JP2023125332A - Moving device - Google Patents

Abstract

To provide a moving device capable of adjusting easiness of movement according to the situation.SOLUTION: A moving device 10 of the present invention includes: a device body 12 having a drive motor 20; a plurality of first wheels 14 that are rotated by the drive of the drive motor 20 and cannot be rotated by an external force acting on the device body 12; and a plurality of second wheels 16 that roll in the direction of a pressing force acting on the device body 12. The moving device is switchable between a first form in which the moving device is moved by the plurality of first wheels 14 and a second form in which the moving device is moved by the plurality of second wheels 16.SELECTED DRAWING: Figure 8

Description

The present invention relates to a moving device, and particularly to a moving device having wheels that are rotated by driving an electric motor.

BACKGROUND ART Mobile devices that run on the ground, such as self-propelled traveling devices, are used for a wide variety of purposes. Further, some moving devices have a plurality of wheels that rotate by driving an electric motor but cannot rotate by external force (specifically, pressing force or traction force) acting on the device body. For example, Patent Document 1 discloses a vehicle whose wheels are mecanum wheels, and this vehicle travels by rotating the mecanum wheels by driving a motor.

Special table 2018-504305 publication

A moving device having wheels rotated by the drive of an electric motor, such as a mecanum wheel, typically moves at a relatively low speed. On the other hand, when bringing a mobile device to a place of use, or when removing a mobile device after use, it is required to move the mobile device as quickly as possible. As a means of transporting the moving device, for example, heavy machinery such as a crane may be used, but heavy machinery may not be available due to various constraints.

Therefore, the present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a moving device that can adjust (change) the ease of movement depending on the situation.

The above problem can be solved by the moving device of the present invention, which includes a device main body including an electric motor, a plurality of first wheels that are rotated by the drive of the electric motor and cannot be rotated by an external force acting on the device main body, and a device main body that is provided with an electric motor. a plurality of second wheels capable of rolling in the direction of an applied external force; a first form that moves by the rotation of the plurality of first wheels; a second form that moves by the rotation of the plurality of second wheels; This problem is solved by being switchable.

In the mobile device of the present invention configured as described above, the mobile device can be easily moved by switching between the first mode of movement using a plurality of first wheels and the second mode of movement using a plurality of second wheels. can be changed depending on the situation.

Further, in the above-mentioned moving device, the device main body may include a pedestal and a loaded device loaded on the pedestal, and the loaded device may be provided with an electric motor.
According to the above configuration, it is possible to change the ease of movement of the moving device that transports the loaded equipment depending on the situation.

Further, in the above-mentioned moving device, the pedestal may include a pair of extending members, and a crossing member disposed between the pair of extending members to intersect with each of the pair of extending members. . In this case, it is preferable that the second wheel is attached to each of the pair of extending members.
According to the above configuration, the second wheel can be attached using a frame with a simple structure.

Further, in the moving device described above, it is more preferable that the crossing member is detachably fixed to each of the pair of extending members.
According to the above configuration, a frame that can be assembled and disassembled can be constructed.

Moreover, in the above-mentioned moving device, the plurality of first wheels may be arranged below the loaded equipment. In this case, when the loaded equipment is loaded on the frame, it is more preferable that the second wheels are located outside the first wheels in the extending direction of the cross member.
According to the above configuration, the loaded equipment can be self-propelled by the plurality of first wheels. Further, when the loaded equipment is loaded on the pedestal, the loaded state can be maintained stably.

Further, in the above-mentioned moving device, when the loaded equipment is loaded on the pedestal, it is even more preferable that the first wheel is located outside the second wheel in the extending direction of the extending member.
According to the above configuration, the state in which the loaded devices are loaded on the gantry can be maintained more stably.

Moreover, in the above-mentioned moving device, the loaded device may be a device provided with a working tool.
With the above-mentioned equipment, it becomes possible to change the ease of movement of a moving device that transports equipment (loaded equipment) equipped with work tools depending on the situation.

