Mobile body

The present invention relates to a moving body provided with a stand for holding an inverted state of a moving body such as an omnidirectional moving vehicle that can move in all directions on a floor surface.

Patent Documents 1 to 3 disclose omnidirectional moving vehicles that can move in all directions on the floor surface. These vehicles are also called inverted pendulum type mobile bodies (hereinafter referred to as mobile bodies), and are controlled so that they can stand on their own without any support during driving.

<p><patcit num="1"><text>PCT International Publication WO / 2008/132778</text></patcit><patcit num="2"><text>PCT International Publication WO / 2008/132779</text></patcit><patcit num="3"><text>Patent No. 3070015</text></patcit></p>

<p> By the way, the above-mentioned moving body collapses if it is not supported at the time of power-off when it is not controlled. Therefore, it is conceivable to provide a stand that stably holds the inverted state of the moving body in a suitable place, but when the moving body is configured as a single wheel, it is stable because there is only one point of contact with the ground contact surface. At least two grounding points must be added to keep it upside down. Therefore, an increase in the number of component parts, an increase in weight, and an increase in size become problems.</p><p> The present invention has been made in view of such circumstances, and an object of the present invention is to provide a moving body provided with a stand capable of stably holding an inverted state of the moving body without increasing the number of parts.</p>

<p> As a means for solving the above-mentioned problems, the invention according to claim 1 comprises a driven mechanism capable of moving on a traveling surface (for example, a moving operation unit 5 in the embodiment) and a drive for generating a driving force for driving the driven mechanism. A moving body including a unit (for example, the actuator device 6 in the embodiment), the driven mechanism, and a substrate to which the driving unit is assembled (for example, the substrate 4 in the embodiment), which is an at least one side surface of the substrate. A fixing portion (for example, a fixing portion 27,27 in the embodiment) having a stand provided below (for example, a step / stand portion 7,7 in the embodiment) and one end of the stand being fixed to one side surface of the substrate. ), And a movable portion (for example, the movable portions 28, 28 in the embodiment) that can be rotated around the other end side of the fixed portion as a fulcrum.</p><p> According to the second aspect of the present invention, the movable portion has a first stopper portion (for example, connecting stopper portions 32, 32 in the embodiment) capable of contacting the upper surface of the fixed portion, and the first stopper portion is It is characterized in that it is rotatable together with the movable portion from a state of being in contact with the upper surface of the fixed portion to above the fixed portion and outside of the other end side to the lower portion of the fixed portion. ..</p><p> The invention according to claim 3 provides a second stopper portion (for example, stopper convex portions 34, 34 in the embodiment) that regulates the rotation of the movable portion at a position where the movable portion is rotated below the fixed portion. It is characterized by being provided.</p><p> The invention according to claim 4 is characterized in that the moving body is an inverted pendulum control type moving body.</p>

<p> According to the inventions of claims 1 and 4, since the functions of the step and the stand can be realized by rotating the movable part, it is possible to avoid an increase in the number of parts when forming the stand, and by extension, the number of parts can be avoided. Weight reduction and space saving can be realized.</p><p> According to the second aspect of the present invention, when the stand functions as a step, a stopper for maintaining a stable state of the movable portion as a step can be configured with a simple structure in which the stopper abuts on the upper surface of the fixed portion.</p><p> According to the third aspect of the present invention, when the stand functions as a stand, the stable state of the movable portion as the stand can be maintained.</p>

<figref num="1">It is a perspective view of the omnidirectional moving vehicle which concerns on embodiment of this invention.</figref><figref num="2">It is a front view of the state where the step and stand part of an omnidirectional moving vehicle functions as a step.</figref><figref num="3">It is a left side view of a state in which a step / stand portion of an omnidirectional moving vehicle functions as a step.</figref><figref num="4">It is a front view of the state where the step and stand part of an omnidirectional moving vehicle functions as a stand.</figref><figref num="5">It is a left side view of the state where the step and stand part of an omnidirectional moving vehicle functions as a stand.</figref><figref num="6">It is a perspective view of an omnidirectional moving vehicle.</figref><figref num="7">It is a perspective view of the lower part of a vehicle for demonstrating the modification of this embodiment.</figref><figref num="8">It is a figure explaining the modification of this embodiment, (a) is a top view, (b) is a front view in a state where a step / stand part functions as a step, and (c) is a view which a step / stand part serves as a stand. It is a front view of the functioning state.</figref>

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an omnidirectional moving vehicle 1 according to the present embodiment. In the drawings used in the following description, the arrow FR indicating the front of the vehicle, the arrow RR indicating the rear of the vehicle, the arrow LH indicating the left side of the vehicle, and the arrow RH indicating the right side of the vehicle are shown in appropriate places. In the following description, these directions will be used as appropriate. Further, when explaining the left-right direction, the central side in the vehicle width direction is referred to as the inner side and the outer side is referred to as the outer side.

