WO2017061623A1

WO2017061623A1 - Moving apparatus

Info

Publication number: WO2017061623A1
Application number: PCT/JP2016/080021
Authority: WO
Inventors: 奥田　英樹; 勝彦加納; 秀生田; 祐一伴
Original assignee: 株式会社デンソー
Priority date: 2015-10-07
Filing date: 2016-10-07
Publication date: 2017-04-13
Also published as: JP2017071314A

Abstract

This moving apparatus (1, 3) is provided with a base platform (20), moving wheels (32, 40) and a restricting mechanism (46, 72). The base platform has a mounting surface on which an object is mounted. The moving wheels are attached to different positions on the back surface of the base platform, opposite of the mounting surface. The restricting mechanism restricts the rotation direction of the moving wheels such that the rotation direction of the moving wheels is concentric from a reference point, which is a defined point.

Description

Mobile device

Cross-reference to related applications

This international application is based on Japanese Patent Application No. 2015-199656 filed with the Japan Patent Office on October 7, 2015 and claims the benefit of its priority. The entire contents of National Patent Application No. 2015-199656 are incorporated herein by reference.

The present disclosure relates to a moving device having wheels.

A moving device having a base on which an object is placed and four omnidirectional wheels attached to the back surface of the base is known (see Patent Document 1). The omnidirectional wheel is a well-known wheel having rotation axes in at least two directions different from each other.

JP 2012-30735 A

In the moving device described in Patent Document 1, each of the four omnidirectional wheels rotate independently of each other. However, as a result of detailed studies by the inventor, it has been found that it is difficult to move the moving device in a specific direction desired by the user.

That is, in the conventional technology, there is a problem that it is difficult to easily move the moving device having the wheels in the direction desired by the user.
Then, this indication is providing the technique which can move the moving apparatus which has a wheel to the direction which a user desires easily.

One aspect of the present disclosure is a moving device including a base, a moving wheel, and a limiting mechanism.
The base has a placement surface on which an object is placed. Each of the moving wheels is attached to a different position on the back side opposite to the mounting surface of the base. The limiting mechanism limits the rotational direction of the moving wheel so that the rotational direction of the moving wheel is concentric from a reference point that is a specified point.

According to such a moving device, the moving direction of the moving wheel can be limited to an arc centered on the reference point. Thereby, the direction of movement of the mobile device itself can be restricted, and the movement of the mobile device in a direction not intended by the user can be reduced.

In other words, the moving device having the wheels can be easily moved in the direction desired by the user.
One embodiment of the present disclosure is a moving device including a base, omnidirectional wheels, and a locking mechanism.

The base has a placement surface on which an object is placed. The omnidirectional wheels are respectively attached to different positions on the back surface opposite to the mounting surface of the base. The omnidirectional wheel mentioned here has at least two or more rotating shafts that rotate in different directions.

The locking mechanism is locked to the contact surface so as to be pivotally supported by the contact surface with which the omnidirectional wheel contacts.
According to such a moving device, the direction in which the omnidirectional wheel can rotate can be limited to the direction of turning about the point pivotally supported by the locking mechanism. Thereby, the moving direction of the moving device itself can be limited, and the moving device can be prevented from moving in a direction not intended by the user.

In other words, the moving device having the wheels can be easily moved in the direction desired by the user.
In addition, the code | symbol in the parenthesis described in the claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this indication is limited is not.

It is a perspective view of the moving device in a 1st embodiment. It is a bottom view of the moving device in a 1st embodiment. It is explanatory drawing explaining the rotation direction of a one-way wheel. It is explanatory drawing explaining a movable mechanism, and is explanatory drawing explaining the case where it is located in a storage position. It is explanatory drawing explaining a movable mechanism, and is explanatory drawing explaining the case where it is located in a contact position. It is a perspective view of the movement apparatus in 2nd Embodiment. It is a bottom view of the moving apparatus in 2nd Embodiment. It is a perspective view of the moving apparatus in 3rd Embodiment. It is a bottom view of the moving apparatus in 3rd Embodiment. It is explanatory drawing explaining a locking mechanism, and is explanatory drawing explaining the state which pushed down the down lever. It is explanatory drawing explaining a locking mechanism, and is explanatory drawing explaining the state by which the up lever was pushed up.

