JP2020164138A - Mobile device - Google Patents

Abstract

To constitute a mobile device, which can quickly move in any direction, by use of a normal wheel.SOLUTION: A mobile device comprises: (a) two or more wheels 12a to 12c; (b) two or more wheel support parts 14a to 14c which so support the wheels 12a to 12c respectively as to be rotatable around a rotation center line; (c) two or more guide parts 16a to 16c which so guide the wheel support parts 14a to 14c respectively as to movable along a prescribed route, and by which directions of the wheel support parts 14a to 14c with respect to the prescribed route are kept constant; (d) a first connection part 18 which connects the guide parts 16a to 16c to each other; (e) and a drive part which drives two or more selected from the wheels 12a to 12c and the wheel support parts 14a to 14c. In the state that the wheels 12a to 12c contact a ground plane, the wheels 12a to 12c can be moved on the ground plane by drive of the drive part while changing directions of the wheels 12a to 12c.SELECTED DRAWING: Figure 1

Description

The present invention relates to a mobile device, and more particularly to a mobile device in which a wheel support portion that supports wheels is movable on a predetermined path.

For example, three-wheeled or four-wheeled or more moving devices such as forklifts and transport carts are often used for transportation in factories and warehouses. These moving devices are generally ordinary wheels, that is, wheels that rotate around the center of rotation and move on the ground plane in a direction perpendicular to the center of rotation, and friction with the ground plane. It is equipped with wheels whose orientation can be changed, although movement is restricted in directions other than the direction perpendicular to the center of rotation. To change the moving direction of the moving device, it is necessary to change the direction of the wheels. Therefore, it cannot move in any direction immediately and cannot move efficiently in a narrow space. For example, in order for the moving device to move to the side, it is necessary to perform the same turning work as that of an automobile, such as moving backward after moving forward while appropriately changing the direction of the wheels.

Further, in recent years, attention has been focused on a small mobile device having two ordinary wheels, such as Segway (registered trademark). In such a small moving device, for example, when moving to the side, it is necessary to rotate the left and right wheels in opposite directions, rotate 90 ° on the spot, change the direction of travel, and then move forward immediately. Cannot move in any direction.

If a special wheel that can move in all directions (hereinafter referred to as "omnidirectional wheel") is used instead of an ordinary wheel, it can move in any direction immediately and is efficient even in a narrow space. It is possible to configure a moving device that can be moved to.

For example, FIG. 71 is a photograph of an omnidirectional wheel 100 called an omni wheel (registered trademark). As shown in FIG. 71, in the omnidirectional wheel 100, a plurality of auxiliary wheels 106, 108 are arranged so as to be arranged in two rows along the outer circumference of the wheel 104.

FIG. 72 is an explanatory view of another omnidirectional wheel 110. As shown in FIG. 72, the omnidirectional wheels 110 are arranged so that a plurality of auxiliary wheels 130 are arranged in a row along the outer circumference 120a of the wheel member 120. The auxiliary wheels 130 are arranged so that their respective rotation center lines 130x are lined up along the outer circumference 120a of the wheel member 120 in a plane perpendicular to the rotation center line of the wheel member 120. When the wheel member 120 rotates, the omnidirectional wheel 110 moves on the ground contact surface 102 in a direction perpendicular to the rotation center line of the wheel member 120. When the auxiliary wheel 130 in contact with the ground contact surface 102 rotates, the omnidirectional wheel 110 moves on the ground contact surface 102 in a direction parallel to the rotation center line of the wheel member 120. By combining the rotation of the wheel member 120 and the rotation of the auxiliary wheel 130, the omnidirectional wheel 110 can immediately move in any direction on the ground contact surface 102 (see, for example, Patent Document 1).

JP-A-2009-179110

A moving device provided with omnidirectional wheels has the following problems as compared with a moving device provided with ordinary wheels.

First, since the omnidirectional wheel is provided with a plurality of auxiliary wheels, the number of parts is large, the structure is complicated, and the cost is high. Therefore, the cost of the mobile device is increased.

Secondly, in the omnidirectional wheel, the auxiliary wheels that come into contact with the ground are switched one after another as the entire wheel rotates, so that vibration and noise during traveling are large. Therefore, the load to be carried may be impacted, the occupant may be uncomfortable, and the noise may be loud to the surroundings during traveling.

In view of such circumstances, an object to be solved by the present invention is to construct a moving device capable of immediately moving in an arbitrary direction by using ordinary wheels.

The present invention provides a mobile device configured as follows in order to solve the above problems.

The moving device includes (a) at least two wheels having an outer peripheral surface that is movable in the circumferential direction with respect to the rotation center line and is non-movable in a direction parallel to the rotation center line, and (b) the wheels. At least two wheel support portions that rotatably support each of the rotation center lines, and (c) the wheel support portions that movably guide the wheel support portions along a predetermined path, and the wheel support portions with respect to the predetermined path. At least two guide portions selected from (d) a first connection portion that connects the guide portions to each other, and (e) the wheel and the wheel support portion are selected from at least two guide portions whose orientations are kept constant. The selected wheel is driven so as to rotate about the rotation center line, and the selected wheel support portion is driven so as to move with respect to the guide portion and move along the predetermined path. It is provided with a drive unit for The moving device is configured so that the wheels whose outer peripheral surface is in contact with the ground contact surface can move on the ground contact surface while changing the direction of the wheels by driving the drive unit.

In the above configuration, the wheel supported by the wheel support is an ordinary wheel.

According to the above configuration, the drive unit rotates the wheel or moves the wheel support unit with respect to the guide unit so that the wheel support unit moves along a predetermined path, that is, drives the wheel support unit. By doing so, the moving device can be immediately moved in any direction.

In a preferred embodiment, it comprises at least three wheels, at least three wheel supports, and at least three guides. The first connecting portion connects the guide portions so that the relative positions of the guide portions are fixed. The drive unit drives at least two of the wheels.

In this case, the relative positions of the predetermined paths on which the wheel support portions are guided are unchanged. The position and orientation of the moving device is determined by the position and orientation of the wheels.

The predetermined path may be linear, curved, a combination of a linear portion and a curved portion, an annular shape, or an arc shape.

Preferably, the predetermined path is linear.

In this case, the configuration of the guide portion can be simplified as compared with the case where the predetermined route has a curved shape or the like.

More preferably, the relative positions of the guides are fixed so that at least two of the predetermined paths are non-parallel to each other when viewed perpendicular to the ground plane from the coordinate system fixed to the guides. There is.

In this case, it is possible to keep the moving device moving in one direction in a state where the wheel support portion repeatedly moves back and forth along a predetermined path. The range of movement of the wheel support can be limited.

More preferably, when viewed perpendicularly to the ground plane from the coordinate system fixed to the guide portion, the size of the vertical angle formed by the intersection of the virtual straight lines including the predetermined path is 60 ° or 120 °. The three guide portions are arranged in a Y shape.

More preferably, when viewed perpendicularly to the ground plane from the coordinate system fixed to the guide portion, the size of the vertical angle formed by the intersection of the virtual straight lines including the predetermined path is 60 ° or 120 °. The three guide portions are arranged in a Δ shape.

Preferably, the predetermined path is annular or arcuate.

In this case, the range of movement of the wheel support can be limited.

Preferably, it includes at least three wheels, at least three wheel supports, and at least three guides. The guide includes first and second members rotatably coupled to each other. The wheel support portion moves so that the wheel rotatably supported by the wheel support portion moves around a central axis on which the first and second members rotate relative to the first member. It is fixed. The first connecting portion connects the second members so that the relative positions of the second members do not change.

In this case, the moving device includes a caster type mechanism.

Preferably, it includes at least three wheels, at least three wheel supports, and at least three guides. The first connecting portion connects the guide portions via a kinematic pair or a mechanism so that the relative positions of the guide portions are variable.

In this case, the relative position between the predetermined routes to which the guide unit is guided is variable. Since the guide units are connected via a kinematic pair or a mechanism, there are certain restrictions on the positional relationship between the guide units. Therefore, the mobile device can be configured so that the position and orientation of the mobile device is determined by the position and orientation of the wheels.

More preferably, the first connecting portion is a planetary mechanism including an inner member and at least three planetary members that revolve around the inner member while rotating. The guide portion is fixed to each of the planet members.

In this case, there may be a guide member fixed to the inner member. The planetary mechanism includes an outer member, and even in a general configuration in which the planetary member is arranged between the inner member and the outer member, the planetary member includes a carrier member, and the carrier member rotates (rotates) the planetary member around the inner member. It may be a freely supported configuration or another configuration.

More preferably, the first connecting portion includes a hollow cylindrical outer member and at least four planetary members which are arranged inside the outer member and revolve around the center line of the outer member while rotating. , A planetary mechanism including one carrier member that rotatably supports the planetary member. The guide portion is fixed to each of the planet members.

Preferably, (f) for at least two of the wheel supports, the position of one wheel support on the predetermined path is constrained by the position of the other wheel support on the predetermined path. A second connecting portion for connecting the wheel supporting portions to each other is further provided.

In this case, since the position of one of the n wheel supports connected to each other by the second connecting portion is determined by being constrained by the other n-1 positions, the wheels are rotationally driven or driven. It is possible to reduce the number of drive points for moving the wheel support.

In another preferred embodiment, the two wheels, the two wheel supports, and the two guides are provided. The drive unit drives one of the wheels, the other wheel, and at least two of the two wheel supports.

Preferably, the first connecting portion connects the guide portions so that the relative positions of the guide portions are fixed.

In this case, the number of wheels, wheel supports, and guides can be minimized.

Preferably, the predetermined path is linear.

In this case, the configuration of the guide portion can be simplified as compared with the case where the predetermined route has a curved shape or the like.

Preferably, (g) a base portion fixed to at least one of the guide portion and the first connection portion, (h) a base portion rotatably coupled to the base portion, and (i) the base portion. A pedestal drive unit that rotates the unit with respect to the base portion is further provided.

In this case, when the guide portion or the like moves while rotating, the base portion can be directed in a desired direction.

The present invention also provides a method for driving a mobile device, which is configured as follows.

The method for driving the mobile device is a method for driving the mobile device having the above configuration, in which the wheel support portion repeatedly moves back and forth along the linear predetermined path, or one direction along the annular predetermined path. The drive unit is controlled so as to continue the movement of the wheel.

In this case, the moving device can be controlled to move in one direction while rotating or swinging in one direction. Since the wheel support portion reciprocates on a predetermined path or moves in one direction on an annular predetermined path, the movement range of the wheel support portion is limited.

The present invention also provides a method for driving a mobile device, which controls a mobile device having a linear guide portion as follows.

That is, when the tip end side of the guide portion is located on the front side in the moving direction of the moving device with respect to the base end side of the guide portion, the wheel supported by the wheel support portion guided by the guide portion. When the moving speed of the moving device gradually decreases with the movement of the moving device, and the tip end side of the guide portion is located behind the base end side of the guide portion in the moving direction of the moving device. The drive unit is controlled so that the moving speed of the wheel supported by the wheel support unit guided by the guide unit gradually increases with the movement of the moving device.

In this case, the moving device can be controlled to move in one direction while rotating in one direction.

According to the present invention, a moving device capable of immediately moving in an arbitrary direction can be configured by using ordinary wheels.

