Running unit

Abstract

To provide a running unit in which production costs and the frequency of maintenance can be reduced, and the degree of freedom in apparatus layout is high with a simple configuration.SOLUTION: A running unit comprises: a body part 110; a pair of left and right swinging arms 112 swingably provided at a swinging transfer part 120 with each swinging axis 111 as the center; and wheels 113 provided at the swinging arms 112. The swinging transfer part 120 comprises: a first swinging transmission rotor 121 rotating in conjunction with one swinging arm 112; a second swinging rotor 122 rotating in conjunction with the other swinging arm 112; a first transmission rotor 123 to which rotation is transmitted via the first swinging rotor 121 and a first transmission strip body 126; and a second transmission rotor 124 to which rotation is transmitted via the second swinging rotor 122 and a second transmission strip body 127. The first transmission rotor 123 and the second transmission rotor 124 are connected by an interlocking shaft 125, and the first swinging rotor 121 and the second swinging rotor 122 are configured to be interlocked in such a manner that they rotate in opposite directions.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a running unit having a main body, a swing transmission part connected to the main body, a pair of left and right swing arms arranged on the swing transmission part so as to be swingable around a swing axis, and wheels respectively provided on the swing arms. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a traveling unit having a main body, a pair of left and right swing arms provided to be swingable about a swing axis, and wheels provided on each swing arm is known, for example from Patent Document 1. A multi-wheeled vehicle 1 equipped with the running unit described in Patent Document 1 has a main body (frame 2), a pair of left and right swing arms (swing arms 4L, 4R) that are swingable around a swing axis (support axis portion 3A) relative to the main body (frame 2), and wheels (5L, 5R) respectively attached to the swing arms (swing arms 4L, 4R). The swing axis (support axis portion 3A) is provided with approximately fan-shaped tilting members 17L, 17R, and each of the arc surface portions 21 of the tilting members 17L, 17R is connected to a balance-shaped or pulley-shaped direction-changing member 19 by a string-like body 20. This allows the tilting members 17L, 17R to be linked, and when one of the wheels (5L, 5R) is pushed up by force from the road surface via the swing shaft (support shaft portion 3A) and the swing arms (4L, 4R), the other wheel (5L, 5R) can be pushed down toward the road surface.When turning or changing direction, or when driving on a road with a lateral slope, the ground pressure of the wheels (5L, 5R) can be kept even, and the wheels (5L, 5R) can be freely tilted together with the vehicle body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4567813 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there is still room for improvement in the propulsion units known from the above-mentioned patent documents and the like. In other words, the running unit known from Patent Document 1 and elsewhere has a configuration in which a pair of left and right wheels are linked using a direction-changing member, a tilting member, and a string-like body, so it has many complex drive parts and there is a risk that manufacturing costs and the frequency of maintenance such as greasing will increase. Furthermore, since the balance- or pulley-shaped direction-changing member and the left and right tilting members are connected via a string-like body to link the left and right wheels, it is necessary to arrange the direction-changing member and the tilting member so that they have a specified size and a specified distance, which may reduce the freedom of layout of the device.

[0005] The present invention is devised to solve these problems, and has an object to provide a traveling unit with a simple configuration, which can reduce manufacturing costs and maintenance frequency, and which has a high degree of freedom in the layout of the device. [Means for solving the problem]

[0006] The running unit of the present invention is a running unit having a main body, a swing transmission part connected to the main body, a pair of left and right swinging arms arranged to be swingable around a swing axis on the swing transmission part, and wheels arranged on each of the swing arms, wherein the swing transmission part has a first swinging rotor that rotates in conjunction with the swing of one of the swing arms, a second swinging rotor that rotates in conjunction with the swing of the other swing arm, a first transmission rotor that transmits rotation via the first swinging rotor and a first transmission wire, and a second transmission rotor that transmits rotation via the second swinging rotor and a second transmission wire, the first transmission rotor and the second transmission rotor are connected by an interlocking shaft that links each other's rotation shafts, and the first swinging rotor and the second swinging rotor are arranged to be interlocked with each other's rotation in opposite directions, thereby solving the above-mentioned problem. Effect of the Invention

