JP5436117B2 - Moving body - Google Patents

Description

  The present invention relates to a movable body including a stand that holds an inverted state of a movable body such as an omnidirectional vehicle that can move in all directions on a floor surface.

  Patent Documents 1 to 3 disclose an omnidirectional vehicle that can move in all directions on a floor surface. These vehicles are also called inverted pendulum type moving bodies (hereinafter referred to as moving bodies), and are controlled so that they can stand on their own without any support during operation.

PCT International Publication WO / 2008/132778 PCT International Publication WO / 2008/127279 Patent No.3070015

  By the way, the moving body as described above falls down if it is not supported at the time of power-off when it is not controlled. Therefore, it is conceivable to provide a stand that stably holds the inverted state of the moving body at an appropriate place. However, when the moving body is configured as a single wheel, there is only one point of contact with the ground plane, so it is stable. In order to maintain the inverted state, at least two grounding points must be added. Therefore, an increase in the number of component parts, and hence an increase in weight and an increase in size are problematic.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a moving body including a stand that can stably hold the inverted state of the moving body without increasing the number of parts.

As a means for solving the above problem, the invention according to claim 1 is a drive mechanism that generates a driving force that drives the driven mechanism and a driven mechanism that can move the traveling surface (for example, the moving operation unit 5 in the embodiment). And a base body (for example, the base body 4 in the embodiment) on which the driven mechanism and the driving section are assembled, and at least one side surface of the base body. It has a stand (for example, step and stand portions 7 and 7 in the embodiment) provided below, and the stand has a fixed portion (for example, the fixed portions 27 and 27 in the embodiment) in which one end is fixed to one side surface of the base. ) and has a rotatable and is movable unit and the other end side as a fulcrum of the fixed part (the movable portions 28 in the example embodiment), the movable part, the fixed part It functions as a step together with the fixed part in a state in which rotation is restricted by contacting at a predetermined position, and functions as a stand at a position where it can rotate from the predetermined position and come into contact with the traveling surface. It is comprised by this.

The invention according to claim 2 is a driven mechanism (for example, the moving operation unit 5 in the embodiment) that can move the traveling surface, and a driving unit (for example, an actuator in the embodiment) that generates a driving force for driving the driven mechanism. A movable body including a device (6) and a base body (for example, the base body 4 in the embodiment) on which the driven mechanism and the driving unit are assembled, and a stand provided below at least one side surface of the base body ( For example, the step / stand unit 7, 7) in the embodiment has a fixing unit (for example, the fixing unit 27, 27 in the embodiment) in which one end is fixed to one side surface of the base, and the fixing unit a rotatable and is movable unit and the other end side as a fulcrum and (movable portion 28, 28 in the example embodiment), the movable part, the first strike that can contact with the upper surface of the fixed part The first stopper portion is located above the fixed portion and outward from the other end side from a state in which the first stopper portion is in contact with the upper surface of the fixed portion. It is possible to rotate together with the movable part through to the lower part of the fixed part.

  According to a third aspect of the present invention, the second stopper portion that restricts the rotation of the movable portion (for example, the stopper convex portions 34 and 34 in the embodiment) is provided at a position where the movable portion is rotated to a position below the fixed portion. It is characterized by providing.

  The invention according to claim 4 is characterized in that the moving body is an inverted pendulum control type moving body.

According to the first, second, and fourth aspects of the present invention, the function of the step and the stand can be realized by one component by rotating the movable part, so that an increase in the number of parts can be avoided in configuring the stand. As a result, light weight and space saving can be realized.

  According to the second aspect of the present invention, when the stand is caused to function as a step, the stopper that maintains the stable state of the movable portion as the step can be configured with a simple structure that abuts the upper surface of the fixed portion.

  According to the third aspect of the present invention, when the stand functions as the stand, the stable state of the movable portion as the stand can be maintained.