FIG. 1 is a schematic diagram of a mobile device. (Example 1-1) FIG. 2 is a photograph of a prototype mobile device. (Example 1-1) FIG. 3A is a schematic view of the first drive unit, and FIG. 3B is a plan view of a main part of the wheel support portion. (Example 1-1 and its modification) FIG. 4 is a plan view showing the movement of the moving device. (Example 1-1) FIG. 5 is a plan view showing the movement of the moving device. (Example 1-1) FIG. 6 is a plan view showing the movement of the moving device. (Example 1-1) FIG. 7 is a plan view showing a moving range of the moving device. (Example 1-1) FIG. 8 is a plan view showing the rotational movement of the moving device. (Example 1-1) FIG. 9 is a plan view showing the movement of the moving device. (Example 1-1) FIG. 10 is a plan view showing the movement of the moving device. (Example 1-1) FIG. 11 is a partially enlarged plan view showing the movement of the moving device. (Example 1-1) FIG. 12 is a plan view showing the movement of the moving device. (Example 1-1) FIG. 13 is a graph showing the movement of the wheel support portion. (Example 1-1) FIG. 14 is a plan view showing the movement of the moving device. (Example 1-1) FIG. 15 is an explanatory diagram of parameters. (Example 1-1) FIG. 16 is an explanatory diagram of parameters. (Example 1-1) FIG. 17 is an explanatory diagram of parameters. (Example 1-1) FIG. 18 is an explanatory diagram of parameters. (Example 1-1) FIG. 19 is a plan view showing the movement of the moving device. (Example 1-1) FIG. 20 is a schematic diagram of the mobile device. (Modification 1 of Example 1-1) FIG. 21 is a schematic diagram of the mobile device. (Modification 2 of Example 1-1) FIG. 22 is a schematic view of the mobile device. (Modification 3 of Example 1-1) FIG. 23 is a schematic diagram of the mobile device. (Modified Example 4 of Example 1-1) FIG. 24 is a schematic diagram of the mobile device. (Modified Example 5 of Example 1-1) FIG. 25 is a schematic diagram of the mobile device. (Modified Example 6 of Example 1-1) FIG. 26 is a plan view of the moving device. (Example 1-2) FIG. 27 is an explanatory diagram of parameters. (Example 1-2) FIG. 28 is a plan view showing the movement of the moving device. (Example 1-2) FIG. 29 is a plan view of the moving device. (Modification 1 of Example 1-2) FIG. 30 is a plan view of the moving device. (Example 1-3) FIG. 31 is an explanatory diagram of parameters. (Example 1-3) FIG. 32 is an explanatory diagram of the movement of the moving device. (Example 1-3) FIG. 33 is an explanatory diagram of the movement of the moving device. (Example 1-3) FIG. 34 is an explanatory diagram of the movement of the moving device. (Example 1-3) FIG. 35 is an explanatory diagram of the movement of the moving device. (Example 1-3) FIG. 36 is a plan view of the moving device. (Example 1-4) FIG. 37 is an explanatory diagram of the caster type mechanism. (Example 1-4) FIG. 38 is a schematic view of the mobile device. (Example 2) FIG. 39 is a schematic diagram of the mobile device. (Example 2-1) FIG. 40 is a schematic diagram of the mobile device. (Example 2-1) FIG. 41 is a schematic diagram of the mobile device. (Example 2-2) FIG. 42 is a schematic view of the mobile device. (Example 2-2) FIG. 43 is a schematic diagram of the mobile device. (Example 2-2) FIG. 44 is a schematic view of the mobile device. (Example 2-3) FIG. 45 is a schematic view of the mobile device. (Example 2-3-1) FIG. 46 is an explanatory diagram of parameters. (Example 2-3-1) FIG. 47 is a schematic diagram of the mobile device. (Example 2-3-2) FIG. 48 is a schematic view of the mobile device. (Example 2-3-3) FIG. 49 is a schematic diagram of the mobile device. (Example 2-3-4) FIG. 50 is a schematic view of the mobile device. (Example 2-4) FIG. 51 is a schematic view of the mobile device. (Example 2-4) FIG. 52 is a schematic view of the mobile device. (Example 3-1-1) FIG. 53 is a schematic diagram of the mobile device. (Example 3-1-1) FIG. 54 is a schematic view of the mobile device. (Example 3-1-1) FIG. 55 is a schematic diagram of the mobile device. (Example 3-1-2) FIG. 56 is a schematic view of the mobile device. (Example 3-1-3) FIG. 57 is a schematic diagram of the mobile device. (Example 3-1-4) FIG. 58 is a schematic view of the mobile device. (Example 3-2-1) FIG. 59 is a schematic diagram of the mobile device. (Example 3-2-2) FIG. 60 is a schematic diagram of the mobile device. (Example 3-2-3) FIG. 61 is a schematic view of the mobile device. (Example 4-1) FIG. 62 is a partial cross-sectional perspective view of the second drive unit. (Example 4-1) FIG. 63 is a plan view showing the movement of the moving device. (Example 4-1) FIG. 64 is a plan view showing the movement of the moving device. (Example 4-1) FIG. 65 is a plan view showing the movement of the moving device. (Example 4-1) FIG. 66 is a plan view showing the movement of the moving device. (Example 4-1) FIG. 67 is a schematic view of the mobile device. (Modification 1 of Example 4-1) FIG. 68 is a schematic diagram of the mobile device. (Modification 2 of Example 4-1) FIG. 69 is an explanatory diagram of the movement of the moving device. (Example 5) FIG. 70 is an explanatory diagram of the movement of the moving device. (Example 5) FIG. 71 is a photograph of omnidirectional wheels. (Conventional example 1) FIG. 72 is an explanatory view of the omnidirectional wheel. (Conventional example 2)

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Example 1> First, the moving device of the first embodiment in which the relative positions of the three guide portions are fixed will be described.

<Example 1-1> The mobile device 10 of the first embodiment will be described with reference to FIGS. 1 to 19.

FIG. 1 is a schematic view of the moving device 10. As shown in FIG. 1, in the moving device 10, the three guide portions 16a to 16c are connected in a Y shape by the base portion 18 so that the relative positions of the guide portions 16a to 16c are fixed. .. The base portion 18 is a first connecting portion 18.

The guide portions 16a to 16c guide the wheel support portions 14a to 14c so as to be movable. The wheel support portions 14a to 14c rotatably support the wheels 12a to 12c, respectively. The moving device 10 is configured such that all the wheels 12a to 12c are in contact with the ground plane 2 at the same time.

The wheels 12a to 12c are supported by the wheel support portions 14a to 14c, respectively, rotatably around the rotation center line and non-movably in the direction of the rotation center line.

The wheels 12a to 12c are ordinary wheels. That is, the wheels 12a to 12c have an outer peripheral surface 12s (FIGS. 2 and 3 (a) described later) that is movable in the circumferential direction with respect to the rotation center line and is immovable in the direction parallel to the rotation center line. See.). The wheels 12a to 12c can move on the ground contact surface 2 in a direction perpendicular to the rotation center line while rotating around the rotation center line, and are perpendicular to the rotation center line due to friction with the ground contact surface 2. Although movement in directions other than the direction is restricted, it is possible to spin on the spot, and the directions of the wheels 12a to 12c can be changed. For example, when a rotational moment is applied to the wheel support portions 14a to 14c via the guide portions 16a to 16c, the directions of the wheels 12a to 12c can be changed. As will be described in detail later, in the moving device 10, when the wheels 12a to 12c or the wheel support portions 14a to 14c are driven, the wheels 12a to 12c whose outer peripheral surface 12s is in contact with the ground contact surface are oriented toward the wheels 12a to 12c. It is configured so that it can move on the ground plane while changing.

The guide portions 16a to 16c are configured to movably guide the wheel support portions 14a to 14c along a predetermined route, so that the orientation of the wheel support portions 14a to 14c with respect to the predetermined route is kept constant. .. That is, when the moving device 10 in which the wheels 12a to 12c are in contact with the ground contact surface 2 is viewed from the coordinate system fixed to the guide portions 16a to 16c from the direction perpendicular to the ground contact surface 2, the wheel support portions 14a to 14c guide. Even if the wheels move along the portions 16a to 16c, the size of the angle formed by the locus of the center of the wheels 12a to 12c supported by the wheel support portions 14a to 14c and the rotation center line of the wheels 12a to 12c is constant. Is.

For example, when the guide portions 16a to 16c are linear and the predetermined path to which the wheel support portions 14a to 14c are guided is linear, the locus at the center of the wheels 12a to 12c is straight, and the straight locus and the wheel 12a The size of the angle formed by the rotation center line of ~ 12c is constant. When the guide portions 16a to 16c are curved and the predetermined path to which the wheel support portions 14a to 14c are guided is curved, the locus at the center of the wheels 12a to 12c is curved and is a tangent to the curve of this locus. The size of the angle formed by the tangent line passing through the center of the wheels 12a to 12c and the rotation center line of the wheels 12a to 12c is constant.

Next, a specific configuration example of the mobile device 10 will be described. FIG. 2 is a photograph of a prototype of the mobile device 10. As shown in FIG. 2, the guide portion 16 is a linear rail 16, and the wheel support portion 14 that supports the wheel 12 is a slider 14 that moves along the rail 16. One end of the rail 16 is fixed to the foundation 18.

FIG. 3A is a schematic view showing a configuration example of a first driving unit 81 that rotationally drives the wheel 12. As shown in FIG. 3A, the first drive unit 81 rotationally drives the wheels 12 by the motor 13 mounted on the slider 14. The motor 13 may be arranged inside the wheel 12. When viewed perpendicularly to the ground plane 2 from the coordinate system fixed to the guide portion 16, the direction in which the wheel 12 moves (direction indicated by the arrow 12 m) is the direction in which the slider 14 moves along the rail 16 (arrow 14x). Direction).

FIG. 3B is a plan view of a main part showing the configuration of the wheel support portion 14p of the modified example. As shown in FIG. 3B, the wheel support portion 14p may be configured so that the position where the wheel 12 contacts the ground contact surface 2 is separated from directly below the rail 16.

Next, the movement of the moving device 10 will be described. FIG. 4 is a plan view showing the movement of the moving device 10. As shown in FIG. 4, three linear guide portions 16a to 16c are arranged at intervals of 120 ° around the base portion 18. The wheel support portions 14a to 14c move straight along the guide portions 16a to 16c in the directions indicated by the arrows 15a to 15c, respectively. The wheels 12a to 12c move on the ground plane 2 in the directions indicated by the arrows 13a to 13c, respectively. The moving directions 13a to 13c of the wheels 12a to 12c are perpendicular to the guide portions 16a to 16c, and the moving directions 13a to 13c of the wheels 12a to 12c and the linear moving directions 15a to 15c of the wheel support portions 14a to 14c. Are orthogonal to each other.

When the moving device 10 is configured symmetrically in this way, the moving device 10 moves symmetrically. The most asymmetrical configuration is also possible. For example, the moving directions 13a to 13c of the wheels 12a to 12c can be configured to be oblique with respect to the guide portions 16a to 16c.

Since the guide portions 16a to 16c are connected by the foundation portion 18 so that the relative positions of the guide portions 16a to 16c do not change, the guide portions 16a to 16c and the foundation portion 18 move together. The wheel support portions 14a to 14c are movable along the guide portions 16a to 16c. Therefore, when the positions of the wheels 12a to 12c on the contact patch 2 are determined and the positions of the wheel support portions 14a to 14c are determined, the positions and orientations of the guide portions 16a to 16c and the foundation portion 18 are determined, and the position of the entire moving device 10 is determined. And the direction is decided. For example, when all the wheels 12a to 12c stop rotating, the entire moving device 10 stops and becomes immobile. This means that the movement of the base portion 18 is determined by the movement of the three wheels 12a to 12c.

Hereinafter, the movement of the moving device 10 will be described with reference to FIGS. 5 to 14. 5 to 11 and 14 are plan views of the moving device 10 in which the wheels 12a to 12c are in contact with the contact patch 2 as viewed perpendicular to the contact patch 2.

5 and 6 are plan views showing the basic movements of the moving device 10.

As shown in FIG. 5A, when the wheels 12a to 12c move in the directions indicated by arrows 13p to 13r, the base portion 18 moves in the direction indicated by arrows 19a (upward in the figure). As shown in FIG. 5B, when the wheels 12a and 12b move in the directions indicated by the arrows 13s and 13t while the wheels 12c are stopped, the base portion 18 moves in the direction indicated by the arrows 19b (to the right in the drawing). ). As shown in FIG. 5C, when the wheels 12a to 12c move in the directions indicated by the arrows 13u to 13w, the base portion 18 moves in the direction indicated by the arrow 19c (in the figure, the diagonal direction that is neither the vertical direction nor the horizontal direction). Moving. That is, as shown in FIGS. 5 (a) to 5 (c), the moving device 10 can translate in any direction.

As shown in FIG. 5D, when the wheels 12a to 12c move in the directions indicated by arrows 13i to 13k, the base portion 18 rotates in the direction indicated by arrows 19d on the spot. That is, the moving device 10 can also rotate.

Explaining the movement of FIG. 5B in detail, as shown in FIG. 6, when the base portion 18 moves straight in the direction parallel to the guide portion 16c without rotating, the wheel support portions 14a and 14b are the guide portions. The wheels 16a, 16b are pushed in the directions indicated by the arrows 23s, 23t, and the wheel supports 14a-14c move passively, i.e., as a result, in the directions indicated by the arrows 85a-85c with respect to the guides 16a-16c.

When the wheel support portions 14a to 14c continue to move along the guide portions 16a to 16c, the foundation portion 18 continues to move. Eventually, when at least one of the wheel support portions 14a to 14c reaches the end of the guide portions 16a to 16c, the foundation portion 18 cannot continue the same movement as before.