[0007] According to the inventions of claims 1 and 5, the swing transmission unit has a first swing rotor that rotates in conjunction with the swing of one of the swing arms, a second swing rotor that rotates in conjunction with the swing of the other swing arm, a first transmission rotor that transmits rotation via the first swing rotor and the first transmission wire, and a second transmission rotor that transmits rotation via the second swing rotor and the second transmission wire. The first transmission rotor and the second transmission rotor are connected by an interlocking shaft that links each other's rotating shafts, and the first swing rotor and the second swing rotor are configured so that their rotations can be interlocked in opposite directions. Therefore, for example, when one wheel swings upward due to road surface conditions, the swing transmission unit can swing the other swing arm downward in response to the swing of one swing arm, thereby swinging the other wheel downward.

[0008] Conversely, when only the other wheel swings upward, the one wheel can be linked to swing downward via the swing motion transmission part. This allows the swing transmission part to change the height of the pair of left and right wheels in response to the left-right inclination of the vehicle body, as well as the unevenness of the road surface and the condition of the slope, ensuring that both left and right wheels are firmly on the ground and improving driving stability. In addition, by placing the oscillating shaft and the interlocking shaft close to each other, the structure for interlocking the left and right wheels in the oscillating direction can be consolidated, thereby saving space and improving the layout freedom of the traveling unit.

[0009] According to the configuration described in claim 2, the first transmission wire is composed of an ended chain having one end connected to the first oscillating rotor and the other end connected to the first transmission rotor, and the second transmission wire is composed of an ended chain having one end connected to the second oscillating rotor and the other end connected to the second transmission rotor.As a result, the first transmission rotor, the first oscillating rotor, the second transmission rotor, and the second oscillating rotor act as sprockets to reliably transmit rotation, and each sprocket can be formed into a sector shape only in the area that meshes with the ended chain, which reduces the weight of the oscillating transmission unit and reduces the storage space. According to the configuration described in claim 3, the oscillating transmission part has a third oscillating rotor which is adjacent to the first oscillating rotor in the axial direction and rotates integrally therewith, a fourth oscillating rotor which is adjacent to the second oscillating rotor in the axial direction and rotates integrally therewith, a third transmission rotor which transmits rotation via the third oscillating rotor and the third transmission wire, and a fourth transmission rotor which transmits rotation via the fourth oscillating rotor and the fourth transmission wire, the third transmission rotor and the fourth transmission rotor being connected by an interlocking shaft, the third transmission wire being configured to transmit rotation due to tension in the opposite direction to the first transmission wire, and the fourth transmission wire being configured to transmit rotation due to tension in the opposite direction to the second transmission wire. As a result, the transmission wires do not slacken in response to any movement of each oscillating arm, and for example, even if the main body part is lifted and both wheels are lifted off the ground, both oscillating arms are reliably interlocked in opposite directions without swinging downward together.

[0010] According to the configuration described in claim 4, the third transmission body is composed of an ended chain having one end connected to the third oscillating rotor and the other end connected to the third transmission rotor, and the fourth transmission body is composed of an ended chain having one end connected to the fourth oscillating rotor and the other end connected to the second transmission rotor.As a result, the third transmission rotor, the third oscillating rotor, the fourth transmission rotor, and the fourth oscillating rotor act as sprockets to reliably transmit rotation, and each sprocket can be formed into a sector shape only in the area that meshes with the ended chain, which reduces the weight of the oscillating transmission unit and reduces the storage space. [Brief description of the drawings]

