JP5566649B2 - Inverted pendulum type moving body - Google Patents

Description

  The present invention relates to a friction type driving device and an inverted pendulum type moving body, and more particularly to a friction type driving device used as a traveling unit and an inverted pendulum type moving body using the same.

  As a traveling drive device for an omnidirectional mobile body, a plurality of annular bodies and a driven roller which is arranged in the annular direction of the annular body and is rotatable around a tangential axis of the annular body at each of the arrangement positions Each of the left and right drive disks on the left and right sides in the axial direction of the main wheel so as to be rotatable around its own center axis, There is a friction type driving device that includes a plurality of drive rollers that are arranged so as to be rotatable around an axis that forms a twisted relationship with the outer peripheral surface of the driven roller and that have an outer peripheral surface (for example, Patent Document 1).

  This friction drive is used as a traveling unit of a single-wheel inverted pendulum type moving body, and left and right drive disks are supported rotatably from the frame of the inverted pendulum type moving body, and the left and right drive rollers are driven rollers. The main wheel is supported so as to be able to rotate (revolve) so as to be sandwiched from the left and right.

  In the inverted pendulum type moving body using this friction type driving device, the drive roller is pressed against the driven roller, and the rotation of the drive disk is transmitted from the drive roller to the driven roller by the friction between the drive roller and the driven roller. When the drive disks are driven to rotate in the same direction and at the same speed, the main wheels revolve, and when the left and right drive disks are driven to rotate in different directions or at different speeds, the main wheels revolve. The driven roller rotates (rotates around the tangential axis of the annular body) or the main wheel does not revolve, and the driven roller rotates and moves (runs) diagonally in the front, rear, left, right, and left directions with the inverted pendulum control. Can do.

International Publication No. 2008/13279 Pamphlet

  In the friction type drive device described above, it is necessary to individually drive the left and right drive disks, and the left electric motor for the left drive disk and the right electric motor for the right drive disk are separately provided. Is provided. In the conventional frictional drive device, the left and right electric motors are respectively disposed at positions radially outward from the left and right drive disks, and the electric motors are rotated by a speed reduction power transmission mechanism such as an endless belt type. It is configured to transmit the deceleration to the drive disk.

  For this reason, the conventional frictional drive device cannot be handled as a single assembly including a drive source by an electric motor, and lacks maintainability. In addition, the conventional frictional drive device requires a relatively large space for the arrangement of the electric motor and the power transmission mechanism, and is difficult to be compactly designed.

  The problem to be solved by the present invention is to improve the maintainability of the frictional drive device and to make the frictional drive device compact.

  A frictional drive device according to the present invention includes a main body including an annular body and a plurality of driven rollers that are arranged in a ring direction of the annular body and are rotatable about a tangential axis of the annular body at each of the arrangement positions. A wheel, left and right drive disks arranged to rotate about its own center axis on both left and right sides in the axial direction of the main wheel, and each of the left and right drive disks twisted with respect to the center axis of the drive disk A plurality of left and right drive rollers that are arranged so as to be rotatable around an axis that forms the relationship, and that contact the outer peripheral surface of the driven roller with an outer peripheral surface, and the left and right drive discs individually around the central axis of the drive disc Left and right rotary actuators by electric motors that rotate, and the left and right rotary actuators of the left and right drive disks They are arranged on the same axis as the left and right drive disk heart portion.

  In the friction drive device according to the present invention, preferably, the left and right rotary actuators include a portion overlapping with the left and right drive rollers in an axial direction when viewed in one radial direction of the left and right drive disks.

The friction type drive device according to the present invention preferably has a reduction device that transmits the rotation of the left and right rotary actuators to the left and right drive disks, respectively, and the reduction device is constituted by a wave gear device, and an input member The wave plug is concentrically connected to the output shaft of the rotary actuator, and the ring-shaped internal tooth member as the output member is concentrically connected to the drive disk, or the rotation of the left and right rotary actuators is respectively has a reduction gear for decelerating transmitted to the left and right drive disk, wherein the reduction gear is constituted by a planetary gear, is coupled concentrically to Sangi ya is an input member to an output shaft of the rotary actuator, which is the output member ring gear Connected to the drive disk.

