WO2022065519A1

WO2022065519A1 - Mobile body

Info

Publication number: WO2022065519A1
Application number: PCT/JP2021/036536
Authority: WO
Inventors: 香織田中; 亮平田中
Original assignee: 香織田中
Priority date: 2020-09-28
Filing date: 2021-09-24
Publication date: 2022-03-31
Also published as: JP7225519B2; JPWO2022065519A1

Abstract

Provided is a mobile body having a simple and light structure.　The present invention comprises: a main body; a wheel that rotates about a wheel rotation axis and moves the main body over the ground; a propeller that rotates about a propeller rotation axis and moves the main body in the air or water; a shaft that is rotated by a rotary drive source; a connection mechanism that connects the shaft to the wheel or the propeller, and rotates the wheel or propeller about the wheel rotation axis or the propeller rotation axis, respectively; and a switching mechanism that switches the connection destination of the shaft to the wheel or the propeller.

Description

Mobile

The present invention relates to a moving body capable of traveling on the ground and moving in the air or underwater.

For example, Patent Document 1 discloses a moving body that travels on the ground by a rotary drive means and flies by a rotor blade.

Patent Document 2 discloses a steering system with an in-wheel motor for an amphibious vehicle that can switch between a land traveling mode by rolling a wheel and a water navigation mode by a propulsive force accompanying the rotation of a screw propeller. ..

Japanese Patent Application Laid-Open No. 2015-523933 Japanese Unexamined Patent Publication No. 2016-22756

The moving body of Patent Document 1 has a complicated structure because different rotation mechanisms are provided for the rotary drive means and the rotor.

In the system of Patent Document 2, since the motor is installed in the wheel, the screw propeller becomes small, and there is a possibility that the necessary thrust for flight cannot be obtained.

The present invention has been made in consideration of such circumstances, and an object of the present invention is to provide a moving body having a simple and lightweight structure.

In order to solve the above-mentioned problems, the moving body according to the present invention rotates around the main body and the wheel rotation axis, and rotates around the wheel that moves the main body on the ground and the propeller rotation axis, and causes the main body. A propeller to be moved in the air or water, a shaft rotated by a rotation drive source, and the shaft are connected to the wheel or the propeller, and the wheel or the propeller is rotated around the wheel rotation axis or the propeller rotation axis. It is provided with a connection mechanism for making the shaft connect to the wheel or a switching mechanism for switching the connection destination of the shaft to the wheel or the propeller.

The moving body according to the present invention can have a simple and lightweight structure.

External perspective view of a flying car robot. Exploded view of the tire part. The figure which specifically explains the connection mechanism of a tire part and a shaft. A conceptual diagram illustrating the switching mechanism. The conceptual diagram explaining the 1st modification of the connection mechanism. The conceptual diagram explaining the 2nd modification of the connection mechanism. The external perspective view which shows the 1st modification of the air-and-land robot. The external perspective view which shows the 2nd modification of the air-and-land robot.

An embodiment of the moving body according to the present invention will be described with reference to the attached drawings. In the present embodiment, a case where the mobile body of the present invention is applied to the air-land amphibious robot 1 will be described as an example.

FIG. 1 is an external perspective view of the flying car robot 1.
FIG. 2 is an exploded view of the tire portion 30.
FIG. 3 is a diagram particularly illustrating a connection mechanism between the tire portion 30 and the shaft 20. In FIG. 3, for the sake of explanation, only the portion related to the connection mechanism of the tire portion 30 is shown, and other configurations are omitted.

In the following description, "front", "rear", "top", "bottom", "right", and "left" are defined in FIG. 1 as "Fr.", "Re.", "To.", Follow "Bo.", "R", and "L".

The flying car robot 1 has a main body 10, a shaft 20, and a tire portion 30.

The main body 10 accommodates a motor, a control unit 16 for controlling an air-land robot 1, and the like. The main body 10 has an inclined surface 11 on a surface that is at least a part of the left and right side surfaces and faces the tire portion 30.

