WO2020105625A1

WO2020105625A1 - Wheel structure, and robot

Info

Publication number: WO2020105625A1
Application number: PCT/JP2019/045241
Authority: WO
Inventors: 要林; 孝太根津; 俊暁高野; 恵美高田
Original assignee: ＧｒｏｏｖｅＸ株式会社
Priority date: 2018-11-20
Filing date: 2019-11-19
Publication date: 2020-05-28
Also published as: JPWO2020105625A1

Abstract

Provided are a wheel structure with which pinching of a finger is alleviated by means of a method different from a conventional method, and a robot provided with the same. This wheel structure is provided with a wheel 120, and a cover 122 partially covering the wheel 120, wherein, in the cover 122, an end portion 124F intersecting the circumferential direction of the wheel 120 has a wavelike shape, and includes a protruding portion which forms the wavelike shape and serves as a contacting portion that comes into contact, in a range narrower than the width of the wheel 120, with a finger moving in the circumferential direction of the wheel 120 as the wheel 120 rotates.

Description

Wheel structure and robot

The present invention relates to a wheel structure and a robot.

Toys with wheels have been known for some time. Patent Document 1 discloses an invention of a motorcycle toy including a tire. This document discloses an invention that solves the problem of touching the outer circumference of a tire with a finger while the tire is rotating at a high speed and causing an unexpected injury due to the finger being caught in the rotation of the tire. .. According to the present invention, a roller that rotates in the same direction as the tire is provided at the rear end of the fender, and the fingers allow the fingers to escape outward.

Japanese Utility Model Publication No. 52-85597

An object of the present invention is to provide a wheel structure that reduces pinching of fingers by a method different from that of the roller described in Patent Document 1 described above, and a robot including the wheel structure.

A wheel structure of the present invention includes a wheel and a cover that partially covers the wheel, and in the cover, an end portion that intersects with the circumferential direction of the wheel has a circumferential direction of the wheel as the wheel rotates. It has an abutting portion that comes into contact with an object moving in a range narrower than the width of the wheel. A robot of the present invention has the above wheel structure.

According to the configuration of the present invention, it is difficult for a finger to be caught between the cover and the wheel.

The above-described object, other objects, features and advantages will be further clarified by the preferred embodiment described below and the following drawings accompanying it.

It is a front view showing a robot provided with a wheel structure of a 1st embodiment. It is a right side view which shows the robot provided with the wheel structure of 1st Embodiment. It is a figure which shows the external appearance of a wheel structure. It is the figure which looked at a wheel structure from the AA direction. It is the figure which looked at the wheel structure from the BB direction. It is a figure which shows an example of the modification of a wheel structure. It is a figure which shows the other example of the modification of a wheel structure. It is a figure which shows the further another example of the modification of a wheel structure. It is a figure which shows the wheel structure of 2nd Embodiment, and is the figure seen from the same direction as FIG. It is a figure which shows the wheel structure of 2nd Embodiment, and is a partially expanded view of FIG. 6A. It is a figure which shows the edge part concerning the modification of the wheel structure of 2nd Embodiment. It is a figure which shows the wheel structure of 3rd Embodiment. It is a perspective view which shows the wheel structure of 3rd Embodiment partially.

The wheel structure of the present embodiment includes a wheel and a cover that partially covers the wheel, and in the cover, an end portion of the wheel that intersects the circumferential direction of the wheel is the wheel as the wheel rotates. It has an abutting portion that comes into contact with an object moving in the circumferential direction in a range narrower than the width of the wheel.

With this configuration, it is difficult for your fingers to be caught between the cover and the wheels. It is considered that this is because the abutting portion that is narrower than the width of the wheel receives the force that the finger is caught between the cover and the wheel as the wheel rotates.

In the wheel structure of the present embodiment, the end portion may have an uneven shape or a wavy shape. With this configuration, the convex portion formed by the uneven shape or the convex portion formed by the corrugated raised portion comes into contact with the finger, so that the finger is less likely to be caught between the cover and the wheel.