[0011] [Figure 1] 1 is a perspective view of a propulsion unit 100 according to a first embodiment of the present invention. [Diagram 2] 1 is a top view of a propulsion unit 100 according to a first embodiment of the present invention. [Diagram 3] 1 is a front view of a propulsion unit 100 according to a first embodiment of the present invention. [Figure 4] 1 is a perspective view of a propulsion unit 100 according to a first embodiment of the present invention, viewed from below. [Diagram 5]2 is an enlarged explanatory view of a swing motion transmission part 120 of the propulsion unit 100 according to the first embodiment of the present invention. FIG. [Figure 6] FIG. [Figure 7] FIG. 11 is an explanatory diagram showing a state of the first wheel 113L according to the present invention when the first wheel 113L is swung upward. [Figure 8] FIG. 11 is an explanatory diagram showing a state of a second wheel 113R side when a first wheel 113L of the present invention swings upward. [Figure 9] FIG. 11 is an enlarged explanatory view of a swing motion transmission part 120b of a propulsion unit 100b according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] A propulsion unit 100 according to an embodiment of the present invention will be described below with reference to the drawings. In addition, since other components of the running vehicle other than the running unit 100 are not shown in the illustration, the main body 110 is drawn divided into left and right halves, but in reality, the left and right main body parts 110 are connected by other components not shown in the illustration, and are formed as a single unit so that the relative positions of the oscillating shaft 111 (first oscillating shaft 11R, second oscillating shaft 111L) and the interlocking shaft 125 are fixed.

[0013] As shown in Figures 1 to 5, the traveling unit 100 according to the first embodiment of the present invention has a main body 110, a swing transmission part 120 connected to the main body 110, a pair of left and right swing arms 112 (first swing arm 112R, second swing arm 112L) swingably mounted on the swing transmission part 120 around a swing axis 111 (first swing axis 11R, second swing axis 111L), and wheels 113 (first wheel 113R, second wheel 113L) rotatably connected to the swing arms 112 by respective rotating axes 114 (first rotating axis 114R, second rotating axis 114L).

[0014] The swing transmission part 120 has a first swing sprocket 121 which is a first swing rotating body connected to the first swing arm 112R by the first swing shaft 111R, a second swing sprocket 122 which is a second swing rotating body connected to the second swing arm 112L by the second swing shaft 111L, a first transmission sprocket 123 which is a first transmission rotating body that transmits rotation via the first swing sprocket 121 and a first transmission body that is a first chain 126, and a second transmission sprocket 124 which is a second transmission rotating body that transmits rotation via the second swing sprocket 122 and a second chain 127 which is a second transmission body. The first transmission sprocket 123 and the second transmission sprocket 124 are connected by a linking shaft 125 that couples their respective rotary shafts.

[0015] The first chain 126 has both ends fixed to the first swing sprocket 121 and the first transmission sprocket 123 , and is looped between the lower side of the first swing sprocket 121 and the lower side of the first transmission sprocket 123 . The second chain 127 has both ends fixed to the second oscillating sprocket 122 and the second transmission sprocket 124 , and is looped between the lower side of the second oscillating sprocket 122 and the upper side of the second transmission sprocket 124 . This allows the first oscillating sprocket 121 and the second oscillating sprocket 122 to rotate in opposite directions in conjunction with each other.

[0016] Next, the interlocking operation of the first wheel 113L and the second wheel 113R by the propulsion unit 100 according to one embodiment of the present invention will be described with reference to FIGS. First, as shown in FIG. 7, while traveling on a flat surface FG, when the second wheel 113L of the traveling unit 100 moves from the flat surface FG onto a convex surface TG, the second swing arm 112L swings upward about the second swing shaft 111L. At this time, the second oscillating sprocket 122 connected to the second oscillating arm 112L by the second oscillating shaft 111L also rotates, and since the second chain 127 is wound in opposite directions around the second transmission sprocket 124 and the second oscillating sprocket 122, the second transmission sprocket 124 rotates in the opposite direction to the second oscillating sprocket 122.

