the state in which the turning part in the moving body of embodiment is not turning. It is a front view of FIG. It is the III-III arrow line view of FIG. It is a side view of FIG. It is a side view which shows typically the state where the turning part in the mobile body of an embodiment turned. FIG. 3 is a bottom view of FIG. 2. FIG. 6 is a bottom view of FIG. 5. It is a side view which expands and shows a trolley | bogie and a turning part. It is an upper perspective view which shows a trolley typically. It is a longitudinal cross-sectional view which shows the peripheral structure of the protrusion part in a support part. It is a lower perspective view which shows a turning part and an arm typically.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

  First, the basic configuration of the moving body according to the present embodiment will be briefly described. FIG. 1 is a perspective view schematically showing a state in which the turning unit in the moving body of the present embodiment is not turning (that is, a state in which the turning angle of the turning unit is 0 °). FIG. 2 is a front view of FIG. 3 is a view taken in the direction of arrows III-III in FIG. FIG. 4 is a side view of FIG. FIG. 5 is a side view schematically showing a state in which the turning unit in the moving body of the present embodiment has turned (that is, a state in which the turning angle of the turning unit is 90 °). FIG. 6 is a bottom view of FIG. FIG. 7 is a bottom view of FIG.

  In the following description, the direction in which the arm extends in a state where the turning unit is not turning is defined as the front of the moving body, and the front-rear direction, the left-right direction, and the up-down direction of the moving body are defined based on this direction. . And if a turning part rotates counterclockwise from the state which is not turning, the turning angle of a turning part will increase to + direction. That is, as shown in FIG. 3, the front side of the moving body has a turning angle of 0 ° (360 °), the left side of the moving body has a turning angle of 90 °, and the rear side of the moving body has a turning angle 180 of the turning portion. On the right side of the moving body, the turning angle of the turning part is 270 °.

  The moving body 1 is an autonomous traveling type moving body or a moving body that moves based on a user's operation. As shown in FIGS. 1 to 5, the moving body 1 includes a carriage 2, a turning portion 3, and an arm 4. The carriage 2 includes a frame 21, auxiliary wheels 22, and drive wheels 23.

  As shown in FIGS. 2 to 5, the frame 21 rotatably supports the turning unit 3 via a turning shaft 5 extending in the vertical direction of the moving body 1. The frame 21 of the present embodiment is a substantially circular plate-like member as viewed from the up-down direction of the moving body 1, and the turning shaft 5 is disposed at a substantially central position. However, the shape of the frame 21 is not particularly limited, and may be a polygonal shape.

  The auxiliary wheel 22 is a driven wheel that can rotate in multiple directions, such as a free wheel or an omni wheel. As shown in FIGS. 6 and 7, the auxiliary wheel 22 of the present embodiment is disposed on a center line L <b> 1 that passes through the center of the frame 21 and extends in the front-rear direction of the moving body 1. The auxiliary wheel 22 is fixed to the front portion of the lower surface of the frame 21.

  The driving wheel 23 is driven in the front-rear direction of the moving body 1 by a driving force of a driving device such as a motor. The drive wheels 23 of the present embodiment are arranged at substantially equal intervals in the left-right direction of the moving body 1 across the center line L1. That is, the first driving wheel 23 a and the second driving wheel 23 b are provided as the driving wheels 23. The first and second drive wheels 23 a and 23 b are fixed to the rear part of the lower surface of the frame 21, respectively.

  Therefore, as shown in FIG. 6, when viewed from the vertical direction of the moving body 1, the grounding point of the auxiliary wheel 22 to the traveling surface of the moving body 1 (hereinafter simply referred to as a traveling surface) and the first drive. An area connecting the ground point to the traveling surface of the wheel 23a and the ground point to the traveling surface of the second drive wheel 23b is an isosceles triangle (shown by a broken line in FIG. 6) having the center line L1 as a perpendicular line. Yes.) However, the arrangement of the auxiliary wheel 22, the first driving wheel 23a, and the second auxiliary wheel 23b is not particularly limited.