The omnidirectional moving vehicle 1 according to the present embodiment shown in FIG. 1 has a base 4 provided with a grip portion 2 at the upper portion of the vehicle body and a moving motion portion cover portion 3 at the lower portion of the vehicle body, and has a moving operating portion cover portion 3 A moving operation unit 5 described in detail later and an actuator device 6 (FIG. 1, broken line) for applying power for driving the moving operation unit 5 to the moving operation unit 5 are provided therein.

Inside the base 4, a vehicle body frame (not shown) that supports the grip portion 2, the moving motion unit cover portion 3, the moving motion unit 5 and the like is provided in an appropriate position, and the occupants are on the left and right sides of the moving motion unit cover portion 3. Steps and stands 7 and 7 for placing the above are arranged.

The omnidirectional moving vehicle 1 is configured as a one-wheel inverted pendulum control type moving body, and the upper part of the vehicle body is in a state where the occupant puts both feet on the step and stand portions 7 and 7 and the base 4 is sandwiched between both feet. Grip part 2 The ride is performed by grasping the right place. Then, the occupant moves the center of gravity while the control is performed so that the standing state (inverted state) of the vehicle body is maintained so that the occupant can move in all directions of the floor surface. The details of each part will be described below.

The moving operation unit cover portion 3 is formed in a curved shape, and includes a front cover member 8 that covers the front of the lower part of the vehicle body, a rear cover member (not shown) that covers the rear of the lower part of the vehicle body, and a side of the front cover member 8 and the rear cover member. It is composed of a left cover member 9 (see Fig. 2) formed in a substantially disk shape that is connected to the portion and covers the left side of the lower part of the vehicle body, and a right cover member 10 formed in a substantially disk shape that covers the right side of the lower part of the vehicle body. There is.

The moving operation unit 5 and the actuator device 6 are housed and arranged in a space covered by each cover member of the moving operation unit cover unit 3, and the step / stand portions 7 and 7 are the left side cover member 9 and the right side cover member 10. It is arranged in each. Here, the left side cover member 9 and the right side cover member 10 are urged in a direction in which the lower end side thereof is narrowed, that is, inward by an urging means such as a spring.

FIG. 2 shows a front view of the lower part of the omnidirectional moving vehicle 1 as viewed from the front with the front cover member 8 removed. As shown in FIG. 2, the moving operation unit 5 and the actuator device 6 are arranged between the left side cover member 9 and the right side cover member 10. The moving operation unit 5 and the actuator device 6 illustrated in this embodiment have the same structure as that disclosed in FIG. 1 of Patent Document 2, for example. Therefore, in the description of the present embodiment, the matters described in the above-mentioned Patent Document 2 regarding the configuration of the moving operation unit 5 and the actuator device 6 will be limited to a brief description.

In the present embodiment, the moving motion unit 5 is a wheel body formed in an annular shape by a rubber-like elastic material, and has a substantially circular cross-sectional shape. Due to its elastic deformation, the moving motion unit 5 (hereinafter referred to as the wheel body 5) passes through the center C1 of the circular cross section (more specifically, the center C1 of the circular cross section) and is concentric with the axis of the wheel body 5. It is possible to rotate around the circumference line).

The wheel body 5 is arranged between the left side cover member 9 and the right side cover member 10 with its axis C2 (the axis C2 orthogonal to the diameter direction of the entire wheel body 5) oriented in the left-right direction. The lower end of the outer peripheral surface of the wheel body 5 touches the floor surface.

Then, the wheel body 5 is driven by the actuator device 6 (details will be described later) to rotate around the axis C2 of the wheel body 5 (rotational motion on the floor surface) and a cross section of the wheel body 5. It is possible to perform an action that rotates around the center C1. As a result, the wheel body 5 can move in all directions on the floor surface by the combined operation of these rotational movements.

The actuator device 6 includes a rotating member 11 and a free roller 12 interposed between the wheel body 5 and the right side cover member 10, and a rotating member 13 and a rotating member 13 interposed between the wheel body 5 and the left side cover member 9. It includes a free roller 14, an electric motor 15 as an actuator arranged above the rotating member 11 and the free roller 12, and an electric motor 16 as an actuator arranged above the rotating member 13 and the free roller 14.