DESCRIPTION OF SYMBOLS 1,3,5 ... Moving apparatus 10 ... Chair 12 ... Medical equipment 20 ... Base 22 ... Mounting surface 24 ... Back surface 26 ... Main body part 28 ... Protruding

part

30, 70, 80 ... Moving mechanism 32 ... Omnidirectional wheel 34 ... Main wheel 36 ... Sub wheel 40 ... One-way wheel 44 ... Wheel 46 ... Restriction mechanism 49 ... Holding part 52 ... Mounted part 54 ... Mounting shaft 60 ... Movable mechanism 62 ... Down lever 64 ... Up lever 72 ... Restriction mechanism 82 ... Stop mechanism 84 ... Connection part 86 ... Shaft part 88 ... Locking part 90 ... Down lever 92 ... Up lever

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
[1. First Embodiment]
[1.1 Configuration]
<Moving device>
A moving device 1 shown in FIG. 1 is a device that moves an object. In this embodiment, the moving device 1 moves a medical action or a device used for assisting a medical action and an operator. The surgeon is a person who performs medical practice and assistance for medical practice, and includes, for example, a doctor, a dentist, a nurse, and a dental hygienist.

The moving device 1 includes a chair 10, a medical device 12, a base 20, and a moving mechanism 30.
The chair 10 includes a seat surface on which a person is seated. The medical device 12 is various devices necessary for medical practice or assistance for medical practice. As an example of the medical device 12, two articulated arms that support the implementation of surgery as a medical practice can be considered. The medical device 12 is not limited to a multi-joint arm, and may be, for example, a nerve function monitoring device, a biological monitoring device, a biological examination device, or the like.

The base 20 is a base having a placement surface 22 on which an object is placed. The base 20 in the present embodiment includes a main body portion 26 formed in a rectangular shape, and a long projecting portion 28 extending from the main body portion 26. The chair 10 and the medical device 12 are placed on the placement surface 22 of the base 20 as objects.
<Movement mechanism>
The moving mechanism 30 is a mechanism that moves the moving device 1. The moving mechanism 30 of this embodiment includes a plurality of omnidirectional wheels 32, a plurality of unidirectional wheels 40, and a plurality of movable mechanisms 60. In the present embodiment, “three” omnidirectional wheels 32 and “two” unidirectional wheels 40 are provided. The movable mechanism 60 is provided for each one-way wheel 40.

Each of the omnidirectional wheels 32 is a known wheel having at least two or more rotation shafts that rotate in different directions. The omnidirectional wheel 32 includes a main wheel 34 and a sub wheel 36.
The main wheel 34 is a wheel having a first rotation shaft that rotates in one rotation direction. The auxiliary wheel 36 has a second rotating shaft that rotates in a direction different from the first rotating shaft of the main wheel 34, and is a wheel having a diameter smaller than the diameter of the main wheel 34. The auxiliary wheel 36 is pivotally supported on the side surface of the main wheel 34 so that the second rotation axis is orthogonal to the first rotation axis.

That is, the omnidirectional wheel 32 can rotate in the rotation direction of the main wheel 34 and the rotation direction of the auxiliary wheel 36, and can rotate in all directions by adjusting the rotation speed of the main wheel 34 and the rotation speed of the auxiliary wheel 36. .
As shown in FIG. 2, the omnidirectional wheels 32 are attached to different positions on the back surface 24 of the base 20. The back surface 24 of the base 20 is a surface opposite to the placement surface 22. Specifically, on the back surface 24 of the base 20, one omnidirectional wheel 32 is attached to each of the rear end portion of the main body portion 26 of the base 20 and the front end portion of the protruding portion 28 of the base 20. It has been.

In this embodiment, the rear end is an upper end portion shown in FIG. 2, and the front end is a lower end shown in FIG.
<One-way wheel>
Each one-way wheel 40 is a wheel having one rotation axis. Each of the one-way wheels 40 is attached to different positions on the back surface 24 of the base 20 as shown in FIG. Specifically, on the back surface 24 of the base 20, one unidirectional wheel 40 is attached to each of the front end portions of the main body portion 26 of the base 20. The one-way wheel 40 is an example of a moving wheel.

3 and 4, each one-way wheel 40 is a so-called caster provided with a wheel 44 and a restriction mechanism 46, respectively. The wheel 44 is a wheel having one rotating shaft that rotates in one direction.

