Wheel and robot
The wheel design with a rotating body and outer ring maintains suction force across different surfaces, addressing the challenge of transitioning from walls to ceilings and navigating uneven terrain.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- SUMITOMO HEAVY IND LTD
- Filing Date
- 2025-09-04
- Publication Date
- 2026-07-02
AI Technical Summary
Existing wall-climbing robots using suction methods face challenges when transitioning from a wall surface to a ceiling surface or navigating uneven surfaces, as the vacuum chamber gaps, leading to loss of suction force and potential falling.
The wheel design incorporates a rotating body and an outer ring with independent rotation, supplying negative pressure through intake ports and holes, allowing continuous suction force across varying surfaces.
Ensures stable movement by maintaining suction force during transitions and surface changes, preventing detachment on vertical or uneven surfaces.
Smart Images
Figure JP2025031279_02072026_PF_FP_ABST
Abstract
Description
Wheel and Robot
[0001] The technology of the present disclosure relates to a wheel and a robot.
[0002] In a wall-climbing robot using a suction method, a vacuum chamber for supplying negative pressure is attached at a location different from the wheels or tracks for traveling. It travels while sticking to a traveling surface such as a wall surface by the suction force due to the negative pressure. An example using magnetic force instead of negative pressure is disclosed in Patent Document 1.
[0003] Chinese Utility Model Registration No. 219883973 Gazette
[0004] However, when the above robot moves from the wall surface on which it is currently traveling to a ceiling surface orthogonal to the wall surface, or moves over a step or unevenness on a surface that intersects the current traveling surface of the wall surface, a gap occurs between the vacuum chamber and the traveling surface, and the suction force cannot be ensured, and there is a risk of falling.
[0005] An object of the technology of the present disclosure is to provide a wheel and a robot that can continue traveling even when moving to a planned traveling surface whose normal intersects the normal of the traveling surface.
[0006] The wheel according to the first aspect of the technology of the present disclosure includes a suction device structure that generates a suction force by negative pressure, and travels while supplying the negative pressure to the traveling surface.
[0007] The robot according to the second aspect includes a plurality of wheels according to the first aspect.
[0008] Since the technology of the present disclosure adsorbs and travels by supplying negative pressure to the traveling surface by the wheel itself, even when moving from a wall surface to a ceiling surface or moving over a step on a wall surface, the space between the wheel and the traveling surface does not expand, so these movements can be made.
[0009] Figure 1 is a schematic diagram of an example of robot 100. Figure 2 is an exploded view of an example of wheel 10. Figure 3 is a cross-sectional view of an example of wheel 10. Figure 4 is a block diagram of the electrical system of an example of robot 100. Figure 5A is a flowchart of an example of a running process program. Figure 5B is a diagram showing an example of how the intake port 24 of the rotating body 22 faces the wall surface Wb when wheel 10 is running on wall surface Wb. Figure 5C is a diagram showing an example of how the intake port 24 of the rotating body 22 faces the ceiling surface Wh when wheel 10 is running on ceiling surface Wh. Figure 6 is an exploded view of an example of wheel 10H1 of a second embodiment. Figure 7 is a diagram showing an example of how the intake port 24 of the rotating body 22 faces the wall surface Wb when wheel 10H1 is running on wall surface Wb. Figure 8 is a diagram showing an example of the orientation of the intake port 24 of the rotating body 22 facing the ceiling surface Wh when the wheel 10H1 is traveling on the ceiling surface Wh. Figure 9 is an exploded view of an example of the wheel 10H2 of the third embodiment. Figure 10 shows an example where the intake port 44AB is facing to the left when viewed from the running surface. Figure 11 shows an example where the intake port 44AB is facing towards the center when viewed from the running surface. Figure 12 shows an example where the intake port 44AB is facing to the right when viewed from the running surface. Figure 13 is an exploded view of an example of the wheel 10H3 of the fourth embodiment. Figure 14 is a front view of an example of the wheel 10H3 of the fifth embodiment. Figure 15 is a diagram showing an example of the outer ring 46 and the outer shell 62 which is arranged outside the outer ring 46 and has a shape corresponding to the shape of the outer ring 46. Figure 16 is a cross-sectional view of the portion of the wheel 10H3 that is in contact with the running surface W when the wheel 10H3 is attracted to the running surface W by supplying negative pressure to the running surface W.
