Traveling module and vehicle

Abstract

To provide a traveling module in which a rotation shaft is less likely to move with the load to which the rotation shaft is subjected, and to provide a vehicle including the traveling module.SOLUTION: A traveling module includes a rotation shaft, a motor, a wheel, a radial regulation member, and a housing. The housing includes a wall part disposed between the motor and the wheel. A direction in which the motor is disposed to the wall part is a first direction in an axial direction of the rotation shaft. A direction on an opposite side to the first direction is a second direction. The rotation shaft is disposed on a side of the second direction relative to the wall part while being inserted through the radial regulation member and the wall part so as to be rotatable, and includes a wheel fitting part to which the wheel is fitted. The radial regulation member includes: a sealing material; and a cover member fitted to a surface of the wall part on the side of the second direction to accommodate the sealing material together with the wall part. The sealing material is nipped by the rotation shaft and the cover member in a radial direction.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a traveling module used in an assembled vehicle, and to an assembled vehicle. [Background technology]

[0002] Conventionally, self-propelled robots (hereinafter referred to as "conventional self-propelled robots"), which are vehicles capable of self-propelling, have been known (see, for example, Patent Document 1). Conventional self-propelled robots include a rotating shaft, wheels, and a motor. Conventional self-propelled robots move by rotating the wheels via the rotating shaft using the motor. Such conventional self-propelled robots are designed as specialized products for each driving environment. Therefore, the price of conventional self-propelled robots tends to be high. Furthermore, when conventional self-propelled robots are used in driving environments different from those envisioned at the time of design, major design changes may be required.

[0003] To address these technical challenges, modularization of each component of a self-propelled robot is effective. For example, when a self-propelled robot travels outdoors, the outdoor road surface includes not only flat surfaces but also uneven surfaces. Therefore, when a self-propelled robot is used in a variety of driving environments, the component module (hereinafter referred to as the "driving module") containing the motor, rotating shaft, and wheels must be designed to be compatible with a wide range of road surface shapes.

[0004] When a wheel travels over an uneven surface, the rotating shaft receives a load from the wheel that is in contact with the uneven surface. This load can be broadly divided into a load along the radial direction of the rotating shaft (radial load) and a load along the thrust direction of the rotating shaft (thrust load). When the rotating shaft receives the load, it can move in the radial direction or the thrust direction. If the amount of movement of the rotating shaft becomes too great, the parts connected to the rotating shaft (for example, the motor or bearings) may be damaged. Therefore, the traveling module must be designed to withstand both radial and thrust loads. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-60822 Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention aims to provide a traveling module in which the rotating shaft is less likely to move due to a load received by the rotating shaft, and a vehicle equipped with the traveling module. [Means for solving the problem]

[0007] The traveling module of the present invention is a traveling module used in an assembled vehicle, and comprises a rotating shaft, a motor that rotates the rotating shaft, a wheel attached to the rotating shaft, a radial regulating member that regulates movement of the rotating shaft in the radial direction of the rotating shaft, and a housing to which the motor and radial regulating member are attached, the housing having a wall portion arranged between the motor and the wheel, the direction in the axial direction of the rotating shaft in which the motor is arranged relative to the wall portion is a first direction, and the direction opposite to the first direction is a second direction, the rotating shaft is rotatably inserted between the radial regulating member and the wall portion, is arranged on the second direction side of the wall portion, and has a wheel mounting portion to which the wheel is attached, the radial regulating member having a sealing material and a cover member attached to the second direction side surface of the wall portion and accommodating the sealing material together with the wall portion, the sealing material being sandwiched between the rotating shaft and the cover member in the radial direction. [Effects of the Invention]

[0008] The present invention can provide a traveling module in which the rotating shaft is less likely to move due to a load received by the rotating shaft, and a vehicle equipped with the traveling module. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is an external view of a vehicle showing an embodiment of the vehicle according to the present invention; [Figure 2]FIG. 2 is an exploded perspective view of the vehicle. [Figure 3] 1 is a partial cross-sectional view of a traveling module showing an embodiment of the traveling module according to the present invention. [Figure 4] FIG. 2 is a partially exploded perspective view of the traveling module. [Figure 5] FIG. 2 is a partially enlarged cross-sectional view of the traveling module. [Figure 6] 4 is an enlarged cross-sectional view of a wheel mounting portion and a wheel support member of the traveling module, as viewed from the motor side of the traveling module. FIG. [Figure 7] 3 is a cross-sectional view showing a mounting state of a specific first frame and a second frame provided in the vehicle. FIG. [Figure 8] 10 is a schematic diagram showing that the specific first frame can swing relative to the second frame. FIG. [Figure 9] FIG. 4 is a schematic plan view of the second frame and each traveling module. [Figure 10] FIG. 4 is a partially enlarged cross-sectional view of a traveling module according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a vehicle according to the present invention (hereinafter referred to as "the vehicle") and a traveling module according to the present invention (hereinafter referred to as "the traveling module") will be described below with reference to the drawings.

[0011] The following description is an example in which the vehicle is used to photograph various meters located within a factory. For example, the vehicle estimates its own position based on outdoor information (map information of the factory) created using SLAM (Simultaneous Localization and Mapping) technology, and travels within the factory toward the location of the target. Road surfaces within the factory include uneven surfaces, such as gravel roads. The vehicle includes a motor that drives the wheels and a rotating shaft to which the wheels are attached. The rotating shaft may receive a load from the wheels that come into contact with the uneven surface. The load includes a load acting along the radial direction of the rotating shaft (hereinafter referred to as a "radial load") and a load acting along the axial direction of the rotating shaft (hereinafter referred to as a "thrust load").

[0012] ●This vehicle● This vehicle is an assembly-type vehicle in which various modules are detachably attached to a frame. The modules attached to this vehicle are selected appropriately depending on the use of the vehicle and the external environment in which the vehicle is used. In other words, the number and arrangement of the modules attached to this vehicle can be changed depending on the use of the vehicle and the external environment.

[0013] In the following description, the "forward / rearward direction" refers to the direction in which the vehicle travels. The "forward direction" refers to the direction in which the vehicle moves forward. The "rearward direction" refers to the direction in which the vehicle moves backward. The "downward direction" refers to the direction of gravity. The "upward direction" refers to the direction opposite to the downward direction. The "leftward / rightward direction" refers to a direction perpendicular to the forward / rearward direction and the up / down direction. Of the leftward / rightward directions, the "rightward direction" refers to the rightward direction in relation to the vehicle. The "leftward direction" refers to the leftward direction in relation to the vehicle.

[0014] -Configuration of this vehicle FIG. 1 is an external view of the vehicle showing the embodiment of the vehicle. In the drawing, of the two rectangular parallelepipeds enclosed by the two-dot chain lines, the larger rectangular parallelepiped represents the electrical equipment storage module 4, and the smaller rectangular parallelepiped represents the control device 5. The control device 5 is housed in the electrical equipment storage module 4.

[0015] The vehicle 1 includes a first sensor module 2, a second sensor module 3, an electrical equipment storage module 4, a control device 5, a frame 6, and main driving modules 7fa, 7fb, 7ra, and 7rb.