In the wheel structure of the present embodiment, the end portion may have a curved portion. When the finger moves between the cover and the wheel as the wheel rotates, the end of the cover that comes into contact with the finger has a curved portion, so that the finger does not hit the entire end, Contact with a part. It is considered that this is because the force that the finger is caught between the cover and the wheel as the wheel rotates is received by the finger in a narrower range than the entire end portion. The curved portion may be formed by a convex portion that projects along the outer periphery of the wheel, or by forming a concave portion, both ends of the concave portion may abut on a finger. However, other configurations may be used.

In the wheel structure of the present embodiment, an elastic material may be filled so as to complement the recessed portion of the end portion. With this configuration, the material with which the recessed portion is filled serves as a cushion, so that the force received by the finger when contacting the end can be dispersed.

The wheel structure of the present embodiment includes a layer made of an elastic material that complements the recessed portion of the end portion and covers the abutting portion, and the material and the thickness of the layer are the same with respect to the finger touching. The pressure difference may be generated between the portion having the contact portion and the portion not having the contact portion. With this configuration, it is difficult to feel pain when a finger comes into contact with the end portion, and it is difficult for the finger to be caught between the cover and the wheel.

In the wheel structure of the present embodiment, a guide having an inclined surface that separates from the wheel as it approaches the end may be formed at the edge of the cover in the width direction of the wheel. With this configuration, when the finger touches the wheel across the guide, when the finger moves as the wheel rotates, the finger is guided away from the gap between the wheel and the cover. No fingers are caught in the gap.

The autonomous action robot according to the present embodiment has the above wheel structure. With this configuration, it is possible to realize an autonomous action robot that can travel safely. Further, the autonomous behavior type robot may be a robot carried by a person. Even when the autonomous action robot is lifted up, it is safe because it is difficult for the fingers to be caught between the driving wheel and the cover.

In the autonomous action robot of the present embodiment, the wheel structure includes an in-wheel motor that drives the wheel, the wheel, the in-wheel motor, and the cover are unitized, and the wheel is driven. A rotation unit that rotates the unitized wheel structure may be provided between a first state in which the surface is brought into contact with the surface and a second state in which the wheel is housed. With this configuration, when the autonomous-behavior robot does not move, the second state in which the wheels are housed is set, so that the fingers are not caught in the gap between the wheels and the cover, and the safety can be improved.

Hereinafter, a wheel structure according to an embodiment and an autonomous action robot including the wheel structure will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a diagram showing an external appearance of an autonomous action robot (hereinafter, referred to as “robot”) 100 having a wheel structure according to the present embodiment. FIG. 1A is a front external view of the robot 100. FIG. 1B is a side view of the robot 100. The front wheels 102 have the wheel structure of the present embodiment, which will be described in detail later.

The robot 100 of the present embodiment is an autonomous action type robot that determines actions and gestures (gestures) based on the external environment and internal state. The external environment is recognized by various sensors such as a camera and a thermo sensor. The internal state is quantified as various parameters expressing the emotion of the robot 100.

The body 104 of the robot 100 has a rounded shape as a whole and includes an outer skin formed of a soft and elastic material such as urethane, rubber, resin, or fiber. The robot 100 may be dressed. By making the body 104 round and soft and having a good feel, the robot 100 provides the user with a sense of security and a pleasant feel.

The total weight of the robot 100 is 15 kilograms or less, preferably 10 kilograms or less, and more preferably 5 kilograms or less. By 13 months of age, the majority of babies start walking alone. 13-month-old babies have an average weight of over 9 kilograms for boys and a little under 9 kilograms for girls. Therefore, if the total weight of the robot 100 is 10 kilograms or less, the user can hold the robot 100 with almost the same effort as holding a baby who cannot walk alone. Babies younger than 2 months have an average weight of less than 5 kilograms for both men and women. Therefore, if the total weight of the robot 100 is 5 kilograms or less, the user can hold the robot 100 with the same effort as holding an infant.