[0010] [Embodiments] Hereinafter, embodiments of the technology of this disclosure will be described with reference to the drawings.
[0011] [First Embodiment] (Configuration) The configuration of the robot 100 of this embodiment will be described. Figure 1 is a schematic diagram of an example of the robot 100. As shown in Figure 1, the robot 100 is equipped with a plurality of wheels 10N1 to 10N4, for example, two on each side of the front and rear, for a total of four wheels 10N1 to 10N4. The robot 100 is equipped with a camera 12 for photographing the running surface in the direction of travel and a suction device 14 for supplying negative pressure. The robot 100 is equipped with a control device 15 for controlling the wheels 10N1 to 10N4, the camera 12, and the suction device 14.
[0012] In the example shown in Figure 1, the four wheels 10N1 to 10N4 of the robot 100 are traveling along the wall surface Wb, and are then scheduled to travel along the ceiling surface Wh. The normal vectors of the wall surface Wb and the normal vectors of the ceiling surface Wh intersect, for example, they are perpendicular.
[0013] Since the four wheels 10N1 to 10N4 have the same configuration, we will represent the four wheels 10N1 to 10N4 by referring to the front right wheel 10N1 as wheel 10 and describe its configuration, omitting the descriptions of the other wheels.
[0014] The wheel 10 is equipped with a rotating body 22 (see Figure 2), which will be described later, that generates suction force by negative pressure, and runs while supplying negative pressure to the running surface.
[0015] Figure 2 is an exploded view of an example of a wheel 10. As shown in Figure 2, the wheel 10 has an intake port 24 and includes a rotating body 22 that supplies negative pressure through the intake port 24. The wheel 10 also includes an outer ring 26 located outside the rotating body 22 and capable of rotating independently of the rotating body 22, with a plurality of round holes 28 formed across its outer circumferential surface (i.e., the surface that contacts the running surface). The rotating body 22 supplies negative pressure to the running surface through the intake port 24 and the holes 28.
[0016] The rotating body 22 is cylindrical and rotatable around the rotating body axis 23. The rotating body axis 23 is connected to a vacuum hose 25 connected to the suction device 14. The rotating body 22 and the rotating body axis 23 are hollow. Therefore, the negative pressure from the suction device 14 is supplied to the suction port 24 via the vacuum hose 25, the rotating body axis 23, and the rotating body 22. The shape of the suction port 24 is rectangular with its longitudinal direction aligned with the rotating body axis 23.
[0017] The outer ring 26 is rotatable around the wheel rotation axis 34 and is cylindrical in shape. Each hole 28 formed on the outer circumferential surface of the outer ring 26 is round and smaller than the size of the intake port 24. The shape of the holes 28 formed on the outer circumferential surface of the outer ring 26 is not limited to round, but may be a slit. The longitudinal direction of the slit may coincide with or intersect the longitudinal direction of the intake port 24.
[0018] Furthermore, the technology disclosed herein is not limited to a double structure in which the wheel 10 comprises a rotating body 22 and an outer ring 26. The rotating body 22 may be omitted, and the vacuum hose 25 may be connected to the wheel rotation shaft 34. In this case, the wheel 10 can be made simpler in configuration.
[0019] Figure 3 is a cross-sectional view of an example of the wheel 10. As shown in Figure 3, the rotating body 22 is cylindrical as described above, with an intake port 24 formed in a part of the cylinder, and is rotatable around the rotating body shaft 23. An endless belt 39 is wrapped around the rotating body shaft 23. The motor shaft 37 of the motor 35 is wrapped around the endless belt 39 on the opposite side from the rotating body shaft 23. Therefore, when the motor 35 is driven and the motor shaft 37 rotates, the endless belt 39 rotates, and the rotating body 22 rotates around the rotating body shaft 23.