Moreover, in the above-mentioned moving device, each of the plurality of first wheels may be constituted by a mecanum wheel.
With the above configuration, the effect of the present invention of changing the ease of movement of the mobile device depending on the situation is more effectively exhibited.

According to the moving device of the present invention, the ease of movement (mobility) can be changed depending on the situation.

FIG. 1 is a perspective view schematically showing a moving device according to an embodiment of the present invention, and is a view of the moving device viewed diagonally from above. FIG. 1 is a perspective view schematically showing a moving device according to one embodiment of the present invention, and is a view of the moving device viewed diagonally from below. FIG. 1 is a front view schematically showing a moving device according to one embodiment of the present device. FIG. 1 is a side view schematically showing a moving device according to one embodiment of the present invention. FIG. 1 is a perspective view schematically showing a loaded device according to an embodiment of the present invention. FIG. 1 is a perspective view schematically showing a pedestal according to one embodiment of the present invention. FIG. 1 is an exploded view of a pedestal according to one embodiment of the present invention. FIG. 3 is a diagram illustrating a procedure for switching the form of a mobile device according to one embodiment of the present invention.

<<About the mobile device according to one embodiment of the present invention>>
Hereinafter, one embodiment of the present invention (hereinafter referred to as the present embodiment) will be described with reference to the accompanying drawings. In addition, in the drawings, in order to make the explanation easier to understand, the structures of each member and each device are illustrated in a simplified and schematic manner.

In addition, in this specification, when describing the position, orientation, posture, etc. of each part of the device, unless otherwise specified, the position, direction, and posture when the device is in a normal state (for ease of understanding, in a running state) are used. etc. will be explained.
In addition, in this specification, "horizontal", "vertical", "orthogonal", and "parallel" include the range of error generally allowed in the technical field of the present invention, and This also includes a state where the deviation is within a range of less than several degrees (for example, 2 to 3 degrees) with respect to parallelism.

Further, in the following, three mutually orthogonal directions are referred to as X, Y, and Z directions. Here, the X direction is the front-back direction of the moving device, the Y direction is the width direction of the moving device (i.e., the left-right direction of the moving device), and the Z direction is the height direction of the moving device. shall be.

The moving device 10 according to the present embodiment is used, for example, for construction work on a building, and specifically, for transporting equipment necessary for predetermined work in the construction work. As shown in FIGS. 1 to 4, the moving device 10 includes a device main body 12, a plurality of first wheels 14, and a plurality of second wheels 16.

The apparatus main body 12 includes a loaded device 18 shown in FIG. 5 and a pedestal 30 shown in FIG. 6. The loaded device 18 is a device equipped with work tools, and is a heavy object having a weight of 1 t or more, for example. The work tool is a tool used for a predetermined work in construction, and is, for example, a movable arm and an attachment attached to the end of the arm, or a work robot. Further, the loaded equipment 18 may be equipped with a container (not shown) or the like for storing materials or materials consumed in conjunction with the use of the work equipment.

As shown in FIG. 2, a total of four first wheels 14 are attached to the lower part of the loaded equipment 18, one at each end in the X and Y directions. Each first wheel 14 is connected to an electric motor provided in the loaded device 18 , specifically, to a drive motor 20 disposed at the bottom of the loaded device 18 , and is rotated by the drive motor 20 . In other words, the loaded equipment 18, the first wheels 14, and the drive motor 20 constitute a self-propelled traveling unit.

Further, in the present embodiment, each first wheel 14 is constituted by a mecanum wheel, and a drive motor 20 is provided for each first wheel 14. Then, by adjusting the rotational direction and rotational speed of each drive motor 20 with the four first wheels 14 in contact with the ground, the moving device 10 (specifically, the loaded equipment 18, the first wheels 14, and the drive motor 20 A self-propelled unit consisting of

Note that when the moving device 10 moves forward (backward) by rotating the first wheels 14, the moving device 10 moves in the X direction. Further, in this embodiment, since a high reduction ratio gear is interposed between the drive motor 20 and the first wheels 14, each first wheel 14 rotates at a low speed. Therefore, the moving speed when the moving device 10 moves by rotation of the first wheels 14 becomes extremely low.