Due to various attributes such as moderate weight, roundness, softness, and good feel, the effect that the user can easily hold the robot 100 and want to hold it is realized. For the same reason, the height of the robot 100 is 1.2 meters or less, preferably 0.7 meters or less. It is an important concept for the robot 100 according to the present embodiment that the robot can be held.

The robot 100 has three wheels for traveling three wheels. As shown, it includes a pair of front wheels 102 (left wheel 102a, right wheel 102b) and one rear wheel 103. The front wheels 102 are driving wheels, and the rear wheels 103 are driven wheels. The front wheels 102 do not have a steering mechanism, but the rotation speed and the rotation direction can be individually controlled. The rear wheel 103 is composed of a so-called caster, and is rotatable for moving the robot 100 back and forth and left and right. By making the number of rotations of the right wheel 102b larger than that of the left wheel 102a, the robot 100 can turn left or rotate counterclockwise. By making the rotation speed of the left wheel 102a larger than that of the right wheel 102b, the robot 100 can make a right turn or rotate clockwise.

The front wheel 102 and the rear wheel 103 can be completely housed in the body 104 by the drive mechanism (rotating mechanism, link mechanism). Most of the wheels are hidden by the body 104 even when the vehicle is running, but when the wheels are completely housed in the body 104, the robot 100 becomes immovable. That is, the body 104 descends and sits on the floor surface F as the wheels are retracted. In this seated state, the flat seating surface 108 (ground contact bottom surface) formed on the bottom of the body 104 contacts the floor surface F. In this document, the state in which the front wheels 102 are in contact with the floor F is referred to as the "first state", and the state in which the front wheels 102 are stored in the body 104 is referred to as the "second state".

The robot 100 has two hands 106. The hand 106 does not have a function of grasping an object. The hand 106 can perform simple operations such as raising, shaking, and vibrating. The two hands 106 can also be individually controlled.

The eyes 110 can display images by liquid crystal elements or organic EL elements. The robot 100 is equipped with various sensors such as a microphone array capable of specifying the sound source direction, an ultrasonic sensor, an odor sensor, a distance sensor, and an acceleration sensor. Further, the robot 100 has a built-in speaker and can emit a simple voice. A capacitive touch sensor is installed on the body 104 of the robot 100. The touch sensor allows the robot 100 to detect a user's touch.

A horn 112 is attached to the head of the robot 100. Since the robot 100 is lightweight as described above, the user can also lift the robot 100 by grasping the horn 112. A celestial sphere camera is attached to the horn 112 so that the entire upper portion of the robot 100 can be imaged at once. Next, the wheel structure of the front wheels 102 will be described.

FIG. 2 is a side view of the wheel structure of the front wheels 102, FIG. 3 is a view of the wheel structure viewed from the AA direction, and FIG. 4 is a view of the wheel structure viewed from the BB direction. The wheel structure includes wheels 120, an in-wheel motor 126 that drives the wheels 120, and a cover 122 that covers the wheels 120 and the in-wheel motor 126. The wheel 120, the in-wheel motor 126, and the cover 122 are unitized, and the wheel structure includes a rotating shaft 128. In addition, in FIG. 2, a gradation is attached to the lower side to indicate that the wheel structure has a curved shape (see FIG. 3 and the like).

A drive mechanism (not shown) for rotating the rotating shaft 128 is provided on the body 104 side. By rotating the rotating shaft 128 by the drive mechanism, the wheel structure is switched between the first state and the second state. 2 shows the first state in which the front wheels 102 are in contact with the floor surface F, but when the wheel structure rotates clockwise in FIG. 2, the wheel structure enters the second state in which it is stored. .. The rotating shaft 128 can also rotate the wheel structure counterclockwise from the first state, whereby the body 104 of the robot 100 is lifted and the height of the robot 100 can be changed.