The shaft 20 is arranged at two front and rear positions on the left and right side surfaces of the main body 10. The shaft 20 is connected to a motor (rotational drive source) at one end on the main body 10 side and is rotated. The motor may be four motors (motor 60 in FIG. 4) that rotate the four shafts 20 independently, or one motor that rotates the four shafts 20 in common. The shaft 20 has an outer traveling gear 12, a flight gear 13, and an inner traveling gear 14 in order from the other end on the tire portion 30 side. The outer traveling gear 12, the flight gear 13, and the inner traveling gear 14 are convex gears having outer teeth, respectively. The flight gear 13 and the inner traveling gear 14 are arranged so as to be convex in opposite directions to each other, and a stopper 15 is arranged between them. The stopper 15 has an outer diameter larger than the outer diameter of the flight gear 13 and the inner travel gear 14, and connects the flight gear 13 and the inner travel gear 14.

The tire portion 30 is connected to the other end side of each shaft 20 and is arranged at two front and rear positions on the left and right side surfaces of the main body 10. The tire portion 30 rotates around the tire portion rotation shaft 30a coaxial with the rotation shaft of the shaft 20 by transmitting the rotational force of the motor via the shaft 20. The tire portion 30 is arranged so that the tire portion rotation shaft 30a (wheel rotation shaft 30b and propeller rotation shaft 30c) is non-parallel to the ground (horizontal plane).

That is, as shown in FIG. 1, the other end of the shaft 20 on the tire portion 30 side extends diagonally upward from the main body 10. On the other end side of the shaft 20, the tire portion 30 is arranged so that the inner and outer surfaces of the tire portion 30 are orthogonal to the shaft 20 and the inner and outer surfaces of the tire portion 30 form an angle θ with respect to the ground. The angle θ is determined, for example, in relation to the inclined surface 11 described above. That is, the angle θ is such that the inclined surface 11 receives the thrust accompanying the rotation of the propeller 41 (described later), and a part of the thrust colliding with the inclined surface 11 can be converted into a vertically downward force, that is, lift. Is determined (for example, 0 degree <θ <10 degree). Further, the smaller the angle θ is, the smaller the thrust loss can be and the more effective it is for flight. Therefore, it is preferable that the angle θ is small within the range in which the vehicle can travel.

The tire portion 30 has an inner wheel 31, an outer wheel 35, a tire 38, and a propeller 41.

The inner wheel 31 and the outer wheel 35 are made of alloy or resin and are arranged facing each other with a certain interval. The inner wheel 31 and the outer wheel 35 have a wheel rotation shaft 30b coaxial with the rotation shaft of the shaft 20.

The inner wheel 31 is arranged on the main body 10 side with respect to the propeller 41. The inner wheel 31 has an inner wheel coupling portion 32 that penetrates the shaft 20 at the center of rotation. The inner wheel coupling portion 32 has a concave inner wheel gear 33 having internal teeth on the side facing the propeller coupling portion 42. The outer wheel 35 is arranged on the opposite side of the inner wheel 31 with respect to the propeller 41. The outer wheel 35 has an outer wheel coupling portion 36 that penetrates the shaft 20 at the center of rotation. The outer wheel coupling portion 36 has a concave outer wheel gear 37 having internal teeth on the side opposite to the side facing the propeller coupling portion 42. The inner wheel gear 33 and the outer wheel gear 37 mesh with the inner traveling gear 14 and the outer traveling gear 12, respectively, and the rotational force of the motor is transmitted from the shaft 20 (see FIG. 3B).