  The turning unit 3 can turn with respect to the carriage 2 by a driving device such as a motor (not shown). The turning unit 3 of the present embodiment includes a table 31. The table 31 is a substantially circular plate-like member as viewed from the vertical direction of the movable body 1 and has a shape substantially equal to the frame 21 of the carriage 2. A turning shaft 5 is arranged at a substantially central position of the table 31, and the table 31 turns with respect to the frame 21 of the carriage 2 in the arrow direction of FIG. That is, the frame 21 and the table 31 are relatively displaced about the turning shaft 5.

  On the upper surface of the table 31, a storage unit 6 in which a battery, a control device, and the like of the moving body 1 are stored is mounted. The storage unit 6 is disposed at a substantially central position of the table 31.

  The arm 4 is an articulated robot arm, and a root portion is connected to an upper end portion of the storage unit 6. Thereby, when the table 31 turns with respect to the frame 21, the arm 4 also turns so as to follow the table 31, and accordingly, the position of the center of gravity of the moving body 1 moves to the turning direction side of the arm 4.

  Such a moving body 1 is stable in the front-rear direction due to the arrangement of the auxiliary wheel 22, the first drive wheel 23a, and the second drive wheel 23b as described above, but in the left-right direction. It is relatively unstable. In the moving body 1, the center of gravity G of the moving body 1 is arranged in the region of the isosceles triangle described above in a state where the turning portion 3 is not turning with respect to the carriage 2, but the turning portion 3 is the carriage 2. , The center of gravity G of the moving body 1 is disposed outside the above-mentioned isosceles triangle area, and the moving body 1 may fall to the right side or the left side. Therefore, the moving body 1 of the present embodiment includes a fall prevention mechanism having the following configuration.

  Next, the structure of the fall prevention mechanism of the moving body 1 will be described. FIG. 8 is an enlarged side view showing the carriage and the turning portion. FIG. 9 is an upper perspective view schematically showing the carriage. FIG. 10 is a vertical cross-sectional view showing the peripheral structure of the protruding portion in the support portion. FIG. 11 is a lower perspective view schematically showing the turning unit and the arm.

  As shown in FIGS. 8 and 9, the overturn prevention mechanism includes a plurality of support portions 7 and a plurality of push-in portions 8 corresponding to the support portions 7. A plurality of support portions 7 are arranged at preset angular positions around the turning shaft 5. When the turning portion 3 turns and the position of the center of gravity G of the moving body 1 is displaced, the plurality of support portions 7 are arranged. 7, the support portion 7 closest to the position of the center of gravity G is pushed downward by the push-in portion 8 corresponding to the support portion 7.

  As shown in FIGS. 6 and 7, the support portion 7 of the present embodiment is between the auxiliary wheel 22 and the drive wheel 23 in the front-rear direction of the moving body 1 when viewed from the left-right direction of the moving body 1. And it arrange | positions at the substantially equal space | interval in the left-right direction of the moving body 1 on both sides of the centerline L1. In other words, the support unit 7 includes the first support unit 7 a disposed on the left side of the moving body 1 and the second support unit 7 b disposed on the right side of the moving body 1. The left side and the right side of 1 are stabilized by the first support part 7a and the second support part 7b. Here, the grounding point to the traveling surface of the auxiliary wheel 22, the grounding point to the traveling surface of the first driving wheel 23a, the grounding point to the traveling surface of the second driving wheel 23b, and the first support portion 7a or the first support portion 7a. The first support portion 7a and the second support portion are widened so that a quadrangle (shown by a broken line in FIG. 7) formed by connecting the two support portions 7b to the ground contact point with the traveling surface is widened. 7b is preferably located at the farthest position across the center line L1, that is, in the vicinity of the periphery of the frame 21.

  As shown in FIGS. 8 and 9, the first and second support portions 7a and 7b are omni wheels 71 that can rotate in multiple directions, and project from the omni wheels 71 to the upper side of the moving body 1, respectively. 1 protrusion 72a and 2nd protrusion 72b are provided.

  As shown in FIG. 9, the first and second protrusions 72 a and 72 b are arranged in the left-right direction of the moving body 1. As shown in FIG. 10, the first and second projecting portions 72 a and 72 b are each a rod-like member and penetrates the through hole 21 a of the frame 21 in the vertical direction of the moving body 1. A stopper 73 is provided at the upper end of each of the first and second protrusions 72a and 72b. The stopper 73 has a horizontal cross-sectional shape larger than the horizontal cross-sectional shape of the first and second projecting portions 72a and 73b.