An opening 124 is formed in the cover 122 to partially expose the outer periphery of the wheel 120. The opening 124 is formed from the vicinity of the floor surface F, which is the traveling surface, in the direction in which the robot 100 moves forward. The reason why the opening 124 is formed in the direction in which the robot 100 moves forward is to allow the robot 100 to get over a convex portion on the floor surface F when moving forward. On the other hand, in the backward direction, the opening 124 remains near the floor surface F. Here, the “vicinity” means that the height of the end portion 124R of the opening 124 from the floor surface F of the cover 122 is 20 mm, preferably 14 mm, and more preferably 10 mm. As described above, the reason why the opening 124 is formed only near the floor surface F on the rear side is to reduce the risk of a hand or finger coming into contact with the wheel 120 as much as possible.

The gap between the wheel 120 and the cover 122 is 3 mm or less, preferably 1 mm or less. By thus configuring the gap between the wheel 120 and the cover 122 to be narrow, the hands and fingers do not enter the gap between the wheel 120 and the cover 122, and the safety can be improved.

The cover 122 is provided with a side infrared sensor 130 and a front infrared sensor 132. The infrared sensor 130 for the side has a function of measuring the distance to the floor surface F. The front infrared sensor 132 is provided on the advancing direction side of the cover 122. When the distance to the front floor surface F is equal to or more than a predetermined threshold value, it is possible to detect that there is a step ahead and prevent the robot 100 from falling from the step. The wheel structure has a cover 122, and by providing the

infrared sensors

130 and 132 on the cover 122, the

infrared sensors

130 and 132 can be arranged very close to the wheels 120, and the feet (around the wheels) can be confirmed firmly.

It is also possible to use the infrared sensor 130 to determine whether or not the front wheels 102 are in the first state in which they are in contact with the floor surface F. Then, the robot 100 may be capable of driving the in-wheel motor 126 when in the first state. As a result, it is possible to prevent the wheels 120 from idling when the front wheels 102 are not in contact with the floor surface F and reduce the risk of hitting hands or fingers on the wheels 120.

As shown in FIG. 3, the front end 124F of the opening 124 has a wavy shape. The raised portion of the corrugation forms a convex portion that projects along the outer periphery of the wheel 120. With this configuration, it is difficult for a finger to be caught between the wheel 120 and the cover 122.

For example, when the robot 100 holds the robot 100 and the finger touches the wheel 120 while the robot 100 is backing, the finger may move toward the end portion 124F of the cover 122 as the wheel 120 rotates. Since the end portion 124F is formed in a corrugated shape, the finger comes into contact with the portion protruding along the outer periphery of the wheel 120. As a result, as compared with the case where the end portion 124 has a linear shape, the range in which the finger abuts is narrower, and the finger is less likely to be caught.

As shown in FIG. 4, the rear end portion 124R of the opening 124 is inclined with respect to the circumferential direction of the wheel 120. The robot 100 according to the present embodiment has a narrow gap between the wheel 120 and the cover 122 in view of the fact that carrying is an important concept. For this reason, since the gap between the wheel 120 and the cover 122 is narrowed, when running on a carpet or the like having long naps, the nap of the carpet or the like may enter the narrow gap between the wheel 120 and the cover 122. ..

In the wheel structure of the present embodiment, the rear end portion 124R of the opening 124 is inclined with respect to the circumferential direction C of the wheel 120, and the fluff of a carpet or the like makes a gap between the wheel 120 and the cover 122. It's hard to get in.

As the wheels 120 rotate, the fluff of the carpet or the like flows backward. When the fluff reaches the end 124R of the opening 124, the fluff moves outward along the end 124R inclined with respect to the circumferential direction C. Since the hair flows into the gap between the wheels 120 and the cover 122, it is difficult for the hair to enter the gap between the wheel 120 and the cover 122. In addition, the inclination direction of the end portion 124R of the opening 124 is preferably a direction in which the fluff separates from the body 104 of the robot 100. In the example of FIG. 4, the alternate long and short dash line indicates the body 104 of the robot 100. The inclination directions of the end portions 124R of the left and right

front wheels

102a and 102b are symmetrical.