  The friction type drive device according to the present invention preferably has a connecting mechanism for restricting relative displacement of at least one of the left and right drive disks in the radial direction and the axial direction so as to connect the left and right drive disks so as to be relatively rotatable.

  The inverted pendulum type moving body according to the present invention includes the friction drive device according to the above-described invention as a traveling unit.

  According to the friction type drive device of the present invention, the left and right rotary actuators that are drive sources of the drive disks are arranged on the same axis as the left and right drive disks, respectively. Drive connection can be performed on the rotation center axis.

  As a result, the frictional drive device can be configured as a single assembly including a rotary actuator, the assembly can be easily attached and detached, and the maintainability is improved.

  In addition, since the rotary actuator is located in the center of the drive disk, the space occupied by the drive system can be reduced compared to the case where the rotary actuator is located at a position radially outward from the drive disk. Design is possible, and the friction drive device can be downsized. In particular, since the left and right rotary actuators include a portion overlapping the left and right drive rollers in the axial direction when viewed in one radial direction of the left and right drive disks, the lateral width of the friction drive device can be reduced. .

  Further, since the rotary actuator is arranged at the center of the drive disk, a compact speed reducer such as a wave gear device or a planetary gear device can be used, and this also reduces the size of the friction drive device. be able to.

The perspective view of the saddle step storing state which shows one Example of the inverted pendulum type mobile body which contains the friction type drive device by this invention as a traveling unit. The perspective view of the saddle step extension state of the embodiment. The longitudinal cross-sectional view of the friction-type drive device by a present Example. The expanded longitudinal cross-sectional view of the principal part of the friction-type drive device by a present Example. The perspective view of the principal part of the friction-type drive device by a present Example. The expanded longitudinal cross-sectional view of the principal part of the friction-type drive device by another Example.

  Embodiments of a friction type driving device and an inverted pendulum type moving body according to the present invention will be described below with reference to FIGS. Note that the vertical three-dimensional coordinate axes in the vertical direction, the front-rear direction, and the horizontal direction are defined as illustrated according to the moving direction of the moving body.

  First, the overall configuration of an inverted pendulum type moving body that includes the friction type driving device according to the present embodiment as a traveling unit will be described with reference to FIGS. The inverted pendulum type moving body has a lower frame 10 and an upper frame 20 that are connected to each other.

  The lower frame 10 supports the traveling unit 40. The traveling unit 40 is of a single wheel type, and the whole of the lower frame 10 and the upper frame 20 is kept in an upright posture under the control of an inverted pendulum using a built-in gyroscope and a load sensor (not shown). It is responsible for traveling in all directions diagonally forward, backward, left and right.

  On the left and right sides of the lower frame 10, left and right steps 14L and 14R are provided so as to be retractable. 1 shows a state in which the left and right steps 14L and 14R are stored in the step storage units 16L and 16R formed on the left and right sides of the lower frame 10, and FIG. 2 shows that the left and right steps 14L and 14R are from the step storage units 16L and 16R. Each state is shown in a horizontal position.

  On the left and right sides of the upper frame 20, left and right individual saddles 30L and 30R are provided so as to be retractable by left and right curved saddle arms 22L and 22R. Further, the upper frame 20 is provided with a handle 26 for carrying the moving body so that it can be stored.

  The saddles 30L and 30R are occupant seats that individually handle the occupant's buttocks and thighs on the left and right sides, and each has a disk shape in plan view. FIG. 1 shows a state in which the left and right saddles 30L and 30R are stored in a saddle storage portion 24 by a cylindrical space penetrating the upper frame 20 in the left and right direction, and FIG. 2 shows that the left and right saddles 30L and 30R are respectively saddle arms 22L. , 22R respectively show a state of being fed out from the saddle storage unit 24 to a horizontal posture.