When the foundation portion 18 makes only translational movements, that is, when the foundation portion 18 does not rotate, the foundation portion 18 can move translationally to some extent in any direction, but the range of movement is limited. FIG. 7 is a plan view showing a moving range of the moving device. As shown in FIG. 7, when the wheel support portions 14a to 14c are located between the guide portions 16a to 16c, the range in which the base portion 18 can be translated and moved is limited to the hexagonal region 29.

FIG. 8 is a plan view showing the rotational movement of the moving device. As shown by arrows 19r in FIG. 8, when the base portion 18 does not move in translation and makes a rotational movement on the spot, the wheel support portions 14a to 14c do not move along the guide portions 16a to 16c.

When the translational movement of the foundation portion 18 shown in FIG. 6 and the rotational movement of the foundation portion 18 shown in FIG. 8 are combined, as shown in FIG. 9, the foundation portion 18 rotates in the direction indicated by the arrow 19r while rotating. It moves in the direction indicated by the arrow 19x.

Combining the translational movement and the rotational movement of the base portion 18 in this way, for example, as shown in FIG. 10, the moving device 10 changes from the position and orientation indicated by reference numeral P1 to the position and orientation indicated by reference numerals P2 and P3. Change. The wheel support portions 14a to 14c and the base portion 18 when the moving device 10 is in the position and orientation indicated by reference numeral P1 are indicated by reference numerals 21a to 21c and 21x. Similarly, the wheel support portions 14a to 14c and the base portion 18 when the moving device 10 is in the position and orientation indicated by reference numeral P2 are indicated by reference numerals 22a to 22c and 22x. The wheel support portions 14a to 14c and the base portion 18 when the moving device 10 is in the position and orientation indicated by reference numeral P3 are indicated by reference numerals 23a to 23c and 23x.

Focusing on the wheel support portion 14c in front of the moving device 10 in the traveling direction, the wheel support portion 14c moves to the position indicated by the reference numerals 21c, 22c, 23c, and the base portion 18 moves to the position indicated by the reference numerals 21x, 22x, 23x. Move to. At this time, the distance between the wheel support portions 14c (21c to 23c) and the foundation portion 18 (21x to 23x) decreases as the foundation portion 18 moves.

Further, when the foundation portion 18 continues the translational movement and the rotational movement, as shown in the partially enlarged view of FIG. 11, the moving device 10 is in the position and orientation indicated by the reference numeral P4, and the wheel support portion 14c and the foundation portion 18 are designated by the reference numerals. Move to the position indicated by 24c and 24x. At this time, the wheel support portion 14c is aligned with the foundation portion 18 in the direction perpendicular to the traveling direction of the foundation portion 18.

After that, the moving device 10 is in the position and orientation indicated by the reference numerals P5 and P6, the wheel support portion 14c and the base portion 18 are moved to the positions indicated by the reference numerals 25c and 25x, and the reference numerals 26c and 26x, and the wheel support portion 14c is the foundation. It is located behind the portion 18 in the traveling direction of the foundation portion 18. At this time, the distance between the wheel support portions 14c (25c, 26c) and the foundation portion 18 (25x, 26x) increases as the foundation portion 18 moves.

Further, when the foundation portion 18 continues the translational movement and the rotational movement, the wheel support portion 14c comes to the front of the foundation portion 18 in the traveling direction of the foundation portion 18 again. At this time, the distance between the wheel support portion 14c and the foundation portion 18 decreases as the foundation portion 18 moves.

In this way, when the translational movement of the base portion 18 and the rotational movement are combined, the distance between the wheel support portion 14c and the base portion 18 undergoes a periodic change that repeats increasing and decreasing. That is, the wheel support portion 14c can move while keeping the movement of the wheel support portion 14c with respect to the guide portion 16c within a predetermined range. The same applies to the other wheel support portions 14b and 14c.

When the wheels 12a to 12c are appropriately rotationally driven, the wheel support portions 14a to 14c move in the same phase out of phase. For example, the wheels 12a to 12c can be rotationally driven so that the distance between the wheel support portions 14a to 14c and the base portion 18 changes periodically like a simple vibration.

12 to 14 are explanatory views of an example of the movement of the moving device 10 that combines the translational movement and the rotational movement.

In FIG. 12, the chain line 4 is a virtual reference line 4 on the ground plane 2. The foundation portion 18 moves in a direction perpendicular to the virtual reference line 4 (to the right in FIG. 12) while rotating around the foundation portion 18. FIG. 12 illustrates the moving device 10 by sequentially shifting the position parallel to the virtual reference line 4 and downward each time the base portion 18 is rotated by 90 °.

FIG. 13 is a graph showing the change in the distance l between the wheel support portion 14c and the base portion 18. The vertical axis of the graph of FIG. 13 indicates the distance l between the wheel support portion 14c and the foundation portion 18. The horizontal axis of the graph of FIG. 13 is the counterclockwise rotation angle of the base portion 18 shown in FIG. 12, and the state shown in FIG. 12 (1) is 0 °.

As shown in FIGS. 12 (2) and 13, when the base portion 18 rotates by 90 °, the distance l between the wheel support portion 14c and the base portion 18 becomes the minimum value. As shown in FIGS. 12 (3) and 13, when the foundation portion 18 rotates 180 °, the distance l between the wheel support portion 14c and the foundation portion 18 becomes the same value as when the foundation portion 18 is 0 °. Become. As shown in FIGS. 12 (4) and 13, when the base portion 18 rotates by 270 °, the distance l between the wheel support portion 14c and the base portion 18 becomes the maximum value. As shown in FIGS. 12 (5) and 13, when the foundation portion 18 rotates 360 °, the distance l between the wheel support portion 14c and the foundation portion 18 becomes the same value as when the foundation portion 18 is 0 °. Become.

FIG. 14 is a plan view showing the movement of the moving device, and the moving speeds Va to Vc of the wheels 12a to 12c and the wheel support portions 14a to 14c in the direction perpendicular to the guide portions 16a to 16c are indicated by arrows. The length of the arrow is proportional to the magnitude of the moving speeds Va to Vc. As shown in FIG. 14, when the guide portions 16a to 16c are located in front of the foundation portion 18 in the traveling direction of the foundation portion 18, the wheels 12a to 12c and the wheel support portions 14a as the guide portions 16a to 16c rotate. The moving speeds Va to Vc of ~ 14c decrease. On the other hand, when the guide portions 16a to 16c are located behind the foundation portion 18 in the traveling direction of the foundation portion 18, the moving speeds of the wheels 12a to 12c and the wheel support portions 14a to 14c as the guide portions 16a to 16c rotate. Va to Vc increase.

That is, when the guide portions 16a to 16c are located in front of the foundation portion 18 in the traveling direction of the foundation portion 18, the tip side of the guide portions 16a to 16c (that is, the side opposite to the foundation portion 18) is the guide portion 16a to. It is located on the front side in the moving direction of the moving device from the base end side (that is, the base portion 18 side) of 16c. The moving speed of the wheels 12a to 12c supported by the wheel supporting portions 14a to 14c guided by the guide portions 16a to 16c gradually decreases as the moving device moves. On the other hand, when the guide portions 16a to 16c are located behind the foundation portion 18 in the traveling direction of the foundation portion 18, the tip end side of the guide portions 16a to 16c is more of the moving device than the base end side of the guide portions 16a to 16c. It is located behind the direction of movement. The moving speed of the wheels 12a to 12c supported by the wheel supporting portions 14a to 14c guided by the guide portions 16a to 16c gradually increases as the moving device moves.

That is, when the guide portion is linear, when the tip end side of the guide portion is located on the front side in the moving direction of the moving device from the base end side of the guide portion, the wheel support portion guided by this guide portion is supported. When the moving speed of the moving wheel gradually decreases with the movement of the moving device, and the tip side of the guide portion is located behind the base end side of the guide portion in the moving direction of the moving device, this guidance The moving speed of the wheels supported by the wheel supporting portion guided by the unit can be controlled so as to gradually increase with the movement of the moving device.

Next, the movement of the moving device 10 will be described using a kinematic equation.

15 to 18 are explanatory diagrams of parameters. As shown in FIG. 15, to define the x-y coordinate system fixed to the ground plane, the coordinates of the base portion 18 (x, y), the angular reference direction X _R of the base portion 18 theta, foundation 18 Let α be the angle of the guide portion 16 with respect to the reference direction X _R, and let l be the distance between the wheel support portion 14 guided by the guide portion 16 and the base portion 18. For example, when the three guide portions 16a to 16c are arranged in a Y shape at intervals of 120 °, α = 0 °, 120 °, 240 °.

Further, as shown in FIG. 16, the counterclockwise angular velocity of the base portion 18 is ω, and the x and y direction components of the moving speed of the base portion 18 are v _x and v _y . The radius of the wheel 12 supported by the wheel support portion 14 is r, and the rotation angle of the wheel 12 is
And.

When the wheel 12 moves while rotating on the ground contact surface while keeping the angle with respect to the guide portion 16 constant (here, a right angle), the angles of the wheel 12 and the guide portion 16 may change. At this time, the following kinematic equation holds.

When the velocity of the main body, which is the derivative of the variables x, y, and θ, is determined in order to make the base portion 18 perform the desired motion, the variable l included in the kinematic equations of the equations (1) and (2) and the value of the derivative thereof are determined. Is determined, and the wheel support portion 14 reciprocates within a predetermined range along the guide portion 16. r and α are constants. Therefore, from the kinematic equations of equations (1) and (2),
The value of can be derived.

That is, it is possible to derive how the wheel 12 should rotate in order for the foundation portion 18, the guide portion 16, and the wheel support portion 14 to perform desired movements.

(1-1) while the base portion 18 when the base portion is moving at a constant speed and a constant angular velocity is rotated at a constant angular velocity, when moving at a constant speed in a predetermined direction, the reference of the base portion 18 at the initial time t = t ₁ Assuming that the initial value of the angle θ of the direction X _R is θ ₁ and the initial value of the distance l between the guide portion 16 and the foundation portion 18 is l ₁ , the following is obtained from the kinematic equations of equations (1) and (2). Equations (3) to (5) can be derived.
here,
And v _x , _xy , ω are constant values.

Angular velocity of wheel 12
When the wheel 12 rotates so as to satisfy the equation (3), the wheel support portion 14 reciprocates along the guide portion 16 in a predetermined range like a simple vibration as in the equation (4), and the foundation portion 18 moves. , moving at a constant velocity v _x, v _y in a certain direction, and rotates at a constant angular velocity omega. As can be seen from the equations (4) and (5), the amplitude of l is the ratio of the velocity of the base portion 18 to the angular velocity.

(1-2) When a constant speed motion is performed after the foundation portion has a constant acceleration motion The entire moving device 10 is stationary as a motion until the foundation portion 18 moves at a constant speed and a constant angular velocity. Consider a case where the foundation portion 18 accelerates at a constant acceleration and a constant angular acceleration from the state. In this case, from the kinematic equations of the equations (1) and (2), the rotational angular velocity of the wheel 12 is as shown in the following equation (6), and the position of the wheel support portion 14 is as follows in the following equations (7) and (8). )become that way.

However, as shown in FIG. 17, a _x is the x-direction component of the acceleration of the base portion 18, a _y is the y-direction component of the acceleration of the base portion 18, and a _θ is the counterclockwise angular acceleration of the base portion 18. .. θ ₀ is the angle of the reference direction X _R of the base portion 18 at the initial time t = 0.

From the equation (7), it can be seen that the movement of the wheel support portion 14 with respect to the guide portion 16 is not a simple vibration but a vibration represented by an equation in which the quadratic equation of the time t is included in the argument of the trigonometric function.

As can be seen from the equations (7) and (8), the amplitude of l is the ratio of the acceleration of the base portion 18 to the angular acceleration. Since the ratio of the acceleration of the foundation portion 18 to the angular acceleration is equal to the ratio of the velocity to the angular velocity when the acceleration ends and becomes a constant velocity, the amplitude of l is the time of the acceleration motion of the foundation portion 18 and the subsequent constant velocity motion. Is equal. Further, when the movements are switched, the equations (3) to (5) and the equations (6) to (8) have equal values. An analysis in consideration of these shows that the center of vibration of the wheel support portion 14 with respect to the guide portion 16 does not change before and after the change of motion. That is, the range of possible values of l does not change before and after switching between the acceleration motion of the foundation portion 18 and the subsequent constant velocity motion.

The range in which the wheel support portion 14 moves along the guide portion 16 when the foundation portion 18 moves at a constant speed after performing an exercise of accelerating at a constant acceleration / angular acceleration from a state in which the foundation portion 18 is stopped. Is the same before and after switching the motion, so that the base portion 18 can be moved without the wheel support portion 14 reaching the end of the guide portion 16.