Each first wheel 14 made of a mecanum wheel is rotated by the drive of the drive motor 20, but cannot be rotated by an external force acting on the device main body 12. The external force acting on the device main body 12 is, for example, a pressing force when pushing the device main body 12 (specifically, loaded equipment 18) from the side, or a traction force when pulling the device main body 12 in the X or Y direction.

The pedestal 30 is a cross-shaped frame, as shown in FIG. 6, and the loaded equipment 18 is loaded on the pedestal 30, as shown in FIGS. 1 to 4. The pedestal 30 includes a pair of extending members 32 arranged at intervals in the X direction, and a crossing member 34 disposed between the pair of extending members 32 to be orthogonal to each extending member 32.

Each extending member 32 is made of a steel material extending in the Y direction, for example, a square pipe having a vertically long rectangular cross section. Further, in this embodiment, the total length (length in the Y direction) of each extending member 32 is slightly shorter than the length of the loaded device 18 in the Y direction.
Note that the extending member 32 may have a shape that extends straight, or may have a stepped shape that is bent in a Z-shape or an inverted Z-shape at an intermediate position. Further, the member constituting the extending member 32 is not limited to a square pipe, and may be, for example, a solid columnar body or a rod body.

The cross members 34 are steel members extending in the X direction, and in this embodiment, two cross members 34 are arranged at intervals in the Y direction. The two crossing members 34 are fixed to the upper surface of each extending member 32 by bolts or the like at symmetrical positions with respect to the center position of each extending member 32 in the Y direction. Further, the interval between the cross members 34 is set to a size suitable for supporting the loaded equipment 18.
Note that the number of each of the crossing members 34 is not particularly limited, and may be three or more. Alternatively, if the cross member 34 is a metal plate having a relatively large area, the number of cross members 34 may be only one. Furthermore, the members constituting the cross member 34 are not limited to square pipes, but may be solid columns or rods, for example.

Further, as shown in FIG. 6, each second wheel 16 is attached to both ends of each extension member 32 in the Y direction via a mounting bracket attached to the lower surface of the extension member 32 with a bolt or the like. Fixed. Each second wheel 16 is constituted by a swivel caster or a fixed caster. Therefore, when an external force acts on the device main body 12 with each of the four second wheels 16 in contact with the ground, each second wheel 16 can roll in the direction of the external force (direction in which the external force acts). Thereby, the moving device 10 can move in the direction of action of external force, that is, in the direction of pressing force or traction force.

In the present embodiment, the second wheel 16 made of swivel casters is fixed to one end of each extension member 32 in the Y direction, and the second wheel 16 made of fixed casters is fixed to the other end. ing. In this configuration, the second wheels 16 made of fixed casters may rotate around an axis along the X direction. Further, the casters (for example, fixed casters) constituting the second wheels 16 may be provided with a known locking mechanism (rotation prevention mechanism).

Moreover, in this embodiment, as shown in FIG. 7, the pedestal 30 has a structure that can be disassembled. That is, each of the two crossing members 34 is detachably fixed to each extending member 32. Further, each second wheel 16 is also detachably fixed to each extension member 32. Note that the means for fixing the cross member 34 to the extension member 32 is not limited to screws such as bolts, but may be a structure in which the cross member 34 is fixed by fitting with projections and recesses. Further, the frame 30 may have a structure that cannot be disassembled, for example, a structure in which the extension member 32 and the cross member 34 are joined by welding or the like.