  Next, details of the traveling unit 40 (friction type driving device) according to the present embodiment will be described with reference to FIGS.

  The lower frame 10 has a left side wall part 12L and a right side wall part 12R that are opposed to each other at an interval in the left-right direction. The traveling unit 40 is disposed between the left wall portion 12L and the right wall portion 12R of the lower frame 10.

  The traveling unit 40 includes cylindrical left and right mount members 42L and 42R. The left and right mounting members 42L and 42R are fixedly mounted inside the left wall portion 12L and the right wall portion 12R by mounting bolts 44, respectively. The left and right mount members 42L and 42R have a single central axis A extending in the left-right direction as a common central axis. That is, the left and right mounting members 42L and 42R are fixed to the lower frame 10 concentrically with each other with the central axis A.

  The left and right mount members 42L and 42R respectively support left and right annular drive disks 48L and 48R rotatably on the outer circumferences of the cylindrical portions 421L and 421R by cross roller bearings 46L and 46R. The cross roller bearings 46L and 46R are rolling bearings that can handle a radial load and an axial load (thrust load). The outer circumferences of the cylindrical portions 421L and 421R of the mount members 42L and 42R and the cylindrical portions of the drive disks 48L and 48R. The mounting members 42L and 42R and the drive disks 48L and 48R are fixed at fixed positions in the axial direction by fastening rings 50 and 52 respectively screwed to the inner circumferences of 481L and 481R.

  The left and right drive disks 48L and 48R have outer ring portions 482L and 482R having a larger diameter than the cylindrical portions 481L and 481R, respectively. Left and right drive rollers 56L and 56R are rotatably attached to the outer ring portions 482L and 482R by roller shafts 54L and 54R, respectively. The left and right drive rollers 56L and 56R are made of a highly rigid material such as metal or hard plastic, and are arranged in a plurality at equal intervals in the circumferential direction of the outer ring portions 482L and 482R. The roller shafts 54L and 54R are rotatable around the central axis.

  The left and right roller shafts 54L and 54R have a symmetrical arrangement and extend in the axial direction that forms a twisted relationship with respect to the central axis A, respectively. As a result, the left and right drive rollers 56L and 56R supported by the left and right roller shafts 54L and 54R are symmetrical to each other and have the same inclination as the helical gear teeth.

  The left and right drive disks 48L and 48R have cylindrical extensions 483L and 483R extending in a direction approaching each other in the axial direction. The cylindrical extensions 483L and 483R are connected to each other by a cross roller bearing 58 so as to be relatively rotatable. The cross roller bearing 58 is a rolling bearing that can handle a radial load and an axial load (thrust load), and is fitted to the outer peripheral surface of one cylindrical extension portion 483L with an inner race, and the other cylindrical extension portion 483R with an outer race. Is fitted to the inner peripheral surface of the. The inner race of the cross roller bearing 58 is fixed to the cylindrical extension 483L in the axial direction by a fastening ring 62 screwed to the outer periphery of the cylindrical extension 483L, and the outer race of the cross roller bearing 58 is screwed to the outer periphery of the cylindrical extension 483R. The fastening ring 60 is fixed to the cylindrical extension 483R in the axial direction.

  The cross roller bearing 58 forms the main part of a coupling mechanism that couples the left and right drive disks 48L and 48R so as to be relatively rotatable. By the above-described assembly, both the radial direction and the axial direction of the left and right drive disks 48L and 48R The relative displacement is regulated (prohibited). In other words, the cross roller bearing 58 connects the left and right drive disks 48L and 48R concentrically so as to be relatively rotatable, and prevents them from being displaced in the axial direction.

  As a result, the concentric accuracy of the left and right drive disks 48L and 48R is ensured, and the distance between the left and right drive disks 48L and 48R in the axial direction is set to a predetermined value.