[0017] Furthermore, since the first transmission sprocket 123 and the second transmission sprocket are connected by an interlocking shaft 125 that couples their respective rotation shafts, the first transmission sprocket 123 rotates in the same direction as the second transmission sprocket . Since the first chain 126 is wound around the first transmission sprocket 123 and the first oscillating sprocket 121 in the forward direction, the first oscillating sprocket 121 rotates in the same direction as the first transmission sprocket 123 and rotates in the opposite direction to the second oscillating sprocket 122. As a result, the first swing arm 112R connected to the first swing sprocket 121 by the first swing shaft 111R swings downward, and the first wheel 113R comes into contact with the flat surface FG. When the traveling vehicle further moves and the second wheel 113L moves from the convex surface TG onto the flat surface FG, the second wheel 113L loses the force to swing upward and starts to swing downward together with the second swing arm 112L due to its own weight. Meanwhile, the first wheel 113R maintains its contact with the flat surface FG and swings upward together with the first swing arm 112R when viewed from the first swing shaft 111R, so that the rotation shafts 114 of the pair of left and right wheels 113 are positioned in a straight line and come into contact with the flat surface FG.

[0018] In this way, the pair of left and right wheels 113 are configured to swing in opposite directions in unison, so that even if one wheel 113 goes over a step or the like, the other wheel 113 can be placed on the ground without the main body 110 tilting significantly, thereby improving driving stability. Furthermore, the interlocking relationship between the first wheel 113R and the second wheel 113L naturally operates in such a way that when only the first wheel 113R swings upward, the second wheel 113L swings downward. Furthermore, even if the vehicle body tilts when the vehicle goes around a curve, both the first wheel 113R and the second wheel 113L can contact the ground, improving running stability. In addition, each sprocket around which the end-shaped first chain 126 and second chain 127 are wound may be missing some or all of the teeth on its outer periphery, so long as the ends of the respective chains are fixed and capable of transmitting force in the pulling direction. Moreover, the first chain 126 wound in the forward direction may be formed in an endless shape and wound around the entire circumference.

[0019] As shown in Figure 9, the running unit 100b according to the second embodiment of the present invention has a configuration similar to that of the first embodiment, as well as a third oscillating sprocket 131 which is a third oscillating rotating body that is axially adjacent to the first oscillating sprocket 121 and rotates integrally therewith, a fourth oscillating sprocket 132 which is a fourth oscillating rotating body that is axially adjacent to the second oscillating sprocket 122 and rotates integrally therewith, a third transmission sprocket 133 which transmits rotation via the third oscillating sprocket 131 and a third transmission body which is a third chain 136, and a fourth transmission sprocket 134 which transmits rotation via the fourth oscillating sprocket 132 and a fourth transmission body which is a fourth chain 137. The first transmission sprocket 123, the second transmission sprocket 124, the third transmission sprocket 133, and the fourth transmission sprocket 134 are connected by an interlocking shaft 125 that connects the rotary shafts of each of them.

[0020] As in the first embodiment, the first chain 126 has both ends fixed to the first oscillating sprocket 121 and the first transmission sprocket 123, and is looped between the lower side of the first oscillating sprocket 121 and the lower side of the first transmission sprocket 123. Similar to the first embodiment, the second chain 127 has both ends fixed to the second oscillating sprocket 122 and the second transmission sprocket 124, and is looped between the lower side of the second oscillating sprocket 122 and the upper side of the second transmission sprocket 124.

[0021] Furthermore, in this embodiment, the third chain 136 has both ends fixed to the third oscillating sprocket 131 and the third transmission sprocket 133, and is looped between the upper side of the third oscillating sprocket 131 and the upper side of the third transmission sprocket 133. The fourth chain 137 has both ends fixed to the fourth oscillating sprocket 132 and the fourth transmission sprocket 134 , and is looped between the upper side of the fourth oscillating sprocket 132 and the lower side of the fourth transmission sprocket 134 . This allows the third oscillating sprocket 131 and the fourth oscillating sprocket 132 to rotate in opposite directions in conjunction with each other, similar to the first oscillating sprocket 121 and the second oscillating sprocket 122, so that even when the main body 100b is lifted and both wheels 113 (first wheel 113R, second wheel 113L) are lifted off the ground, both oscillating arms 112 (first oscillating arm 112R, second oscillating arm 112L) are reliably interlocked in opposite directions without swinging downwards together.

