To provide a movement device which realizes height adjustment of a carrying platform and getting-over of a step and a slope of a wheel with a minimum energy loss and can be miniaturized with a simple configuration.SOLUTION: A movement device comprises: a base body 1; a carrying platform 5 on which a loading object W is loaded; a carrying platform support part 2 which is vertically movable; a wheel 3 which has a rotational shaft; a non-stage transmission which performs non-stage transmission of a transmission ratio of the rotational shaft of the wheel 3 to a first output shaft; a differential mechanism which has a second output shaft that is connected with the first output shaft of the non-stage transmission and the rotational shaft of the wheel 3 and rotates at a rotation frequency according to a rotational speed difference between the rotational shaft of the wheel 3 and the first output shaft; a rotation-linear motion conversion mechanism which converts the rotation of the second output shaft of the differential mechanism into the vertical linear motion to transmit it to the carrying platform support part 2; and a control device 6 which controls the transmission ratio such that the carrying platform 5 becomes horizontal according to the slop and step height of the ground surface.SELECTED DRAWING: Figure 1
【課題】搬送台の高さ調整および車輪の段差、傾斜乗り越えを最小限のエネルギー損失で実現する、簡単な構成で小型化可能な移動装置を得ること。【解決手段】基体1と、搭載物Wが搭載される搬送台5と、上下に移動可能である搬送台支持部2と、回転軸を有する車輪3と、車輪3の回転軸と第1出力軸との変速比を無段変速する無段変速機と、無段変速機の第1出力軸および車輪3の回転軸が接続され、車輪3の回転軸と第1出力軸との回転速度差に応じた回転数で回転する第2出力軸を有する差動機構と、差動機構の第2出力軸の回転を上下の直動に変換して搬送台支持部2に伝達する回転-直動変換機構と、地面の傾斜、段差高さに応じて搬送台5が水平になるように変速比を制御する制御装置6と、を備える。【選択図】図1
MOVEMENT DEVICE AND MOVABLE BODY
移動装置および移動体
2024-01-24
Patent
Electronic Resource
Japanese