The limiting mechanism 46 is a well-known mechanism that supports the rotating shaft of the wheel 44 so that the wheel 44 can rotate, and fixes the one-way wheel 40 to the mounted portion 52 that is a part of the base 20. As the limiting mechanism 46, plate-shaped

holding portions

49 and 50 that extend in the same direction from a support portion formed in a rectangular plate shape and support the rotation shaft of the wheel 44, and a mounted portion of the base 20 A well-known mechanism including a mounting shaft 54 for fixing the one-way wheel 40 to 52 can be considered.

In the present embodiment, as shown in FIG. 5, the limiting mechanism 46 is arranged so that the direction of the axis perpendicular to the rotation axis of the wheel 44 coincides with the tangent of the circle centered on the reference point on the xy plane. In addition, the rotation direction of the wheel 44 is fixed. The xy plane referred to here is a plane on which the wheel 44 of the one-way wheel 40 contacts and the moving device 1 moves. The reference point mentioned here is one point (that is, a coordinate) defined on the xy plane.

Further, the term “match” here means that the difference between the tangent of the circle and the direction of the axis orthogonal to the rotation axis of the wheel 44 is “0”, and that the difference can be regarded as “0” in advance. Includes cases that are within the specified tolerance.

That is, the limiting mechanism 46 fixes the one-way wheel 40 so that the rotation direction of the one-way wheel 40 is concentric with respect to the reference point.
As a method for fixing the rotation direction of the wheel 44, for example, a method in which the mounting shaft 54 is configured by screws, bolts / nuts, rivets, pins, etc., and fixed to the mounted portion 52 of the base 20 is conceivable. However, the method of fixing the rotation direction of the wheel 44 is not limited to this, and for example, the support portion of the caster is joined to the attached portion 52 of the base 20 using welding, brazing, pressure welding, or the like. Can be considered.

That is, the limiting mechanism 46 limits the rotation direction of the wheel 44 of the one-way wheel 40 in the xy plane.
The movable mechanism 60 is a well-known mechanism that moves each of the unidirectional wheels 40 in a direction perpendicular to the base 20. Specifically, as shown in FIGS. 4 and 5, the movable mechanism 60 includes a down lever 62 and an up lever 64, and moves the one-way wheel 40 between the contact position and the release position.

Here, the contact position is a position where the wheel 44 of the one-way wheel 40 contacts the xy plane. On the other hand, the release position is a position where the wheel 44 of the one-way wheel 40 is released from the contact position and is not in contact with the xy plane.

The down lever 62 is a link mechanism that moves the one-way wheel 40 in the vertical direction so that the wheel 44 of the one-way wheel 40 is located at the contact position. The up lever 64 is a link mechanism that moves the one-way wheel 40 located at the contact position to the release position.
[1.2 Effects of First Embodiment]
(1.2a) As described above, according to the moving device 1, the direction of movement of the one-way wheel 40 can be limited to an arc centered on the reference point. Thereby, the direction of movement of the moving apparatus 1 itself can be restricted, and the movement of the moving apparatus 1 in a direction not intended by the operator can be reduced.

In other words, the moving device 1 having wheels can be easily moved in the direction desired by the operator (that is, the user).
(1.2b) In particular, in the moving device 1, the rotation direction of the one-way wheel 40 is fixed so that the axis orthogonal to the rotation axis of the one-way wheel 40 coincides with the tangent of a circle centered on the reference point. ing. Thereby, the moving direction of the moving apparatus 1 can be restricted reliably, and the movement of the moving apparatus 1 can be brought close to what the user intended.

(1.2c) In the moving device 1, each of the one-way wheels 40 can be moved to the contact position and the release position by the movable mechanism 60. Thereby, according to the moving apparatus 1, when it is necessary to restrict | limit the moving direction of the moving apparatus 1 itself, the one-way wheel 40 can be utilized and it is not necessary to restrict | limit the moving direction of the moving apparatus 1. The one-way wheel 40 may not be used.

(1.2d) In particular, according to the moving device 1, even when the operator is seated on the chair 10, it can be moved in the direction desired by the operator.
[1.3 Modification of First Embodiment]
Here, the first embodiment of the present disclosure has been described, but the present disclosure is not limited to the above-described embodiment, and can be implemented in various modes without departing from the gist of the present disclosure. is there.

(1.3a) For example, the limiting mechanism 46 in the above embodiment fixes the one-way wheel 40 to the mounted portion 52 of the base 20, but the limiting mechanism 46 further has a direction in the rotational direction of the wheel 44. May be configured to be changeable. In this case, the limiting mechanism 46 may be realized by rotating the mounting shaft 54 to change the direction of the rotation direction of the wheel 44 (that is, the direction of the axis orthogonal to the rotation axis of the wheel 44). The rotation of the mounting shaft 54 may be performed manually by the user, or may be realized by a driving force generated by electricity, air pressure, hydraulic pressure, or the like.