[0022] Although the embodiment of the present invention has been described in detail above, the present invention is not limited to the above embodiment, and various design modifications can be made without departing from the present invention described in the claims. The propulsion unit according to the present invention can be used in various vehicles that can run on wheels, such as vehicles equipped with an engine, an electric motor, etc., human-powered bicycles, and carts for carrying luggage. In addition, in the above-described embodiment, the wheels of the running unit are described as functioning as the rear wheels of the running vehicle, but the configuration of the running unit is not limited to this and, for example, may be attached so as to function as the front wheels of the running vehicle. In the above-described embodiment, the transmission member is configured as a chain, but the transmission member may be a band-like member such as a belt, or a linear member such as a rope. [Explanation of symbols]

[0023] 100 ··· Travel unit 110 Frame member (main body) 111 ... Swing shaft 112 ... swinging arm 113...wheel 114 Rotation axis 120 .... Swing transmission part 121 First oscillating sprocket (first oscillating rotor) 122 Second oscillating sprocket (second oscillating rotor) 123 First transmission sprocket (first transmission rotor) 124 - Second transmission sprocket (second transmission rotor) 125 ··· Interlocking shaft 126 First chain (first transmission body) 127 Second chain (second transmission body) 131 Third oscillating sprocket (third oscillating rotor) 132 Fourth oscillating sprocket (fourth oscillating rotor) 133 Third transmission sprocket (third transmission rotor) 134 - Fourth transmission sprocket (fourth transmission rotor) 136 3rd Chain (3rd Transmission Body) 137 4th chain (4th transmission body) FG...Flat surface TG...Convex surface

Claims

1. A traveling unit having a main body, a swing transmission part provided on the main body, a pair of left and right swing arms provided on the swing transmission part so as to be swingable around a swing axis, and wheels provided on each of the swing arms, the swing transmission section has a first swing rotor that rotates in conjunction with the swing of one of the swing arms, a second swing rotor that rotates in conjunction with the swing of the other swing arm, a first transmission rotor that transmits rotation via the first swing rotor and a first transmission wire, and a second transmission rotor that transmits rotation via the second swing rotor and a second transmission wire, The first transmission rotor and the second transmission rotor are connected by a linking shaft that links the respective rotation shafts, A traveling unit, characterized in that the first oscillating rotor and the second oscillating rotor are configured to be capable of rotating in opposite directions in conjunction with each other.

2. the first transmission member is a chain having one end connected to the first oscillating rotor and the other end connected to the first transmission rotor, 2. The traveling unit according to claim 1, wherein the second transmission member is configured as an end-operated chain having one end connected to the second oscillating rotor and the other end connected to the second transmission rotor.

3. The swing transmission unit includes a third swing rotor that is adjacent to the first swing rotor in the axial direction and rotates integrally with the first swing rotor, and a fourth swing rotor that is adjacent to the second swing rotor in the axial direction and rotates integrally with the second swing rotor, a third transmission rotor that transmits rotation between the third oscillating rotor and a third transmission wire, and a fourth transmission rotor that transmits rotation between the fourth oscillating rotor and a fourth transmission wire, The third transmission rotor and the fourth transmission rotor are connected by a linking shaft, The third transmission member is configured to transmit rotation due to tension in a direction opposite to that of the first transmission member, 2. The propulsion unit according to claim 1, wherein the fourth transmission member is configured to transmit rotation due to tension in a direction opposite to that of the second transmission member.

4. the third transmission member is configured as an end-connected chain having one end connected to the third oscillating rotor and the other end connected to the third transmission rotor, 4. The traveling unit according to claim 3, wherein the fourth transmission member is configured as an end-operated chain having one end connected to the fourth oscillating rotor and the other end connected to the second transmission rotor.

5. A running vehicle having a vehicle body portion, a front running portion having wheels, and a rear running portion having wheels, wherein at least one of the side running portion and the rear running portion is constituted by a running unit according to any one of claims 1 to 4.

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