  The left and right electric motors 64L and 64R are provided in the cylindrical space portions 484L and 484R defined inside the cylindrical portions 481L and 481R of the left and right drive disks 48L and 48R, that is, in the center portions of the left and right drive disks 48L and 48R. Has been placed. In the left and right electric motors 64L and 64R, outer housings 66L and 66R each including a stator coil (not shown) and the like are fixed to left and right mounting members 42L and 42R by bolts 68. The left and right electric motors 64L and 64R are both concentric with the central axis A and have rotor shafts 70L and 70R extending in a direction approaching each other in the axial direction.

  The left and right electric motors 64L and 64R each include a portion overlapping with the left and right drive rollers 56L and 56R in the axial direction when viewed in one radial direction of the left and right drive disks 48L and 48R. In other words, on one projection plane parallel to the central axis A, the left and right electric motors 64L, 64R and the left and right drive rollers 56L, 56R include portions that overlap in the axial direction.

  Wave plugs 74L and 74R of the left and right wave gear devices 72L and 72R are fixedly connected to the tip portions of the rotor shafts 70L and 70R. The wave gear devices 72L and 72R have a well-known structure. The left and right electric motors 64L and 64R are arranged concentrically with the central axis A, and have high elliptical wave plugs 74L and 74R as input members. Wave flanges 76L, 76R fitted and fitted to the outer peripheral surfaces of the wave plugs 74L, 74R, and a thin-walled cylindrical flexible cylinder with a flange that has friction engagement with the outer peripheral surfaces of the wave bearings 76L, 76R and has outer teeth on the outer peripheral surface The external teeth members 78L and 78R and the high-rigidity ring-shaped internal teeth members 80L and 80R having internal teeth that mesh with the external teeth of the flexible external teeth members 78R and 78L. The internal gear members 80L and 80R are output members, and are fixedly connected to the left and right drive disks 48L and 48R by bolts 82.

  Thereby, the output rotations of the left and right electric motors 64L and 64R are decelerated by the left and right wave gear devices 72L and 72R, and are individually transmitted to the left and right drive disks 48L and 48R.

In this embodiment, the wave plugs 74L and 74R, the wave bearings 76L and 76R, and the internal teeth members 80L and 80R are disposed in the inner space of the cylindrical extensions 483L and 483R of the drive disks 48L and 48R. In combination with this, the electric motors 64L and 64R are arranged in the inner space of the cylindrical portions 481L and 481R of the drive disks 48L and 48R, so that the axial dimension of the traveling unit 40 can be reduced. .

  The left and right drive disks 48L and 48R support the main wheel 84 on the center axis that is the same as or approximate to the center axis A so as to be sandwiched from the left and right sides by an annular roller group of a plurality of left and right drive rollers 56L and 56R. . In other words, the main wheel 84 is the same as or approximate to the central axis A from the left and right drive disks 48L and 48R so as to be sandwiched from the left and right sides by a group of rollers arranged in an annular shape by a plurality of left and right drive rollers 56L and 56R. It is supported on the center axis of the shaft without axis, and can rotate (revolve) around its own center.

  The main wheel 84 includes an endless annular ring body 86 formed of a prismatic body, a plurality of inner sleeves 88 fitted and mounted on the outer periphery of the ring body 86, and ball bearings 90 on the outer periphery of each inner sleeve 88. It comprises a plurality of driven rollers 92 that are rotatably mounted. The driven roller 92 is a grounding roller, and is configured by a metal cylindrical portion 92A that fits with the ball bearing 90 and a rubber cylindrical portion 92B that is vulcanized and bonded to the outer periphery of the metal cylindrical portion 92A. Yes.

  A plurality of driven rollers 92 are provided in the annular direction (circumferential direction) of the annular body 86 together with the inner sleeve 88, and can be rotated (rotated) around a tangential axis of the annular body 86 at the position where the driven roller 92 is disposed.

  The left and right drive rollers 56L and 56R come into contact with the outer peripheral surface of the rubber cylindrical portion 92B of the driven roller 92 that forms the substantial outer peripheral surface of the main wheel 84 with the outer peripheral surface, and the drive disks 48L and 48R rotate (propulsion) by friction. Force) to the driven roller 92.