1 is a perspective view of an omnidirectional vehicle according to an embodiment of the present invention. It is a front view in the state where the step and stand part of the omnidirectional mobile vehicle functioned as a step. It is a left view of the state which the step and stand part of the omnidirectional mobile vehicle functioned as a step. It is a front view in the state where the step and stand part of the omnidirectional vehicle functions as a stand. It is a left view of the state which the step and stand part of the omnidirectional mobile vehicle functioned as a stand. It is a perspective view of an omnidirectional vehicle. It is a perspective view of the vehicle lower part for demonstrating the modification of this embodiment. It is a figure explaining the modification of this embodiment, (a) is a top view, (b) is a front view in the state where the step and stand unit functions as a step, (c) is the step and stand unit as a stand It is a front view of the state which functioned.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an omnidirectional vehicle 1 according to this embodiment. In the drawings used in the following description, an arrow FR indicating the front of the vehicle, an arrow RR indicating the rear of the vehicle, an arrow LH indicating the left side of the vehicle, and an arrow RH indicating the right side of the vehicle are shown in place. In the following description, these directions are used as appropriate. In the description of the left-right direction, the center side in the vehicle width direction is referred to as inward and the outer side is referred to as outward.

  An omnidirectional vehicle 1 according to the present embodiment shown in FIG. 1 includes a base body 4 provided with a grip portion 2 at the upper portion of the vehicle body and a moving operation portion cover portion 3 at the lower portion of the vehicle body. Inside, there are provided a moving operation unit 5 which will be described in detail later, and an actuator device 6 (FIG. 1, broken line) for applying power for driving the moving operation unit 5 to the moving operation unit 5.

  A vehicle body frame (not shown) that supports the grip portion 2, the movement operation portion cover portion 3, the movement operation portion 5, and the like is provided in the base 4 at appropriate positions. Step and stand portions 7 and 7 are disposed.

  Such an omnidirectional vehicle 1 is configured as a single inverted pendulum control type moving body, and an occupant places both feet on the step and stand portions 7 and 7 and sandwiches the base 4 with both feet. Riding is performed by gripping an appropriate position of the grip portion 2 of the vehicle. And it is comprised so that a passenger | crew can move to all directions of a floor surface, when a passenger | crew performs center-of-gravity movement in the state in which the control which hold | maintains the standing state (inverted state) of a vehicle body was performed. Details of each part will be described below.

  The moving operation unit cover unit 3 is formed in a curved shape, and includes a front cover member 8 that covers the front of the lower part of the vehicle body, a rear cover member (not shown) that covers the rear of the lower part of the vehicle body, and the front cover member 8 and the side of the rear cover member. And a left cover member 9 (see FIG. 2) formed in a substantially disc shape that covers the left side of the lower part of the vehicle body and a right cover member 10 formed in a substantially disk shape that covers the right side of the lower part of the vehicle body. Yes.

  The moving operation unit 5 and the actuator device 6 are accommodated in the space covered by each cover member of the moving operation unit cover unit 3, and the step and stand units 7 and 7 are the left cover member 9 and the right cover member 10. Respectively. Here, the left cover member 9 and the right cover member 10 are biased in the direction in which the lower end side is narrowed, that is, inward, by biasing means such as a spring.

  FIG. 2 shows a front view of the lower part of the omnidirectional vehicle 1 as viewed from the front with the front cover member 8 removed. As shown in FIG. 2, the moving operation unit 5 and the actuator device 6 are disposed between the left cover member 9 and the right cover member 10. Note that the moving operation unit 5 and the actuator device 6 exemplified in the present embodiment have the same structure as that disclosed in FIG. Therefore, in the description of the present embodiment, the matters described in Patent Document 2 regarding the configurations of the moving operation unit 5 and the actuator device 6 will be simply described.

  In the present embodiment, the moving operation unit 5 is a wheel body formed in an annular shape from a rubber-like elastic material, and has a substantially circular cross-sectional shape. The moving operation unit 5 (hereinafter referred to as the wheel body 5) is concentric with the axis of the wheel body 5 through the center C1 of the circular cross section (more specifically, the circular cross section center C1) due to its elastic deformation. It can be rotated around the circumference line).