Here, the angle a used in the wheel structure of the present embodiment will be described. The angle a is an angle for generating a component force enough to cause the foot contacting the end portion 124R to slide along the end portion 124R in the width direction of the wheel while traveling on a rug with long hair ends. The present inventor has confirmed that at an angle of 80 °, the effect of flowing the hairs outward can be obtained. The inclination of the end may be appropriately adjusted according to the requirements required for the running performance of the robot and the material of the end. However, if the angle a is reduced, the effect of flowing the fluff of a carpet or the like to the outside is enhanced, but the opening 124 becomes large, so it is not preferable to reduce the angle a more than necessary. The angle a is preferably 40 ° to 60 ° if the prevention of the intrusion of the fluff is important, and the angle a is set to 60 ° to 80 ° in order to prevent the opening from becoming too large while reducing the retraction of the fluff. preferable.

Also, the inclination direction of the end portion 124R of the opening 124 is not parallel to the direction of the groove 120T forming the tread pattern formed on the wheel 120. If the angle of the end portion 124R of the opening 124 and the angle of the tread pattern are parallel to each other, when the end portion 124R of the opening 124 and the groove 120T overlap with each other, the gap between the surface of the wheel 120 and the cover 122 widens. Therefore, there is a possibility that it becomes easy to pull in the fluff of a carpet or the like. With the configuration of the present embodiment, the end portion 124R of the opening 124 and the groove 120T of the tread pattern do not overlap exactly with each other, and pulling in of the fluff of a carpet or the like is avoided.

In the robot 100 according to the present embodiment described above, since the front end portion 124F of the cover 122 has a corrugated shape, when a finger touches the wheel 120 while the robot 100 is moving backward, The fingers are unlikely to be caught between the wheels 120 and the cover 122, and the safety is high.

Further, in the robot 100 according to the present embodiment, since the rear end portion 124R of the opening 124 formed in the cover 122 is inclined with respect to the circumferential direction C of the wheel 120, the robot 100 can be mounted on a carpet or the like having long hair. Even when the vehicle runs, the hairs flow obliquely along the end portion 124R, so that the hairs do not easily enter the gap between the wheel 120 and the cover 122. This allows the robot 100 to move smoothly over a carpet or the like.

(Modification of the first embodiment)
In the above-described embodiment, the example of the end portion 124F having a corrugated shape is given as an example of the end portion having at least one convex portion, but the end portion 124F is the end portion 124F as the wheel 120 rotates. It suffices to have an abutting portion that comes into contact with an object (particularly, a finger) that has moved toward (1), and various modifications of the shape of the end portion 124F can be considered. 5A to 5C are views showing modified examples of the shape of the end portion 124F. FIG. 5A is a diagram showing an example of an end portion 124F having three convex portions in a direction along the outer periphery of the wheel 120 and having an uneven shape as a whole. FIG. 5B is a diagram showing an example of the end portion 124F having a bulged portion that bulges in the direction along the outer circumference of the wheel 120 at the center of the end portion. In any of the examples, when the finger is pressed against the end portion 124F as the wheel 120 rotates, the protruding portion of the end portion 124F contacts the finger. That is, the range of contact with the finger is narrow. With this configuration, it is difficult for the finger to be caught in the gap between the wheel 120 and the cover 122. FIG. 5C is a diagram showing an example of an end portion 124F having a recessed center. When the finger is pressed against the end portion 124F as the wheel 120 rotates, the finger abuts on both ends or one end portion of the end portion 124F. In this case also, the range of contact with the finger is narrow, and the finger is less likely to be caught in the gap between the wheel 120 and the cover 122.

