초록 ▼

When a solid such as a utensil or a structure thing moves, stability is high, it is suitable for the indoor use, furthermore to provide the caster which can use the foot part of robot walking by the two pairs. A caster is comprised of a rocking shaft which sets up a wheel, a stably supporting leg, a

When a solid such as a utensil or a structure thing moves, stability is high, it is suitable for the indoor use, furthermore to provide the caster which can use the foot part of robot walking by the two pairs. A caster is comprised of a rocking shaft which sets up a wheel, a stably supporting leg, a slidably stabilizing plate and wheel, a drive device which rocks a rocking shaft and change an angle of a slidably stabilizing plate, the detection device which detects a change in the angle and the detection devices which detect a change in the increased weight. And stability is higher than the existent caster, the caster with sled for getting over obstacles which can brake without controlling the movement of the wheel of the existent caster and the axle which holds a wheel by the mechanism such as the brake for braking, in other words, a caster for the robot can be made.

대표청구항 ▼

1. A caster comprising: a plate adapted to touch the ground, said plate having a first upward curved end and a second upward curved end, said plate having an opening between the first upward carved end and the second upward curved end; a wheel and a support, said wheel being disposed in the open

1. A caster comprising: a plate adapted to touch the ground, said plate having a first upward curved end and a second upward curved end, said plate having an opening between the first upward carved end and the second upward curved end; a wheel and a support, said wheel being disposed in the opening, said support rotatably supporting the wheel, said support having a shaft adapted to be connected to a device to be transferred; an arch member having a top portion, a first end, and a second end, said top portion being movably supported by the support at a position above the wheel wherein an angle of the support with respect to the plate is changeable as the support moves along the arch member, said first end being located between the first upward curved end and the opening, said second end being located between the second upward curved end and the opening; and a first socket and a second socket provided on the plate, said first socket receiving the first end of the arch member, said second socket receiving the second end of the arch member, wherein the first socket, the opening, and the second socket are aligned, and the wheel touches the ground through the opening, wherein (i) when the first upward curved end is detached from the ground, the wheel and the second upward curved end touch the ground, (ii) when the second upward curved end is detached from the ground, the wheel and the first upward curved end touch the ground, and (iii) when the first upward curved end and the second upward curved end touch the ground, the wheel touches the ground. 2. The caster according to claim 1, wherein the plate has another opening where the first socket is positioned, and the caster further comprises a friction member provided at a bottom of the first socket, said friction member being adapted to touch the ground through the other opening. 3. The caster according to claim 1, wherein the arch member pivots on a point where the top portion of the arch member and the support are connected. 4. The caster according to claim 1, wherein the first end of the arch member and the second end of the arch member pivot sideways on the first socket and the second socket, respectively. 5. A caster comprising: a plate adapted to touch the ground, said plate having a front end and a rear end, said front end being upward curved, said plate having an opening between the front end and the rear end; a wheel and a support, said wheel being disposed in the opening, said support rotatably supporting the wheel, said support having a shaft adapted to be connected to a device to be transferred; a leg member having a top portion, a front leg end, and a rear leg end, said top portion being supported by the support at a position above the wheel, said front leg end being located between the front end of the plate and the opening, said rear leg end being located between the rear end of the plate and the opening; and a front socket and a rear socket provided on the plate, said front socket slidably receiving the front leg end, said rear socket slidably receiving the rear leg end, wherein an angle of the support with respect to the plate is changeable as at least one of the front leg end or the rear leg end slides in the front socket or the rear socket, wherein the front socket, the opening, and the rear socket are aligned, and the wheel touches the ground through the opening, wherein (i) when the front end of the plate is detached from the ground, the wheel and the rear end of the plate touch the ground, (ii) when the rear end of the plate is detached from the ground, the wheel and the front end of the plate touch the ground, and (iii) when the front end and the rear end of the plate touch the ground, the wheel touches the ground.