The tire 38 is arranged on the outer periphery of the inner wheel 31 and the outer wheel 35. The tire 38 (and the inner wheel 31, the outer wheel 35) rotates around the tire portion rotation axis 30a (wheel rotation axis 30b) while touching the ground or the like, so that the air-land amphibious robot 1 travels on the ground and moves. Let me. The tire 38 (wheel) has a ground plane 39 parallel to the ground. That is, since the tire portion rotation shaft 30a is provided non-parallel to the ground, the tire 38 has an outer surface larger than the diameter 38a on the inner side surface side from the viewpoint of ensuring stability when traveling on the ground. It has a side diameter of 38b. As a result, even when the tire portion rotation shaft 30a forms an angle θ with respect to the ground, the air-land amphibious robot 1 can increase the contact area of the tire 38 during traveling, and can effectively accelerate and stop.

As the tire 38, a rubber pneumatic tire or a non-pneumatic tire can be applied. When the tire 38 is a non-pneumatic tire, troubles such as air bleeding and bursting of the tire 38 can be reduced due to a change in air pressure during flight.

The propeller 41 is arranged between the inner wheel 31 and the outer wheel 35. The propeller 41 has a propeller rotating shaft 30c coaxial with the rotating shaft of the shaft 20. The propeller 41 has a required number of blades 45 arranged radially from the propeller rotation shaft 30c. The propeller 41 rotates around the propeller rotation shaft 30c and moves the main body 10 in the air. The propeller 41 has a propeller coupling portion 42 that penetrates the shaft 20 at the center of rotation. The propeller coupling portion 42 has a concave propeller gear 43 having internal teeth on the side facing the inner wheel coupling portion 32. The propeller gear 43 meshes with the flight gear 13, and the rotational force of the motor is transmitted from the shaft 20 (see FIG. 3C).

The propeller 41 has dimensions (outer diameter) such that the thrust required for the air-and-land robot 1 can be obtained. Along with this, the inner wheel 31, the outer wheel 35 and the tire 38 have dimensions (inner diameter and outer diameter) corresponding to the dimensions of the propeller 41. As an example, the outer diameter of the propeller 41, that is, the inner diameter of the inner wheel 31 and the outer wheel 35 (hereinafter, the inner wheel 31 and the outer wheel 35 may be collectively referred to as “

wheels

31, 35”) is four. It is preferable that the diameter is larger than the dimensional ratio between the inner diameter of the wheel of a wheeled vehicle or the like and the vehicle body from the viewpoint of obtaining the thrust of the propeller 41.

The inner wheel coupling portion 32, the outer wheel coupling portion 36, and the propeller coupling portion 42 have a required structure such as a bearing so that the rotation of the shaft 20 penetrating the shaft 20 is not transmitted and is supported by the shaft 20 at a predetermined position. Have. Further, the inner traveling gear 14, the outer traveling gear 12, and the flight gear 13, and the inner wheel gear 33, the outer wheel gear 37, and the propeller gear 43 that mesh with these, connect the shaft 20 to the

wheels

31, 35, or the propeller 41, and the wheels. It functions as a connection mechanism for rotating the

wheels

31, 35 or the propeller 41 around the rotating shaft 30b or around the propeller rotating shaft 30c. Further, the state of FIG. 3A is a neutral state in which the inner traveling gear 14, the outer traveling gear 12, and the flight gear 13 are not connected to any of the inner wheel gear 33, the outer wheel gear 37, and the propeller gear 43. be.

The air-and-land robot 1 further has a switching mechanism 50 for switching the connection destination of the shaft 20 to the

wheels

31, 35 or the propeller 41. FIG. 4 is a conceptual diagram illustrating the switching mechanism 50. In FIG. 4, for simplification of the description, only a set of tire portions 30 and a shaft 20 facing each other on the left and right are shown, and other configurations are omitted.

The switching mechanism 50 is a mechanism for sliding the shaft 20 in the axial direction, and has a first rack 51, a second rack 52, a third rack 53, a fourth rack 54, a first pinion 55, and a first pinion 55. It has a second pinion 56 and a third pinion 57.