[0020] As described above, the outer ring 26 is located on the outside of the rotating body 22 and is cylindrical in shape. Holes 28 are formed along the entire circumference of the cylinder, allowing it to rotate around the wheel rotation axis 34. The wheel rotation axis 34 is connected to the shaft of the motor 36. Therefore, when the motor 36 is driven, the shaft of the motor 36 rotates, causing the wheel rotation axis 34 to rotate and the outer ring 26 to rotate.
[0021] The outer circumferential surface of the rotating body 22 and the inner circumferential surface of the outer ring 26 are spaced apart. A bearing 32 is provided between the rotating shaft 23 of the rotating body 22 and the outer ring 26. Therefore, the rotating body 22 and the outer ring 26 rotate more smoothly.
[0022] As explained above, the rotating body 22 is rotated by the motor 35, and the outer ring 26 is rotated by the motor 36. The control device 15 drives the motor 35 and the motor 36 independently. Therefore, the rotating body 22 and the outer ring 26 can rotate independently of each other.
[0023] As shown in Figure 3, the rotating body 22 has an intake port 24, and the outer ring 26 has a hole 28. The rotating body 22 supplies negative pressure to the running surface through the intake port 24 and the hole 28. Therefore, air from the running surface side enters the suction device 14 via the hole 28, the intake port 24, the rotating body 22, the rotating body shaft 23, and the vacuum hose 25.
[0024] Figure 4 is a block diagram of the electrical system of an example of robot 100. As shown in Figure 4, the control device 15 of robot 100 is connected to the camera 12 and the motors 35 and 36 of each wheel 10N1 to 10N4. The control device 15 is composed of a computer equipped with a processor such as a CPU, an NVM, etc. The NVM stores the driving processing program.
[0025] (Operation) Figure 5A is a flowchart of an example of a driving process program. Figure 5B is a diagram showing an example of the orientation of the intake port 24 of the rotating body 22 facing the wall surface Wb when the wheel 10 is traveling on the wall surface Wb. Figure 5C is a diagram showing an example of the orientation of the intake port 24 of the rotating body 22 facing the ceiling surface Wh when the wheel 10 is traveling on the ceiling surface Wh.
[0026] The processor executes the driving process program, thereby executing the driving process and the driving process method.
[0027] The driving program starts when the start button (not shown in the diagram) is pressed.
[0028] In step 102, the processor causes each wheel 10N1 to 10N4 to move while sucking on the running surface, i.e., the wall surface Wb. Specifically, as shown in Figure 5B, the processor drives each motor 35 so that the suction ports 24 of each wheel 10N1 to 10N4 face the wall surface Wb. This supplies negative pressure from the suction device 14 to the wall surface Wb through the suction ports 24 of the wheels 10N1 to 10N4 and the holes 28 formed in each outer ring 26. The processor also drives each motor 36 to rotate each outer ring 26. As a result, each wheel 10N1 to 10N4 moves along the wall surface Wb while sucking on it.
[0029] In step 104, the processor takes a photograph of the planned travel surface in the direction of travel and acquires image data of the planned travel surface.
[0030] In step 106, the processor determines, based on the acquired image data, whether the normal of the surface to be traveled intersects with the normal of the surface currently being traveled. For example, if the vehicle is currently traveling along a wall Wb and will next travel along a ceiling Wh, the processor determines whether an intersection line between the wall Wb and the ceiling Wh has been detected within a predetermined distance beyond the wall Wb.
[0031] If it is determined that the normal of the planned travel surface does not intersect with the normal of the currently travel surface, the travel process proceeds to step 112.
[0032] If it is determined that the normal of the planned travel surface intersects with the normal of the currently travel surface, the travel process proceeds to step 108.
[0033] In step 108, the processor identifies the wheels on the planned travel surface whose normals intersect with the normals of the travel surface, thereby identifying the wheels that need to be rotated by the rotating body 22. Specifically, the processor identifies the wheels on which the identified intersection line exists within a predetermined distance ahead in the direction of travel. In the example shown in Figure 1, if the planned travel surface is the ceiling surface Wh, the normal of the ceiling surface Wh intersects with the normal of the wall surface Wb, and the front wheels 10N1 and 10N2 are identified as the wheels that need to be rotated by the rotating body 22.