  Regarding the relationship (number) between the driven roller 92 and the left and right drive rollers 56L, 56R, at least one pair of the left and right drive rollers 56L, 56R is always in contact with the driven roller 92 that is grounded at the lowermost portion. 56L and 56R are set so that a propulsive force (rotational force) is always applied to at least the driven roller 92 in a grounded state.

  The left and right drive rollers 56L and 56R are each in the rotational direction around the central axis (ring center) of the main wheel 84, more precisely, in the tangential direction at the contact point of the drive rollers 56L and 56R with the driven roller 92. Thus, it is rotatably arranged around a central axis extending in a direction that is neither orthogonal nor parallel. That is, the left and right drive rollers 56L and 56R are inclined with respect to the rotation direction (revolution direction) around the central axis of the main wheel 84, and rotate in a twisted relationship with the rotation axes of the drive disks 48L and 48R. It has an axis and has a plane of rotation along one imaginary plane that is neither parallel nor orthogonal to the central axis of the drive disks 48L, 48R.

  In other words, the center axis of each of the left and right drive rollers 56L and 56R is inclined at a certain angle with respect to the radial line of the annular body 86 corresponding to the central axis of the driven roller 92, and at the same time, the center line of the annular body 86 contacts. It is inclined at an angle with respect to the virtual plane. Due to this three-dimensional inclination of the central axis, the arrangement of the drive rollers 56L and 56R on the drive disks 48L and 48R can be compared with the teeth (teeth) of the “helical bevel gear” placed on a conical surface at a certain angle. It is similar to the slope of streaks. Please refer to the pamphlet of International Publication No. 2008/139740 if you need more detailed explanation about this.

  In the present embodiment, if the left and right drive disks 48L and 48R have different rotational directions and / or rotational speeds by the left and right electric motors 64L and 64R, the circumferential (tangential) direction of the drive disks 48L and 48R is caused by the rotational force. With respect to the force, a component force in a direction orthogonal to the force acts on the contact surface between the left and right drive rollers 56L, 56R and the driven roller 92. Due to this component force, a force that twists the driven roller 92 acts on the outer surface of the driven roller 92, and the driven roller 92 rotates (rotates) around its own central axis.

  The rotation of the driven roller 92 is determined by the rotational speed difference between the left and right drive disks 48L and 48R. For example, when the left and right drive disks 48L and 48R are rotated in the opposite directions at the same speed, the main wheel 84 does not revolve at all, and only the driven roller 92 rotates. As a result, a driving force in the left-right direction is applied to the main wheel 84, and the inverted pendulum moving body moves in the left-right direction (true lateral movement).

On the other hand, when the rotation directions and rotation speeds of the left and right drive disks 48L and 48R are the same, the driven roller 92 does not rotate, the main wheel 84 revolves, and the inverted pendulum moving body moves forward ( Go straight) or go backward.

  Thus, the inverted pendulum moving body can move in all directions on the road surface by independently controlling the rotation speed and rotation direction of the left and right drive disks 48L, 48R by the left and right electric motors 64L, 64R. .

  As described above, the left and right electric motors 64L and 64R, which are the drive sources of the left and right drive disks 48L and 48R, are disposed on the same axis (center axis A) as the left and right drive disks 48L and 48R, respectively. The left and right drive disks 48L and 48R and the left and right electric motors 64L and 64R can be drive-connected on one rotation center axis via the left and right wave gear devices 72L and 72R.

  Thus, the left electric motor 64L, the wave gear device 72L, the drive disk 48L to which the plurality of drive rollers 56L are attached, the right electric motor 64R, the wave gear device 72R, and the plurality of drive rollers 56R are attached. Each of the drive disks 48R can be configured as one assembly (subassembly).

  With this sub-assembly, the left and right drive disks 48L and 48R, the left and right electric motors 64L and 64R, and the left and right wave gear devices 72L and 72R can be attached to and detached from the lower frame 10 in a batch with good workability. Maintainability is improved.