The first rack 51 and the second rack 52 are arranged substantially parallel to the ground and facing each other with a predetermined interval. The third rack 53 and the fourth rack 54 are provided on the main body 10 side of each motor 60 that rotates the shaft 20. The first pinion 55 is rotated in the forward and reverse directions by a motor (not shown). The first pinion 55 meshes with the first rack 51 and the second rack 52, and slides the first rack 51 and the second rack 52 in opposite directions to each other according to the rotation direction of the motor.

The second pinion 56 meshes with the first rack 51 and the third rack 53 arranged at a required angle. The second pinion 56 rotates at a predetermined position along with the slide of the first rack 51, and the rotation is transmitted to the third rack 53 to slide the third rack 53. As a result, the shaft 20 connected to the third rack 53 slides in the axial direction. The third pinion 57 meshes with the first rack 51 and the fourth rack 54 arranged at a required angle. The third pinion 57 rotates at a predetermined position along with the slide of the second rack 52, and the rotation is transmitted to the fourth rack 54 to slide the fourth rack 54. As a result, the shaft 20 connected to the fourth rack 54 slides in the axial direction.

Such a switching mechanism 50 is controlled by the control unit 16 based on the detection result of the sensor or the like, and as an example, transitions between the state shown in FIG. 4A and the state shown in FIG. 4B. .. The sensor detects, for example, that the inner traveling gear 14 and the inner wheel gear 33 mesh with the stopper 15 of the shaft 20 at an appropriate position, and that the flight gear 13 and the propeller gear 43 mesh with each other at an appropriate position. It is a sensor.

For example, when the flying car robot 1 is traveling, the switching mechanism 50 slides the shaft 20 toward the main body 10 until the sensor detects that the inner traveling gear 14 and the inner wheel gear 33 are engaged with each other at an appropriate position. Let me. Further, when the flying car robot 1 flies, the switching mechanism 50 keeps the shaft 20 in the direction opposite to the main body 10 side until the sensor detects that the flight gear 13 and the propeller gear 43 are engaged at an appropriate position. Slide to. For example, a pressure sensor, a proximity sensor, or the like can be applied to the sensor.

Next, the operation of the air-and-land robot 1 during traveling and flight in the present embodiment will be described.

The air-and-land robot 1 transmits the rotational force of the shaft 20 by the motor to the

wheels

31 and 35 to control so that only the

wheels

31, 35 and the tires 38 rotate during traveling. Specifically, the air-and-land robot 1 controls the switching mechanism 50 and slides the shaft 20, and as shown in FIG. 3B, the outer traveling gear 12 and the inner traveling gear 14 of the shaft 20 are the wheels 31. It is controlled so as to mesh with the inner wheel gear 33 and the outer wheel gear 37 of the 35. At this time, the stopper 15 of the shaft 20 acts to stop the slide of the shaft 20 at an appropriate meshing position between the outer traveling gear 12 and the inner traveling gear 14 and the inner wheel gear 33 and the outer wheel gear 37. The shaft 20,

wheels

31, and 35 are designed so that an excessive load in the axial direction is not applied.

The air-and-land robot 1 controls the motor at a rotation speed suitable for traveling, and rotates the

wheels

31 and 35 via the shaft 20. As a result, the

wheels

31 and 35 rotate, and the flying car robot 1 travels on the ground. At this time, since the tire 38 has a diameter 38b on the outer surface side that is larger than the diameter 38a on the inner side surface side so as to have the ground contact surface 39, the tire 38 and the ground are compared with the case where the tire 38 does not have the ground contact surface 39. The ground contact area can be increased. As a result, the flying car robot 1 can effectively accelerate and stop.

The air-and-land robot 1 transmits the rotational force of the shaft 20 by the motor to the propeller 41 during flight to control only the propeller 41 to rotate. Specifically, the flying car robot 1 controls the switching mechanism 50 and slides the shaft 20 so that the flight gear 13 of the shaft 20 meshes with the propeller gear 43 of the propeller 41 as shown in FIG. 3 (C). To control. Further, the air-and-land robot 1 controls the motor at a rotation speed suitable for flight, and rotates the

wheels

31 and 35 via the shaft 20.