The housings of the electric motors 15 and 16 are attached to the right side cover member 10 and the left side cover member 9, respectively. Although not shown, the power supplies (capacitors) of the electric motors 15 and 16 are mounted at appropriate positions on the substrate 4.

The rotating member 11 is rotatably supported by the right cover member 10 via a support shaft 17 having a left-right axis, and similarly, the rotating member 13 is rotatably supported by a support shaft 18 having a left-right axis. It is rotatably supported by the left cover member 9. In this case, the rotation axis of the rotating member 11 (the axis of the support shaft 17) and the rotation axis of the rotating member 13 (the axis of the support shaft 18) are coaxial centers.

The rotating members 11 and 13 are connected to the output shafts of the electric motors 15 and 16, respectively, via a power transmission mechanism including a function as a speed reducer, and the power (torque) transmitted from the electric motors 15 and 16, respectively. Driven by rotation. Each power transmission mechanism is, for example, a pulley / belt type. That is, the rotating member 11 is connected to the output shaft of the electric motor 15 via the pulley 19 and the belt 20. Similarly, the rotating member 13 is connected to the output shaft of the electric motor 16 via the pulley 21 and the belt 22.

The power transmission mechanism may be composed of, for example, a sprocket and a link chain, or may be composed of a plurality of gears. Further, for example, the electric motors 15 and 16 are arranged so as to face each of the rotating members 11 and 13 so that their output shafts are coaxial with the rotating members 11 and 13, and the electric motors 15 and 16 are respectively arranged. The output shafts may be connected to the rotating members 11 and 13, respectively, via a speed reducer (planetary gear device or the like).

The rotating members 11 and 13 are formed in the same shape as a truncated cone whose diameter is reduced toward the wheel body 5, and the outer peripheral surfaces thereof are tapered outer peripheral surfaces 23 and 24. A plurality of free rollers 12 are arranged around the tapered outer peripheral surface 23 of the rotating member 11 so as to be arranged at equal intervals on a circumference concentric with the rotating member 11. Each of these free rollers 12 is attached to the tapered outer peripheral surface 23 via the bracket 25, and is rotatably supported by the bracket 25. Similarly, a plurality of free rollers 14 (the same number as the free rollers 12) are arranged around the tapered outer peripheral surface 24 of the rotating member 13 so as to be arranged at equal intervals on a circumference concentric with the rotating member 13. There is. Each of these free rollers 14 is attached to the tapered outer peripheral surface 24 via the bracket 26, and is rotatably supported by the bracket 26.

The wheel body 5 is arranged coaxially with the rotating members 11 and 13 so as to be sandwiched between the free roller 12 on the rotating member 11 side and the free roller 14 on the rotating member 13 side. In this case, each of the free rollers 12 and 14 has its axis C3 tilted with respect to the axis C2 of the wheel body 5, and the wheel body 5 is viewed in the radial direction of the wheel body 5 (the wheel body 5 is viewed in the direction of the axis C2). Occasionally, it is arranged in an inclined posture with respect to the axial center C2 and the radial direction connecting the free rollers 12 and 14). Then, in such a posture, the outer peripheral surfaces of the free rollers 12 and 14 are obliquely pressed against the inner peripheral surface of the wheel body 5. More generally, the free roller 12 on the right side is a frictional force component in the direction around the axis C2 at the contact surface with the wheel body 5 when the rotating member 11 is rotationally driven around the axis C2. (Friction component in the tangential direction of the inner circumference of the wheel body 5) and the friction force component in the circumferential direction of the cross-sectional center C1 of the wheel body 5 (friction component in the tangential direction of the circular cross section) are combined with the wheel body. It is pressed against the inner peripheral surface of the wheel body 5 in a posture that can act on 5. The same applies to the free roller 14 on the left side. Here, the right side cover member 10 and the left side cover member 9 are urged in a direction in which the lower end side of the right side cover member 10 and the left side cover member 9 is narrowed by an urging means (not shown) as described above. Therefore, due to this urging force, the wheel body 5 is sandwiched between the free roller 12 on the right side and the free roller 14 on the left side, and the free rollers 12 and 14 are in pressure contact with the wheel body 5 (more specifically, free). A pressure contact state in which a frictional force can act between the rollers 12 and 14 and the wheel body 5) is maintained.