[0016] Here, when the actual traveling modules 7fa, 7fb, 7ra, and 7rb are not particularly distinguished from one another, the actual traveling modules 7fa, 7fb, 7ra, and 7rb are each referred to as an actual traveling module 7. When the first sensor module 2, the second sensor module 3, the electrical component storage module 4, and the actual traveling module 7 are not particularly distinguished from one another, the first sensor module 2, the second sensor module 3, the electrical component storage module 4, and the actual traveling module 7 are each referred to as a module.

[0017] FIG. 2 is an exploded perspective view of the vehicle 1. As shown in FIG. In the figure, of the two dotted lines in the left-right direction, the front dotted line indicates an imaginary line on which the rotation shaft 73 of each of the pair of actual traveling modules 7fa, 7fb is arranged. The rear dotted line indicates an imaginary line on which the rotation shaft 73 of each of the pair of actual traveling modules 7ra, 7rb is arranged. Each of the actual traveling modules 7fa, 7fb constitutes the front wheels of the vehicle 1. Each of the actual traveling modules 7ra, 7rb constitutes the rear wheels of the vehicle 1. The rotation shafts 73 of each of the pair of actual traveling modules 7 that constitute the front wheels or rear wheels are arranged on the same imaginary line. Details of the rotation shafts 73 will be described later.

[0018] The first sensor module 2 is a sensor that acquires environmental information. The first sensor module 2 is a camera. The first sensor module 2 is an example of a sensor module in the present invention.

[0019] The sensor module in the present invention is not limited to a camera, and may be, for example, an infrared array sensor, a Doppler sensor, a temperature sensor, a barometric pressure sensor, a sound sensor, an optical sensor, an acceleration sensor, a position sensor, a positioning sensor, an odor sensor, or the like.

[0020] The environmental information is information relating to the environment outside the vehicle 1. The environmental information includes, for example, color temperature, brightness, and the like.

[0021] The second sensor module 3 is a sensor that detects surrounding information. The second sensor module 3 is a 3D lidar. The second sensor module 3 creates a map based on the detected surrounding information. The second sensor module 3 is an example of the second sensor module of the present invention.

[0022] The surrounding information is information about objects (for example, buildings, topography, etc.) present around the vehicle 1. The surrounding information includes, for example, the shape of the object, the size of the object, and the distance from the vehicle 1 to the object.

[0023] The electrical equipment storage module 4 accommodates the control device 5, wiring for each module, a battery, and the like.

[0024] The control device 5 controls the operation of the main traveling module 7. The operation of the main traveling module 7 will be described in detail later.

[0025] The frame 6 (see FIG. 1) is a frame to which the modules are detachably attached.

[0026] Here, when the first frame 61, the second frame 62, the third frame 63, and the fourth frame 64 are not particularly distinguished from one another, the first frame 61, the second frame 62, the third frame 63, and the fourth frame 64 are each referred to as frame 6.

[0027] The frame 6 comprises first frames 61f, 61r, a second frame 62, third frames 63f, 63r, fourth frames 64f, 64r, a first frame fixing member (not shown), a third frame fixing member (not shown), and a fourth frame fixing member (not shown).

[0028] Here, when the first frames 61f, 61r are not particularly distinguished from one another, the first frames 61f, 61r are each referred to as a first frame 61. When the third frames 63f, 63r are not particularly distinguished from one another, the third frames 63f, 63r are each referred to as a third frame 63. When the fourth frames 64f, 64r are not particularly distinguished from one another, the fourth frames 64f, 64r are each referred to as a fourth frame 64. Details of the method of attaching each frame and each module (the method of assembling the vehicle 1) will be described later.

[0029] The first frame 61 (see FIG. 2) is a frame to which the main traveling module 7 of the modules is detachably attached.

[0030] The first frame 61f is a frame to which the pair of main traveling modules 7fa, 7fb are attached. The first frame 61f supports the pair of main traveling modules 7fa, 7fb. The first frame 61f is disposed in front of the first frame 61r. The first frame 61f is disposed along the left-right direction. The first frame 61f includes a front wall portion 611f, a ceiling portion 612f, and a rear wall portion 613f.

[0031] The front wall portion 611f is disposed along the up-down and left-right directions and has a rectangular plate shape.

[0032] The ceiling portion 612f is disposed along the front-rear and left-right directions and has a rectangular plate shape.

[0033] The rear wall portion 613f is disposed along the up-down and left-right directions and has a rectangular plate shape.

[0034] The upper end of the front wall 611f is connected to the front end of the ceiling 612f. The rear end of the ceiling 612f is connected to the upper end of the rear wall 613f. That is, the front wall 611f, the ceiling 612f, and the rear wall 613f are integrally formed. In other words, the first frame 61f has an inverted U-shape when viewed from the left to right.

[0035] The first frame 61f is a specific first frame according to the present invention. That is, the first frame 61 includes the specific first frame 61f.

[0036] In the following description, for convenience of explanation, the reference symbol "61f" is used to refer to the first frame 61f or the specific first frame 61f.

[0037] The specific first frame 61f is a frame that can swing relative to the second frame 62 (see FIG. 8). The specific first frame 61f will be described in detail later.

[0038] The first frame 61r (see FIG. 2) is a frame to which the pair of main traveling modules 7ra, 7rb are attached. The first frame 61r supports the pair of main traveling modules 7ra, 7rb. The first frame 61r is disposed behind the first frame 61f. The first frame 61r is disposed along the left-right direction. The first frame 61r includes a front wall portion 611r, a ceiling portion 612r, and a rear wall portion 613r.

[0039] The front wall portion 611r is disposed along the up-down and left-right directions and has a rectangular plate shape.

[0040] The ceiling portion 612r is disposed along the front-rear and left-right directions and has a rectangular plate shape.

[0041] The rear wall portion 613r is disposed along the up-down and left-right directions and has a rectangular plate shape.

[0042] The upper end of the front wall 611r is connected to the front end of the ceiling 612r. The rear end of the ceiling 612r is connected to the upper end of the rear wall 613r. That is, the front wall 611r, the ceiling 612r, and the rear wall 613r are integrally formed. In other words, the first frame 61r has an inverted U-shape when viewed from the left and right.

[0043] The second frame 62 is a frame to which the first frame 61, the third frame 63, and the fourth frame 64 are detachably attached. The second frame 62 supports the first frame 61, the third frame 63, and the fourth frame 64. The second frame 62 is disposed along the front-rear direction. The second frame 62 includes a first base member 621, a support shaft 622, and support members 623f and 623r.

[0044] The first base member 621 is a known aluminum frame to which a first fixed object, which will be described later, is detachably attached. The first base member 621 is arranged along the front-rear direction. The first base member 621 is elongated. The first base member 621 has a plurality of guide grooves (not shown). The guide grooves are arranged on the upper and lower surfaces of the first base member 621. The first base member 621 is an example of a base member according to the present invention.

[0045] The support shaft 622 is a shaft that supports the specific first frame 61f so that it can swing. The support shaft 622 is arranged along the front-rear direction. The support shaft 622 is cylindrical. The support shaft 622 has two female threaded holes (not shown). The female threaded holes are arranged on the front end surface and the rear end surface of the support shaft 622, respectively. Well-known male screws B1 and B2 corresponding to the female threaded holes are fitted into the female threaded holes (see FIG. 7).