  In this embodiment, since the left and right drive disks 48L and 48 are connected by a cross roller bearing 58, as shown in FIG. The left and right electric motors 64L and 64R, the wave gear devices 72L and 72R, and the drive disks 48L and 48R can be handled as a single assembly. It becomes possible to work with good workability.

  Thereby, the workability of assembling and removing the left and right drive disks 48L and 48R including the electric motors 64L and 64R and the wave gear devices 72L and 72R with respect to the lower frame 10 is improved.

  In addition, the left and right electric motors 64L and 64R are coaxially arranged at the center of the left and right drive disks 48L and 48R, so that the electric motors 64L and 64R are arranged at positions spaced radially outward from the drive disks 48L and 48R. Compared with the case where it does, the occupation space of the drive system containing the electric motors 64L and 64R can be reduced.

  Thereby, a compact design becomes possible and the traveling unit 40 can be downsized. In particular, the left and right electric motors 64L and 64R include a portion that overlaps the left and right drive rollers 56L and 56R in the axial direction when viewed in one radial direction of the left and right drive disks 48L and 48R. The width dimension in the left-right direction can be reduced.

  Further, since the left and right electric motors 64L and 64R are coaxially arranged at the center of the left and right drive disks 48L and 48R, a wave gear device which is a compact speed reducer can be used. 40 (friction type drive device) can be downsized.

  Another embodiment of the traveling unit 40 (friction type driving device) according to the present invention will be described with reference to FIG. 5, parts corresponding to those in FIG. 4 are denoted by the same reference numerals as those in FIG. 4, and description thereof is omitted.

In this embodiment, left and right planetary gear devices 100L and 100R are used instead of the left and right wave gear devices 72L and 72R. Left and right planetary gear 100L, 100R includes a sun gear 10L, 102R and the sun gear 102L, 102R concentric arrangement of Ringugi Ya 104L, 104R and pinion carrier 106L, are rotatably supports the 106R and the sun gear 102L, 102R and Ringugi ya This is a general planetary gear unit constituted by planetary pinions 108L and 108R meshing with 104L and 104R.

Left and right planetary gear 100L, 100R includes a sun gear 102L, the left and right electric motors 64L and 102R as the input member, a rotor shaft 70L of 64R, is fixed to 70R, Ringugi Ya 104L, the left and right drive disk 48L as an output member 104R, 48R is fixed to the mount members 42L and 42R using the pinion carriers 106L and 106R as reaction force members, thereby constituting a reduction gear.

  As a result, the output rotations of the left and right electric motors 64L and 64R are decelerated by the left and right planetary gear units 100L and 100R, and are individually transmitted to the left and right drive disks 48L and 48R.

  Also in the present embodiment, the left and right electric motors 64L and 64R, which are the drive sources of the left and right drive disks 48L and 48R, are disposed on the same axis (center axis A) as the left and right drive disks 48L and 48R, respectively.

  As a result, the left and right drive disks 48L and 48R and the left and right electric motors 64L and 64R can be driven and connected on one rotation center axis line with the left and right planetary gear units 100L and 100R interposed therebetween. An electric motor 64L, a wave gear device 72L, a drive disk 48L to which a plurality of drive rollers 56L are attached, a left electric motor 64R, a wave gear device 72R, and a drive disk 48R to which a plurality of drive rollers 56R are attached. , Each can be configured as a single assembly (subassembly).

  With this sub-assembly, the left and right drive disks 48L and 48R, the left and right electric motors 64L and 64R, and the left and right wave gear devices 72L and 72R can be attached to and detached from the lower frame 10 in a batch with good workability. Maintainability is improved.

  Also in the present embodiment, the left and right electric motors 64L, 64R include portions overlapping the left and right drive rollers 56L, 56R in the axial direction when viewed in one radial direction of the left and right drive disks 48L, 48R. By the arrangement, the width dimension in the left-right direction of the traveling unit 40 (friction type driving device) can be reduced.