[0034] In step 110, the processor drives the motor 35 of the identified wheel 10 so that the intake port 24 of the rotating body 22 of the identified wheel 10 faces the intended travel surface, as shown in Figure 5C.
[0035] In step 112, the processor determines whether the driving process will end by determining whether a stop button (not shown) has been operated. If it is determined that the driving process has not ended, the driving process returns to step 104 and executes the above processes (steps 104 to 112). If it is determined that the driving process has ended, the driving process ends.
[0036] (Effects) As described above, in this embodiment, the wheel 10 itself is attracted to the running surface by supplying negative pressure, so even when moving from the wall surface Wb to the ceiling surface Wh, the space between the wheel 10 and the running surface does not expand, thus enabling such movement.
[0037] In this embodiment, negative pressure is supplied to the running surface through the intake port 24 formed in the rotating body 22 and the hole 28 in the outer ring 26. Therefore, even when the outer ring 26 rotates, the suction force is maintained by supplying negative pressure to the running surface. Thus, the suction force remains stable even while in motion.
[0038] In this embodiment, when the wheel 10 moves from the wall surface Wb to the ceiling surface Wh, the intake port 24 of the rotating body 22 of the wheel 10 is directed toward the ceiling surface Wh, thereby transferring negative pressure from the wall surface Wb to the ceiling surface Wh. Therefore, stable movement is possible even when the running surface changes from the wall surface Wb to the ceiling surface Wh.
[0039] In this embodiment, the intake port 24 of the wheel 10 whose running surface changes from the wall surface Wb to the ceiling surface Wh is directed toward the ceiling surface Wh, while the intake ports of the remaining wheels 10 continue to be directed toward the wall surface Wb. Therefore, even when the running surface changes from the wall surface Wb to the ceiling surface Wh, the front wheels 10 continue to supply negative pressure to the ceiling surface Wh, and the rear wheels 10 continue to supply negative pressure to the wall surface Wb. Consequently, stable running is possible even when the running surface changes from the wall surface Wb to the ceiling surface Wh.
[0040] [Second Embodiment] (Configuration) Next, the robot 100 of the second embodiment will be described. The robot 100 of the second embodiment has a different wheel configuration from the robot 100 of the first embodiment, so the wheels will be described below, and the description of the configuration of other parts will be omitted.
[0041] Figure 6 is an exploded view of an example of a wheel 10H1 according to the second embodiment. Figure 7 is a diagram showing an example of the orientation of the intake port 24 of the rotating body 22 facing the wall surface Wb when the wheel 10H1 is traveling on the wall surface Wb. Figure 8 is a diagram showing an example of the orientation of the intake port 24 of the rotating body 22 facing the ceiling surface Wh when the wheel 10H1 is traveling on the ceiling surface Wh.
[0042] As shown in Fig. 6, the wheel 10H1 of the second embodiment includes a rotating body 42 in which a suction port 444 is formed and negative pressure is supplied through the suction port 44. The wheel 10H1 is provided with a plurality of round holes 48 formed in the outer peripheral surface, an outer ring 46 located outside the rotating body 42 and rotatable independently of the rotating body 42. The rotating body 42 supplies negative pressure to the running surface through the suction port 44 and the holes 48. The axes of each of the rotating body 42 and the outer ring 46 are in a direction perpendicular to the plane of the paper shown in Figs. 7 and 8.
[0043] As shown in Fig. 2, the wheel 10 of the first embodiment has a cylindrical shape with respect to the rotating body 22 and the outer ring 26.
[0044] In contrast, in the wheel 10H1 of the second embodiment, as shown in Fig. 6, the rotating body 42 and the outer ring 46 are spherical.
[0045] (Operation) The operation of the robot 100 of the second embodiment is substantially the same as that of the robot 100 of the first embodiment, so mainly the different parts of the operation will be described.
