PROBLEM TO BE SOLVED: To provide an omnidirectional mobile body capable of achieving constantly horizontal holding of a base, a simple structure, and high versatility.SOLUTION: An omnidirectional mobile body 1 includes a base 10 and a mobile unit 20. At least six mobile units 20 are fixed on the base 10, each of which includes a wheel 21, a support shaft 22, a drive unit 30 which brings the wheel 21 near and spaced to/from the base 10 or rotates the wheel, and a promotion part 40 rotating and stopping the wheel 21. The drive unit 30 includes a sliding mechanism reciprocating the support shaft 22 and a rotation mechanism horizontally rotating the support shaft 22. The base 10 includes a horizontal control unit and always maintains a horizontal state of the base 10. During a travel, a rudder angle of the wheel 21 is displaced by the rotation mechanism and thus an omnidirectional travel can be made. On a rough ground surface, each of the wheels 21 changes a distance to the base with the sliding mechanism, so that a horizontal state of the base 10 is maintained.SELECTED DRAWING: Figure 1
【課題】基台が常に水平を保ち、構造が簡単で汎用性の高い全方位移動体を提供する。【解決手段】全方位移動体1は、基台10と、移動部20とを有し、移動部20は、基台10に少なくとも6つ固定され、車輪21と、支軸22と、車輪21を基台10に対して近接および離隔または回転させる駆動部30と、車輪21の回転と停止を行う推進部40と、を備える。駆動部30は、支軸22を往復運動させる摺動機構と、支軸22を水平方向に回転させる回転機構と、を備えている。また、基台10には水平制御部が設けられ、基台10の水平を常に維持している。移動時には車輪21の舵角を回転機構で変位させ全方位に移動ができる。また、凹凸面のある接地面では、各車輪21が基台との距離を摺動機構で変化させ、基台10の水平が維持される。【選択図】図1
OMNIDIRECTIONAL MOBILE BODY
全方位移動体
2018-11-29
Patent
Electronic Resource
Japanese
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