  The wheel body 5 is disposed between the left cover member 9 and the right cover member 10 with its axis C2 (axis C2 orthogonal to the diameter direction of the entire wheel body 5) oriented in the left-right direction, The wheel body 5 is grounded at the lower end of the outer peripheral surface of the wheel body 5.

  The wheel body 5 is driven by an actuator device 6 (details will be described later), and rotates around the axis C2 of the wheel body 5 (operation that rotates on the floor surface). It is possible to perform an operation of rotating around the center C1. As a result, the wheel body 5 can move in all directions on the floor surface by a combined operation of these rotational operations.

  The actuator device 6 includes a rotating member 11 and a free roller 12 interposed between the wheel body 5 and the right cover member 10, and a rotating member 13 interposed between the wheel body 5 and the left cover member 9. A free roller 14, an electric motor 15 as an actuator disposed above the rotating member 11 and the free roller 12, and an electric motor 16 as an actuator disposed above the rotating member 13 and the free roller 14 are provided.

  The electric motors 15 and 16 have their respective housings attached to the right cover member 10 and the left cover member 9, respectively. Although illustration is omitted, the power sources (capacitors) of the electric motors 15 and 16 are mounted at appropriate positions on the base 4.

  The rotating member 11 is rotatably supported by the right cover member 10 via a support shaft 17 having a left-right axis, and similarly, the rotating member 13 is connected via a support shaft 18 having a left-right axis. The left cover member 9 is rotatably supported. In this case, the rotation axis of the rotation member 11 (axis of the support shaft 17) and the rotation axis of the rotation member 13 (axis of the support shaft 18) are coaxial.

  The rotating members 11 and 13 are connected to the output shafts of the electric motors 15 and 16 via power transmission mechanisms including a function as a speed reducer, respectively, and the power (torque) transmitted from the electric motors 15 and 16, respectively. It is rotationally driven by. Each power transmission mechanism is of a pulley-belt type, for example. That is, the rotating member 11 is connected to the output shaft of the electric motor 15 via the pulley 19 and the belt 20. Similarly, the rotating member 13 is connected to the output shaft of the electric motor 16 via a pulley 21 and a belt 22.

  The power transmission mechanism may be constituted by, for example, a sprocket and a link chain, or may be constituted by a plurality of gears. Further, for example, the electric motors 15 and 16 are arranged so as to be opposed to the respective rotary members 11 and 13 so that the respective output shafts are coaxial with the respective rotary members 11 and 13. The output shaft may be connected to each of the rotating members 11 and 13 via a speed reducer (such as a planetary gear device).

  Each of the rotating members 11 and 13 is formed in the same shape as a truncated cone having a diameter reduced toward the wheel body 5, and the outer peripheral surfaces thereof are tapered outer peripheral surfaces 23 and 24. A plurality of free rollers 12 are arranged around the tapered outer peripheral surface 23 of the rotating member 11 so as to be arranged at equal intervals on a circumference concentric with the rotating member 11. Each of these free rollers 12 is attached to the tapered outer peripheral surface 23 via the bracket 25 and is rotatably supported by the bracket 25. Similarly, a plurality (the same number as the free rollers 12) of free rollers 14 are arranged around the tapered outer peripheral surface 24 of the rotating member 13 so as to be arranged at equal intervals on a circumference concentric with the rotating member 13. Yes. Each of these free rollers 14 is attached to the tapered outer peripheral surface 24 via a bracket 26 and is rotatably supported by the bracket 26.