[0046] As shown in Fig. 7, when the rotating body 42 rotates clockwise, the robot 100 ascends the wall surface Wb. Specifically, the processor drives each motor 35 so that the suction ports 44 of each wheel 10N1 to —10N4 face the wall surface Wb. Thereby, the negative pressure from the suction device 14 is supplied to the wall surface Wb through the suction ports 44 of the wheels 10N1 to 10N4 and the holes 48 formed in each outer ring 46. Also, each motor 36 is driven to rotate each outer ring 26. Thereby, while each wheel 10N1 to 10N4 sucks the wall surface Wb, the robot 100 travels on the wall surface Wb.
[0047] As shown in Fig. 8, when the robot 100 moves from the wall surface Wb to the ceiling surface Wh where it is next scheduled to travel, the motor 35 of the wheel 10H1 is driven so that the suction port 44 of the rotating body 42 of the wheel 10H1 faces the ceiling surface Wh.
[0048] (Effect) As described above, the rotating body 42 and the outer ring 46 of the second embodiment are spherical. Therefore, compared with their cylindrical shape, the spherical wheels have a smaller contact area with the ground, so there is less friction and the energy efficiency can be increased.
[0049] [Third Embodiment] (Configuration) Next, the robot 100 of the third embodiment will be described. Since the wheel configuration of the robot 100 of the third embodiment is different from that of the robot 100 of the second embodiment, the wheels will be described below, and the description of the configuration of other parts will be omitted.
[0050] Fig. 9 is an exploded configuration diagram of an example of the wheel 10H2 of the third embodiment. Fig. 10 shows an example in which the suction port 44AB faces the left side when viewed from the running surface. Fig. 11 shows an example in which the suction port 44AB faces the center when viewed from the running surface. Fig. 12 shows an example in which the suction port 44AB faces the right side when viewed from the running surface.
[0051] As shown in Fig. 9, the wheel 10H2 includes an outer ring 46, similar to the second embodiment. The wheel 10H2 includes a first spherical rotating body 42A in which a first opening 44A is formed along a first direction dA. Inside the first spherical rotating body 42A, the wheel 10H2 includes a second spherical rotating body 42B that is rotatable coaxially with the first spherical rotating body 42A and in which a second opening 44B is formed along a second direction dB that intersects the first direction dA.
[0052] The first spherical rotating body 42A and the second spherical rotating body 42B are independent of each other and are rotatable such that the first direction dA and the second opening 44B partially overlap.
[0053] The overlapping portion of the first direction dA and the second opening 44B forms the suction port 44AB, and a negative pressure is supplied to the running surface through the suction port 44AB.
[0054] (Operation) The operation of the robot 100 of the third embodiment is substantially the same as the operation of the robot 100 of the second embodiment, so mainly the different parts of the operation will be described.
[0055] When there is a protrusion on the right side from the upper surface of the robot 100 toward the running surface, as shown in Fig. 10, the first spherical rotating body 42A and the second spherical rotating body 42B are rotated so that the suction port 44AB is formed on the left side when the robot 100 is viewed from the running surface.
[0056] If the robot 100 has a projection in the center extending from the top surface toward the running surface, the first spherical rotating body 42A and the second spherical rotating body 42B are rotated so that, as shown in Figure 11, an intake port 44AB is formed in the center when viewing the robot 100 from the running surface.
[0057] If there is a protrusion on the left side of the robot 100 from the top surface toward the running surface, the first spherical rotating body 42A and the second spherical rotating body 42B are rotated so that the intake port 44AB is formed on the right side when viewing the robot 100 from the running surface, as shown in Figure 12.
[0058] In each example shown in Figures 10 to 12, there are three ways to rotate the first spherical rotating body 42A and the second spherical rotating body 42B. The first method is to fix the first spherical rotating body 42A and rotate the second spherical rotating body 42B. The second method is to rotate both the first spherical rotating body 42A and the second spherical rotating body 42B in opposite directions. The third method is to fix the second spherical rotating body 42B and rotate the first spherical rotating body 42A.