[0046] Support member 623f (see FIG. 2) is a member that supports both ends of support shaft 622 together with support member 623r. Support member 623f is attached to first base member 621. Support member 623f is disposed in front of support member 623r. Support member 623f is attached to the lower surface of first base member 621. In other words, support member 623f is disposed below first base member 621. Support member 623f includes a first upper support portion 6231f and a front support portion 6232f.

[0047] The first upper support portion 6231f is disposed along the front-rear and left-right directions. The first upper support portion 6231f has a rectangular plate shape.

[0048] The front support portion 6232f is disposed along the up-down and left-right directions and has a rectangular plate shape.

[0049] The rear end of the first upper support portion 6231f is connected to the upper end of the front support portion 6232f. That is, the first upper support portion 6231f is formed integrally with the front support portion 6232f.

[0050] Support member 623r, together with support member 623f, is a member that supports both ends of support shaft 622. Support member 623r is attached to first base member 621. Support member 623r is disposed rearward of support member 623f. Support member 623r is attached to the lower surface of first base member 621. In other words, support member 623r is disposed below first base member 621. Support member 623r includes second upper support portion 6231r and rear support portion 6232r.

[0051] The second upper support portion 6231r is disposed along the front-rear and left-right directions. The second upper support portion 6231r has a rectangular plate shape.

[0052] The rear support portion 6232r is disposed along the up-down and left-right directions and has a rectangular plate shape.

[0053] The front end of the second upper support portion 6231r is connected to the upper end of the rear support portion 6232r, that is, the second upper support portion 6231r is formed integrally with the rear support portion 6232r.

[0054] The third frame 63f is a frame to which the first sensor module 2, out of the modules, is detachably attached. The third frame 63f supports the first sensor module 2. The third frame 63f is disposed in front of the third frame 63r. The third frame 63f is disposed along the up-down direction. The third frame 63f is disposed above the second frame 62. The third frame 63f includes a second base member 631f, a sensor support member 632f, and a first sensor fixing member (not shown).

[0055] The third frame 63r is a frame to which the second sensor module 3, out of the modules, is detachably attached. The third frame 63r supports the second sensor module 3. The third frame 63r is disposed behind the third frame 63f. The third frame 63r is disposed along the up-down direction. The third frame 63r is disposed above the second frame 62. The third frame 63r includes a second base member 631r, a sensor support member 632r, and a second sensor fixing member (not shown).

[0056] Here, when the second base members 631f and 631r are not particularly distinguished from each other, the second base members 631f and 631r are each referred to as the second base member 631.

[0057] The second base member 631 is an aluminum frame to which a second fixed object, which will be described later, is detachably attached. The second base member 631 is arranged along the vertical direction. The second base member 631 is elongated. The second base member 631 has a plurality of guide grooves (not shown). The guide grooves are arranged on the front and rear surfaces of the second base member 631.

[0058] The sensor support member 632f is supported by the second base member 631f. The sensor support member 632f supports the first sensor module 2.

[0059] The sensor support member 632r is supported by the second base member 631r. The sensor support member 632r supports the second sensor module 3.

[0060] The first sensor fixing member fixes the sensor support member 632f to a predetermined position on the second base member 631f in the up-down direction. The first sensor fixing member is an example of the third fixing member of the present invention.

[0061] The second sensor fixing member fixes the sensor support member 632r to a predetermined position on the second base member 631r in the vertical direction.

[0062] The fourth frame 64 is a frame on which the electrical equipment storage module 4 is mounted among the modules.

[0063] The fourth frame 64f is disposed in front of the fourth frame 64r. The fourth frame 64f is disposed along the front-rear and left-right directions. The fourth frame 64f is disposed above the second frame 62. The fourth frame 64f has a rectangular plate shape.

[0064] The fourth frame 64r is disposed behind the fourth frame 64f. The fourth frame 64r is disposed along the front-rear and left-right directions. The fourth frame 64r is disposed above the second frame 62. The fourth frame 64r has a rectangular plate shape.

[0065] The first frame fixing member fixes the first frame 61 to a predetermined position on the second frame 62 in the front-rear direction. The first frame fixing member is an example of the first fixing member defined in the present invention.

[0066] The third frame fixing member fixes the third frame 63 to a predetermined position on the second frame 62 in the front-rear direction. The third frame fixing member is an example of the second fixing member defined in the present invention.

[0067] The fourth frame fixing member fixes the fourth frame 64 to a predetermined position on the second frame 62 in the front-rear direction. The fourth frame fixing member is an example of the fourth fixing member defined in the present invention.

[0068] The main driving modules 7 constitute the front and rear wheels of the vehicle 1. The vehicle 1 drives by controlling the operation of the main driving modules 7fa and 7fb that constitute the front wheels and the main driving modules 7ra and 7rb that constitute the rear wheels. The main driving modules 7fa, 7fb, 7ra, and 7rb each have a common configuration.

[0069] The vehicle may also include an exterior cover (not shown) that houses the electrical equipment storage module. Of the two third frames, one on the front side and one on the rear side, that the vehicle includes, the front third frame includes an exterior cover fixing portion (not shown) that is attached to the front surface of the second base member. Of the two fourth frames, one on the front side and one on the rear side, that the vehicle includes, the rear fourth frame includes a second exterior cover fixing portion (not shown) that extends downward from both ends of the fourth frame in the left-right direction. The exterior cover is fixed to the exterior cover fixing portion and the second exterior cover fixing portion. By including an exterior cover in the vehicle, foreign matter is prevented from entering the electrical equipment storage module. Details of foreign matter will be described later.

[0070] ● Fixing the object to the base material The following explanation is an example in which an object (first fixed object) to be fixed to the surfaces (upper and lower surfaces) of the first base member 621 is fixed by a known nut that corresponds to the guide groove of the first base member 621 and a known bolt that corresponds to the nut. The nut is, for example, a first-in nut or a last-in nut.

[0071] The first fixed objects are the first frame 61, the third frame 63, and the fourth frame 64. The first fixed objects are arranged on the surface of the first base member 621. The bolts are fitted into the nuts inserted into the guide grooves through holes in the first fixed objects arranged on the surface of the first base member 621. As a result, the first fixed objects are fixed to the surface of the first base member 621 by the nuts and bolts.

[0072] Here, when the first frame fixing member, the third frame fixing member, and the fourth frame fixing member are not particularly distinguished from one another, they are referred to as upper and lower fixing members, respectively. Nuts and bolts are examples of upper and lower fixing members.

[0073] The following explanation is an example in which an object (second fixed object) fixed to the surface (front and rear surfaces) of the second base member 631 is fixed by a nut corresponding to the guide groove of the second base member 631 and a bolt corresponding to the nut.

[0074] The second fixing targets are the first sensor module 2 and the second sensor module 3. The second fixing targets are arranged on the surface of the second base member 631. The bolts are fitted into the nuts inserted into the guide grooves through the holes in the second fixing targets arranged on the surface of the second base member 631. As a result, the second fixing targets are fixed to the surface of the second base member 631 by the nuts and bolts.