In the omnidirectional moving vehicle 1 having the structure described above, when the rotating members 11 and 13 are rotationally driven in the same direction at a constant speed by the electric motors 15 and 16, respectively, the wheel body 5 causes the rotating members 11 and 13 to rotate. It will rotate around the axis C2 in the same direction as. As a result, the wheel body 5 rotates in the front-rear direction on the floor surface, and the entire vehicle 1 moves in the front-rear direction. In this case, the wheel body 5 does not rotate around the center C1 of the cross section.

Further, for example, when the rotating members 11 and 13 are rotationally driven in opposite directions at the same speed, the wheel body 5 rotates around the center C1 of the cross section thereof. As a result, the wheel body 5 moves in the direction of its axis C2 (that is, in the left-right direction), and as a result, the entire vehicle 1 moves in the left-right direction. In this case, the wheel body 5 does not rotate around its axis C2.

Further, when the rotating members 11 and 13 are rotationally driven in the same direction or in the opposite direction at different speeds (speeds including directions), the wheel body 5 rotates around its axis C2 and at the same time, at the same time. It will rotate around its cross-sectional center C1. Then, at this time, the wheel body 5 moves in the direction inclined with respect to the front-rear direction and the left-right direction by the combined operation (combined operation) of these rotational movements, and eventually the entire vehicle 1 is in the same direction as the wheel body 5. Will move to. In this case, the moving direction of the wheel body 5 changes depending on the difference in the rotational speed (rotational speed vector whose polarity is defined according to the rotational direction) including the rotational directions of the rotating members 11 and 13. ..

Since the wheel body 5 is moved as described above, the rotation speeds (including the rotation directions) of the electric motors 15 and 16 are controlled, and the rotation speeds of the rotating members 11 and 13 are controlled. The moving speed and moving direction of the vehicle 1 can be controlled. Although not shown, the vehicle 1 is a control unit composed of an electronic circuit unit including a microcomputer and drive circuit units of the electric motors 15 and 16, and a predetermined portion of the base 4 as a means for executing such control. An inclination sensor for measuring the inclination angle and its change speed with respect to the vertical direction (gravity direction), a load sensor for detecting whether or not an occupant is on the vehicle 1, and output shafts of the electric motors 15 and 16, respectively. It is equipped with a rotary encoder or the like as an angle sensor for detecting the rotation angle and the rotation angle speed of the above.

Subsequently, with reference to FIGS. 3 to 6, the details of the step / stand portions 7 and 7 on which the occupant rests his / her feet will be described. In the present embodiment, the steps and stands 7 and 7 function as a step for placing the occupant's feet when the occupant is on board, and also as a stand for keeping the vehicle 1 in an inverted state stably when the occupant is not on board. It is configured.

The steps and stands 7 and 7 are mainly made of a relatively rigid resin material or aluminum, and one end is fixed to the side surface of the left side cover member 9 and the right side cover member 10 and each extends outward. A plate-shaped fixing portion 27,27 and a movable portion 28,28 rotatably supported by the fixing portion 27,27 on the other end side (outer side) of the fixing portion 27,27 are provided. There is.

As shown in FIGS. 2 and 3, the other end side (outer side) of the fixing portions 27, 27 with respect to one end fixed to the cover members 9, 10 is front and rear in a penetrating state with respect to the fixing portions 27, 27. Shaft portions 29,29 extending in the direction are provided, and movable portions 28, 28 are pivotally supported at both ends of these shaft portions 29, 29.

As shown in FIG. 1, the movable portions 28, 28 have a fan-shaped front component portion 30, 30 arranged in front of the fixed portions 27, 27 and a fan-shaped portion arranged behind the fixed portions 27, 27. The rear side constituent parts 31, 31 and the connecting stopper parts 32, 32 for connecting the front side constituent parts 30, 30 and the rear side constituent parts 31, 31 are integrally provided.

The front constituents 30, 30 and the rear constituents 31, 31 are formed in a box shape so as to be hollowed out from the lower side to the upper side in the states shown in FIGS. 1 to 3, and their respective arc surfaces are formed. It is placed facing outward. Then, as shown in FIG. 3, the wall portions 30A and 30A located on the rear side of the front side constituent portions 30 and 30 and extending substantially parallel to the front surface of the fixed portions 27 and 27 (see also FIG. 5). An insertion hole is formed through which one end of the shaft portions 29 and 29 is inserted, and the wall portions 31A and 31A are located on the front side of the rear side constituent portions 31 and 31 and extend substantially parallel to the rear surface of the fixed portions 27 and 27. (See also FIG. 5) is formed with an insertion hole (not shown) through which the other ends of the shaft portions 29 and 29 are inserted.