The propeller 41 rotates to obtain thrust, and the air-land robot 1 flies in the air. At this time, the tire portion 30 is arranged with an angle θ, and the main body 10 has an inclined surface 11. Therefore, although the thrust of the propeller 41 collides with the main body 10, it is converted into a vertically downward force on the inclined surface 11, and the air-land robot 1 can suitably obtain lift.

By configuring such an air-land robot 1 as described above, a simple and lightweight structure can be realized. That is, the air-and-land robot 1 can switch the transmission destination of the rotational force of the motor by a simple operation of sliding the shaft 20, and can easily switch between traveling and flying. Along with this, the air-and-land robot 1 can be made lighter, the manufacturing cost can be reduced, and the manufacturing process can be simplified.

Further, since the tire portion 30 is not perpendicular to the ground and is arranged at an angle θ, the air-and-land robot 1 can reduce the loss of thrust of the propeller 41 arranged on the tire portion 30. Further, since the main body 10 has the inclined surface 11, the air-and-land robot 1 can convert the thrust in which a collision with the main body 10 is unavoidable due to its structure vertically downward, and can further reduce the loss of the thrust of the propeller 41.

Further, since the tire 38 has the ground contact surface 39, the air-and-land robot 1 can realize stable running.

In such an air-and-land robot 1, the non-rotating tire 38 plays a role of protecting the propeller 41 during flight, so that the inside of the building and the tunnel can be inspected or the building can be invaded in the event of a fire. It is suitably used as a robot. Further, the air-land dual-purpose robot 1 can integrally realize the functions of both an unmanned aerial vehicle and an unmanned ground vehicle by traveling and flying in a building such as a nuclear power plant where it is difficult for people to enter. Furthermore, since the air-and-land robot 1 can be used as a security drone, it can rush to the site by flight or travel in an area where it cannot fly due to obstacles such as utility poles, so that the monitoring area can be expanded and a long time can be achieved. Can be monitored.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

For example, in the above-mentioned air-and-land robot 1, an example of realizing a connection mechanism by meshing gears having internal teeth and external teeth has been described, but a wheel and a propeller rotate a shaft by using a synchromesh type connection mechanism. May be communicated to. Here, FIG. 5 is a conceptual diagram corresponding to FIG. 3, illustrating a first modification of the connection mechanism. 5 (A) shows a state in which neither flight nor running is performed, FIG. 5 (B) shows a state in running, and FIG. 5 (C) shows a state in flight.

The shaft 120 has an outer sleeve 112 and an inner sleeve 113 in this order from the tire portion side.

The inner wheel coupling portion 132 has an inner wheel gear 133 and a synchronizer ring 133a on the side facing the propeller coupling portion 142. The outer wheel coupling portion 136 has an outer wheel gear 137 and a synchronizer ring 137a on a side opposite to the side facing the propeller coupling portion 142. The inner wheel gear 133 and the outer wheel gear 137 mesh with the inner sleeve 113 and the outer sleeve 112, and the rotational force of the motor is transmitted from the shaft 120 (see FIG. 5B).

The propeller coupling portion 142 has a propeller gear 143 and a synchronizer ring 143a on a surface facing the inner wheel coupling portion 132. The propeller gear 143 meshes with the inner sleeve 113, and the rotational force of the motor is transmitted from the shaft 120 (see FIG. 5C).

By having such a synchromesh type connection mechanism, the air-and-land robot can reduce the generation of noise when switching between running and flying.