[0075] Here, when the first sensor-fixing member and the second sensor-fixing member are not particularly distinguished from each other, the first sensor-fixing member and the second sensor-fixing member are referred to as the front and rear fixing members, respectively. Nuts and bolts are examples of the front and rear fixing members.

[0076] ●Configuration of this driving module (1)● FIG. 3 is a partial cross-sectional view of the present traveling module 7 showing an embodiment of the present traveling module. In the drawing, the motor 71, the coupling 72, the rotary shaft 73, and the holding member 75 are shown in non-sectional view for the sake of convenience of explanation. FIG. 4 is a partially exploded perspective view of the traveling module 7. As shown in FIG.

[0077] In the following description, the "axial direction" refers to the horizontal direction. The "first direction" refers to the direction in the axial direction in which the motor 71 is disposed relative to the wall portion 701. The "second direction" refers to the direction opposite to the first direction. The "front-rear direction" refers to the direction perpendicular to both the axial direction and the up-down direction.

[0078] The traveling module 7 (see FIG. 3) includes a housing 70, a motor 71, a coupling 72, a rotating shaft 73, a bearing 74, a holding member 75, wheels 76, a radial restriction member 77, and a thrust restriction member 78.

[0079] The housing 70 accommodates the motor 71, the coupling 72, the bearing 74, the holding member 75, the thrust restricting member 78, and a part of the rotary shaft 73. The housing 70 includes a wall portion 701 and a housing insertion hole 70h.

[0080] The wall portion 701 is a surface that is disposed along the up-down direction among surfaces that are perpendicular to the axial direction. The wall portion 701 is disposed between the motor 71 and the wheels 76.

[0081] The housing insertion hole 70h (see FIG. 4) is a hole through which the rotation shaft 73 is rotatably inserted. That is, the rotation shaft 73 is rotatably inserted through the housing insertion hole 70h. The housing insertion hole 70h is disposed in the wall portion 701. In other words, the rotation shaft 73 is rotatably inserted through the wall portion 701.

[0082] Motor 71 (see FIG. 3) is the power source of vehicle 1. The power source (rotational power) of vehicle 1 is generated by the rotation of motor 71. Motor 71 rotates rotating shaft 73 via coupling 72. As a result, wheels 76 attached to rotating shaft 73 rotate. Motor 71 is positioned on the first direction side of coupling 72. Motor 71 is attached to the top surface of housing 70.

[0083] The coupling 72 connects the motor 71 and the rotating shaft 73. That is, the coupling 72 is disposed between the motor 71 and the rotating shaft 73. The coupling 72, which connects the motor 71 and the rotating shaft 73, transmits the rotational power generated by the motor 71 to the rotating shaft 73.

[0084] The rotating shaft 73 rotates due to the rotational power transmitted from the coupling 72. The rotating shaft 73 transmits the rotational power transmitted from the coupling 72 to the wheel 76. The rotating shaft 73 is cylindrical. The rotating shaft 73 is disposed on the second direction side of the coupling 72. The rotating shaft 73 includes a restricting groove 731 and a wheel mounting portion 732.

[0085] The restriction groove 731 (see FIG. 4) is a ring-shaped groove. The restriction groove 731 is arranged (formed) on the outer peripheral surface of the rotating shaft 73 concentrically with the rotating shaft 73. The restriction groove 731 is arranged adjacent to the wall portion 701 in the axial direction. The restriction groove 731 is arranged on the first direction side of the wall portion 701. The restriction groove 731 is an example of a groove defined in the present invention.

[0086] The wheel mounting portion 732 is a surface of the outer circumferential surface of the rotating shaft 73 to which the wheel 76 is attached. The surface to which the wheel 76 is attached is polygonal. That is, the wheel mounting portion 732 has a polygonal outer circumferential surface. The wheel mounting portion 732 is disposed on the second direction side of the radial restriction member 77, which will be described later. That is, the wheel mounting portion 732 is disposed on the second direction side of the wall portion 701.

[0087] The bearing 74 (see FIG. 3) is a sliding bearing made of resin and has slidability. The bearing 74 rotatably supports the rotating shaft 73. The bearing 74 regulates (limits) the movement of the rotating shaft 73 in the radial direction of the rotating shaft 73 (hereinafter referred to as the "radial direction"). The bearing 74 is disposed between the coupling 72 and the regulating groove 731. In other words, the bearing 74 is disposed on the first direction side of the wall portion 701.

[0088] The holding member 75 is a spacer. The holding member 75 is arranged along the up-down direction. The holding member 75 is arranged between the upper surface of the housing 70 and the bearing 74. The holding member 75 is attached to the upper surface of the housing 70 and the bearing 74. In other words, the holding member 75 holds the bearing 74. The holding member 75 is arranged on the first direction side of the wall portion 701.

[0089] The wheel 76 is attached to the rotating shaft 73. The wheel 76 attached to the rotating shaft 73 rotates by the rotational power transmitted from the rotating shaft 73. The wheel 76 is arranged on the second direction side of the radial restriction member 77. The wheel 76 is arranged along the radial direction. The wheel 76 includes a tire 761, a wheel 762, and a wheel support member 763.

[0090] The tire 761 is a puncture-proof tire.

[0091] The wheel 762 is a mating wheel made up of a pair of wheels. The mating wheels are arranged so that each wheel faces the other. A gap (not shown) is formed between the arranged wheels. The tire 761 is sandwiched between the two wheels 762. As a result, the tire 761 is held by the two wheels 762. In other words, the wheel 762 holds the tire 761. The wheel 762 has a wheel insertion hole 762h.

[0092] The wheel insertion hole 762h (see FIG. 4) is a hole through which the wheel support member 763 is inserted.

[0093] The wheel support member 763 is a hub that connects the wheel 76 and the rotating shaft 73. The wheel support member 763 supports the wheel 762. The wheel support member 763 is fixed to the wheel mounting portion 732. The wheel support member 763 includes a first boss portion 7631, a second boss portion 7632, a first boss insertion hole 7631h, and a second boss insertion hole 7632h.

[0094] The first boss portion 7631 (see FIG. 3) is a portion to which the wheel attachment portion 732 of the rotating shaft 73 is fixed. The first boss portion 7631 extends in the first direction. The first boss portion 7631 is cylindrical.

[0095] The first boss insertion hole 7631h (see FIG. 4) is a hole into which the wheel mounting portion 732 is fitted. The first boss insertion hole 7631h is arranged in the first boss portion 7631. The shape of the first boss insertion hole 7631h is the same as the shape of the wheel mounting portion 732. The shape of the first boss insertion hole 7631h is hexagonal. In other words, the shape of the wheel mounting portion 732 is hexagonal.

[0096] It should be noted that the shape of the first boss insertion hole in the present invention is not limited to a hexagon. For example, the shape of the first boss insertion hole in the present invention may be a triangle, a rectangle, or a pentagon. In other words, the shape of the first boss insertion hole is a polygon.

[0097] The second boss portion 7632 (see FIG. 3) is a portion to which the end portion of the rotary shaft 73 on the second direction side is fixed. The second boss portion 7632 extends in the second direction side. The second boss portion 7632 is cylindrical. The second boss portion 7632 is inserted into the wheel insertion hole 762h.