(Second embodiment)
Next, the wheel structure of the second embodiment will be described. The basic structure of the wheel structure of the second embodiment is the same as that of the first embodiment, but the structure of the end portion 124F is different from that of the first embodiment.

6A is a view of the wheel structure of the second embodiment as viewed from the same direction as FIG. 3, and FIG. 6B is a partially enlarged view of FIG. 6A. As shown in FIG. 6A, the front end portion 124F of the opening 124 has a linear shape perpendicular to the circumferential direction C of the wheel 120. Specifically, as shown in FIG. 6B, the end portion 124F is formed by filling the corrugated shape 124F1 made of the same material as the cover with the elastic material 124F2 so as to complement the corrugated concave portion. It is configured in a straight line. The elastic material 124F2 is an elastic body such as rubber and is formed of a material having a deformation characteristic different from that of the cover. The cover 122 has a hardness that does not deform even when a finger comes into contact with it. That is, it is the corrugated shape 124F1 that is mainly made of the same material as that of the cover 122 and that applies the reaction force to the finger that is in contact with the opening end portion 124F. With this configuration, it is difficult for a finger to be caught between the wheel 120 and the cover 122.

For example, when the robot 100 holds the robot 100 and the finger touches the wheel 120 while the robot 100 is backing, the finger may move toward the end portion 124F of the cover 122 as the wheel 120 rotates. At this time, the elastic material 124F2 filled between the convex portions is dented and receives a force from the finger at the raised portion of the corrugated shape 124F1, so that the finger is less likely to be caught. Further, since the portion of the elastic material 124F2 that is recessed due to the force from the finger also receives the force from the finger, the pain felt by the finger can be reduced.

(Modification of the second embodiment)
FIG. 6C is a diagram showing an end portion 124F according to a modified example of the second embodiment. The end portion 124F according to the modification has a linear shape perpendicular to the circumferential direction C of the wheel 120. The end portion 124F is linearly configured by a corrugated shape 124F1 made of the same material as the cover, with an elastic material 124F2 filling the corrugated concave portion and covering the corrugated convex portion. The thickness of the layer formed of the elastic material 124F2 covering the corrugated convex portion is d. The material and thickness d of this layer are such that when a finger comes into contact with the end portion 124F as the wheel 120 rotates, a pressure difference between the convex portion and the other portion of the corrugated shape 124F1 is generated on the finger. Is. When the finger comes into contact with the end portion 124F, the finger is substantially supported by the convex portion of the corrugated shape 124F1 and a pressure difference is generated, which causes the cover 122 and the wheel 120 to be similar to the configuration of FIG. 6B. It will be difficult for your fingers to be caught between and. Further, since the whole is covered with the elastic material 124F2, the pressure of contact with the convex portion is suppressed to be lower than that without the elastic body 124F2, and it is difficult to feel pain when a finger touches the end portion 124F. There is.

In the above, the example in which the corrugated shape 124F1 and the elastic material 124F2 are combined to make the end portion 124F linear is shown. However, the shape of the convex portion as shown in FIGS. 5A and 5B or the shape shown in FIG. 5C is shown. You may combine an elastic material with a recessed part.

(Third Embodiment)
FIG. 7 is a diagram showing the configuration of the wheel structure of the third embodiment, and FIG. 8 is a perspective view partially showing the wheel structure. Although the basic structure of the wheel structure of the third embodiment is the same as the wheel structure of the first embodiment, the wheel structure of the third embodiment has an opening parallel to the circumferential direction of the wheel. Guides 124G having slopes that are separated from the wheels 120 as they approach the ends 124F are formed on both edges. In FIG. 7, the cover 122 has a wall thickness T, and the gap S represents a space between the inner wall 122W of the cover 122 and the wheel 120. The guide 124G is highest when it reaches the end portion 124F, and the apex of the guide 124G is higher than the bottom surface of the end portion 124F (the surface that is the surface side of the wheel 120 when the wall thickness T of the cover 122 is considered). Be on top.