(1-3) x where base portion 18 which foundation section is decelerated motion, the velocity component in the y-direction is _v x, _{v y,} from the state angular velocity of the base portion 18 is omega, at time t = _{t 2} starts deceleration at a constant acceleration, constant angular acceleration, velocity and angular velocity becomes zero at time t = t _3, consider a case of stopping. In this case, from the kinematic equations of the equations (1) and (2), the angular velocity of the wheel 12 becomes as shown in the following equation (9), and the position of the wheel support portion 14 with respect to the guide portion 16 (wheel support portion 14 and the foundation). The distance from the part 18) is as shown in the following equations (10) and (11).
However, θ ₂ is the angle of the base portion 18 at time t = t ₂ , and l ₂ is the position of the wheel support portions 14a to 14c at time t = t ₂ .

From equations (10) and (11), the motion of the wheel support portion 14 with respect to the guide portion 16 is expressed not by simple vibration but by an equation in which the quadratic equation of t is included in the argument of the trigonometric function, as in the case of acceleration. It can be seen that the vibration occurs. Analysis shows that the amplitude and center of vibration of l do not change before and after switching the motion. That is, the range of possible values of l does not change before and after switching the exercise.

The range in which the wheel support portion 14 moves along the guide portion 16 does not change before and after the movement is switched when the base portion 18 decelerates at a constant acceleration / angular acceleration from a state in which the base portion 18 is moving at a constant speed and then stops. , The base portion 18 can be moved without the wheel support portion 14 reaching the end of the guide portion 16.

(2) When the direction of travel is changed while the foundation is moving (2-1) The movement of the foundation following the arc trajectory The foundation 18 moves along the arc trajectory, and the direction of travel is changed from one direction to another. Consider the case of changing direction. As shown in FIG. 18, on the xy plane, the base portion 18 starts from the origin (0,0) of the xy coordinate system and follows an arc orbit with a radius R centered on the point (0, R). Consider the case of revolving at an angular velocity of Ω. Each velocity component of the base portion 18 at this time is
Will be.

Also in this case, the foundation portion 18 needs to rotate in order to keep the range in which the wheel support portions 14a to 14c move along the guide portions 16a to 16c within a predetermined range. Assuming that the angular velocity when the base portion 18 rotates is ω, the angular velocity of the wheel 12 is expressed by the following equation (14) from the kinematic equations of equations (1) and (2), and the position of the wheel support portion 14 is It is represented by the following equations (15) and (16).
However, θ ₀ is the angle of the base portion 18 at the initial time t = 0, and l ₀ is the position of the wheel support portions 14a to 14c at the initial time t = 0.

From equation (14), it can be seen that the rotational angular velocities of the wheels 12a to 12c simply vibrate. Further, from the equations (15) and (16), it can be seen that the positions of the wheel support portions 14a to 14c simply vibrate along the guide portions 16a to 16c.

Therefore, the wheel support portions 14a to 14c do not reach the ends of the guide portions 16a to 16c, and the foundation portion 18 can follow the arc trajectory while rotating at a constant angular velocity ω without temporarily stopping.

Further, the foundation portion 18 can follow the arc trajectory while accelerating and decelerating. By combining a plurality of types of arc orbits, the foundation portion 18 can be made to follow an arbitrary curved orbit.

(2-2) When the foundation portion temporarily stops and changes its course As described above, the foundation portion 18 can change its course by following the arc trajectory, but once it stops, it changes its course in another direction. You can also do it. FIG. 19 is a plan view showing the movement of the moving device. As shown by the arrow 60a in FIG. 19, the deceleration motion (1-3) described above is performed in a state where the base portion 18 is moving in a certain direction, and after stopping at the position indicated by the reference numeral 28s, the arrow 60b Consider the case where the translational movement is started again in the direction indicated by. The time at which the translational movement starts from the stop position 28s in the direction indicated by the arrow 60b is set to the initial time t = 0. Then, when the foundation portion 18 changes the direction of acceleration at the stop position 28s and translates from the stop position 28s in the direction of the arrow 60b, the foundation portion 18 performs an acceleration motion in the same manner as in (1-2) described above, and then is fixed. Perform fast exercise. Before and after the course change, the initial conditions at the start are different, so the type of vibration of l and the range of possible values are also different, but the operating principle is the same.

As described above, the moving device 10 of the first embodiment can be configured by using ordinary wheels, and can be immediately moved in an arbitrary direction.

Next, modifications 1 to 6 of the moving device 10 of the first embodiment will be described with reference to the schematic views of the moving devices of FIGS. 20 to 25. In the following, the same reference numerals as those of Example 1-1 will be used for the same components as those of Example 1-1, and the differences from Example 1-1 will be mainly described.

<Modification 1> As shown in FIG. 20, the rotation canceling device 20 may be added to the moving device 10. The rotation canceling device 20 is configured so that the support plate 24 can be rotated in a desired direction by the rotation device 22 fixed to the base portion 18.

The rotation canceling device 20 generally has a base portion fixed to at least one of the guide portions 16a to 16c and the base portion 18 which is the first connecting portion, and a base portion rotatably coupled to the base portion. And a pedestal drive unit that rotates the pedestal with respect to the base. The rotating device 22 is a base portion and a pedestal driving portion, and the support plate 24 is a pedestal portion.

When the rotation canceling device 20 is added, the support plate 24 can be oriented in a desired direction when the guide portions 16a to 16c and the base portion 18 move while rotating. Therefore, it is suitable when an operator rides on the support plate 24 or when he / she does not want to rotate the load carried on the support plate 24 as much as possible.

<Modification Example 2> As shown in FIG. 21A, the guide portions 16a to 16c may not be arranged at equal angular intervals. Further, as shown in FIG. 21B, if at least two guide portions 16a or 16b and 16c are not parallel to each other in the directions of predetermined paths for guiding the wheel support portions 14a, 14b, 14c, respectively, the guide portion 16a , 16b may be aligned.

<Modification 3> As shown in FIG. 22, the guide portions 16a to 16c may be connected to each other at a plurality of locations, or other guide portions 16a to 16c may be connected to intermediate positions of the guide portions 16a to 16c. I do not care. Further, as shown in FIG. 22C, if the directions of the predetermined paths in which at least two guide portions 16a or 16b and 16c guide the wheel support portion 14c are not parallel to each other, the guide portions 16a and 16b They may be arranged parallel to each other.

<Modification Example 4> As shown in FIG. 23, the guide portions 16a to 16c may intersect with each other, or the predetermined paths guided by the guide portions 16a to 16c with the wheel support portions 14a to 14c may intersect with each other. I do not care.

<Modification 5> As shown in FIG. 24, the guide portions 16p to 16q may be curved, or the predetermined path guided by the guide portions 16p to 16q to the wheel support portions 14p to 14r may be curved.

<Modification Example 6> Two or more of Modifications 1 to 5 may be appropriately combined. For example, as shown in FIG. 25, one end of the curved second guide portion 16q is connected to the intermediate position of the curved first guide portion 16p via the base portion 18, and the second end is connected. One end of the curved third guide 16r may be connected to the other end of the guide 16q.

<Example 1-2> FIG. 26 is a plan view of the moving device 10a of Example 1-2. As shown in FIG. 26, in the moving device 10a, three guide portions 16a to 16c are arranged in a Δ shape, and the ends of the guide portions 16a to 16c are connected to each other.

Similar to Example 1-1, the wheels 12a to 12c are rotatably supported by the wheel support portions 14a to 14c. The wheel support portions 14a to 14c are movably guided by the linear guide portions 16a to 16c. The wheels 12a to 12c move in the directions indicated by the arrows 13a to 13c. The wheel support portions 14a to 14c move along the guide portions 16a to 16c in the direction indicated by the arrows 15a to 15c, that is, in parallel with the longitudinal direction of the guide portions 16a to 16c. The angle formed by the moving directions 13a to 13c of the wheels 12a to 12c and the moving directions 15a to 15c of the wheel support portions 14a to 14c is constant and does not have to be a right angle.

Next, the movement of the moving device 10a will be described. The base portion 18a shown in FIG. 26 represents the movement of the moving device 10a. The base portion 18a has a fixed relative position with respect to the guide portions 16a to 16c inside a triangular region surrounded by the guide portions 16a to 16c. The base portion 18a may be an existing member or a virtual member.

FIG. 27 is an explanatory diagram of parameters. As shown in FIG. 27, to define the x-y coordinate system fixed to the ground plane, the distance from the base portion 18a to the guide portion 16 h, the angle of the guide portion 16 with respect to the reference direction X _R of the mobile device 10a alpha, the angle of reference directions X _R of the base portion 18 theta, center line 16x (wheel support portion 14 of the (movement perpendicular to the direction of the wheel 12) and the guide portion 16 the rotational axis 12x of the wheel 12 is guided Let β be the angle formed by the straight line parallel to the predetermined path, and l be the distance between the foot 16z of the perpendicular line drawn from the base portion 18a to the center line 16x of the guide portion 16 and the wheel support portion 14. It is assumed that the wheel 12 supported by the wheel support portion 14 is located directly below the center line 16x of the guide portion 16. The radius of the wheel 12 is r, and the rotation angle of the wheel 12 is
And.

The kinematic equation becomes as follows in equations (17) and (18).

In the mobile device 10 of Example 1-1, β = 0 °, but in the case of the mobile device 10a of Example 1-2, the value satisfies −90 ° <β <90 °, β ≠ 0 °. For example, regardless of the direction in which the moving device 10a moves, the range of movement of the wheel support portion 14 along the guide portion 16 can be set within a predetermined range.

When the base portion 18a moves at a constant speed and a constant angular velocity, the angular velocity of the wheel 12 and the position of the wheel support portion 14 are as shown in the following equations (19) and (20).
However, C in the equation (20) is a constant determined by the initial conditions.

From equation (20), if the sign of the rotational angular velocity ω of the base portion 18a is selected so that ω tan β> 0 so that the transient term Ce ^−ωt tan β of the first term on the right side attenuates with the passage of time, the wheel The position l of the support portion 14 finally becomes a simple vibration and moves while being within a certain range. This means that the moving device 10a of Example 1-2 in which the guide portions 16a to 16c are arranged in a Δ shape is the moving device 10 of Example 1-1 in which the guide portions 16a to 16c are arranged in a Y shape. Means that the guide portions 16a to 16c operate on the same principle as the moving device 10 of the first embodiment, only the arrangement mode is different.

FIG. 28 is a plan view showing an example of the movement of the moving device 10a when the base portion 18a moves in one direction while rotating. In FIG. 28, the chain line 4 is a virtual reference line 4 on the ground plane 2. The moving device 10a moves in a direction perpendicular to the virtual reference line 4 (to the right in the figure) while rotating around the base portion 18a. FIG. 28 illustrates the moving device 10a by sequentially shifting the position parallel to the virtual reference line 4 and downward each time the base portion 18a is rotated by 60 °.

Focusing on one of the three wheel support portions 14a to 14c, 14b, as shown in FIGS. 28 (1) to (4), the wheel support portion 14b travels in the traveling direction with respect to the base portion 18a (to the right in the figure). ) When in front, the wheel support 14b approaches the end of the guide 16b. On the other hand, as shown in FIGS. 28 (5) to 28 (7), when the wheel support portion 14b is rearward in the traveling direction with respect to the base portion 18a, the wheel support portion 14b approaches the center of the guide portion 16b. Whether the wheel support portion is located in the front-rear direction with respect to the base portion 18a in the traveling direction changes periodically with the rotation of the base portion 18a, so that the wheel support portion 14b reciprocates along the guide portion 16b. Similarly, the other wheel support portions 14a and 14c reciprocate along the guide portions 16a and 16c.

The moving device 10a in which the guide portions 16a to 16c are arranged in a Δ shape is provided by the guide portions 16a to 16c as compared with the moving device 10 in the first embodiment in which the guide portions 16a to 16c are arranged in a Y shape. Since it is not easily affected by the error in the traveling direction of the wheels 12a to 12c supported by the wheel support portions 14a to 14c with respect to the predetermined path guided by the wheel support portions 14a to 14c, the moving device 10a can be easily assembled and adjusted. Is.

<Modification Example 1> FIG. 29 is a plan view of the moving device of Modification 1. As shown in FIG. 29, one end side of the guide portions 16a to 16c may be extended in a direction away from the Δ-shaped region surrounded by the guide portions 16a to 16c, and the wheel support portions 14a to 14c are guided. The predetermined route may be extended in a direction away from the Δ-shaped region surrounded by the guide portions 16a to 16c. Although not shown, both one end side and the other end side of the guide portions 16a to 16c may be extended in a direction away from the Δ-shaped region surrounded by the guide portions 16a to 16c, or the wheel support portion 14a may be extended. The predetermined route to which ~ 14c is guided may be extended in a direction away from the Δ-shaped region surrounded by the guide portions 16a to 16c.