[0098] The second boss insertion hole 7632h (see FIG. 4) is a hole through which the end portion of the rotating shaft 73 on the second direction side is inserted. The second boss insertion hole 7632h is arranged in the second boss portion 7632. The end portion of the rotating shaft 73 inserted into the second boss insertion hole 7632h is fixed to the second boss portion 7632.

[0099] The radial restriction member 77 (see FIG. 3) is a member that restricts movement of the rotary shaft 73 in the radial direction. The radial restriction member 77 is attached to the second direction side of the wall portion 701. In other words, the radial restriction member 77 is attached to the housing 70. The radial restriction member 77 includes a seal member 771 and a cover member 772.

[0100] The sealing material 771 is a ring-shaped oil seal. The material of the sealing material 771 is rubber (elastic body). The sealing material 771 is disposed between the wall portion 701 and the cover member 772 in the axial direction. The sealing material 771 is disposed between the rotating shaft 73 and the cover member 772 in the radial direction. The sealing material 771 abuts against the rotating shaft 73 and the cover member 772 in the radial direction. That is, the sealing material 771 is sandwiched between the rotating shaft 73 and the cover member 772 in the radial direction.

[0101] When the rotating shaft 73 receives a radial load from the wheels 76 in contact with the road surface, the seal material 771 sandwiched between the rotating shaft 73 and the cover member 772 absorbs the load. As a result, the seal material 771 restricts the radial movement of the rotating shaft 73.

[0102] The cover member 772 is a case that houses the sealing material 771 together with the wall portion 701. The cover member 772 is attached to the surface of the wall portion 701 on the second direction side. The cover member 772 has a cover insertion hole 772h.

[0103] Here, the cover member 772 makes the sealant 771 adhere to the rotating shaft 73 in the radial direction. In other words, the sealant 771 is in a state of being in close contact with the rotating shaft 73 (closed contact state). When the sealant 771 is in close contact with the rotating shaft 73, the housing insertion hole 70h is in a state of being sealed (sealed state) by the sealant 771 and the rotating shaft 73. The cover member 772 is fixed to the surface of the wall portion 701 on the second direction side. Therefore, the close contact state and the sealed state are maintained. As a result, entry of foreign matter from the outside of the housing 70 into the inside of the housing 70 is prevented.

[0104] The foreign matter is, for example, dust or liquid (water, etc.).

[0105] The cover insertion hole 772h (see FIG. 4) is a hole through which the rotation shaft 73 is rotatably inserted. That is, the rotation shaft 73 is rotatably inserted into the cover insertion hole 772h. In other words, the rotation shaft 73 is rotatably inserted into the radial restriction member 77. The cover insertion hole 772h is disposed at a position opposite to the housing insertion hole 70h. The cover insertion hole 772h is an example of a restriction insertion hole according to the present invention.

[0106] The thrust regulating member 78 is a C-shaped retaining ring made of stainless steel. The thrust regulating member 78 is disposed in the regulating groove 731. The axial length of the thrust regulating member 78 is shorter than the axial length of the regulating groove 731. The thrust regulating member 78 disposed in the regulating groove 731 faces the wall portion 701 without contacting the wall portion 701. In other words, a gap S1 (see FIG. 5) is formed between the thrust regulating member 78 and the wall portion 701.

[0107] Here, when the rotating shaft 73 moves in the second direction, the thrust restricting member 78 disposed in the restricting groove 731 comes into contact with the wall portion 701. As a result, the thrust restricting member 78 restricts the movement of the rotating shaft 73 in the second direction together with the wall portion 701. That is, the thrust restricting member 78 restricts the movement of the rotating shaft 73 in the axial direction together with the wall portion 701.

[0108] The size relationship between the inner diameter D1 of the housing insertion hole 70h, the inner diameter D2 of the cover insertion hole 772h, and the outer diameter D3 of the rotating shaft 73 FIG. 5 is an enlarged partial cross-sectional view of the traveling module 7. As shown in FIG. In the drawing, the dashed dotted lines indicate the inner diameter D1 of the housing insertion hole 70h, the inner diameter D2 of the cover insertion hole 772h, and the outer diameter D3 of the rotation shaft 73. In the drawing, the rotation axis 73 is shown in a non-sectional view for the sake of convenience. FIG. 6 is an enlarged cross-sectional view of the wheel mounting portion 732 and the wheel support member 763 as viewed from the motor 71 side. This figure shows a state in which the wheel attachment portion 732 is fitted into the first boss insertion hole 7631h.

[0109] The inner diameter D1 of the housing insertion hole 70h is larger than the outer diameter D3 of the rotating shaft 73. The inner diameter D2 of the cover insertion hole 772h is larger than the outer diameter D3 of the rotating shaft 73. The inner diameter D1 of the housing insertion hole 70h is larger than the inner diameter D2 of the cover insertion hole 772h. That is, the inner diameter D2 of the cover insertion hole 772h is larger than the outer diameter D3 of the rotating shaft 73 and is smaller than the inner diameter D1 of the housing insertion hole 70h (see FIG. 5).

[0110] Here, the inner diameter D2 of the cover insertion hole 772h is less than the inner diameter D1 of the housing insertion hole 70h. Therefore, when the rotating shaft 73 moves in the radial direction, the rotating shaft 73 comes into contact with the cover member 772 before coming into contact with the housing 70. As a result, the cover member 772 restricts the radial movement of the rotating shaft 73.

[0111] The inner diameter of the restricting insertion hole in the present invention may be the same as the inner diameter of the housing insertion hole, i.e., the inner diameter of the restricting insertion hole may be larger than the outer diameter of the rotating shaft and smaller than the inner diameter of the housing insertion hole.

[0112] ●Relationship between specific first frame and second frame In the following description, the left-right direction is the axial direction of a rotation shaft 73 (hereinafter referred to as the "axial direction"), which will be described later. The front wall portion 611f is disposed along the axial direction and faces forward. The rear wall portion 613f is disposed along the axial direction and faces rearward.

[0113] FIG. 7 is a cross-sectional view showing the attachment state of the specific first frame 61f and the second frame 62. As shown in FIG.

[0114] The specific first frame 61f includes a front through-hole 614h1 and a rear through-hole 614h2.

[0115] The front through-hole 614h1 is a hole that is arranged in the center of the front wall portion 611f in the axial direction.

[0116] The rear through-hole 614h2 is a hole that is arranged in the center of the rear wall portion 613f in the axial direction, facing the front through-hole 614h1.

[0117] The support shaft 622 is inserted through the front through-hole 614h1 and the rear through-hole 614h2. The male screws B1 and B2 are inserted into the holes of the front support portion 6232f and the rear support portion 6232r, respectively. The inserted male screws B1 and B2 are fitted into the female threaded holes of the support shaft 622. As a result, the specific first frame 61f is fixed to the second frame 62.

[0118] FIG. 8 is a schematic diagram showing that the specific first frame 61f can swing relative to the second frame 62. As shown in FIG.