According to such a moving device 1, the direction in which the moving device 1 moves can be adjusted, and the convenience for the surgeon can be improved.
(1.3b) In the above embodiment, the number of unidirectional wheels 40 included in the moving device 1 is “2”, but the number of unidirectional wheels 40 included in the moving device 1 is “3”. It may be “4” or more.
[2. Second Embodiment]
[2.1 Configuration]
The moving device of the second embodiment is mainly different from the moving device 1 of the first embodiment in the moving mechanism. For this reason, in the present embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, description thereof is omitted, and a description will be given focusing on a moving mechanism different from that in the first embodiment.

As shown in FIG. 6, the moving device 3 of the present embodiment includes a chair 10, a medical device 12, a base 20, and a moving mechanism 70.
<Movement mechanism>
The moving mechanism 70 is a mechanism that moves the moving device 3. The moving mechanism 70 includes a plurality of omnidirectional wheels 32 and a limiting mechanism 72.

Each of the omnidirectional wheels 32 is a known wheel having at least two or more rotating shafts that rotate in different directions, and includes a main wheel 34 and a sub wheel 36.
As shown in FIG. 7, the omnidirectional wheels 32 in the present embodiment are attached to different positions on the back surface 24 of the base 20. Specifically, on the back surface 24 of the base 20, one omnidirectional wheel 32 is attached to each of the rear end portion of the main body portion 26 of the base 20 and the front end portion of the protruding portion 28 of the base 20. It has been.

The omnidirectional wheel 32 in the present embodiment is an example of a moving wheel.
In this embodiment, the rear end is the upper side shown in FIG. 7, and the front end is the lower side shown in FIG.

The limiting mechanism 72 is a mechanism that limits the rotation of the main wheel 34. For example, the limiting mechanism 72 may be configured as a known brake that applies a braking force to the main wheel 34.
With such a limiting mechanism 72, the omnidirectional wheel 32 can be rotated only by the auxiliary wheel 36 contacting the contact surface, and the moving direction of the omnidirectional wheel 32 can be limited to one direction.

Further, the limiting mechanism 72 rotates the omnidirectional wheel 32 in the rotational direction so that the direction of the axis orthogonal to the rotational axis of the auxiliary wheel 36 coincides with the tangent of the circle centered on the reference point on the xy plane. To fix. The xy plane referred to here is a plane on which the auxiliary wheel 36 of the omnidirectional wheel 32 contacts and the moving device 3 moves. The reference point mentioned here is one point (that is, a coordinate) defined on the xy plane.

Further, the term “match” here means that the difference between the tangent of the circle and the direction of the axis orthogonal to the rotation axis of the auxiliary wheel 36 is “0”, and the difference can be regarded as “0”. Including the case where it is within a predetermined allowable range.

That is, the restricting mechanism 72 fixes the omnidirectional wheel 32 so that the rotational direction of the omnidirectional wheel 32 is concentric with the reference point.
Further, the limiting mechanism 72 includes an angle adjustment mechanism. This angle adjustment mechanism sets the rotation direction of each of the auxiliary wheels 36 to be freely changeable. Specifically, the angle adjustment mechanism in the present embodiment is a known mechanism that adjusts the attachment angle of each omnidirectional wheel 32 to the base 20. The adjustment of the attachment angle to the base 20 may be realized by rotating the attachment shaft of each omnidirectional wheel 32 to the base 20. The rotation of the mounting shaft may be performed manually by the user, or may be realized by a driving force generated by electricity, air pressure, hydraulic pressure, or the like.
[2.2 Effects of Second Embodiment]
(2.2a) According to such a moving device 3, the rotation direction of the omnidirectional wheel 32 can be limited so that the rotation direction of the omnidirectional wheel 32 is concentric with the reference point.

Thereby, according to the moving apparatus 3, the moving direction of the moving apparatus 3 can be restrict | limited, and the moving direction of the moving apparatus 3 can be brought close to what the operator intended.
(2.2b) In the moving device 3, in particular, the rotation of the first rotation shaft of the main wheel 34 is performed so that the axis orthogonal to the rotation axis of the auxiliary wheel 36 coincides with the tangent of the circle centered on the reference point. Restricted.