<Example 1-3> FIG. 30 is a plan view of the moving device 10b of the third embodiment. As shown in FIG. 30, the guide portions 16i to 16k are configured such that a predetermined path for movably guiding the wheel support portions 14i to 14k is circular. The foundation portion 18b connects the guide portions 16i to 16k to each other so that the relative positions of the guide portions 16i to 16k are fixed. The wheel support portions 14i to 14k rotatably support the wheels 12a to 12c, respectively.

Next, the movement of the moving device 10b will be described. The movement of the moving device 10b is represented by the foundation portion 18b. FIG. 31 is an explanatory diagram of parameters. As shown in FIG. 31, an xy coordinate system fixed to the ground plane is defined, and the locus of the center S of the wheel 12 is set to an annular predetermined path 14 g in which the guide portion guides the wheel support portion, and the predetermined path 14 g. Is circular, and the center point of the predetermined path 14 g is P. Let h be the distance from the center of the base portion 18b to the point P. Let d be the distance between the point P and the center of the wheel 12.

Further, the direction connecting the center and the center point P of the base portion 18b, the angle between the reference direction X _R of the base portion 18b and alpha. Let β be the angle formed by the tangent line 14s of the predetermined path 14g passing through the center S of the wheel 12 and the rotation center line 12x of the wheel 12. Let γ be the angle formed by the line segment connecting the base portion 18b and the center point P and the line segment connecting the center point P and the center S of the wheel 12. The radius of the wheel 12 is r, and the rotation angle of the wheel 12 is
And.

When defined as described above, the kinematic equation becomes as follows in equations (21) and (22).
By obtaining numerical solutions from these equations (21) and (22), the position γ of the wheel support portion on the annular predetermined path 14 g and the angular velocity of the wheel 12
Can be sought.

32 to 35 are explanatory views of the movement of the moving device 10b.

As shown in FIG. 32, the moving device 10b can translate in any direction from a state in which the wheels 12a to 12c are not aligned. That is, as shown in FIG. 32 (a), the moving device 10b may be translated in the left-right direction in the figure, or may be translated in the vertical direction in the figure as shown in FIG. 32 (b). As shown in 32 (c), translational movement can also be performed in an oblique direction (a direction that is neither left-right direction nor up-down direction) in the figure.

However, if the base portion 18b moves in translation without rotating, the directions of all the wheels 12a to 12c are aligned as shown in FIG. 33, and the directions of the wheels 12a to 12c are perpendicular to the traveling direction (direction of the arrow 11y). Cannot move in any direction (direction of arrow 11x). On the other hand, when the base portion 18b only makes a rotational motion as shown in FIG. 34, the directions of the wheels 12a to 12c are not aligned.

Therefore, by combining the translational movement of FIG. 32 and the rotational movement of FIG. 34, the foundation portion 18b can move in an arbitrary direction when the foundation portion 18b moves in translation while rotating.

FIG. 35 shows an example of the movement of the moving device 10b when the base portion 18b moves in one direction while rotating. In FIG. 35, the chain line 4 is a virtual reference line 4 on the ground plane 2. The moving device 10b moves in a direction perpendicular to the virtual reference line 4 (to the right in the figure) while rotating around the base portion 18b. FIG. 35 illustrates the moving device 10b by sequentially shifting the position parallel to the virtual reference line 4 and downward each time the base portion 18b is rotated by 60 °.

Focusing on one of the three wheel support portions 14i to 14k, 14k, it can be seen that they continue to move in one direction along the annular guide portion 16k. Similarly, the other wheel support portions 14i and 14j continue to move in one direction along the annular guide portions 16i and 16j.

Unlike Examples 1-1 and 1-2 having linear guide portions, the wheel support portions 14i to 14k do not reciprocate within a certain range along the guide portions 16i to 16k, but the guide portions 16i to 16k Is circular and there is no limit to the range of movement, so there is no problem.

<Modification Example 1> The predetermined path for the guide portion to guide the wheel support portion is not limited to a circular shape, and may be a circulation path having an arbitrary shape such as an elliptical shape or an oval shape.

<Modification 2> The predetermined path in which the guide portion guides the wheel support portion may be an arc shape, that is, a path having both ends such as a part of a circle, a part of an ellipse, and a part of an oval. In this case, if the wheels are rotationally driven so that the rotation direction of the foundation portion is reversed before the wheel support portion reaches the end of the path, the foundation portion is rotated and the rotation direction of the foundation portion is switched. The part can be moved in any direction.

<Example 1-4> The moving device 10c of Example 1-4 in which the guide portions 16i to 16k and the wheel support portions 14i to 14k of the moving device 10b of the embodiment 1-3 are replaced with the caster type mechanism 60 will be described.

FIG. 36 is a plan view of the moving device 10c. 37 is an explanatory view of the caster type mechanism 60, FIG. 37 (a) is a side view, and FIG. 37 (b) is a front view.

As shown in FIGS. 36 and 37, the moving device 10c includes three wheels 12a to 12c, three wheel support portions 14u to 14w, and three guide portions 16u to 16w.

The guide portions 16u to 16w include first and second members 16m and 16n that are rotatably connected to each other, respectively. The wheels 12a to 12c rotatably supported by the wheel support portions 14u to 14w move around the central axis 66 in which the first and second members 16m and 16n rotate relative to the first member 16m. The wheel support portions 14u to 14w are fixed to the wheel. For example, the second member 16n rotatably supports the axial first member 16m. The first member 16m is fixed to the wheel support portions 14u to 14w.

The foundation portion 18c, which is the first connecting portion, connects the second members 16q of the guide portions 16u to 16w so that the relative positions of the second members 16q of the guide portions 16u to 16w do not change.

The guide portions 16u to 16w movably guide the wheel support portions 14u to 14w along the predetermined paths 17u to 17w shown by the chain lines in FIG. 36, and the wheel support portions 14u to 14w with respect to the predetermined routes 17u to 17w. The orientation is kept constant.

As described above, when the moving device 10c includes the caster type mechanism 60, it is easy to configure the guide portions 16u to 16w so that the predetermined paths 17u to 17w for guiding the wheel support portions 14u to 14w are annular. ..

<Example 2> Example 2 in which the relative positions of three or more guide portions are variable will be described. FIG. 38 is a schematic diagram conceptually showing the configuration of the mobile device 50 of the second embodiment.

As shown in FIG. 38, the moving device 50 includes at least three sets of wheels 52a to 52c, wheel support portions 54a to 54c, and guide portions 56a to 56c configured in the same manner as in the first embodiment, and further includes guide portions 56a. The guide portions 56a to 56c are provided with first connecting portions 57a to 57c for connecting the guide portions 56a to 56c so that the relative positions of the to 56c are variable. The first connecting portions 57a to 57c connect the guide portions 56a to 56c to each other via a paired pair such as a rotating paired pair or a straight paired pair, or a mechanism such as a slide mechanism, a link mechanism, or a planetary mechanism.

The moving device 50 includes a base portion 58 which is connected to at least one of the guide portions 56a to 56c via a kinematic pair or a mechanism and whose relative position to all the guide portions 56a to 56c is variable. However, as in Example 2-4 described later, the configuration may not include the foundation portion 58 whose relative positions with respect to all the guide portions 56a to 56c are variable.

<Example 2-1> Example 2-1 in which the angle of the guide portion with respect to the foundation portion is variable will be described.

FIG. 39 is a schematic diagram conceptually showing the configuration of the mobile devices 50p and 50q of the 2-1 embodiment. As shown in FIGS. 39 (a) and 39 (b), the moving devices 50p and 50q include four sets of wheels 52p and 52q, wheel support portions 54p and 54q, and guide portions 56p and 56q. The guide portions 56p and 56q are configured such that the reference points 55p and 55q move on the predetermined paths indicated by the alternate long and short dash lines 59p and 59q, and the angles of the guide portions 56p and 56q with respect to the base portions 58p and 58q change. .. The reference points 55p and 55q of the guide portions 56p and 56q are connected to each other as conceptually shown by the broken lines 57p and 57q, and the relative positions of the guide portions 56p and 56q are unchanged.

The predetermined path for the guide portions 56p, 56q to guide the wheel support portions 54p, 54q is a linear predetermined path as shown in FIG. 39 (a), or an annular or arcuate predetermined path as shown in FIG. 39 (b). It may be a route, an arbitrary curved line (not shown), or a combination of two or more of them.

FIG. 40 is a schematic diagram of a mobile device 50r showing a specific configuration example. As shown in FIG. 40, the outer ring 51r is arranged around the disk 58r at intervals, and four sets of wheels 52r, the wheel support portion 54r, and the guide portion 56r are arranged between the disk 58r and the outer ring 51r. ing. An endless belt 55r made of an elastic body is wound around each guide portion 56r. The endless belt 55r can circulate around the guide portion 56r like a crawler, and is in contact with the outer peripheral surface 58a of the disk 58r and the inner peripheral surface 51a of the outer ring 51r.

In the moving device 50r, when the wheel 52r rotates, the endless belt 55r moves in the direction indicated by the arrow 57r. Along with this, the endless belt 55r moves while being in contact with the outer peripheral surface 58a of the disk 58r and the inner peripheral surface 51a of the outer ring 51r, and the guide portion 56r changes its angle with respect to the disk 58r as shown by the arrow 59r.

<Example 2-2> Example 2-2 in which the distance between the foundation portion and the guide portion is variable will be described.

41 and 42 are schematic views conceptually showing the configurations of the mobile devices 50s and 50t of the second embodiment. As shown in FIGS. 41 and 42, the wheel support portions 54s and 54t rotatably support the wheels 52s and 52t, respectively. The guide portions 56s and 56t guide the wheel support portions 54s and 54t, respectively. In the moving devices 50s and 50t, cam followers 55s and 55t are provided on the guide portions 56s and 56t, and the cam followers 55s and 55t move along the cam grooves 57s and 57t so that the guide portions 56s and 56t have the foundation portions 58s and. The distance between the foundation portions 58s and 58t is changed while keeping the angle with respect to 58t constant.

As shown in FIGS. 41 (a) and 41 (b), the direction in which the guide portion 56s moves may be perpendicular to or oblique to the direction in which the guide portion 56s guides the wheel support portion 54s.

The predetermined path for the guide portions 56s, 56t to guide the wheel support portions 54s, 54t may be a straight line as shown in FIG. 41, an annular shape or an arc shape as shown in FIG. 42, or an arbitrary curved shape, and two or more of them. It may be a combination.

FIG. 43 is a schematic diagram of a mobile device 50u showing a specific configuration example. As shown in FIG. 43, a plurality of sets of wheels 52u, wheel support portions 54u, and guide portions 56u are arranged around an elliptical cam 51u that rotates around a base portion 58u. Each of the guide portions 56u is provided with a pin 55u (cam follower 55u) having a rectangular cross section. The pin 55u engages with the groove surfaces on both sides of the slit 57u (cam groove 57u) extending toward the base portion 58u, and is attracted toward the base portion 58u by an elastic member 57m such as rubber or a spring to guide the guide portion 56u. Is configured to be pressed against the cam 51u. When the cam 51u rotates in the direction indicated by the arrow 58m, the guide portion 56u translates in the direction of approaching or moving away from the foundation portion 58u as shown by the arrow 56m.

<Example 2-3> Example 2-3 in which the angle of the guide portion with respect to the foundation portion and the distance between the foundation portion and the guide portion are variable will be described. Example 2-3 is a combination of Example 2-1 in which the angle of the guide portion with respect to the foundation portion is variable and Example 2-2 in which the distance between the foundation portion and the guide portion is variable. is there.

FIG. 44 is a schematic diagram conceptually showing the configuration of the mobile device 50v of the second embodiment. As shown in FIG. 44, in the moving device 50v, a cam follower 55v having a rectangular cross section is provided on the guide portion 56v as in the second embodiment in which the distance between the base portion and the guide portion is variable. The guide portion 56v is configured to change the distance from the base portion 58v by moving the cam follower 55v in the direction indicated by the arrow 56n while being in contact with the groove surfaces on both sides of the cam groove 57v. A plurality of sets of wheels 52v, a wheel support portion 54v, a guide portion 56v, a cam follower 55v, and a cam groove 57v are integrally configured to rotate around a base portion 58v as shown by an arrow 58n. There is.