When the loaded device 18 is loaded on the frame 30, the loaded device 18 is located between the pair of extension members 32 in the X direction, and the bottom surface of the loaded device 18 rests on the cross member 34 ( (see Figure 2). Further, in the above state, as shown in FIG. 3, the second wheel 16 is located near the first wheel 14 (strictly speaking, the second wheel 16 It is located outside of the first wheel 14). Furthermore, in the above state, as shown in FIG. 4, the first wheel 14 is located near the second wheel 16 (strictly speaking, the first wheel 14 It is located outside of the second wheel 16). According to such a configuration, the state in which the loaded devices 18 are loaded on the pedestal 30 can be stably maintained. Thereby, when the loaded equipment 18 loaded on the gantry 30 is transported by the rolling of the second wheels 16, it is possible to prevent the loaded equipment 18 from overturning (overturning) and to safely transport it.

The moving device 10 of this embodiment having the configuration described above can change the ease of movement (that is, maneuverability) depending on the situation. Specifically, the moving device 10 can be switched between a first mode in which it moves by a plurality of first wheels 14 and a second mode in which it moves by a plurality of second wheels 16.

The mobile device 10 in the first form is a self-propelled traveling unit as shown in FIG. In other words, in the first form, the four first wheels 14 are in contact with the ground, and each first wheel 14 is rotated by the drive motor 20 provided for each first wheel 14, so that the mobile device 10 is rotated. Moving. At this time, the moving device 10 moves at an extremely low speed, and since the rotation of each first wheel 14 is limited to the rotation driven by the drive motor 20, the operator cannot push or pull the device main body 12. Even if an external force is applied, the moving device 10 will not move in the direction of the external force.

As shown in FIGS. 1 and 2, the moving device 10 in the second embodiment is in a state in which the device main body 12 includes a pedestal 30, and the loaded equipment 18 is loaded on the pedestal 30. In this state, the second wheels 16 fixed to the frame 30 are in contact with the ground, while the first wheels 14 are separated from the ground (floating). Accordingly, when the operator applies external force by pushing or pulling the device main body 12, the second wheels 16 roll in the direction of the external force, and the moving device 10 moves in the direction of the external force.

Switching from the first mode to the second mode may be performed according to the procedure shown in FIG. 8. Specifically, first, the loaded device 18 is lifted in the Z direction. The means for lifting the loaded equipment 18 is not particularly limited, but for example, a hydraulic jack (not shown) or the like may be used. In this case, the hydraulic jack may be mounted on the loaded equipment 18 itself, or may be provided on the pedestal 30 side. Alternatively, an insertion hole may be provided in the lower part of the loaded device 18, and the loaded device 18 may be lifted by inserting a claw of a forklift (not shown) into the insertion hole and raising the claw of the forklift.

With the loaded equipment 18 lifted, as shown in FIG. 8, two cross members 34 are arranged under the loaded equipment 18, and extending members are placed under both ends of each cross member 34 in the X direction. Place 32. Thereafter, each of the two crossing members 34 is fixed to each extension member 32 with a bolt or the like, and further, the second wheel 16 is fixed to both ends of each extension member 32 in the Y direction with a bolt or the like. Through such a procedure, the form of the moving device 10 can be switched from the first form to the second form with a relatively simple operation.
Moreover, the second form can be switched to the first form by a procedure reverse to the above-mentioned procedure.

As described above, the moving device 10 of this embodiment can switch the ease of movement depending on the situation. For example, when transporting the loaded device 18 to a place where the loaded device 18 is used, By setting the mode of the moving device 10 to the second mode, the loaded device 18 can be quickly transported by pushing the moving device 10 manually.
Further, even when the moving device 10 is temporarily evacuated for carrying in other materials, etc., if the moving device 10 is in the second form, the moving device 10 can be pushed manually and moved easily.
Further, if the first wheel 14 stops rotating due to a failure of the drive motor 20 or the like, if the moving device 10 is in the second mode, the loaded equipment 18 can be transported without using heavy equipment such as a crane. I can do it.
On the other hand, at the place where the loaded equipment 18 is used, by switching the form of the moving device 10 to the first form, the self-propelled unit consisting of the loaded equipment 18, the drive motor 20, and the first wheels 14 can be moved in the work place (station). While moving, it is possible to prevent the self-propelled unit from moving without permission due to unexpected external force.