[0059] (Effects) As described above, in this embodiment, the position of the intake port 44AB can be changed by rotating the first spherical rotating body 42A and the second spherical rotating body 42B according to the shape of the running surface, and the vehicle can run stably on the running surface.
[0060] [Fourth Embodiment] (Configuration) Next, the robot 100 of the fourth embodiment will be described. The robot 100 of the fourth embodiment has a different wheel configuration from the robot 100 of the second embodiment, so the wheels will be described below, and the description of the configuration of other parts will be omitted.
[0061] Figure 13 is an exploded view of an example of a wheel 10H3 according to the fourth embodiment. As shown in Figure 13, the wheel 10H3 comprises the wheel 10H1 of the second embodiment and a magnet 50 inside the wheel 10H1.
[0062] The magnet 50 is positioned within the rotating body 42 so as to rotate in the same direction as the rotating body 42. Specifically, the magnet 50 is positioned so that the magnetic field is concentrated on the intake port 44 side (i.e., the running surface side) and almost no magnetic field is present on the opposite side (i.e., Halbach configuration).
[0063] (Effects) As described above, in this embodiment, the wheel 10H3 is equipped with a magnet 50 inside the wheel 10H1. By adding magnetic attraction from the magnet 50 to the attraction due to negative pressure, the attraction force to the running surface increases, enabling more stable running. This reduces the risk of detachment even on high-difficulty surfaces such as vertical surfaces and ceilings.
[0064] [Fifth Embodiment] Next, the robot 100 of the fifth embodiment will be described. The robot 100 of the fifth embodiment has a different wheel configuration from the robot 100 of the second embodiment, so the wheels will be described below, and the description of the configuration of other parts will be omitted.
[0065] Figure 14 is a front view of an example of a wheel 10H3 according to the fifth embodiment. Figure 15 shows an example of an outer ring 46 and an outer shell 62 that is positioned outside the outer ring 46 and has a shape corresponding to the shape of the outer ring 46. Figure 16 is a cross-sectional view of the portion of the wheel 10H3 that is in contact with the running surface W when the wheel 10H3 is attracted to the running surface W by supplying negative pressure to the running surface W.
[0066] As shown in Figures 14 to 16, the wheel 10H3 is positioned outside the outer ring 46 and has an outer shell 62 that corresponds to the shape of the outer ring 46. The outer shell 62 is made up of a deformable, tubular tube, as shown in Figure 16.
[0067] When the rotating body 42 of the wheel 11H3 supplies negative pressure to the running surface W via the intake port 44, the rotating body 42 and the outer ring 46 approach the running surface W. As described above, since the outer shell 62 is made of a deformable, tubular tube, the outer shell 62 collapses, and the negative pressure area increases. Therefore, the suction force between the wheel 10H3 and the running surface W can be increased.
[0068] [Addendum] Based on the above disclosure, the following addendum is proposed.
[0069] (Note 1) A wheel equipped with a suction device that generates suction force by negative pressure, and which runs while supplying the negative pressure to the running surface.
[0070] (Note 2) A wheel comprising: a rotating body having an intake port formed therein and through which negative pressure is supplied; and an outer ring having a plurality of holes formed therein, located on the outside of the rotating body and rotatable independently of the rotating body, wherein the rotating body supplies the negative pressure to the running surface through the intake port and the holes.
[0071] (Note 3) The wheel described in Note 2, wherein the shape of the rotating body and the outer ring are spherical.
[0072] (Note 4) The wheel according to Note 3, wherein the rotating body comprises: a first spherical rotating body having a first opening formed along a first direction; and a second spherical rotating body located inside the first spherical rotating body, rotatable coaxially with the first spherical rotating body and having a second opening formed along a second direction intersecting the first direction, wherein the first spherical rotating body and the second spherical rotating body are rotatable independently of each other and rotatable such that the first opening and the second opening partially overlap, and the portion where the first opening and the second opening overlap forms the intake port, and the negative pressure is supplied to the running surface through the intake port.