The connecting stopper portions 32, 32 are in the state shown in FIGS. 2 and 3, along the front-rear direction on the cover member 9, 10 side (inner end portion) of the front side constituent parts 30, 30 and the rear side constituent parts 31, 31. The front side constituent parts 30, 30 and the rear side constituent parts 31, 31 are separated by the length of the fixed parts 27, 27, and these are connected.

The connecting stopper portions 32, 32 are formed in a rectangular cross-sectional view, and the length in the front-rear direction thereof is set to be substantially the same as the width (length in the front-rear direction) of the fixed portions 27, 27. One surface is brought into contact with the upper surfaces of the fixing portions 27 and 27. When the connecting stopper portions 32, 32 abut on the fixed portions 27, 27 in this way, the movable portions 28, 28 are directed downward, specifically, downward from the states shown in FIGS. Rotation is regulated.

The cover members 9, 10 side ends of the upper surfaces of the fixing portions 27, 27 are formed with accommodating recesses 33, 33 for accommodating the connecting stopper portions 32, 32 shown in FIG. 2 (see also FIG. 4). That). These accommodating recesses 33, 33 accommodate the connecting stopper portions 32, 32 in the states shown in FIGS. 1 to 3, whereby the movable portions 28, 28 are in a horizontal state and the upper surfaces of the fixing portions 27, 27 are placed. And the upper surfaces of the movable parts 28 and 28 are substantially flush with each other.

According to the configuration described above, in the state shown in FIGS. 1 to 3, the steps and stands 7 and 7 are restricted from rotating inward and downward of the movable portions 28 and 28, and the occupant puts his or her foot on it. The movable parts 28 and 28 are configured to function as steps in a stable state without rotating even in the state of being in a state of being.

Then, the step / stand portions 7 and 7 function as a stand by rotating the movable portions 28 and 28 in the direction of the rotation arrow R1 shown in FIG. 2, that is, outward and downward by about 270 degrees. Will fulfill. More specifically, from the state where the connecting stopper portions 32, 32 are in contact with the upper surface of the fixing portions 27, 27, the connecting stopper portions 32, 32 are separated from each other, and the fixing portion 27 is passed above and outside the fixing portions 27, 27. By rotating down to 27, the step and stand parts 7 and 7 function as a stand. FIGS. 4 to 6 show the states of the steps and stands 7 and 7 when they function as a stand.

In the states shown in FIGS. 4 to 6, the movable portions 28 and 28 are in an upright state extending vertically. Here, referring to FIG. 2, the outer wall surfaces of the inner wall portions 30B and 30B of the front constituent portions 30 and 30 and the inner wall portions 31B and 31B of the rear constituent portions 31 and 31, respectively. The ground planes 30C, 30C and the ground planes 31C, 31C are set in the above, and when the movable parts 28, 28 are rotated as shown in FIGS. , The ground planes 31C and 31C are in a state of being grounded on the floor.

Here, at a position on the lower surface of the fixing portions 27,27 inward of the shaft portions 29,29, as shown in FIG. 4, the fixing portions 27, 27 project downward from the lower surface and are fixed as shown in FIG. A pair of left and right stopper convex portions 34, 34 protruding in the front-rear direction from the front-rear surface of the portions 27, 27 are provided (see also FIGS. 2 and 3).

Then, in the states shown in FIGS. 4 to 6, these stopper convex portions 34, 34 are in contact with the movable portions 28, 28, and the inward and upward rotation of the movable portions 28, 28 is restricted. .. Here, a pair of stopper convex portions 34, 34 is provided for one of the movable portions 28, 28, but only one of them may be provided, such as being provided only on the front side of one movable portion 28. Further, when the movable portions 28, 28 are in contact with the stopper convex portions 34, 34, the rotation of the movable portions 28, 28 is regulated outward and upward indicated by the rotation arrow R2 direction by a ratchet mechanism (not shown). ing.

According to the configuration described above, the movable parts 28 and 28 support the moment load that the base 4 tries to fall forward in the state shown in FIGS. 4 to 6, and the ground contact surfaces 31C and 31C of the rear side component 31. Supports the moment load that the base 4 tries to fall backward, and the stopper protrusions 34, 34 and the ratchet mechanism regulate the rotation of the base 4 in the upright state, so that the moment load against the fall of the base 4 in the left-right direction Supports. As a result, the steps and stands 7 and 7 hold the vehicle 1 in an inverted state as shown in FIG. 6, and function as a stand. When the occupant gets on the vehicle 1, the ratchet mechanism is released and the movable parts 28 and 28 are rotated in the direction of the rotation arrow R2 shown in FIG. It can function as a step again.