  As a result, the first and second projecting portions 72 a and 72 b do not come out of the movable body 1 from the through hole 21 a of the frame 21. The first and second support portions 7a and 7b are configured to be displaceable in the vertical direction of the movable body 1, and the movable body 1 is constituted by the first projecting portion 72a and the second projecting portion 72b. It is set as the structure which does not turn centering on the axis | shaft extended in the up-down direction.

  The length of the first protrusion 72a (that is, the amount of protrusion from the frame 21) is longer than the length of the second protrusion 72b. And in the 1st support part 7a, the 2nd protrusion part 72b is arrange | positioned with respect to the 1st protrusion part 72a at the centerline L1 side. Moreover, in the 2nd support part 7b, the 1st protrusion part 72a is arrange | positioned with respect to the 2nd protrusion part 72b at the central-axis L1 side.

  When the swivel unit 3 is swung and the position of the center of gravity G of the moving body 1 is displaced, the push-in unit 8 contacts the first protrusion 72 a of the support unit 7 closest to the position of the center of gravity G among the plurality of support units 7. Then, the support portion 7 is pushed below the moving body 1.

  As shown in FIG. 11, the pushing portion 8 of the present embodiment protrudes from the lower surface of the table 31 so as to correspond to the first and second support portions 7a and 7b, respectively. That is, as the pushing portion 8, a first pushing portion 8a for pushing the first supporting portion 7a and a second pushing portion 8b for pushing the second supporting portion 7b are provided.

  The first pushing portion 8a is an arc-shaped rib centered on the turning shaft 5 when viewed from the vertical direction of the moving body 1, and the lower surface is formed substantially horizontally in a longitudinal sectional view. When the turning unit 3 turns to a first turning angle set in advance in a range where the turning angle of the turning unit 3 is not less than 0 ° and less than 180 °, the first pushing portion 8a is turned to the turning direction side (ie, The first support portion 7a is pushed below the moving body 1 in contact with the first protrusion 72a of the first support portion 7a disposed on the left side of the moving body 1.

  The second pushing portion 8b is an arc-shaped rib having a radius smaller than the radius around the turning shaft 5 in the first pushing portion 8a when viewed from the vertical direction of the moving body 1. Yes, the lower surface is formed substantially horizontally in a longitudinal sectional view. When the turning unit 3 turns to a second turning angle set in advance within a range where the turning angle of the turning unit 3 is 180 ° or more and less than 360 °, the second pushing portion 8b In other words, the second support portion 7b is pushed below the moving body 1 by contacting the first protrusion 72a of the second support portion 7b disposed on the right side of the moving body 1.

  Here, as described above, in the first support portion 7a, the second protrusion 72b is disposed closer to the center line L1 than the first protrusion 72a, and the second protrusion 72b is the first protrusion 72b. When the turning part 3 is turned, the first pushing part 8a comes into contact with the first protruding part 72a and the second protruding part 72b is pushed second. It does not contact the part 8b.

  Further, as described above, in the second support portion 7b, the first protrusion 72a is disposed closer to the center line L1 than the first protrusion 72b, and the second protrusion 72b is the first protrusion 72b. By making it shorter than the projecting portion 72a, when the turning portion 3 is turned, the second pushing portion 8b comes into contact with the first projecting portion 72a, and the second projecting portion 72b is the first pushing portion. Do not touch 8a.

  With this configuration, when the turning unit 3 turns with respect to the carriage 2, the center of gravity G of the moving body 1 of the turning unit 3, that is, the first support unit 7 a and the second support unit 7 b. The support portion closest to the position is pushed below the moving body 1 and comes into contact with the traveling surface. Then, as shown in FIG. 7, a grounding point to the traveling surface of the auxiliary wheel 22, a grounding point to the traveling surface of the first drive wheel 23a, and a grounding point to the traveling surface of the second drive wheel 23b, The center of gravity G of the moving body 1 is within a quadrangular region connecting the ground contact point to the running surface of the first support portion 7a or the second support portion 7b (the first support portion 7a in the illustrated example). Be placed. Therefore, the mobile body 1 can be prevented from falling. Here, the arrangement positions of the first and second support portions 7a and 7b are such that when the turning portion 3 turns with respect to the carriage 2, the position of the center of gravity G of the moving body 1 is good within the above-described rectangular region. What is necessary is just to set so that it may be arrange | positioned.