<<About other embodiments>>
One embodiment of the mobile device of the present invention has been described above, but the above embodiment is merely an example for facilitating understanding of the present invention, and does not limit the present invention. That is, the present invention can be modified and improved without departing from its spirit. Moreover, it goes without saying that the present invention includes equivalents thereof.

In the embodiment described above, the first wheel 14 is configured by a mecanum wheel. In this case, the effect of switching the ease of movement of the mobile device 10 depending on the situation is more meaningfully exhibited. In other words, the moving speed of a moving device using mecanum wheels is relatively slow, but according to the present invention, the mobility (ease of movement) of the moving device is improved by switching to the use of casters (second wheels 16). . As a result, the mobile device described above can be utilized more appropriately. However, the first wheel 14 may be a wheel other than a mecanum wheel as long as it is rotated by the drive of an electric motor but not rotated by an external force.

Further, in the above embodiment, the pedestal 30 is a cross-shaped frame, but the shape of the pedestal 30 is not particularly limited, and may be, for example, a square or triangular frame in plan view. Further, the number of second wheels 16 fixed to the pedestal 30 is not particularly limited, but is preferably an appropriate number according to the shape of the frame that constitutes the pedestal 30.

Further, in the above embodiment, the device main body 12 includes the pedestal 30, and the second wheels 16 are fixed to the lower part of the pedestal 30. However, the invention is not limited to this, and the device main body 12 may not include the pedestal 30, and the second wheels 16 may be provided on a device corresponding to the loaded device 18 in the above embodiment. In this case, when the moving device 10 is in the first mode, the second wheels 16 are stored inside a device corresponding to the loaded device 18, and the mode of the moving device 10 changes from the first mode to the second mode. It is preferable that the stored second wheel 16 be exposed when switching to .

Further, in the above embodiment, a case has been described in which the mobile device 10 is used for the purpose of transporting equipment necessary for work in construction work (specifically, loaded equipment 18 including work equipment). However, the use of the moving device 10 is not particularly limited, and the moving device of the present invention can also be used in situations other than construction, such as cases in which installed objects are relocated.

10 Moving device 12 Device body 14 First wheel 16 Second wheel 18 Loaded equipment 20 Drive motor (electric motor)
30 Frame 32 Extending member 34 Crossing member

Claims (8)

A device body including an electric motor;
a plurality of first wheels that are rotated by the drive of the electric motor and cannot be rotated by an external force acting on the device main body;
a plurality of second wheels that can roll in the direction of an external force acting on the device main body,
A moving device capable of switching between a first mode in which the vehicle moves by rotation of the plurality of first wheels and a second mode in which the vehicle moves by rotation of the plurality of second wheels. The device main body includes a pedestal and a loaded device loaded on the pedestal,
The moving device according to claim 1, wherein the loaded device is equipped with the electric motor. The pedestal includes a pair of extending members, and a crossing member disposed between the pair of extending members to intersect with each of the pair of extending members,
The moving device according to claim 2, wherein the second wheel is attached to each of the pair of extending members. The moving device according to claim 3, wherein the crossing member is detachably fixed to each of the pair of extending members. The plurality of first wheels are arranged below the loaded equipment,
The moving device according to claim 3 or 4, wherein when the loaded equipment is loaded on the gantry, the second wheel is located outside the first wheel in the extending direction of the cross member. . The moving device according to claim 5, wherein when the loaded device is loaded on the gantry, the first wheel is located outside the second wheel in the extending direction of the extending member. The moving device according to any one of claims 2 to 6, wherein the loaded device is a device provided with a work tool. The moving device according to any one of claims 1 to 7, wherein each of the plurality of first wheels is constituted by a mecanum wheel.