Therefore, in the present embodiment, the functions of the step and the stand can be realized by rotating the movable portions 28, 28 of the step and stand portions 7, 7, and thus the inverted state of the vehicle 1 is stably maintained. It is possible to avoid an increase in the number of parts when constructing the stand, and it is possible to realize weight reduction and space saving.

Further, the connecting stopper portions 32, 32 integrally formed with the movable portions 28, 28 are brought into contact with the upper surfaces of the fixed portions 27, 27 to regulate the rotation of the movable portions 28, 28, whereby the movable portions 28, 28, A stopper that maintains a stable state of the movable parts 28, 28 when 28 is made to function as a step can be configured with a simple structure.

Further, when the movable portions 28, 28 are rotated to make the step / stand portions 7, 7 function as a stand, the stopper convex portions 34, 34 and the ratchet mechanism described above come into contact with the movable portions 28, 28 to regulate the rotation. By providing the above, it is possible to maintain the stable state of the movable portions 28, 28 when the movable portions 28, 28 are rotated to function as a stand.

The configuration in the above embodiment is an example of the present invention, and various changes can be made including the component configuration, structure, shape, size, number, arrangement, etc. without departing from the gist of the invention. Needless to say.

For example, FIGS. 7 and 8 show movable portions 35, 35 according to a modification of the movable portions 28, 28. In this example, as shown in these figures, the movable parts 35 and 35 are formed in a substantially semicircular shape, and a notch wider than the length of the fixed parts 27 and 27 in the anteroposterior direction is formed in the substantially center of the arc surface. There is. Then, shaft portions 29 and 29 are inserted into both side portions of the notch, so that the movable portions 35 and 35 are rotated arrows shown in FIGS. 8 (b) and 8 (c) with respect to the fixed portions 27 and 27. It can rotate in the R3 and R4 directions. Further, as shown in FIGS. 8 (b) and 8 (c), the fixed portions 27,27 are accommodated in the movable portions 35, 35 in a state where they function as steps, and the fixed portions 27, 27 and the movable portions 35, 35 are accommodated. Recesses 36, 36 having a constant height on the upper surface of the surface are formed. Even in this aspect, since the functions of the step and the stand can be realized with one component, it is possible to avoid an increase in the number of parts when constructing the stand that stably holds the inverted state of the vehicle 1, and the weight and space are saved. Can be realized.

Further, in the present embodiment, the steps and stands 7 and 7 are arranged on the left and right, but the step and stand 7 may be provided only on one side and the other may be used as a step. In this case as well, the vehicle 1 is in an inverted state. It is possible to hold. In addition, the occupant described the mode in which he / she puts his / her foot on the step / stand portions 7 and 7 and gets on the vehicle 1 while standing. However, a seat is provided on the upper part of the base 4, and the occupant sits on the seat and steps. The present invention can be suitably used even in a mode in which the feet are placed on the stand portions 7 and 7.

Further, the configuration of the moving motion unit 5 and the actuator device 6 which are the drive mechanisms may be other configurations, and the moving motion unit 5 is provided with a plurality of sleeves at equal intervals in the circumferential direction as referred to in Patent Document 2, for example. It may be provided as a configuration or the like. Further, in the movable parts 28 and 28, the front side constituent parts 30 and 30 and the rear side constituent parts 31 and 31 are formed in a fan shape, respectively, but they may be rectangular. Further, although the mode in which the movable portions 28 and 28 are integrally formed by the front side constituent parts 30 and the rear side constituent parts 31 by the connecting stopper parts 32 and 32, the front side constituent parts 30 and the rear side constituent parts 31 are described. As separate parts, each may be rotatable with respect to the fixed portions 27 and 27. Further, when the step / stand portions 7 and 7 are made to function as a stand, the mechanism for restricting the rotation of the movable portions 28 and 28 in the direction of the rotation arrow R2 (see FIG. 4) is not limited to the above ratchet mechanism. Other means may be used.

1 Omnidirectional moving vehicle (moving body) 5 Moving moving part (driven mechanism) 6 Actuator device (drive unit) 7 steps and stand (stand) 27 Fixed part 28 Moving parts 32 Connection stopper (1st stopper) 34 Stopper convex part (second stopper part)