[0119] As described above, the specific first frame 61f is swingably supported on the second frame 62 via the support shaft 622. The same figure shows that the specific first frame 61f, which is fixed to the second frame 62 with the male screw B1, can swing relative to the second frame 62 around the support shaft 622. Here, when the vehicle 1 travels on an uneven surface, the left and right wheels 76 that make up the front wheels of the vehicle 1 are positioned differently in the up-down direction. That is, for example, the right wheel 76 is positioned higher than the left wheel 76. At this time, the specific first frame 61f swings relative to the second frame 62 so that the right end of the specific first frame 61f is positioned higher than the left end of the specific first frame 61f.

[0120] ●How to assemble this vehicle● Return to Figure 2.

[0121] First, in the left-right direction (axial direction), the pair of main traveling modules 7fa, 7fb are arranged so that the first directions of the pair of main traveling modules 7fa, 7fb are opposite to each other, that is, so that the first directions of the pair of main traveling modules 7fa, 7fb face each other.

[0122] Next, in the left-right direction (axial direction), the pair of main traveling modules 7ra, 7rb are arranged so that the first directions of the pair of main traveling modules 7ra, 7rb are opposite each other, that is, so that the first directions of the respective modules face each other.

[0123] Next, the first frame 61f is arranged on the upper surfaces of the pair of main traveling modules 7fa and 7fb in the vertical direction. The arranged first frame 61f is fixed to the upper surfaces of the pair of main traveling modules 7fa and 7fb.

[0124] Here, in the first frame 61f, the rotation axes 73 of the pair of main traveling modules 7fa, 7fb are arranged on the same imaginary line. In the axial direction, the pair of main traveling modules 7fa, 7fb are arranged so that the first directions of the pair of main traveling modules 7fa, 7fb face each other.

[0125] Next, the first frame 61r is arranged on the upper surfaces of the pair of main traveling modules 7ra and 7rb in the vertical direction, and the arranged first frame 61r is fixed to the upper surfaces of the pair of main traveling modules 7ra and 7rb.

[0126] Here, in the first frame 61r, the rotation axes 73 of the pair of main traveling modules 7ra, 7rb are arranged on the same imaginary line. In the axial direction, the pair of main traveling modules 7ra, 7rb are arranged so that the first directions of the pair of main traveling modules 7ra, 7rb face each other.

[0127] Next, the support shaft 622 is inserted through the front through-hole 614h1 and the rear through-hole 614h2 in the front-rear direction. The inserted support shaft 622 is fixed to the front support portion 6232f and the rear support portion 6232r in the front-rear direction.

[0128] Next, the first upper support portion 6231f is fixed in the vertical direction to the lower surface of the first base member 621. The second upper support portion 6231r is fixed in the vertical direction to the lower surface of the first base member 621. That is, the first frame 61f (specific first frame 61f) is fixed to the second frame 62.

[0129] Next, the ceiling portion 612r is fixed in the vertical direction to the lower surface of the first base member 621. That is, the first frame 61r is fixed to the second frame 62.

[0130] Next, the second base member 631f is arranged in the up-down direction at the front end of the upper surface of the first base member 621. The arranged second base member 631f is fixed to the front end of the upper surface of the first base member 621. In other words, the third frame 63f is fixed to the front end of the upper surface of the first base member 621.

[0131] Next, the second base member 631r is arranged in the up-down direction at the rear end of the upper surface of the first base member 621. The arranged second base member 631r is fixed to the rear end of the upper surface of the first base member 621. In other words, the third frame 63r is fixed to the rear end of the upper surface of the first base member 621.

[0132] Next, the sensor support member 632f is fixed to the front surface of the second base member 631f in the front-rear direction. The first sensor module 2 is attached to the front side of the sensor support member 632f.

[0133] Next, the sensor support member 632r is fixed to the front surface of the second base member 631r in the front-rear direction. The second sensor module 3 is attached to the front side of the sensor support member 632r.

[0134] Next, the fourth frame 64f is arranged in a predetermined position in the up-down direction on the upper surface of the first base member 621. The fourth frame 64f arranged on the upper surface of the first base member 621 is fixed to the upper surface of the first base member 621.

[0135] Next, the fourth frame 64r is placed in a predetermined position in the up-down direction on the upper surface of the first base member 621. The fourth frame 64r placed on the upper surface of the first base member 621 is fixed to the upper surface of the first base member 621.

[0136] Next, the electrical equipment storage module 4 is placed on the upper surfaces of the fourth frames 64f, 64r. The electrical equipment storage module 4 placed on the upper surfaces of the fourth frames 64f, 64r is fixed to the upper surfaces of the fourth frames 64f, 64r.

[0137] ●Operation of this vehicle● FIG. 9 is a schematic plan view of the second frame 62 and the main traveling modules 7fa, 7fb, 7ra, and 7rb. In the drawing, the third frame 63 and the fourth frame 64 are omitted for the sake of convenience. In the drawing, of the two dashed-dotted lines in the left-right direction, the front dashed-dotted line indicates an imaginary line on which the rotation shafts 73 of the pair of main traveling modules 7fa, 7fb are arranged, and the rear dashed-dotted line indicates an imaginary line on which the rotation shafts 73 of the pair of main traveling modules 7ra, 7rb are arranged.

[0138] In the following description, the modes of travel (movement) of the vehicle 1 include forward travel, reverse travel, and turning. Forward travel is forward travel of the vehicle 1. Reverse travel is backward travel of the vehicle 1. Turning is rotation of the vehicle 1 in a first rotation direction or a second rotation direction. The first rotation direction is the direction in which the vehicle 1 rotates forward, then to the right, then backward when facing forward (clockwise direction when viewed from above the vehicle 1). The second rotation direction is the direction in which the vehicle 1 rotates opposite to the first rotation direction (counterclockwise direction when viewed from above the vehicle 1).

[0139] The vehicle 1 travels by controlling the rotation direction of the motor rotary shaft (not shown) of the motor 71 of each of the travel modules 7fa, 7fb, 7ra, and 7rb by the control device 5. The rotation direction of the motor rotary shaft includes a clockwise direction and a counterclockwise direction when viewed from the motor 71 side to the wheel 76 side in each of the travel modules 7fa, 7fb, 7ra, and 7rb.

[0140] When the rotation direction of the motor rotary shaft of each of the main traveling modules 7fa and 7ra is controlled to be clockwise and the rotation direction of the motor rotary shaft of each of the main traveling modules 7fb and 7rb is controlled to be counterclockwise, the main vehicle 1 moves forward.

[0141] When the rotation direction of the motor rotary shaft of each of the traveling modules 7fa and 7ra is controlled to be counterclockwise and the rotation direction of the motor rotary shaft of each of the traveling modules 7fb and 7rb is controlled to be clockwise, the vehicle 1 moves backward.