With this configuration, when the vicinity of the wheel 120 is gripped across the two guides 124G, even if the finger moves toward the end portion 124F as the wheel 120 rotates, the finger moves from the end portion 124F by the guide 124G. Since it is guided to the distant position, the finger is not caught in the gap S between the end portion 124F and the cover 122.

Further, when a finger enters between the two guides 124G, the finger abuts on the corrugated end portion 124F as in the case of the above-described first embodiment. Can be reduced.

Although the wheel structure of the present invention and the configuration of the autonomous action robot including the wheel structure have been described above, the present invention is not limited to the above-described embodiments.
In the above-described embodiment, some examples of the end portion 124F are shown, but the configuration of the end portion 124F is not limited to the above-described example. The end portion 124F may be provided with an abutting portion that comes into contact with a finger in a range narrower than the width (which corresponds to the vehicle width) when the end portion has a linear shape. For example, both sides of the end portion 124F are configured with high corrugated portions (convex portions), the center of the end portion 124F is configured with low corrugation portions (recessed portions), and the width of the concave portions is set to a predetermined width. May be. With this configuration, the finger is in contact with the projection itself or the side surface of the finger is in contact with the projections on both sides, so that the finger is less likely to be rolled up. The above-described predetermined width may be a width determined based on a value obtained by measuring the width of any one of the fingers (for example, the index finger) of many people.

In the above-described embodiment, the example in which the front end portion 124F has the convex portion along the outer circumference has been described, but this configuration can also be applied to the rear end portion 124R. In the above-described embodiment, an example is described in which the rear end portion 124R is slanted with respect to the circumferential direction C of the wheel 120 in order to reduce the involvement of hairs. However, the slanted end portion 124R is uneven. It may be formed. Further, if the opening is formed so that the rear end portion 124R is located at a higher position from the traveling surface, the possibility that the hairs will be caught even if the end portion 124R is not slanted is small. As an end portion perpendicular to C, irregularities may be formed on the end portion.

Further, the end portion 124F may have a configuration in which the thickness of the wheel 120 in the radial direction is not constant, but may be tapered, for example, to gradually increase the thickness from the end portion 124F. As a result, the finger carried to the end portion 124F of the cover 122 as the wheel 120 rotates can be separated from the gap between the end portion 124F and the wheel 120 along the taper.

The present invention is useful, for example, as a wheel structure used for a robot.

Claims

Wheels and
A cover that partially covers the wheel,
Equipped with
In the cover, an end portion that intersects with the circumferential direction of the wheel has a contact portion that comes into contact with an object that moves in the circumferential direction of the wheel as the wheel rotates in a range narrower than the width of the wheel. Wheel structure.
The wheel structure according to claim 1, wherein the end portion has an uneven shape or a wavy shape.
The wheel structure according to claim 1, wherein the end portion has a curved portion.
The wheel structure according to any one of claims 1 to 3, wherein an elastic material is filled so as to complement the recessed portion of the end portion.
A layer made of an elastic material that complements the recessed portion of the end portion and covers the abutting portion, and the material and thickness of the layer are a portion where the abutting portion is present and a portion where the abutting portion is absent with respect to a contacting finger The wheel structure according to any one of claims 1 to 3, wherein a pressure difference is generated between and.
The wheel structure according to any one of claims 1 to 5, wherein a guide having an inclined surface is formed at an edge portion of the cover in a width direction of the wheel, the guide surface being separated from the wheel as the end portion is approached.
A robot provided with the wheel structure according to any one of claims 1 to 6.
The wheel structure includes an in-wheel motor that drives the wheel, and the wheel, the in-wheel motor, and the cover are unitized,
The rotation unit that rotates the unitized wheel structure between a first state in which the wheel is brought into contact with a surface to be traveled and a second state in which the wheel is housed is provided. Robot.