According to such a moving device 3, by restricting the rotation of the main wheel 34 of the omnidirectional wheel 32, the rotation direction of the auxiliary wheel 36 can be aligned concentrically from the reference point.
Thereby, according to the moving apparatus 3, the moving direction of the moving apparatus 3 can be restrict | limited more reliably.

(2.2c) The limiting mechanism 72 can freely change the rotation direction of the auxiliary wheel 36 of the omnidirectional wheel 32. According to such a moving device 3, the moving direction of the moving device 3 can be freely adjusted, and the operator can use it easily.
[3. Third Embodiment]
[3.1 Configuration]
The moving device of the third embodiment is mainly different from the moving device 1 of the first embodiment in the moving mechanism. For this reason, in the present embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, description thereof is omitted, and a description will be given focusing on a moving mechanism different from that in the first embodiment.

As shown in FIG. 8, the moving device 5 of this embodiment includes a chair 10, a medical device 12, a base 20, and a moving mechanism 80.
<Movement mechanism>
The moving mechanism 80 is a mechanism that moves the moving device 5. The moving mechanism 80 includes a plurality of omnidirectional wheels 32 and one locking mechanism 82. The moving device 5 includes “three” omnidirectional wheels 32.

Each of the omnidirectional wheels 32 is a known wheel having at least two or more rotating shafts that rotate in different directions. The omnidirectional wheel 32 includes a main wheel 34 and a sub wheel 36. That is, the omnidirectional wheel 32 can rotate in the rotation direction of the main wheel 34 and the rotation direction of the auxiliary wheel 36, and can rotate in all directions by adjusting the rotation speed of the main wheel 34 and the rotation speed of the auxiliary wheel 36. .

As shown in FIG. 9, the omnidirectional wheels 32 are respectively attached to different positions on the back surface 24 on the opposite side of the mounting surface 22 of the base 20. Specifically, on the back surface 24 of the base 20, one omnidirectional wheel 32 is attached to each of the rear end portion of the main body portion 26 of the base 20 and the front end portion of the protruding portion 28 of the base 20. It has been.

In this embodiment, the rear end is an upper end portion shown in FIG. 9, and the front end is a lower end shown in FIG.
<Locking mechanism>
The locking mechanism 82 pivotally supports the moving device 5 on a contact surface with which the omnidirectional wheel 32 comes into contact. The contact surface referred to here is a plane (for example, an xy plane) on which the wheel 44 of the one-way wheel 40 contacts and the moving device 5 moves.

Specifically, as shown in FIGS. 10 and 11, the locking mechanism 82 includes a connecting portion 84, a shaft portion 86, a locking portion 88, a down lever 90, and an up lever 92.
The connecting portion 84 connects the locking mechanism 82 to the protruding portion 28 of the base 20. The shaft portion 86 is a shaft that connects the connecting portion 84 and the locking portion 88. The shaft portion 86 has, for example, a piston / cylinder. The locking portion 88 is pivotally connected to one end of the shaft portion 86. As an example of the locking portion 88, a member formed in a plate shape can be considered.

The down lever 90 is a link mechanism that moves the locking portion 88 downward along the vertical direction. As the amount of movement from the initial position increases, the down lever 90 pushes the locking portion 88 downward along the vertical direction.

The up lever 92 is a link mechanism that moves the locking portion 88 upward along the vertical direction.
That is, when the down lever 90 is pushed downward in the locking mechanism 82, the locking portion 88 is pressed against the contact surface. Thereby, the frictional force between the contact surface and the locking portion 88 is increased, and the locking portion 88 is locked to the contact surface. And since the axial part 86 is rotatable with respect to the latching | locking part 88, the moving apparatus 5 becomes pivotable by making the latching | locking part 88 into a turning center.

In addition, since the down lever 90 pushes down the latching | locking part 88 below along a perpendicular direction, so that there is much movable amount from an initial position, it is possible to adjust the engagement force with a contact surface. That is, the down lever 90 functions as an adjustment mechanism.
[3.2 Effects of Third Embodiment]
(3.2a) As described above, according to the moving device 5, the moving direction of the moving device 5 can be limited to the turning direction around the point on the contact surface locked by the locking mechanism 82.

For this reason, according to the moving device 5, the moving direction of the moving device 5 can be set only to the direction intended by the operator, and the movement of the moving device 5 in the direction not intended by the operator can be reduced.
(3.2b) Further, according to the moving device 5, the engagement force with the contact surface can be adjusted by the amount by which the down lever 90 is pushed down.

