To provide a four-wheel type omnidirectional moving body that includes three actuators adapted to the degree of freedom of the omnidirectional moving body and is excellent in controllability for operation of omnidirectional movement.SOLUTION: An omnidirectional moving body includes: a first wheel 11 and a second wheel 13 that rotate in a normal direction or a reverse direction about a first rotation axis C1 and are disposed apart from each other; a third wheel 15 and a fourth wheel 17 that rotate in a normal direction or a reverse direction about a second rotation axis orthogonal to the first rotation axis and are disposed apart from each other; a first electric motor 21 that outputs a forward or reverse driving force to the first wheel 11 and the second wheel 13; a second electric motor 23 that outputs a forward or reverse driving force to the third wheel 15; and a third electric motor 25 that outputs a forward or reverse driving force to the fourth wheel 17. The omnidirectional moving body further includes a differential mechanism 30 provided that transmits a driving force of the first electric motor 21 to the first wheel 11 and the second wheel 13.SELECTED DRAWING: Figure 1
【課題】全方向移動体の自由度に適合する3つのアクチュエータを備え、全方向移動の動作に対する制御性の優れる4輪型の全方向移動体を提供する。【解決手段】全方向移動体は、第1回転軸線C1を中心にして正転または逆転し、互いに間隔を隔てて配置される第1車輪11および第2車輪13と、第1回転軸線と直交する第2回転軸線を中心にして正転または逆転し、互いに間隔を隔てて配置される第3車輪15および第4車輪17と、第1車輪11と第2車輪13に正転または逆転の駆動力を出力する第1電動モータ21と、第3車輪15に正転または逆転の駆動力を出力する第2電動モータ23と、第4車輪17に正転または逆転の駆動力を出力する第3電動モータ25と、を備え、第1電動モータ21の駆動力を第1車輪11と第2車輪13に伝達する差動歯車装置30と、を備える。【選択図】図1
OMNIDIRECTIONAL MOVING BODY
全方向移動体
2024-10-10
Patent
Electronic Resource
Japanese
OMNIDIRECTIONAL MOVING WHEEL AND OMNIDIRECTIONAL MOVING BODY
European Patent Office | 2023
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