Further, in the connection mechanism, the rotation axis of the shaft and the rotation axis of the wheel and the propeller may not be coaxial but parallel. Here, FIG. 6 is a conceptual diagram corresponding to FIG. 3, illustrating a second modification of the connection mechanism. FIG. 6A shows a state in which neither flight nor running is performed, FIG. 6B shows a state during running, and FIG. 6C shows a state during flight.

The tire portion 30 of the air-and-land robot 1 has an inner wheel 31, an outer wheel 35 and a propeller 41, whereas the tire portion of the air-and-land robot of the second modification has a wheel 231 and a propeller 241 and has a wheel 231 and a propeller 241. The propeller 241 is connected to the shaft 220 by a tire shaft 230a that is not coaxial with the shaft 220.

The shaft 220 has a flight gear 212 and a traveling gear 213 in order from the tire portion side. The flight gear 212 and the traveling gear 213 have external teeth.

The wheel coupling portion 232 of the wheel 231 has a wheel gear 233 having external teeth on the side facing the propeller coupling portion 242. The wheel coupling portion 232 is rotatably supported at a predetermined position by a bearing or the like with respect to the tire portion shaft 230a. The wheel gear 233 meshes with the traveling gear 213, and the rotational force of the motor is transmitted from the shaft 220 (see FIG. 6B). At this time, the tire portion shaft 230a and the propeller coupling portion 242 do not rotate.

The propeller coupling portion 242 of the propeller 241 has a propeller gear 243 having external teeth on the side facing the wheel coupling portion 232. The propeller coupling portion 242 is rotatably supported at a predetermined position by a bearing or the like with respect to the tire portion shaft 230a. The propeller gear 243 meshes with the flight gear 212, and the rotational force of the motor is transmitted from the shaft 220 (see FIG. 6C). At this time, the tire portion shaft 230a and the wheel coupling portion 232 do not rotate.

As described above, in the air-and-land robot, the propeller 241 does not have to be arranged between the pair of wheels or on the inner peripheral side of the tire, and there is a degree of freedom in design.

Further, in the air-and-land robot 1, the lift is generated by using the inclined surface 11 of the main body 10 from the thrust of the propeller 41, but the lift may be generated without using the main body 10. For example, FIG. 7 is an external perspective view corresponding to FIG. 1, showing a first modification of the air-land robot 1. In this case, lift is the vertically downward component of the thrust of the propeller.

Further, in the air-and-land robot 1, the angle θ of the tire portion 30 may be variable by the angle control mechanism. The angle control mechanism is provided, for example, on the shaft 20 or its connection destination, and controls the angle θ of the tire portion 30 (the angle between the shaft 20 and the tire portion rotation shaft 30a). The angle control mechanism is controlled by the control unit 16 based on instructions from the user, a program stored in advance, and the like in order to control the attitude of the air-land robot 1 during flight, control the direction of travel, and control lift. To. It is preferable that the angle control mechanism can individually control each tire portion 30.

Since the air-and-land robot 1 can control the angle θ of the tire portion 30 during traveling and flight, the air-and-land robot 1 can realize optimum movement for both traveling and flight. For example, when traveling, stable traveling can be realized by controlling the angle θ to 90 degrees. On the other hand, during flight (during hovering), the thrust can be used as lift without loss by controlling the angle θ to 0 degrees.

Further, in the air-and-land robot 1, the example in which the shaft 20 extends from the main body 10 has been described, but the shaft 20 may extend from the arm arranged below the main body 10. FIG. 8 is an external perspective view corresponding to FIG. 1, showing a second modification of the air-and-land robot 1.

The flying car robot 301 has a front arm 318 provided in the lower front of the main body 310 and a rear arm 319 arranged in the lower rear of the main body 310. Each shaft 320 is rotatably supported by a front arm 318 or a rear arm 319, respectively.

In such an air-and-land robot 301, the shaft 320 and the tire portion 330 are attached via the front arm 318 and the rear arm 319, so that the degree of freedom of the angle of the shaft 320 with respect to the main body 310 is increased and the angle θ is reduced. can. As a result, the air-and-land robot 301 can reduce the component of the thrust that collides with the main body 310, makes it easier to obtain a desired lift, and can improve the flight performance.