Kinematic equations, for example, defines the coordinate system and parameters as in Figure 27 described in Example 1-2, the distance h from the base portion 18a to the guide portion 16, the guide relative to the reference direction X _R of the mobile device 10a Since the angle α of the portion 16 is variable, the following equations (23) and (24) are obtained.

By solving these analytically or numerically, the rotational speed of the wheels
Or, the position l of the wheel support portion can be obtained.

When the wheels are rotationally driven, the position of each wheel support portion changes subordinately by giving the rotational speed of the wheel obtained for each wheel as a command value.

As a specific configuration example of Example 2-3, Examples 2-3-1 including a planetary mechanism, Example 2-3-2, and Example 2-3-3 will be described.

<Example 2-3-1> FIG. 45 is a schematic diagram conceptually showing the configuration of the mobile device 30 of the embodiment 2-3-1. As shown in FIG. 45, in the moving device 30, the planet member 34 of the planetary mechanism 31 is provided with a wheel 12, a wheel support portion 14, and a guide portion 16.

In the planetary mechanism 31, four planetary members 34 are arranged between the inner member 32 and the outer member 36. The planetary member 34 revolves around the inner member 32 while rotating. The planetary mechanism 31 includes a friction wheel in which the outer peripheral surface 34s of the planetary member 34 comes into contact with the outer peripheral surface 32s of the inner member 32 and the inner peripheral surface 36s of the outer member 36 without slipping, or the outer peripheral surface 34s of the planetary member 34. A gear mechanism in which the gears formed on the inner member 32 and the gears formed on the outer peripheral surface 32s of the inner member 32 and the inner peripheral surface 36s of the outer member 36 mesh with each other.

A guide portion 16 that movably guides the wheel support portion 14 on a predetermined path is fixed to each planet member 34, and the wheel 12 rotatably supported by the wheel support portion 14 touches the ground contact surface 2. It is configured as follows. For example, the predetermined path through which the wheel support portion 14 moves is linear, and the wheel support portion 14 has the planetary member 34 so that the predetermined path through which the wheel support portion 14 moves is orthogonal to the rotation center axis of the planetary member 34. It is provided in. The traveling direction of the wheel 12 supported by the wheel support portion 14 may be perpendicular or oblique to a linear predetermined path in which the wheel support portion 14 moves.

The moving device 30 can be moved in an arbitrary direction by appropriately controlling the rotational drive of the wheels 12. If the rotation of the inner member 32 or the outer member 36 with respect to the contact patch 2 is prohibited when the moving device 30 moves, the inner member 32 or the outer member 36 moves in translation along the contact patch 2.

Since both the angle and the distance of the guide portion 16 with respect to the inner member 32 change with the rotation of the planetary member 34, the inner member 32 is a base portion 32 whose relative position with respect to the guide portion 16 is variable.

When the base portion 32 is to be translated in an arbitrary direction, only the planetary member 34 needs to be rotated, the foundation portion 32 needs to be continuously rotated, and the rotation angular velocity of the foundation portion 32 can take an arbitrary value. The portion 32 can be made to move with three degrees of freedom in a plane, which is a combination of translational motion and rotational motion. When the foundation portion 32 is made to perform an arbitrary movement with three degrees of freedom in a plane, the relative position between the foundation portion 32 and the guide portion 16 becomes variable and the degree of freedom is increased by 1, so that the wheel 12 to be actively rotated is Four or more are required, and in this case, four or more planetary members 34 are required.

The movement of the moving device 30 will be further described.

FIG. 46 is an explanatory diagram of parameters. As shown in FIG. 46, an xy coordinate system fixed to the ground plane 2 is defined, and attention is paid to a set of wheels 12, a wheel support portion 14 and a guide portion 16, and an inner member 32 (base portion 32) is used. The coordinates of the center point are (x, y), the angle formed by the direction in which the wheel support portion 14 is guided by the guide portion 16 and the reference direction X _R of the foundation portion 32 is α, and the angle of the reference direction X _R of the foundation portion 32. Θ, the angle formed by the rotation center line 12x of the wheel 12 and the direction in which the wheel support portion 14 is guided by the guide portion 16 is β, and the line connecting the center point of the inner member 32 and the center point of the planetary member 34. Let Ψ be the angle formed by the minute and the reference direction X _R of the base portion 32. Let the radius of the inner member 32 be r ₁ , the radius of the planet member 34 be r ₂ , and the radius of the cylinder which is the inner peripheral surface of the outer member 36 be r ₃ .

The guide portion 16 is provided on the planet member 34 so that the locus of the ground contact point of the wheel when the wheel support portion is guided and moved by the guide portion 16 passes through the center of the planet member 34, and the wheel support portion 14 and the wheel support portion 14 are provided. Let l be the distance from the center of the planetary member 34.

At this time, the kinematic equation becomes as follows in equations (25) and (26).

There is a relationship of α = π-Ψ (r ₁ + r ₂ ) / r ₂ due to the contact or meshing of the inner member 32 and the planetary member 34, so by substituting this into equations (25) and (26) and solving it. , Angular velocity of wheel 12
Or, l indicating the position of the wheel support portion 34 can be obtained.

As described above, the rotation angle Ψ of the planetary member 34 with respect to the foundation portion 32 changes, and the guide portion 16 rotates independently of the foundation portion 32, so that the foundation portion 32 can move with three degrees of freedom in the plane. it can.

<Example 2-3-2> FIG. 47 is a schematic diagram showing the configuration of the moving device 30a of the second embodiment 2-3-2. As shown in FIG. 47, the moving device 30a is provided with a guide portion 16 not only on the planetary member 34 of the planetary mechanism 31a but also on the inner member 32 of the planetary mechanism 31a.

When the guide portion 16 is attached to the inner member 32, the inner member 32 cannot be made to make an arbitrary movement with three degrees of freedom in a plane, and only the outer member 36 can be made to make an arbitrary movement with three degrees of freedom in a plane.

<Example 2-3-3> FIG. 48 is a schematic diagram showing the configuration of the mobile device 30b of the second embodiment 2-3-3.

As shown in FIG. 48, the planetary mechanism 31b of the moving device 30b includes a carrier member 38 that rotatably supports the planetary member 34 instead of the outer member 36 (see FIGS. 45 and 47). A guide portion 16 that movably guides the wheel support portion 14 on a predetermined path is fixed to the planet member 34, and the wheel 12 supported by the wheel support portion 14 is configured to touch the ground.

The moving device 30b can be moved in an arbitrary direction by appropriately controlling the rotational drive of each wheel 12. If the rotation of the carrier member 38 is prohibited when the moving device 30b moves, the carrier member 38 moves in translation.

<Example 2-3-4> FIG. 49 is a schematic view showing the configuration of the moving device 30c of the second embodiment 2-3-4.

As shown in FIG. 49, the planetary mechanism 31c of the moving device 30c is arranged inside the hollow cylindrical outer member 36 and the outer member 36, and at least revolves around the center line of the outer member 36 while rotating. It includes four planetary members 34 and one carrier member 38 that rotatably supports the planetary member 34. The moving device 30c is configured such that a guide portion 16 that guides the wheel support portion 14 so as to be movable on a predetermined path is fixed to the planetary member 34, and the wheel 12 supported by the wheel support portion 14 touches the ground. ..

The moving device 30c can be moved in an arbitrary direction by appropriately controlling the rotational drive of each wheel 12. If the rotation of the carrier member 38 is prohibited when the moving device 30c moves, the carrier member 38 moves in translation.

<Example 2-4> The moving device 50a of Example 2-4, which does not have a foundation portion whose relative position with respect to all the guide portions is variable, will be described.

FIG. 50 is a schematic diagram conceptually showing the configuration of the moving device 50a of the second embodiment. As shown in FIG. 50, in the moving device 50a, the guide portions 56a to 56c are connected to each other by a kinematic pair or a mechanism as shown by the broken lines 57a to 57c, and the guide portions 56a to 56c are connected as the wheels 52a to 52c rotate. Although it is configured so that the relative positions of the guides change, the base portion 58 (see FIG. 36) whose relative positions relative to all the guide portions 56a to 56c is variable is not provided.

FIG. 51 is a schematic diagram showing a specific configuration example of the mobile device of the second embodiment. As shown in FIG. 51, in the moving devices 50b and 50c, four or five sets of wheels 52, wheel support portions 54, and guide portions 56 are connected to each other in a quadrangular or pentagonal shape via a rotary joint 57. It is configured so that the angles of the adjacent guide portions 56 change. In the moving device 50b shown in FIG. 51 (a), when the wheel 52 rotates, the rectangular shape formed by the guide portion 56 changes. In the moving device 50c shown in FIG. 51 (b), when the wheel 52 rotates, the pentagonal shape formed by the guide portion 56 changes.

It is also possible to have a configuration in which the relative positions of the guide portions are not variably or invariantly unified. That is, the relative positions of the guides may be variable for some of the combinations of the guides, but the relative positions of the guides may be unchanged for other combinations.

<Example 3> A third embodiment will be described in which the configuration of the first or second embodiment is further provided with a second connecting portion for connecting the wheel support portions to each other.

<Example 3-1-1> FIG. 52 is a schematic diagram showing a configuration example in which second connection portions 53a, 53b, and 53c are added to the mobile device 10 of Example 1-1. As shown in FIG. 52, the first embodiment includes three sets of wheels 12a to 12c, wheel support portions 14a to 14c, and guide portions 16a to 16c, and the relative positions of the guide portions 12a to 12c are unchanged. With respect to at least two wheel support portions 14a, 14b; 14b, 14c; 14c, 14a, one wheel support portion 14a, 14b, 14c is positioned on a predetermined path (that is, one wheel support portion 14a). , 14b, 14c is guided by one wheel support portion 14a, 14b, 14c with respect to the guide portion 12a, 12b, 12c) at a position on a predetermined path of the other wheel support portions 14b, 14c, 14a (that is, another Wheel support portions 14a, 14b; so as to be determined by the restrictions of the other wheel support portions 14b, 14c, 14a with respect to the guide portions 12b, 12c, 12a to which the wheel support portions 14b, 14c, 14a are guided. 14b, 14c; One or more second connecting portions 53a, 53b, 53c that connect the 14c, 14a to each other are added. For example, the second connecting portion 53a is a position on a predetermined path of one wheel supporting portion 14a with respect to the two wheel supporting portions 14a and 14b (that is, one with respect to the guide portion 16a to which the one wheel supporting portion 14a is guided. The position of one wheel support 14a) constrains the position of the other wheel support 14b on a predetermined path (that is, the position of the other wheel support 14a with respect to the guide 16b to which the other wheel support 14b is guided). The wheel support portions 14a and 14b are connected to each other via a kinematic pair or a mechanism so as to receive and determine.

FIG. 53 is a schematic diagram showing a specific configuration example of the second connecting portion 26. As shown in FIG. 53, as the second connecting portion 26, an interlocking device 26 for making the sum of the distances between the wheel supporting portions 14a to 14c and the base portion 18 constant is provided. The interlocking device 26 is a hydraulic circuit in which one end of the flow paths 26u to 26w arranged along the guide portions 16a to 16c is connected to each other and the other end of the flow paths 26u to 26w is connected to the wheel support portions 14a to 14c. including.

When the second connecting portion 26 is added, of the three wheel support portions 14a to 14c, when two positions are determined, the other one position is constrained and determined. Therefore, of the three wheel support portions 14a to 14c. The movement of the moving device can be controlled even if the wheels are rotationally driven for only two of the above. Therefore, the wheel drive unit can be simplified.

FIG. 54 is a schematic diagram showing a specific configuration example of the other second connection portion 28. As shown in FIG. 54, the second connecting portion 28 is connected to the wheel supporting portions 14a to 14c, and is interlocked to keep the sum of the distances La to Lc between the wheel supporting portions 14a to 14c and the base portion 18 constant. The device 28 is provided. The interlocking device 28 guides one endless belt 28m such as a chain or a timing belt wound around pulleys 28u to 28w rotatably supported by wheel support portions 14a to 14c by using pulleys 28i to 28k. It is circulated along the portions 16a to 16c.

When the second connecting portion 28 is added, of the three wheel support portions 14a to 14c, when two positions are determined, the other one position is constrained and determined. Therefore, of the three wheel support portions 14a to 14c. The movement of the moving device can be controlled even if the wheels are rotationally driven for only two of the above. Therefore, the wheel drive unit can be simplified.