The wheel body 5 is disposed coaxially with the rotating members 11 and 13 so as to be sandwiched between the free roller 12 on the rotating member 11 side and the free roller 14 on the rotating member 13 side, In this case, each free roller 12, 14 has its axis C3 inclined with respect to the axis C2 of the wheel body 5, and the diameter direction of the wheel body 5 (the wheel body 5 is viewed in the direction of the axis C2. Sometimes, it is arranged in a posture inclined with respect to the axial center C2 and the free rollers 12 and 14). In such a posture, the outer peripheral surfaces of the free rollers 12 and 14 are pressed against the inner peripheral surface of the wheel body 5 in an oblique direction.
More generally speaking, the free roller 12 on the right side is a frictional force component in the direction around the axis C2 at the contact surface with the wheel body 5 when the rotating member 11 is driven to rotate around the axis C2. (The frictional force component in the tangential direction of the inner periphery of the wheel body 5) and the frictional force component in the direction around the cross-sectional center C1 of the wheel body 5 (the tangential frictional force component in the circular cross section) The wheel body 5 is pressed against the inner peripheral surface in such a posture that it can act on the wheel body 5. The same applies to the left free roller 14.
Here, the right cover member 10 and the left cover member 9 are urged in such a direction that the lower end portions of the right cover member 10 and the left cover member 9 are narrowed by the urging means (not shown) as described above. For this reason, the wheel body 5 is sandwiched between the right free roller 12 and the left free roller 14 by this urging force, and the free rollers 12 and 14 are pressed against the wheel body 5 (more specifically, free The pressure contact state in which a frictional force can act between the rollers 12 and 14 and the wheel body 5 is maintained.

  In the omnidirectional vehicle 1 having the structure described above, when the rotating members 11 and 13 are driven to rotate at the same speed in the same direction by the electric motors 15 and 16, respectively, the wheel body 5 is rotated by the rotating members 11 and 13. And rotate around the axis C2 in the same direction. Thereby, the wheel body 5 rotates on the floor surface in the front-rear direction, and the entire vehicle 1 moves in the front-rear direction. In this case, the wheel body 5 does not rotate around the center C1 of the cross section.

  Further, for example, when the rotary members 11 and 13 are rotationally driven in opposite directions at the same speed, the wheel body 5 rotates around the center C1 of the cross section. As a result, the wheel body 5 moves in the direction of the axis C2 (that is, the left-right direction), and as a result, the entire vehicle 1 moves in the left-right direction. In this case, the wheel body 5 does not rotate around the axis C2.

  Furthermore, when the rotary members 11 and 13 are rotationally driven at different speeds (speeds including directions) in the same direction or in the opposite direction, the wheel body 5 rotates around its axis C2, It will rotate about the cross-sectional center C1. At this time, the wheel body 5 moves in a direction inclined with respect to the front-rear direction and the left-right direction by a combined operation (composite operation) of these rotational operations, and as a result, the entire vehicle 1 is in the same direction as the wheel body 5. Will be moved to. The moving direction of the wheel body 5 in this case changes depending on the difference in rotational speed (rotational speed vector in which the polarity is defined according to the rotational direction) including the rotational direction of the rotating members 11 and 13. .

Since the moving operation of the wheel body 5 is performed as described above, by controlling the respective rotational speeds (including the rotational direction) of the electric motors 15 and 16, and by controlling the rotational speeds of the rotating members 11 and 13, The moving speed and moving direction of the vehicle 1 can be controlled.
As a means for executing such control, the vehicle 1 includes a control unit constituted by an electronic circuit unit including a microcomputer and a drive circuit unit of the electric motors 15 and 16, and a predetermined part of the base 4, although not shown. Inclination sensor for measuring the inclination angle with respect to the vertical direction (the direction of gravity) and its rate of change, a load sensor for detecting whether or not an occupant is on board the vehicle 1, and output shafts of the electric motors 15 and 16 A rotary encoder or the like as an angle sensor for detecting the rotation angle and the rotation angular velocity is mounted.

  Next, details of the step and stand units 7 and 7 on which the occupant places his / her feet will be described with reference to FIGS. In the present embodiment, the step and stand units 7 and 7 function as a step for placing the occupant's feet when the occupant is on board, and also have a function as a stand for stably maintaining the inverted state of the vehicle 1 when the occupant is not on the board. It is configured.