When the air-landing robot 301 has the above-mentioned angle control mechanism, the front arm 318 and the rear arm 319 are placed on the ground by locating the tire portion 330 above the front arm 318 and the rear arm 319 during flight. Can function as a landing gear (skid) against.

Further, the tire portion 30 does not have to have the tire 38. In this case, the ground plane 39 is provided on the

wheels

31 and 35.

The rotational drive source of the tire portion 30 may be an engine instead of the motor.

From the viewpoint of structural simplification and cost reduction, the number of tire portions 30 whose connection destination of the rotation drive source is controlled by the switching mechanism 50 is not limited to four, but may be two as long as the functions of the air-land robot 1 can be realized. ..

The unevenness (male / female) relationship between the inner wheel gear 33 and the outer wheel gear 37 and the inner traveling gear 14 and the outer traveling gear 12 and the unevenness relationship between the propeller gear 43 and the flight gear 13 may be reversed.

The flying car robot 1 may have wings for flight control.

Although the moving body according to the present invention has been described by applying it to the air-and-land robot 1 as an example, it can also be applied to an air-and-land vehicle operated by a human. In this case, since the moving body can fly and rush to the site and then travel overland, it can function as a doctor helicopter and an ambulance. Further, the moving body according to the present invention can also be applied to an amphibious robot and an amphibious vehicle.

1,301 Amphibious robot 10,310 Main body 11 Inclined surface 12 Outside traveling gear 13 Flying gear 14 Internal traveling gear 15 Stopper 16

Control unit

20, 120, 220, 320

Shaft

30, 330 Tire part 30a Tire part Rotating shaft 30b Wheel rotation Shaft 30c Propeller Rotating Shaft 31

Inner Wheel

32, 132

Inner Wheel Coupling

33, 133 Inner Wheel Gear 35

Outer Wheel

36, 136

Outer Wheel Coupling

37, 137 Outer Wheel Gear 38 Tire 39

Ground Surface

41, 241

Propeller

42, 142, 242 Propeller joint 43, 143, 243 Propeller gear 45 Wing 50 Switching mechanism 60 Motor 112 Outer sleeve 113 Inner sleeve 212 Flying gear 213 Travel gear 230a Tire part Shaft 231 Wheel 232 Wheel joint part 233 Wheel gear

Claims

With the main body
A wheel that rotates around the wheel rotation axis and moves the main body on the ground,
A propeller that rotates around the propeller rotation axis and moves the main body in the air or water.
A shaft rotated by a rotary drive source and
A connection mechanism that connects the shaft to the wheel or the propeller and rotates the wheel or the propeller around the wheel rotation axis or the propeller rotation axis.
A moving body including a switching mechanism for switching the connection destination of the shaft to the wheel or the propeller.
The moving body according to claim 1, wherein the rotation axis of the shaft is coaxial with the wheel rotation axis and the propeller rotation axis.
The moving body according to claim 1, wherein the rotation axis of the shaft is parallel to the wheel rotation axis and the propeller rotation axis.
The moving body according to any one of claims 1 to 3, wherein the wheel rotation axis and the propeller rotation axis are non-parallel to the ground.
The moving body according to claim 4, wherein the wheel has a contact patch with respect to the ground, which is parallel to the ground.
The moving body according to any one of claims 1 to 4, wherein the wheel rotation axis and the propeller rotation axis have a variable angle with respect to the ground.
The moving body according to any one of claims 1 to 6, wherein the main body has an inclined surface that converts a component of the thrust accompanying rotation of the propeller that collides with the main body vertically downward.
The moving body according to any one of claims 1 to 7, wherein the wheel has a tire on the outer periphery.
The moving body according to claim 8, wherein the tire is a non-pneumatic tire.