<Example 3-1-2> FIG. 55 is a schematic diagram showing a configuration example in which second connection portions 53a, 53b, and 53c are added to the mobile device 10a of Example 1-2. As shown in FIG. 55, at least two wheel support portions 14a, 14b; 14b, 14c; 14c, 14a are attached to the moving device 10a of Example 1-2 in which the relative positions of the guide portions 16a to 16c are unchanged. Wheel supports 14a, 14b; so that the position of one wheel support 14a, 14b, 14c on a predetermined path is determined by being constrained by the position of the other wheel support 14b, 14c, 14a on a predetermined path; 14b, 14c; One or more second connecting portions 53a, 53b, 53c that connect the 14c, 14a to each other are added.

<Example 3-1-3> FIG. 56 is a schematic diagram showing a configuration example in which the second connection portions 53a, 53b, and 53c are added to the mobile device 10b of the third embodiment. As shown in FIG. 56, at least two wheel support portions 14i, 14j; 14j, 14k; 14k, 14i are attached to the moving device 10b of the third embodiment in which the relative positions of the guide portions 16i to 16k are unchanged. Wheel support portions 14i, 14j; so that the position of one wheel support portion 14i, 14j, 14k on a predetermined path is determined by being restricted by the position of the other wheel support portions 14j, 14k, 14i on a predetermined path. 14j, 14k; One or more second connecting portions 53a, 53b, 53c for connecting 14k, 14i to each other are added.

<Example 3-1-4> FIG. 57 is a schematic diagram showing a configuration example in which second connection portions 53a, 53b, and 53c are added to the mobile device 10c of the first embodiment. As shown in FIG. 57, at least two wheel support portions 14u, 14v; 14v, are attached to the moving device 10c of Example 1-4 in which the relative positions of the second members 16n of the guide portions 14u to 14w are unchanged. For 14w; 14w, 14u, the wheels so that the position of one wheel support portion 14u, 14v, 14w on the predetermined path is constrained by the position of the other wheel support portions 14v, 14w, 14u on the predetermined path. One or more second connecting portions 53a, 53b, 53c that connect the support portions 14u, 14v; 14v, 14w; 14w, 14u to each other are added.

<Example 3-2-1> FIG. 58 is a schematic view showing a configuration example in which a second connecting portion 53 is added to the mobile device 50 of the 2-1 embodiment. As shown in FIG. 58, the second embodiment 2-1 includes a plurality of sets of wheels 52a to 52c, wheel support portions 54a to 54c, and guide portions 56a to 56c, and the relative positions of the guide portions 56a to 56c are variable. In the configuration, for at least two wheel support portions 54a, 54b, one wheel support portion 54a with respect to a position on a predetermined path of one wheel support portion 54a (that is, one wheel support portion 54a is guided to the guide portion 56a). The position) is constrained by the position of the other wheel support 54b on the predetermined path (that is, the position of the other wheel support 54b with respect to the guide 56b to which the other wheel support 54b is guided). A second connecting portion 53 that connects the wheel supporting portions 56a and 56b to each other has been added.

<Example 3-2-2> FIG. 59 is a schematic view showing a configuration example in which a second connecting portion 53s is added to the moving device 50s of the second embodiment. As shown in FIG. 59, at least 2 are provided in the moving device 50s of the second embodiment, which includes a plurality of sets of wheels 52s, a wheel support portion 54s, and a guide portion 56s, and the relative positions of the wheel support portions 54s are variable. With respect to one wheel support portion 54s, the wheel support portions 56s are connected to each other so that the position of one wheel support portion 54s on a predetermined path is determined by being restricted by the position of the other wheel support portion 54s on the predetermined path. The connection portion 53s of 2 is added.

<Example 3-2-3> FIG. 60 is a schematic view showing a configuration example in which a second connecting portion 53t is added to the moving device 30 of the embodiment 2-3-1 including the planetary mechanism 31. As shown in FIG. 60, the moving device 30 of the embodiment 2-3-1 is provided with a plurality of sets of wheels 12, a wheel support portion 14, and a guide portion 16, and the relative positions of the wheel support portions 14 are variable. For at least two wheel support portions 14, the wheel support portions 14 are connected to each other so that the position of one wheel support portion 14 on the predetermined path is determined by being restricted by the position of the other wheel support portion 14 on the predetermined path. A second connecting portion 53t to be matched is added.

<Example 4> Example 4 including two sets of wheels, a wheel support portion, and a guide portion will be described.

<Example 4-1> FIG. 61 is a schematic diagram showing the configuration of the mobile devices 10u and 10v of the fourth embodiment. As shown in FIG. 61, the moving devices 10u and 10v include two sets of wheels 12a and 12b, wheel support portions 14a and 14b, guide portions 16a and 16b, and a foundation portion 18. The guide portions 16a and 16b are connected to each other via the foundation portion 18 so that the relative positions of the guide portions 16a and 16b do not change.

The wheels 12a and 12b are rotationally driven by a first driving unit 81 configured as shown in FIG. 3A, for example. In at least one set, the wheel support portion 14a is moved along the guide portion 16a in the direction indicated by the arrow 15 by the second drive portion, and the distance to the base portion 18 is changed.

FIG. 62 is a partial cross-sectional perspective view showing a configuration example of the second drive unit 82. As shown in FIG. 62, a motor (not shown) is mounted on a square tubular slider 88 that is slidable along a rail 86, and a roller 84 is attached to an output shaft 83 of the motor. The second drive unit 82 is configured such that the slider 88 moves along the rail 86 by the roller 84 in contact with the upper surface 86s of the rail 86 and the roller 84 moving on the upper surface 86s of the rail 86 while rotating. ing. The rail 86 is a guide portion, and a wheel support portion that supports the wheel 12 is fixed to the slider 88.

A rack may be formed on the upper surface 86s of the rail 86, a pinion may be attached instead of the roller 84, and the rack and pinion may form a second drive unit. A feed screw, a linear motor, or the like may be used to form the second drive unit.

The reason why the second drive unit is necessary will be described below. As shown in FIG. 61, the center points when the wheels 12a and 12b change their directions are A and B, and the intersection of the predetermined paths where the wheel support portions 14a and 14b are guided by the guide portions 16a and 16b is M.

When points A, M, and B are not aligned in a straight line as shown in FIG. 61A, the angle of ∠AMB is constant, so that point M is located on an arc having points A and B at both ends. .. The directions of the wheels 12a and 12b can change. Therefore, the position of the point M, that is, the position of the base portion 18, is not uniquely determined only by determining the positions of the points A and B, that is, the positions of the wheels 12a and 12b. In this case, if the length of either one of the line segments AM and BM is determined by the second drive unit, the position of the point M is uniquely determined.

Even when the points A, M, and B are aligned in a straight line as shown in FIG. 61B, the positions of the points A and B, that is, the positions of the wheels 12a and 12b are determined, and the line segment is further determined by the second drive unit. Once the length of AM or BM is determined, the position of the point M is uniquely determined.

63 and 64 are plan views showing the movements of the moving devices 10u and 10v. The state in which the base portion 18 of the moving devices 10u and 10v moves in the direction perpendicular to the virtual reference line 4 on the ground plane (to the right in the figure) while rotating is sequentially shifted in the direction of the virtual reference line 4. Is illustrated. In this case, the two wheels 12a and 12b are rotationally driven so that the wheel support portions 14a and 14b repeatedly move back and forth along the guide portions 16a and 16b, and one wheel support portion 14a or 14b is driven by the guide portion 16a. Or move it with respect to 16b to actively move it.

As can be seen from FIGS. 63 and 64, when the wheel support portions 14a and 14b are ahead of the base portion 18 in the traveling direction, the distance between the wheel support portions 14a and 14b and the base portion 18 is reduced. When the wheel support portions 14a and 14b are behind the base portion 18 in the traveling direction, the distance between the wheel support portions 14a and 14b and the base portion 18 increases. The movements of the wheel support portions 14a and 14b are the same as those in the first embodiment.

The moving speeds of the wheels 12a and 12b and the wheel support portions 14a and 14b change in the same manner as in Example 1-1. That is, the tip side of the guide portions 16a and 16b (the side opposite to the foundation portion 18) is the front side of the moving devices 10u and 10v in the moving direction from the base end side (base portion 18 side) of the guide portions 16a and 16b (FIG. 63). , Right side in FIG. 64), the moving speed of the wheels 12a, 12b supported by the wheel supporting parts 14a, 14b guided by the guide parts 16a, 16b is the movement of the moving devices 10u, 10v. It gradually becomes smaller with. When the tip end side of the guide portions 16a and 16b is located on the rear side (left side in FIGS. 63 and 64) of the moving devices 10u and 10v from the base end side of the guide portions 16a and 16b, the guide portion 16a , 16b The moving speeds of the wheels 12a and 12b supported by the wheel supporting portions 14a and 14b gradually increase as the moving devices 10u and 10v move.

That is, the moving devices 10u and 10v of the embodiment 4-1 correspond to the moving devices 10 of the embodiment 1-1 in which a set of wheels 12c, a wheel support portion 14c, and a guide portion 16c are removed. It operates on the same principle as the moving device 10 of 1-1.

The speed at which the wheels 12a and 12b are rotationally driven and the speed at which the wheel support portion 14a or 14b is moved can be obtained from the kinematic equation as in the first embodiment.

For example, when the foundation portion 18 and the guide portions 16a and 16b are not on the same straight line as shown in FIG. 61A, the speed of the driving portion is obtained from the kinematic equations of the above equations (3) and (4). Can be done. Even when the foundation portion and the guide portion are on the same straight line as shown in FIG. 61 (b), the speed of the drive portion can be obtained from the above equations (3) and (4).

Normally, the moving devices 10u and 10v move while the base portion 18 rotates, but as shown in FIG. 61B, the moving devices 10v in which the traveling directions of the two wheels 12a and 12b are parallel to each other are two. The wheels 12a and 12b can continue to travel infinitely in the traveling direction without rotating the base portion 18.

As shown in FIGS. 65 and 66, the moving device 10v in which the base portion 18 and the guide portions 14a and 14b are on the same straight line moves in one direction indicated by the arrow 88x while swinging as shown by the arrow 88r. It is also possible to do. 65 and 66 show the movement of the mobile device 10v by sequentially shifting the position in the direction of the virtual reference line 4. Also in this case, the two wheels 12a and 12b are rotationally driven so that the wheel support portions 14a and 14b repeatedly move reciprocating along the guide portions 16a and 16b, and one wheel support portion 14a or 14b is guided by the guide portion. Move with respect to 16a or 16b to actively move.

As shown in FIG. 65, when the moving device 10v moves in one direction (to the right in FIG. 65) while swinging, one of the guide portions 16a moves from the neutral position parallel to the virtual reference line 4 to the moving device 10v. After swinging backward in the direction of travel, it returns to the neutral position parallel to the virtual reference line 4. At this time, the wheel support portion 14a guided by one of the guide portions 16a moves away from the foundation portion 18, and the distance between the wheel support portion 14a and the foundation portion 18 increases. Next, as shown in FIG. 66, one of the guide portions 16a swings forward from the neutral position parallel to the virtual reference line 4 in the traveling direction of the moving device 10v, and then returns to the neutral position parallel to the virtual reference line 4. .. At this time, the wheel support portion 14a guided by one of the guide portions 16a approaches the base portion 18, and the distance between the wheel support portion 14a and the base portion 18 becomes smaller.

As shown in FIG. 65, the other guide portion 16b swings forward from the neutral position parallel to the virtual reference line 4 in the traveling direction of the moving device 10v, and then returns to the neutral position parallel to the virtual reference line 4. At this time, the wheel support portion 14b guided by the other guide portion 16b approaches the base portion 18, and the distance between the wheel support portion 14b and the base portion 18 becomes smaller. Next, as shown in FIG. 66, the other guide portion 16b swings backward from the neutral position parallel to the virtual reference line 4 in the traveling direction of the moving device 10v, and then returns to the neutral position parallel to the virtual reference line 4. .. At this time, the wheel support portion 14b guided by the other guide portion 16b moves away from the base portion 18, and the distance between the wheel support portion 14b and the base portion 18 increases.

<Modification Example 1> FIG. 67 is a schematic diagram of moving devices 50 m and 50 n. As shown in FIG. 67, the guide portions 16a and 16b may be separated from each other without intersecting each other. In this case, as shown in FIG. 67 (a), the guide portions 16a and 16b may be parallel to each other, or may be non-parallel to each other as shown in FIG. 67 (b).

<Modification 2> FIG. 68 is a schematic view of a moving device. In Example 4-1 as shown by arrows 13a, 13b and 15 in FIG. 61, both of the two wheels 12a and 12b are rotationally driven, and only one of the two wheel support portions 14a and 14b is driven. .. On the other hand, in the second modification, as shown by arrows 13b, 15a, 15b in FIG. 68, only one of the two wheels 12a, 12b is rotationally driven to drive both the two wheel support portions 14a, 14b. Drive.