[0073] (Note 5) A wheel according to any one of Notes 2 to 4, further comprising a deformable outer shell with a plurality of holes formed on the outside of the outer ring, wherein the frame of the outer shell around the holes is positioned in a position corresponding to the frame of the outer ring around the holes. When the negative pressure is supplied to the running surface through the holes formed in the outer ring, the outer shell deforms, increasing the negative pressure area on the outer shell and thereby increasing the suction force.
[0074] (Note 6) The wheel according to any one of Notes 2 to 5, further comprising a control unit that controls the position of the opening of the rotating body so that when the wheel moves from the running surface to a running surface whose normal intersects with the normal of the running surface and to a running surface to which the wheel is scheduled to next travel, the negative pressure is supplied to the running surface.
[0075] (Note 7) A wheel as described in any one of Notes 1 to 6, further equipped with a magnet inside.
[0076] (Note 8) A robot equipped with multiple wheels as described in any one of Notes 1 to 7.
[0077] (Note 9) The robot according to Note 8, wherein, among the plurality of wheels, there is a wheel whose normal vector intersects with the normal vector of the running surface and which is moving to the next planned running surface, the other wheels, other than the wheel moving to the planned running surface, run while supplying the negative pressure to the running surface.
[0078] 10 Wheel 10H1 Wheel 10H2 Wheel 10H3 Wheel 10N1 Wheel 10N2 Wheel 10N3 Wheel 10N4 Wheel 11H3 Wheel 12 Camera 14 Suction device 15 Control device 22 Rotating body 23 Rotating body shaft 24 Inlet 25 Vacuum hose 26 Outer ring 28 Hole 32 Bearing 34 Wheel rotation shaft 35 Motor 36 Motor 37 Motor shaft 39 Endless belt 42 Rotating body 42A First spherical rotating body 42B Second spherical rotating body 44 Inlet 44A First opening 44AB Inlet 44B Second opening 46 Outer ring 48 Hole 50 Magnet 62 Outer shell 100 Robot 444 Inlet dA First direction dB Second direction W Running surface Wb Wall surface Wh Ceiling surface
Claims
1. A wheel equipped with a suction device that generates suction force by negative pressure, and which runs while supplying the negative pressure to the running surface.
2. A wheel comprising: a rotating body having an intake port formed therein and through which negative pressure is supplied; and an outer ring having a plurality of holes formed therein, located outside the rotating body and rotatable independently of the rotating body, wherein the rotating body supplies the negative pressure to the running surface through the intake port and the holes.
3. The wheel according to claim 2, wherein the shape of the rotating body and the outer ring are spherical.
4. The wheel according to claim 3, comprising: a first spherical rotating body having a first opening formed along a first direction; and a second spherical rotating body located inside the first spherical rotating body, rotatable coaxially with the first spherical rotating body and having a second opening formed along a second direction intersecting the first direction, wherein the first spherical rotating body and the second spherical rotating body are rotatable independently of each other and rotatable such that the first opening and the second opening partially overlap, the portion where the first opening and the second opening overlap forms the intake port, and the negative pressure is supplied to the running surface through the intake port.
5. The wheel according to claim 2, further comprising a deformable outer shell having a plurality of holes formed therein on the outside of the outer ring, wherein the frame of the outer shell around the holes is positioned in a position corresponding to the frame of the outer ring around the holes.
6. The wheel according to claim 2, further comprising a control unit that controls the position of the opening of the rotating body so that when the wheel moves from the running surface to a running surface whose normal intersects with the normal of the running surface and to a running surface to which the wheel is scheduled to next travel, the negative pressure is supplied to the running surface.
7. The wheel according to claim 1, further comprising a magnet inside.
8. A robot comprising a plurality of wheels as described in claim 1.
9. The robot according to claim 8, wherein, among the plurality of wheels, there is a wheel whose normal vector intersects with the normal vector of the running surface and which is moving to the next planned running surface, the other wheels, other than the wheel moving to the planned running surface, run while supplying the negative pressure to the running surface.