  Incidentally, between the stopper 73 and the frame 21, as shown in FIG. 10, a coil spring 74, which is an example of an elastic body that is passed through the first and second protrusions 72 a and 72 b, is disposed. It is preferable that the first and second support portions 7 a and 7 b are urged upward by the moving body 1 by 74. Accordingly, as shown in FIG. 4, the first and second support portions 7a and 7b are not pushed in by the first and second push portions 8a and 8b. , 7b is pushed up to a predetermined height above the moving body 1 and floats from the traveling surface. Therefore, when the turning angle of the turning part 3 is near 0 ° or 180 °, as shown in FIG. 4, there is no adverse effect when the first and second support parts 7a and 7b get over the step. However, although the coil spring 74 is used in the present embodiment, other elastic members may be used as long as the first and second support portions 7a and 7b can be biased above the moving body 1.

  Further, as shown in FIG. 10, it is preferable that a recess 21 b for accommodating the coil spring 74 is formed in the frame 21. Thereby, the protrusion amount of the coil spring 74 from the frame 21 can be suppressed. Therefore, the distance between the frame 21 and the table 31 can be reduced, which can contribute to the downsizing of the moving body 1.

  Further, in order to suppress the rattling of the support portions 7a and 7b caused by the gap between the first and second projecting portions 72a and 72b and the through hole 21a, the bush 75 having elastic characteristics is provided with the first and second bushes. It is preferable to arrange between the protrusions 72a and 72b and the through hole 21a. Thereby, shakiness of the 1st and 2nd support parts 7a and 7b can be suppressed.

  The first and second push-in portions 8 a and 8 b include inclined surfaces that displace the first and second support portions 7 a and 7 b above or below the moving body 1 as the turning portion 3 turns. Preferably it is. For example, the first pushing portion 8a is configured to push the first support portion 7a as the turning portion 3 turns in a range where the turning angle of the turning portion 3 is not less than 0 ° and less than 60 °. The turning angle is an inclined surface that inclines downward as it goes in the + direction. And the 1st pushing part 8a is the height of the 1st pushing part 8a so that the pushing state of the 1st support part 7a may be maintained in the range whose turning angle of the turning part 3 is 60 degrees or more and less than 120 degrees. Is a horizontal plane that does not change substantially. In addition, the first pushing portion 8a is a movable body that is moved by the restoring force of the coil spring 74 as the turning portion 3 turns in a range where the turning angle of the turning portion 3 is not less than 120 ° and less than 180 °. 1 so that the swivel angle of the swivel unit 3 is inclined upward as it goes in the + direction.

  On the other hand, the second push-in portion 8b is configured so as to push in the second support portion 7b as the turning portion 3 turns in a range where the turning angle of the turning portion 3 is 180 ° or more and less than 240 °. The turning angle is an inclined surface that inclines downward as it goes in the + direction. The second pushing portion 8b has a height of the second pushing portion 8b so that the pushing state of the second support portion 7b is maintained in a range where the turning angle of the turning portion 3 is not less than 240 ° and less than 300 °. Is a horizontal plane that does not change substantially. In addition, the second pushing portion 8b is a movable body in which the second support portion 7b is moved by the restoring force of the coil spring 74 as the turning portion 3 turns in a range where the turning angle of the turning portion 3 is not less than 300 ° and less than 360 °. 1 so that the swivel angle of the swivel unit 3 is inclined upward as it goes in the + direction.

  Accordingly, as the position of the center of gravity G of the moving body 1 moves away from the center line L1 to the right or left side of the moving body 1, that is, as the risk of the moving body 1 falling to the right or left side increases, 7a or the second support portion 7b can be pushed below the moving body 1.

  Such a moving body 1 supports the closest to the position of the center of gravity G among the plurality of support portions 7 when the turning portion 3 turns with respect to the carriage 2 and the position of the center of gravity G of the moving body 1 is displaced. The part 7 can be mechanically pushed below the moving body 1 by the pushing part 8. Therefore, it is possible to prevent the mobile body 1 from being overturned with a simple configuration without performing complicated control as in the prior art.