Thereby, according to the moving apparatus 5, the freedom degree of the direction of movement of the moving apparatus 5 can be raised.
[3.3 Modification of Third Embodiment]
(3.3a) Although the locking mechanism 82 of the third embodiment presses the locking portion 88 formed in a plate shape against the contact surface, the locking portion 88 is locked to the contact surface. The structure of the locking mechanism 82 is not limited to this. For example, the locking part 88 may be locked to the contact surface by forming the locking part 88 with a suction cup and attaching the suction cup to the contact surface.

(3.3b) Furthermore, as for the latching | locking part 88, the edge (henceforth a latching end) on the opposite side to the end to which the axial part 86 was connected may be comprised as a pile. If comprised in this way, the axial part 86 can be latched to a contact surface by driving a latching end into a contact surface, and the moving apparatus 5 can turn centering on the latching part 88 as a turning center.
[4. Other Embodiments]
As mentioned above, although embodiment of this indication was described, this indication is not limited to the above-mentioned embodiment, and can be carried out in various modes in the range which does not deviate from the gist of this indication.

(4a) Although the moving devices 1, 3, and 5 of the first embodiment, the second embodiment, and the third embodiment include the chair 10 and the medical device 12, respectively, the moving device includes the chair 10 and the medical device. At least one of the devices 12 may be omitted.

In this case, the base 20 in the moving device may include only the main body portion 26. That is, the moving device may be configured as a carriage that carries an object.
(4b) In addition, the aspect which abbreviate | omitted a part of structure of the said embodiment is also embodiment of this indication. In addition, an aspect configured by appropriately combining the above embodiment and the modification is also an embodiment of the present disclosure. Moreover, all the aspects included in the technical idea specified by the wording described in the claims are embodiments of the present disclosure.

Further, the present disclosure can be realized in various forms in addition to the mobile device described above.

Claims

A mobile device (1, 3),
A base (20) having a mounting surface on which an object is mounted;
Moving wheels (32, 40) respectively attached to different positions on the back surface opposite to the mounting surface of the base;
A moving device comprising: a restricting mechanism (46, 72) for restricting the rotating direction of the moving wheel so that the rotating direction of the moving wheel is concentric with a reference point which is a specified point.
The moving wheel comprises at least one unidirectional wheel (40) having one axis of rotation that rotates in one direction;
The limiting mechanism (46)
The moving device according to claim 1, wherein the one-way wheel is fixed so that a rotation direction of the one-way wheel is concentric with the reference point.
The limiting mechanism is
The moving device according to claim 2, wherein the direction of rotation of the one-way wheel is set to be freely changeable.
The movable mechanism (60) that moves the one-way wheel in a direction perpendicular to the base so that the one-way wheel is located at a contact position that contacts a defined surface. Item 4. The moving device according to Item 3.
The moving wheel is at least one omnidirectional wheel (32) having at least two or more rotating shafts rotating in different directions;
The limiting mechanism (72)
The moving device according to claim 1, wherein the rotation direction of the omnidirectional wheel is limited such that the rotation direction of the omnidirectional wheel is concentric with the reference point.
Each of the omnidirectional wheels is
A main wheel (34) having a first axis of rotation that rotates in one direction of rotation;
And at least one secondary wheel (36) having a second rotation axis that rotates in a direction different from the first rotation axis of the main wheel,
The limiting mechanism is
The moving device according to claim 5, wherein the rotation of the main wheel is limited so that the rotation direction of the auxiliary wheel included in the omnidirectional wheel is concentric with the reference point.
The limiting mechanism is
The moving device according to claim 5 or 6, wherein the rotation direction of the auxiliary wheel is set to be freely changeable.
A mobile device (5),
A base (20) having a mounting surface on which an object is mounted;
An omnidirectional wheel attached at a different position on the back surface opposite to the mounting surface of the base, the omnidirectional wheel (32) having at least two rotation shafts rotating in different directions;
And a locking mechanism (82, 86, 88, 90) for locking to the contact surface so that the omnidirectional wheel contacts the contact surface.
The locking mechanism is
The moving device according to claim 8, further comprising an adjusting mechanism (90) for adjusting a force to be locked to the contact surface.
The moving device according to any one of claims 1 to 9, comprising a chair (10) mounted on a mounting surface of the base.