10 Lower frame 14L, 14R Step 20 Upper frame 30L, 30R Saddle 40 Travel unit 42L, 42R Mount member 48L, 48R Drive disk 56L, 56R Drive roller 58 Cross roller bearing 64L, 64R Electric motor 72L, 72R Wave gear device 84 Main wheel 86 annular body 92 driven roller 100L, 100R planetary gear device

Claims (5)

A frame having left and right side walls facing the passenger seating portion at a predetermined interval on the upper portion;
A main wheel including an annular body and a plurality of driven rollers arranged in the annular direction of the annular body and rotatable around a tangential axis of the annular body at each of the arrangement positions;
Cylindrical left and right mounting members that are arranged on the same axis on both the left and right sides in the axial direction of the main wheel and are fixed to the left and right side walls, and located between the left and right side walls,
Annular left and right drive disks attached to the outer circumferences of the left and right mount members so as to be rotatable around their own central axes; and
A plurality of left and right drive disks are arranged on the outer periphery of each of the left and right drive disks so as to be rotatable about an axis that forms a twisted relationship with respect to the center axis of the drive disk, and have an outer peripheral surface that contacts the outer peripheral surface of the driven roller. A drive roller,
Left and right rotary actuators arranged in the cylindrical space of the mount member and fixed to the mount member, and individually driving the left and right drive disks around a central axis of the drive disk;
A speed reducer that is disposed in the inner space of the annular body on the same axis as the left and right rotary actuators and transmits the rotation of the rotary actuators to the left and right drive disks, respectively.
The left and right rotary actuators are arranged on the same axis as the left and right drive disks so that the output shafts face each other on the center side in the left-right direction,
The speed reducer includes a wave gear device, and a wave plug as an input member is directly connected to an output shaft of the rotary actuator, and a ring-shaped internal gear member as an output member is directly connected to the drive disk. An inverted pendulum type moving body. A frame having left and right side walls facing the passenger seating portion at a predetermined interval on the upper portion;
A main wheel including an annular body and a plurality of driven rollers arranged in the annular direction of the annular body and rotatable around a tangential axis of the annular body at each of the arrangement positions;
Cylindrical left and right mounting members that are arranged on the same axis on both the left and right sides in the axial direction of the main wheel and are fixed to the left and right side walls, and located between the left and right side walls,
Annular left and right drive disks attached to the outer circumferences of the left and right mount members so as to be rotatable around their own central axes; and
A plurality of left and right drive disks are arranged on the outer periphery of each of the left and right drive disks so as to be rotatable about an axis that forms a twisted relationship with respect to the center axis of the drive disk, and have an outer peripheral surface that contacts the outer peripheral surface of the driven roller. A drive roller,
Left and right rotary actuators arranged in the cylindrical space of the mount member and fixed to the mount member, and individually driving the left and right drive disks around a central axis of the drive disk;
A speed reduction device disposed on the same axis as the left and right rotary actuators in the inner space of the annular body and transmitting the rotation of the rotary actuators to the left and right drive disks, respectively.
The left and right rotary actuators are arranged on the same axis as the left and right drive disks so that the output shafts face each other on the center side in the left-right direction,
The speed reducer is an inverted pendulum type comprising a planetary gear device, wherein a sun gear as an input member is directly connected to the output shaft of the rotary actuator, and a ring gear as an output member is directly connected to the drive disk. Moving body. The inverted pendulum type moving body according to claim 1, wherein the frame includes left and right steps that handle a foot part of an occupant on both left and right sides of the lower part. The left and right rotary actuators include a portion that overlaps in the axial direction of the left and right drive rollers and the drive disk when viewed in one radial direction of the left and right drive disks . The inverted pendulum type moving body according to one item . According to any one of claims 1 to 4 having a coupling mechanism for relatively rotatably connecting the left and right drive disc to regulate at least one of the relative displacement in the radial direction and the axis direction of the left and right drive disk Inverted pendulum type moving body.

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