  The step and stand portions 7 and 7 are mainly formed of a relatively rigid resin material or aluminum, and have one ends fixed to the side surfaces of the left cover member 9 and the right cover member 10 and extend outward. Plate-like fixed portions 27, 27, and movable portions 28, 28 pivotally supported by the fixed portions 27, 27 on the other end side (outer side) of the fixed portions 27, 27 are provided. Yes.

  As shown in FIGS. 2 and 3, the other end side (outward side) of one end fixed to the cover members 9, 10 of the fixing portions 27, 27 is passed back and forth with respect to the fixing portions 27, 27. Shaft portions 29 and 29 extending in the direction are provided, and movable portions 28 and 28 are pivotally supported at both ends of the shaft portions 29 and 29.

  As shown in FIG. 1, the movable parts 28, 28 are fan-shaped front side constituent parts 30, 30 arranged in front of the fixed parts 27, 27 and fan-shaped parts arranged behind the fixed parts 27, 27. The rear constituent parts 31 and 31 and the connecting stopper parts 32 and 32 for connecting the front constituent parts 30 and 30 and the rear constituent parts 31 and 31 are integrally provided.

  The front side components 30 and 30 and the rear side components 31 and 31 are formed in a box shape so as to be pierced upward from below in the state shown in FIGS. It is arranged in a state of facing outward. As shown in FIG. 3, the wall portions 30 </ b> A and 30 </ b> A (see also FIG. 5) that are located on the rear side of the front-side components 30 and 30 and extend substantially parallel to the front surfaces of the fixing portions 27 and 27. An insertion hole is formed through which one end of each of the shaft portions 29, 29 is inserted. The wall portions 31A, 31A are positioned on the front side of the rear side components 31, 31 and extend substantially parallel to the rear surfaces of the fixing portions 27, 27. An insertion hole (not shown) through which the other ends of the shaft portions 29 and 29 are inserted is formed (see also FIG. 5).

  2 and 3, the connection stopper portions 32 and 32 extend along the front-rear direction on the cover members 9 and 10 side (inward end portions) of the front side configuration portions 30 and 30 and the rear side configuration portions 31 and 31. These are connected so that the front side components 30, 30 and the rear side components 31, 31 are separated by the length of the fixing portions 27, 27.

  The connection stopper portions 32, 32 are formed in a rectangular shape in cross section, and the length in the front-rear direction is set substantially the same as the width (length in the front-rear direction) of the fixing portions 27, 27, as shown in FIGS. The one surface is brought into contact with the upper surfaces of the fixing portions 27, 27. Thus, when the connection stopper parts 32 and 32 contact | abut to the fixing | fixed parts 27 and 27, the downward direction from the state shown to FIG. 2, FIG. Rotation is regulated.

  2 is formed at the ends of the upper surfaces of the fixing portions 27, 27 on the side of the cover members 9, 10 (see also FIG. 4) for accommodating the connection stopper portions 32, 32 shown in FIG. ) These accommodating recesses 33, 33 accommodate the coupling stopper portions 32, 32 in the state shown in FIGS. 1 to 3, whereby the movable portions 28, 28 are in a horizontal state and the upper surfaces of the fixed portions 27, 27. The upper surfaces of the movable portions 28 and 28 are substantially flush with each other.

  With the configuration described above, in the state shown in FIGS. 1 to 3, the step and stand parts 7 and 7 are restricted from rotating inward and downward of the movable parts 28 and 28, and the occupant puts his / her feet on. The movable parts 28 and 28 are configured so as to function as a step in a stable state without rotating even in the state where they move.

  The step and stand parts 7 and 7 function as a stand by rotating the movable parts 28 and 28 about 270 degrees in the direction of the rotation arrow R1 shown in FIG. 2, that is, outward and downward. Come to fulfill. More specifically, the connection stopper portions 32 and 32 are separated from the state in which the connection stopper portions 32 and 32 are in contact with the upper surfaces of the fixing portions 27 and 27, and the fixing portion 27 passes through and above the fixing portions 27 and 27. , 27, the step and stand portions 7 and 7 function as a stand. 4 to 6 show the state of the step and stand units 7 and 7 when functioning as a stand.