[0142] When the rotation direction of the motor rotation shaft of each of the traveling modules 7fa, 7fb, 7ra, and 7rb is controlled to be clockwise when viewed from the motor 71 side to the wheel 76 side, the vehicle 1 turns in the first rotation direction (clockwise when viewed from above the vehicle 1). When the rotation direction of the motor rotation shaft of each of the traveling modules 7fa, 7fb, 7ra, and 7rb is controlled to be counterclockwise when viewed from the motor 71 side to the wheel 76 side, the vehicle 1 turns in the second rotation direction (counterclockwise when viewed from above the vehicle 1). That is, the control device 5 controls the operation of the motor 71 of each of the pair of main traveling modules 7fa, 7fb so that the motor rotation shafts of the motors 71 of each of the pair of main traveling modules 7fa, 7fb rotate in the same direction when the main vehicle 1 turns. Similarly, the control device 5 controls the operation of the motor 71 of each of the pair of main traveling modules 7ra, 7rb so that the motor rotation shafts of the motors 71 of each of the pair of main traveling modules 7ra, 7rb rotate in the same direction when the main vehicle 1 turns.

[0143] ●Configuration of this driving module (2)● Another embodiment (second embodiment) of the traveling module will be described, focusing on the differences from the previously described embodiment (first embodiment) of the traveling module. The second embodiment of the traveling module differs from the first embodiment of the traveling module in that it is provided with a second thrust regulating member 79 instead of, or in addition to, the thrust regulating member 78 provided in the first embodiment of the traveling module. The following description is an example in which the traveling module 7 of the second embodiment includes a second thrust restricting member 79.

[0144] FIG. 10 is a partially enlarged cross-sectional view of a main traveling module 7 showing another embodiment of the main traveling module.

[0145] The second thrust regulating member 79 is a collar made of synthetic resin. The second thrust regulating member 79 is cylindrical. The second thrust regulating member 79 is disposed between the radial regulating member 77 and the wheel support member 763 so as to accommodate a portion of the rotating shaft 73. At this time, a gap S2 is formed in the axial direction between the radial regulating member 77 or the wheel support member 763 and the second thrust regulating member 79.

[0146] Here, when the rotating shaft 73 moves in the first direction, the second thrust restricting member 79 comes into contact with the radial restricting member 77. As a result, the second thrust restricting member 79 restricts the movement of the rotating shaft 73 in the first direction.

[0147] The second thrust restricting member in the present invention may be attached to the radial restricting member or the wheel support member.

[0148] Summary As described above, the traveling module 7 includes the rotating shaft 73, the motor 71, the wheels 76, the radial restriction member 77, and the housing 70. The wheels 76 are attached to the rotating shaft 73. The motor 71 and the radial restriction member 77 are attached to the housing 70. The housing 70 includes a wall portion 701. The wall portion 701 is disposed between the motor 71 and the wheels 76. The rotating shaft 73 is rotatably inserted through the radial restriction member 77 and the wall portion 701. The radial restriction member 77 includes a sealing material 771 and a cover member 772. The cover member 772 is attached to the surface of the wall portion 701 on the second direction side. The cover member 772 accommodates the sealing material 771 together with the wall portion 701. The sealing material 771 is sandwiched between the rotating shaft 73 and the cover member 772 in the radial direction of the rotating shaft 73. As a result, even if the rotating shaft 73 receives a radial load, the seal material 771 absorbs the load. That is, the radial movement of the rotating shaft 73 is restricted by the seal material 771. That is, the rotating shaft 73 is unlikely to move in the radial direction. Therefore, components connected to the rotating shaft 73 (for example, the motor 71) are unlikely to be damaged.

[0149] As described above, the housing 70 includes the housing insertion hole 70h. The housing insertion hole 70h is disposed in the wall portion 701. The cover member 772 includes the cover insertion hole 772h. The cover insertion hole 772h is disposed at a position facing the housing insertion hole 70h. The rotating shaft 73 is rotatably inserted through the housing insertion hole 70h and the cover insertion hole 772h. The inner diameter D2 of the cover insertion hole 772h is larger than the outer diameter D3 of the rotating shaft 73 and is smaller than the inner diameter D1 of the housing insertion hole 70h. When an excessive radial load is applied to the rotating shaft 73 such that the sealing material 771 contracts, the rotating shaft 73 moves radially. However, because the cover insertion hole 772h is disposed closer to the second direction than the housing insertion hole 70h and the inner diameter D2 of the cover insertion hole 772h is less than the inner diameter D1 of the housing insertion hole 70h, the rotating shaft 73 comes into contact with the cover member 772 before it comes into contact with the housing 70. As a result, the radial movement of the rotating shaft 73 is restricted by the cover member 772. That is, the rotating shaft 73 is less likely to move in the radial direction. Therefore, components connected to the rotating shaft 73 (for example, the motor 71) are less likely to be damaged.

[0150] Furthermore, as explained above, the traveling module 7 includes the bearing 74 and the holding member 75. The bearing 74 rotatably supports the rotating shaft 73. The holding member 75 is attached to the housing 70. The holding member 75 holds the bearing 74. As described above, the sealing material 771, which is arranged on the second direction side of the bearing 74, absorbs the radial load. As a result, the radial load is less likely to be applied to the bearing 74. Therefore, the bearing 74 is less likely to be damaged. Furthermore, the bearing 74 abuts against the rotating shaft 73 and rotatably supports the rotating shaft 73. In other words, the bearing 74 functions as a restricting member for the radial movement of the rotating shaft 73. Therefore, the rotating shaft 73 is less likely to move radially than if the traveling module 7 did not include the bearing 74.

[0151] Furthermore, as explained above, the traveling module 7 includes the thrust regulating member 78. The rotating shaft 73 includes a regulating groove 731 arranged on the outer circumferential surface of the rotating shaft 73. The regulating groove 731 is arranged adjacent to the housing 70. The thrust regulating member 78 is arranged in the regulating groove 731 and faces the wall portion 701 of the housing 70 without contacting the wall portion 701. In other words, when the rotating shaft 73 receives a thrust load in the direction in which the wall portion 701 is located relative to the thrust regulating member 78, axial movement of the rotating shaft 73 is regulated by the thrust regulating member 78 and the housing 70. In other words, the rotating shaft 73 is unlikely to move in the second direction.

[0152] Furthermore, as described above, the traveling module 7 includes a second thrust restriction member 79. The wheel 76 includes a tire 761, a wheel 762, and a wheel support member 763. The wheel support member 763 is fixed to the wheel mounting portion 732 of the rotating shaft 73. The wheel support member 763 supports the wheel 762. The second thrust restriction member 79 is disposed between the radial restriction member 77 and the wheel support member 763 so as to accommodate a portion of the rotating shaft 73. A gap S2 is formed between the radial restriction member 77 or the wheel support member 763 and the second thrust restriction member 79 in the axial direction of the rotating shaft 73. In other words, when the rotating shaft 73 receives a thrust load, the axial movement of the rotating shaft 73 is restricted within the range of the gap S2 by the second thrust restriction member 79. In other words, the rotating shaft 73 is less likely to move in the first direction. Therefore, the parts connected to the rotary shaft 73 are less likely to be damaged.

[0153] Furthermore, as described above, the wheel 76 includes the tire 761, the wheel 762, and the wheel support member 763. The wheel 762 holds the tire 761. The wheel support member 763 is fixed to the wheel mounting portion 732 of the rotating shaft 73 and supports the wheel 762. The wheel mounting portion 732 is hexagonal in shape. The wheel support member 763 includes a first boss portion 7631 and a first boss insertion hole 7631h. The first boss portion 7631 extends in the first direction. The first boss insertion hole 7631h is disposed in the first boss portion 7631. The first boss insertion hole 7631h is hexagonal in shape. The wheel mounting portion 732 is fitted into the first boss insertion hole 7631h. That is, positioning of the rotating shaft 73 relative to the wheel support member 763 is easy when mounting the rotating shaft 73.

