PROBLEM TO BE SOLVED: To provide an omnidirectional mobile vehicle that reduces disturbance torque, acting on a steering shaft due to operation of a drive actuator, as much as possible and can precisely control a steering angle of the steering shaft.SOLUTION: Plural active casters 5 are mounted on a vehicle body. Each of the active casters includes: a steering shaft vertically arranged; an attachment portion holding the steering shaft on the vehicle body 2 so that the steering shaft is rotatable; a support member configured to apply a steering angle in accordance with the rotation of the steering shaft; a driving wheel 4 provided as a caster to the steering shaft and configured to travel on a floor surface; a steering actuator and a drive actuator fixed to the attachment portion; and transmission means configured to transmit rotation torque from the drive actuator to the driving wheel. The plural active casters include a first active caster 5A and a second active caster 5B that have a mirror symmetric structure with respect to a vertical axis.SELECTED DRAWING: Figure 5

    【課題】駆動用アクチュエータの動作に起因して前記操舵軸に作用する外乱トルクを可及的に小さくし、前記操舵軸の操舵角を精度よく制御することが可能な全方向移動車両を提供する。【解決手段】車両本体に対して複数基のアクティブキャスタ5が装着され、アクティブキャスタは、鉛直方向に沿って配置される操舵軸と、車両本体2に対して前記操舵軸を回転自在に保持する取付け部と、操舵軸の回転に応じ操舵角が与えられる支持部材と、操舵軸に対してキャスタとして設けられて前記床面を走行する駆動輪4と、取り付け部に固定される操舵用アクチュエータ及び駆動用アクチュエータと、駆動用アクチュエータから駆動輪に対して回転トルクを伝達する伝達手段と、を備え、複数基のアクティブキャスタは、鉛直軸に対して互いに鏡面対称の構造を有する第一のアクティブキャスタ5A及び第二のアクティブキャスタ5Bを含んでいる。【選択図】図5


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    Title :

    OMNIDIRECTIONAL MOBILE VEHICLE


    Additional title:

    全方向移動車両


    Contributors:

    Publication date :

    2018-11-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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