  In the state shown in FIGS. 4 to 6, the movable portions 28 are in an upright state extending vertically. Here, referring to FIG. 2, the outer wall surfaces of the inner wall portions 30B and 30B of the front component portions 30 and 30, and the inner wall portions 31B and 31B of the rear component portions 31 and 31, respectively. Are set with ground planes 30C, 30C and ground planes 31C, 31C. When the movable portions 28, 28 are rotated as shown in FIGS. 4 to 6, the ground planes 30C, 30C, and The grounding surfaces 31C and 31C are in a state of being grounded on the floor surface.

  Here, at the position inward of the shafts 29 and 29 on the lower surface of the fixing portions 27 and 27, it protrudes downward from the lower surface of the fixing portions 27 and 27 as shown in FIG. 4 and is fixed as shown in FIG. 5. A pair of left and right stopper protrusions 34, 34 projecting in the front-rear direction from the front and rear surfaces of the parts 27, 27 are provided (see also FIGS. 2 and 3).

  In the state shown in FIGS. 4 to 6, the stopper projections 34 and 34 are in contact with the movable portions 28 and 28, and the inward and upward rotation of the movable portions 28 and 28 is restricted. . Here, a pair of stopper convex portions 34, 34 are provided for one movable portion 28, 28, but only one of them may be provided, for example, only on the front side with respect to one movable portion 28. Further, in a state where the movable portions 28 and 28 are in contact with the stopper convex portions 34 and 34, the outward and upward rotation shown in the direction of the rotation arrow R2 is regulated by a ratchet mechanism (not shown). ing.

With the configuration described above, in the state shown in FIGS. 4 to 6, the movable portions 28 and 28 support the moment load that the base body 4 tends to fall forward, and the ground contact surfaces 31 </ b> C and 31 </ b> C of the rear side configuration portion 31. Supports the moment load that the base body 4 tends to fall backward, and is restricted from rotating in the upright state by the stopper projections 34 and 34 and the ratchet mechanism. Is supporting. Thereby, the step and stand parts 7 and 7 hold | maintain the inverted state of the vehicle 1 as shown in FIG. 6, and have fulfill | performed the function as a stand.
When the occupant gets on the vehicle 1, the ratchet mechanism is released, and the movable portions 28 and 28 are rotated in the direction of the rotation arrow R2 shown in FIG. It can function as a step again.

  Therefore, in this embodiment, since the function of a step and a stand can be realized by one component by rotating the movable parts 28 and 28 of the step and stand parts 7 and 7, the inverted state of the vehicle 1 can be stably maintained. In constructing the stand, an increase in the number of parts can be avoided, and eventually weight reduction and space saving can be realized.

  Further, by connecting the connection stopper portions 32, 32 formed integrally with the movable portions 28, 28 to the upper surfaces of the fixed portions 27, 27, and restricting the rotation of the movable portions 28, 28, the movable portions 28, 28 are controlled. A stopper that maintains the stable state of the movable portions 28 when the 28 is functioned as a step can be configured with a simple structure.

  Further, when the movable portions 28, 28 are rotated and the step and stand portions 7, 7 function as a stand, the stopper convex portions 34, 34 that abut against the movable portions 28, 28 and restrict the rotation, and the ratchet mechanism. By providing the above, it is possible to maintain the stable state of the movable parts 28 and 28 when the movable parts 28 and 28 are rotated to function as a stand.

  The configuration in the above embodiment is an example of the present invention, and various modifications can be made without departing from the spirit of the invention, including the component configuration, structure, shape, size, number, arrangement, and the like. Needless to say.