In this case, the wheel support portion 14a that supports the wheel 12a that is not rotationally driven is driven so that the movement of the wheel support portion 14a with respect to the guide portion 16a is the same as when the wheel 12a is rotated as shown in FIG. 12b is rotationally driven in the same manner as in FIG. 61, and the wheel support portion 14b that supports the rotationally driven wheel 12b is such that the movement of the wheel support portion 14b with respect to the guide portion 16b rotates the wheel 12b as shown in FIG. When driven so as to be the same as in the case of the above, each part moves in the same manner as in the case of FIG.

<Modification 3> The rotation of the two wheels 12a and 12b and the movement of the two wheel support portions 14a and 14b may be driven at a total of four locations. In this case, if the added 1 location is driven so that the speed is the same as when the added 1 location is driven and the added 1 location is not driven, the foundation portion drives the 3 locations and does not drive the added 1 location. Do the same exercise as.

<Example 5> Example 5 in which the wheel support portion is moved in a configuration including three or more sets of wheels, a wheel support portion, and a guide portion will be described.

69 and 70 are explanatory views of the movement of the moving device. As shown in FIG. 69, the three guide portions 16a to 16c are connected in a Δ shape and supported by the two wheel support portions 14a and 14c marked with ● as in the above-described Example 1-2. It is assumed that the wheels 12a and 12c are stopped on the ground contact surface, and the directions of the wheels 12a and 12c can be changed, but the positions of the wheels 12a and 12c do not change. Paying attention to the movement of the remaining one wheel 12b, the wheel support portion 14b is driven so that the wheel support portion 14b that supports the wheel 12b moves along the guide portion 16b when the wheel 12b is rotationally driven. Think about the case.

As shown in FIG. 69 (a-1), when the wheel 12b of interest is rotationally driven, the wheel 12b moves while rotating in the traveling direction indicated by the arrow 13b. At the same time, the wheel support portion 14b supporting the wheel 12b moves along the guide portion 16b and approaches one end of the guide portion 16b. At this time, since the positions of the guide portions 16a to 16c connected to each other in a triangular shape are constrained by the wheel support portions 14a and 14c, the wheels 12a to 12c and the wheel support are as shown in FIG. 69 (a-2). The entire portions 14a to 14c and the guide portions 16a to 16c rotate.

On the other hand, as shown in FIG. 69 (b-1), when the wheel support portion 14b is driven so that the wheel support portion 14b moves along the guide portion 16b, the wheel 12b supported by the wheel support portion 14b has a driving force. Receive reaction force. At this time, the wheel 12b cannot move in a direction parallel to the rotation center line of the wheel 12b, but moves while rotating in a direction perpendicular to the rotation center line of the wheel 12b. At this time, since the positions of the guide portions 16a to 16c connected to each other in a triangular shape are constrained by the wheel support portions 14a and 14c, as shown in FIG. 69 (b-2), FIG. 69 (a-2) Similarly, the wheels 12a to 12c, the wheel support portions 14a to 14c, and the guide portions 16a to 16c as a whole rotate.

As shown in FIGS. 69 (a-3) and 69 (b-3), the wheel support portion 14b and the base portion 18a move in the same manner when the states before and after the movement of these two driving methods are overlapped and compared. In this way, regardless of whether the wheels 12b are rotationally driven or the wheel support portions 14b are driven, the wheels 12a to 12c, the wheel support portions 14a to 14c, and the guide portions 16a to 16c as a whole move in the same manner.

In this way, the same motion can be realized regardless of whether the wheels 12b are rotationally driven or the wheel support portion 14b is driven. The same is true when all wheels 12a-12c move. Further, for any of the three wheels 12a to 12c, whether the wheels 12a to 12c are rotationally driven or the wheel support portions 14a to 14c are driven, the wheels 12a to 12c, the wheel support portions 14a to 14c, and the guide The movement of the entire parts 16a to 16c does not change.

This relationship is illustrated as shown in FIG. 70. That is, even if the wheels 12a to 12c are rotationally driven as shown by the arrows 13a to 13c in FIG. 70A, the wheel support portions 14a to 14c are driven as shown by the arrows 15a to 15c in FIG. 70B. That is, even if the wheel support portions 14a to 14c are relatively moved with respect to the guide portions 16a to 16c, the movement of the wheels 12a to 12c, the wheel support portions 14a to 14c, and the guide portions 16a to 16c as a whole is represented. When the base portion makes the same movement, each portion 12a to 12c; 14a to 14c; 16a to 16c also makes the same movement.

That is, in the respective sets 12a, 14a, 16a; 12b, 14b, 16b; 12c, 14c, 16c of the three sets of wheels 12a to 12c, the wheel support portions 14a to 14c, and the guide portions 16a to 16c, the wheels 12a to 12c The same motion can be achieved by driving the wheel support portions 14a to 14c instead of the rotary drive.

For example, when one of the three wheels that have been rotationally driven is passively rotated and the movement of the wheel support that supports the wheel is actively driven, the speed of the wheel support that is driven is the equation (20). It can be obtained from the time-differentiated equation.

If the translational speed and the rotational angular velocity of the base portion are the same, the moving speed of the wheel supporting portion is the same as the moving speed of the wheel supporting portion that passively occurs when the three wheels described above are rotationally driven. is there. Further, the rotation angular velocity generated in the wheel to be passively rotated rotates at the same speed as the rotation angular velocity when actively driven given by the equation (19). In other words, even if the actively driven part is replaced, the movement of the foundation does not change.

When two sets of wheels, a wheel support portion, and a guide portion are provided as in the fourth embodiment and the rotation of the wheels is passive to drive the movement of the wheel support portions, or in the case of the first, second, and third embodiments. As described above, even when three sets of wheels, a wheel support portion, and a guide portion are provided, the rotation of the wheels is passive for all three sets, and the wheel support portion is driven, the foundation portion can be moved in the same manner.

It should be noted that the wheels and the wheel support portions need only be driven at at least three locations as described above, and there is no problem in driving four or more locations. For example, whether driving the rotation of three wheels and the movement of one wheel support, or driving the rotation of two wheels and the movement of two wheel supports, one wheel rotation and three wheel supports. Three wheels, whether driving the movement of the parts, the rotation of the three wheels and the movement of the two wheel supports, the rotation of the two wheels and the movement of the three wheel supports Even when driving the rotation of the wheel and the movement of the three wheel support portions, the same movement is possible if each of the driving portions is driven at an appropriate speed. The same applies when there are four or more wheel support portions.

Even when the relative position of the guide portion is variable as in the third embodiment, the wheel support portion can be driven so that the wheel support portion moves along the guide portion instead of rotationally driving the wheel.

When the relative position of the guide is variable, the kinematic equation is the same regardless of whether the wheel is driven to rotate or the wheel support, so when driving the wheel support, the wheel support By giving the speed as a command value, the rotation speed of the wheel changes depending on it.

<Summary> As described above, a moving device capable of immediately moving in an arbitrary direction can be configured by using ordinary wheels.

The present invention is not limited to the above embodiment, and can be implemented with various modifications.

Other configurations may be added to the configurations described above. For example, brakes may be provided on the wheels and wheel supports. The number of wheels, wheel supports, and guides may be increased. The number of wheels that are rotationally driven by the first drive unit and the wheel support units that are moved with respect to the guide unit by the second drive unit may be increased.

10,10a, 10b, 10c, 10i, 10j, 10u, 10v Mobile device 12, 12a-12c Wheel 12s Outer peripheral surface 14, 14a-14c, 14i-14k, 14u-14w Wheel support 16, 16a-16c, 16i 16k, 16p ~ 16q, 16u-16w Guide part 18 Foundation part (first connection part)
26,28 Interlocking device (second connection)
30, 30a, 30b Moving device 31, 31a, 31b Planetary mechanism 32 Inner member 34 Planetary member 36 Outer member 38 Carrier member 53, 53a, 53b, 53c, 53s, 53t Second connection part 81 First drive part 82 First 2 drive unit

Claims (18)

At least two wheels having an outer peripheral surface that is movable in the circumferential direction with respect to the rotation center line and is non-movable in the direction parallel to the rotation center line.
At least two wheel support portions that rotatably support the wheels about the rotation center line, respectively.
At least two guide portions that guide the wheel support portions movably along a predetermined route and keep the orientation of the wheel support portions constant with respect to the predetermined route.
The first connecting portion that connects the guide portions and
For at least two selected from the wheel and the wheel support portion, the selected wheel is driven so as to rotate about the rotation center line, and the selected wheel support portion is referred to the guide portion. A drive unit that moves with respect to the vehicle and drives the vehicle to move along the predetermined path.
With
A moving device, characterized in that, by driving the drive unit, the wheel whose outer peripheral surface is in contact with the ground contact surface can move on the ground contact surface while changing the direction of the wheel. With at least three of the wheels
With at least three of the wheel supports
At least three of the guides
With
The first connecting portion connects the guide portions so that the relative positions of the guide portions are fixed.
The moving device according to claim 1, wherein the driving unit drives at least two of the wheels. The mobile device according to claim 1 or 2, wherein the predetermined route is linear. When viewed perpendicular to the ground plane from the coordinate system fixed to the guide portion, the relative positions of the guide portions are fixed so that at least two predetermined paths are non-parallel to each other. The mobile device according to claim 3. When viewed perpendicular to the ground plane from the coordinate system fixed to the guide portion, the three above-mentioned three are such that the size of the vertical angle formed by the intersection of the virtual straight lines including the predetermined path is 60 ° or 120 °. The moving device according to claim 3, wherein the guide portion is arranged in a Y shape. When viewed perpendicular to the ground plane from the coordinate system fixed to the guide portion, the three above-mentioned three are such that the size of the vertical angle formed by the intersection of the virtual straight lines including the predetermined path is 60 ° or 120 °. The moving device according to claim 3, wherein the guide portion is arranged in a Δ shape. The mobile device according to claim 1 or 2, wherein the predetermined path has an annular shape or an arc shape. With at least three of the wheels
With at least three of the wheel supports
At least three of the guides
With
The guides include first and second members rotatably coupled to each other.
The wheel support portion moves so that the wheel rotatably supported by the wheel support portion moves around a central axis on which the first and second members rotate relative to the first member. Fixed,
The moving device according to claim 1, wherein the first connecting portion connects the second members so that the relative positions of the second members do not change. With at least three of the wheels
With at least three of the wheel supports
At least three of the guides
With
The moving device according to claim 1, wherein the first connecting portion connects the guide portions via a kinematic pair or a mechanism so that the relative positions of the guide portions are variable. The first connecting portion is a planetary mechanism including an inner member and at least three planetary members that revolve around the inner member while rotating.
The moving device according to claim 9, wherein the guide portion is fixed to each of the planet members. The first connecting portion includes a hollow cylindrical outer member, at least four planetary members which are arranged inside the outer member and revolve around the center line of the outer member while rotating, and the planetary member. It is a planetary mechanism including one carrier member that rotatably supports the
The moving device according to claim 9, wherein the guide portion is fixed to each of the planet members. With respect to at least two wheel supports, the wheel supports are located so that the position of one wheel support on the predetermined path is constrained by the position of the other wheel support on the predetermined path. The second connection that connects the wheels,
The mobile device according to any one of claims 1 to 11, further comprising. With the two wheels
The two wheel supports and
The two guides and
With
The moving device according to claim 1, wherein the drive unit drives one of the wheels, another wheel, and at least two of the two wheel supports. 13. The moving device according to claim 13, wherein the first connecting portion connects the guide portions so that the relative positions of the guide portions are fixed to each other. The mobile device according to claim 14, wherein the predetermined route is linear. A base fixed to at least one of the guide and the first connection,
A pedestal rotatably coupled to the base and
A pedestal drive unit that rotates the pedestal with respect to the base,
The mobile device according to any one of claims 1 to 15, further comprising. The method for driving a mobile device according to any one of claims 1 to 16, wherein the mobile device is driven.
The driving unit is controlled so that the wheel support portion repeatedly reciprocates along the linear predetermined path or continues moving in one direction along the annular predetermined path. How to drive a mobile device. A method for driving a mobile device according to claim 3 or 15.
When the tip end side of the guide portion is located in front of the base end side of the guide portion in the moving direction of the moving device, the movement of the wheel supported by the wheel support portion guided by the guide portion. When the speed gradually decreases with the movement of the moving device and the tip end side of the guide portion is located behind the base end side of the guide portion in the moving direction of the moving device, the guide is located. A moving device, characterized in that the driving unit is controlled so that the moving speed of the wheel supported by the wheel supporting portion guided by the unit gradually increases with the movement of the moving device. Drive method.