  In addition, a conventional linear actuator or the like can be omitted, and a small and lightweight moving body can be manufactured at low cost.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  For example, although the support part 7 of the said embodiment is equipped with the omni wheel, a universal wheel may be sufficient. In this case, the second protrusion 72b can be omitted.

  For example, in the embodiment described above, the first support portion 7a and the second support portion 7b are provided as the support portion 7, but the number of the support portions 7 is not particularly limited. Moreover, the pushing part 8 should just respond | correspond with the support part 7, and the number is not specifically limited.

  For example, in the above-described embodiment, the arm 4 is mounted on the revolving part 3, but the load on the revolving part 3 is not particularly limited.

  For example, in the above embodiment, the support portion 7 is pushed below the moving body 1 using the push-in portion 8, but the support portion 7 is pulled up above the moving body 1 in advance by a wire or the like, and the swiveling portion 3. , The wire may be loosened and the support portion 7 may protrude below the moving body 1 due to the restoring force of the elastic body. Moreover, the structure which the support part 7 displaces to the up-down direction of the mobile body 1 according to turning of the turning part 3 using a gear mechanism etc. may be sufficient. In short, it is only necessary that the support portion 7 can be mechanically protruded below the movable body 1.

DESCRIPTION OF SYMBOLS 1 Mobile body 2 Car, 21 Frame, 21a Through-hole, 21b Recessed part, 22 Auxiliary wheel, 23 Driving wheel, 23a 1st driving wheel, 23b 2nd driving wheel 3 Turning part, 31 Table 4 Arm 5 Turning axis 6 Storage part 7 Support part, 7a 1st support part, 7b 2nd support part, 71 omni wheel, 72a 1st protrusion part, 72b 2nd protrusion part, 73 stopper, 74 coil spring, 75 bush 8 pushing part, 8a 1st pushing part, 8b 2nd pushing part G Center of gravity L1 Center line

Claims (6)

A moving body that includes a carriage and a turning section that is coupled to the carriage via a turning shaft so as to be turnable, and the position of the center of gravity of the moving body is displaced according to the turning of the turning section relative to the carriage,
A plurality of support portions supported by the carriage at a preset angular position centered on the pivot axis so as to be displaceable in the vertical direction of the movable body;
A moving body comprising: a pushing portion that mechanically pushes a support portion closest to the center of gravity position among the plurality of support portions into the lower portion of the moving body when the turning portion turns with respect to the carriage. The support portion has a protruding portion that protrudes above the moving body from the carriage, and is urged above the moving body by an elastic member,
When the plurality of push-in portions corresponding to each of the support portions protrude below the movable body from the turning portion, and the turning portion turns with respect to the carriage, the center of gravity of the plurality of support portions is the highest. The moving body according to claim 1, wherein the push-in portion corresponding to a close support portion comes into contact with a protruding portion of the support portion and pushes the support portion below the moving body. When the arm is connected to the swivel unit, and the swivel angle of the swivel unit is 0 °, and the direction in which the arm extends is the front of the movable body,
The cart is arranged on a center line extending in the front-rear direction of the movable body through the center of the cart, and arranged at equal intervals with the first wheel fixed to the front portion of the cart and the center line. And a second wheel and a third wheel fixed to the rear part of the carriage,
As the support portion, the first wheel and the second wheel or the third wheel are arranged at equal intervals across the center line, and in the front-rear direction of the moving body as seen from the left-right direction of the moving body. A first support portion and a second support portion disposed between the wheels,
As the push-in portion, a first push-in that pushes in the first support portion when the turning portion turns to a first turning angle set in advance within a range where the turning angle of the turning portion is not less than 0 ° and less than 180 °. And a second push-in portion that pushes in the second support portion when the turning portion turns to a second turning angle that is set in advance within a range of 180 ° to less than 360 °. The moving body according to claim 1 or 2 provided with these.   Each of the first push-in part and the second push-in part is formed in an arc shape centered on the turning axis when viewed from the vertical direction of the movable body, and corresponds as the turning part turns. The moving body according to claim 3, further comprising an inclined surface that displaces the first support section or the second support section below the moving body.   The moving body according to claim 4, wherein the first pushing portion and the second pushing portion have different radii around the turning axis.   The movable body according to claim 1, wherein the support portion is supported by the carriage via a bush having elastic characteristics.

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