For example, FIGS. 7 and 8 show movable parts 35 and 35 according to a modification of the movable parts 28 and 28. In this example, as shown in these figures, the movable portions 35 and 35 are formed in a substantially semicircular shape, and a notch that is wider than the length in the front-rear direction of the fixed portions 27 and 27 is formed in the approximate center of the arc surface. Yes. Then, the shaft portions 29 and 29 are respectively inserted into both sides of the notch so that the movable portions 35 and 35 are rotated relative to the fixed portions 27 and 27 as shown in FIGS. 8B and 8C. It can be rotated in the R3 and R4 directions. Further, as shown in FIGS. 8B and 8C, the fixed portions 27 and 27 are accommodated in the movable portions 35 and 35 so as to function as steps, and the fixed portions 27 and 27 and the movable portions 35 and 35 are accommodated. Concave portions 36, 36 having a constant height on the upper surface are formed.
Even in such an aspect, since the functions of the step and the stand can be realized with a single component, an increase in the number of components can be avoided in constructing a stand that stably holds the vehicle 1 in an inverted state, and the weight and space can be saved. Can be realized.

  Further, in the present embodiment, the step and stand portions 7 and 7 are arranged on the left and right, but the step and stand portion 7 may be provided only on one side and the other may be a step. In this case, the vehicle 1 is inverted. It is possible to hold Further, although the description has been given of the mode in which the occupant puts his / her feet on the step and stand portions 7 and 7 and gets on the vehicle 1 in a standing state, a seat is provided on the upper portion of the base body 4 and the occupant is seated on the seat. The present invention can be suitably used even when the feet are placed on the cum stand portions 7 and 7.

  Further, the configuration of the moving operation unit 5 and the actuator device 6 that are drive mechanisms may be other configurations. For example, the moving operation unit 5 may include a plurality of sleeves at equal intervals in the circumferential direction as described in Patent Document 2, for example. It does not matter as a configuration provided. Further, in the movable portions 28, 28, the front side components 30, 30 and the rear side components 31, 31 are each formed in a fan shape, but may be rectangular. Moreover, although the movable part 28 and 28 demonstrated the aspect in which the front side structural part 30 and the rear side structural part 31 were integrally formed by the connection stopper parts 32 and 32, the front side structural part 30 and the rear side structural part 31 were replaced. As another part, the aspect which becomes rotatable with respect to the fixing | fixed part 27 and 27 may be sufficient, respectively. In addition, when the step and stand portions 7 and 7 function as a stand, the mechanism for restricting the rotation of the movable portions 28 and 28 in the direction of the rotation arrow R2 (see FIG. 4) is not limited to the ratchet mechanism. Other means may be used.

1 Omnidirectional moving vehicle (moving body)
5 Movement unit (driven mechanism)
6 Actuator device (drive unit)
7 Step and stand (stand)
27 Fixed part 28 Movable part 32 Connection stopper part (first stopper part)
34 Stopper convex part (second stopper part)

Claims (4)

A movable body including a driven mechanism capable of moving a traveling surface, a driving unit that generates a driving force for driving the driven mechanism, and a base body on which the driven mechanism and the driving unit are assembled;
Having a stand provided below at least one side of the substrate;
The stand has a fixed portion whose one end is fixed to one side surface of the base body, and a movable portion that is rotatable around the other end side of the fixed portion ,
The movable portion functions as a step together with the fixed portion in a state in which rotation is restricted by contacting the fixed portion at a predetermined position, and can rotate from the predetermined position and be grounded on a traveling surface. A movable body configured to function as a stand at a position . A movable body including a driven mechanism capable of moving a traveling surface, a driving unit that generates a driving force for driving the driven mechanism, and a base body on which the driven mechanism and the driving unit are assembled;
Having a stand provided below at least one side of the substrate;
The stand is, possess a fixed portion at one end on one side of said substrate is fixed, and a movable portion which is rotatable to the other end of the fixing portion as a fulcrum,
The movable part has a first stopper part capable of contacting the upper surface of the fixed part,
The first stopper portion is rotatable together with the movable portion from a state in contact with the upper surface of the fixed portion to the upper portion of the fixed portion and the outer side of the other end side to the lower portion of the fixed portion. A moving object characterized by that.   The moving body according to claim 2, wherein a second stopper portion that restricts rotation of the movable portion is provided at a position where the movable portion is rotated to below the fixed portion.   The moving body according to claim 1, wherein the moving body is an inverted pendulum control type moving body.

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