Title:
移動体
Document Type and Number:
Japanese Patent JP6862796
Kind Code:
B2
Abstract:
[Problem]To provide a moving body for which it is possible to change the movement direction without changing the orientation during travel.[Solution]With a moving body (1), an exterior case (2) and a drive part (3) are supported by a rotating shaft (4) so as to be able to rotate relative to each other. An upper support shaft (8) of the rotating shaft (4) and the exterior case (2) are connected at a position for which the center of gravity of the exterior case (2) is on the axis of a lower support shaft (10) of the rotating shaft (4). The weight of the exterior case (2) is such that a sufficiently high moment of inertia is provided so that no rotation occurs even when the drive part (3) rotates against the rotational resistance of a bearing (9). When the movement direction is changed during travel of the moving body (1), the drive wheel motor (7) is caused to operate as a differential so that the intended relative angle of the exterior case (2) and the drive part (3), as calculated from the movement direction and the speed of travel, matches the relative angle detected from the relative angle sensor (27). The center of gravity of the exterior case (2) is on the axis of the lower support shaft (10), and therefore the generation of moment to the exterior case (2) is suppressed, the drive part (3) rotates about the bearing (9) of the rotating shaft, and the movement direction of the drive part (3) can be changed without changing the orientation of the exterior case (2).
Inventors:
Araki Keizo
Application Number:
JP2016229687A
Publication Date:
April 21, 2021
Filing Date:
November 28, 2016
Export Citation:
Assignee:
Equus Research Co., Ltd.
International Classes:
G05D1/02; B62D11/04; B62D15/00
Domestic Patent References:
| JP7156804A | ||||
| JP2010225139A | ||||
| JP61186604U |
Foreign References:
| US20150207961 |
Attorney, Agent or Firm:
Patent Service Corporation Shinmei Century