[0154] Furthermore, as explained above, the wheel 762 includes a wheel insertion hole 762h. The wheel support member 763 includes a second boss portion 7632 and a second boss insertion hole 7632h. The second boss portion 7632 extends in the second direction. The second boss insertion hole 7632h is disposed in the second boss portion 7632. An end of the rotation shaft 73 is inserted into the second boss insertion hole 7632h. The second boss portion 7632 is inserted into the wheel insertion hole 762h. That is, it is easy to position the wheel 762 when attaching it to the wheel support member 763. The second boss portion 7632 also functions as a load receiver for the radial load from the wheel 762.

[0155] Furthermore, as explained above, the vehicle 1 includes the main traveling module 7 and the frame 6. The main traveling module 7 is detachably attached to the first frame 61 of the frame 6. That is, in the vehicle 1, the main traveling module 7 is replaceable depending on the external environment in which the vehicle 1 is used.

[0156] Furthermore, as explained above, the vehicle 1 is equipped with a control device 5. The vehicle 1 controls the operation of the traveling module 7. The frame 6 is equipped with first frames 61f, 61r. The first frame 61f is a frame to which the pair of main traveling modules 7fa, 7fb are attached. The first frame 61r is a frame to which the pair of main traveling modules 7ra, 7rb are attached. In the first frame 61f, the rotation shafts 73 of the pair of main traveling modules 7fa, 7fb are arranged on the same virtual line. In the first frame 61r, the rotation shafts 73 of the pair of main traveling modules 7ra, 7rb are arranged on the same virtual line. In the axial direction, the main traveling modules 7fa, 7fb are arranged so that the first directions of the main traveling modules 7fa, 7fb face each other. When the vehicle 1 turns, the control device 5 controls the operation of the motors 71 of each of the pair of main traveling modules 7fa and 7fb so that the rotation directions of the motor rotation shafts of the motors 71 of each of the pair of main traveling modules 7fa and 7fb are the same when viewed from the motor 71 side toward the wheels 76 side. Similarly, when the vehicle 1 turns, the control device 5 controls the operation of the motors 71 of each of the pair of main traveling modules 7ra and 7rb so that the rotation directions of the motor rotation shafts of the motors 71 of each of the pair of main traveling modules 7ra and 7rb are the same when viewed from the motor 71 side toward the wheels 76 side. In other words, the vehicle 1 can turn without being equipped with a complex configuration such as a steering mechanism. In other words, the vehicle 1 can turn with a simple configuration.

[0157] Furthermore, as explained above, the frame 6 includes the second frame 62 and the first frame fixing member. The second frame 62 is disposed along the front-rear direction. The second frame 62 supports the first frames 61f, 61r. The first frame fixing member fixes the first frames 61f, 61r to predetermined (arbitrary) positions on the second frame 62 in the front-rear direction. Here, the pair of main traveling modules 7fa, 7fb are attached to the first frame 61f. The pair of main traveling modules 7ra, 7rb are attached to the first frame 61r. In other words, the positions of the first frames 61f, 61r in the front-rear direction relative to the second frame 62 can be freely changed. In other words, the wheelbase of the vehicle 1 can be changed as appropriate depending on the external environment in which the vehicle 1 is used.

[0158] Furthermore, as described above, the first frame 61 includes the specific first frame 61f. The specific first frame 61f is a frame that can swing relative to the second frame 62. The specific first frame 61f includes a front wall portion 611f, a rear wall portion 613f, a front through-hole 614h1, and a rear through-hole 614h2. The front wall portion 611f is disposed along the axial direction and faces forward. The rear wall portion 613f is disposed along the axial direction and faces rearward. The front through-hole 614h1 is disposed in the center of the front wall portion 611f in the axial direction. The rear through-hole 614h2 is disposed in the center of the rear wall portion 613f in the axial direction, facing the front through-hole 614h1. The second frame 62 includes a first base member 621, a support shaft 622, and support members 623f, 623r. The first base member 621 is disposed along the front-to-rear direction. The first base member 621 is elongated. The support shaft 622 is inserted through the front through-hole 614h1 and the rear through-hole 614h2. The support shaft 622 supports the specific first frame 61f so that it can swing. The support members 623f, 623r support both ends of the support shaft 622. The support members 623f, 623r are disposed below the first base member 621. The support members 623f, 623r are attached to the first base member 621. In other words, the specific first frame 61f can swing relative to the second frame 62 around the support shaft 622. Here, the main traveling modules 7fa, 7fb each constitute the front wheels of the vehicle 1. The main traveling modules 7fa, 7fb that constitute the front wheels are attached to the specific first frame 61f. Since the specific first frame 61f swings relative to the second frame 62, the vehicle 1 can easily travel on uneven surfaces.

[0159] Furthermore, as explained above, the vehicle 1 includes the first sensor module 2. The first sensor module 2 acquires environmental information related to the environment outside the vehicle 1. The frame 6 includes a third frame 63f and a third frame fixing member. The third frame 63f is disposed above the second frame 62. The third frame 63f is supported by the second frame 62. The third frame fixing member fixes the third frame 63f to an arbitrary position on the second frame 62 in the front-rear direction. The third frame 63f includes a second base member 631f, a sensor support member 632f, and a first sensor fixing member. The second base member 631f is disposed along the up-down direction. The second base member 631f is elongated. The sensor support member 632f is supported by the second base member 631f. The sensor support member 632f supports the first sensor module 2. The first sensor fixing member fixes the sensor support member 632f to any position on the second base member 631f in the up-down direction. That is, the position of the third frame 63f relative to the second frame 62 can be freely changed in the front-to-rear direction. Also, the position of the first sensor module 2 relative to the third frame 63f can be freely changed in the up-down direction. That is, the position of the first sensor module 2 can be changed as appropriate depending on the application of the vehicle 1.

[0160] Furthermore, as explained above, the vehicle 1 includes the electrical equipment storage module 4. The electrical equipment storage module 4 houses the control device 5. The frame 6 includes a fourth frame 64 and a fourth frame fixing member. The fourth frame 64 is disposed above the second frame 62. The fourth frame 64 is supported by the second frame 62. The fourth frame fixing member fixes the fourth frame 64 to any position on the second frame 62 in the fore-and-aft direction. The electrical equipment storage module 4 is placed on the fourth frame 64. In other words, the fore-and-aft position of the fourth frame 64 relative to the second frame 62 can be freely changed.

[0161] In the above description, the number of first frames 61 is two (first frames 61f, 61r). However, the number of first frames provided in the vehicle is not limited to this. That is, for example, the number of first frames provided in the vehicle may be one or three or more.

[0162] In the above description, the number of specific first frames 61f is one. However, the number of specific first frames provided in the vehicle is not limited to this. That is, for example, the number of specific first frames provided in the vehicle may be more than one.

[0163] Furthermore, in the above description, the number of actual driving modules 7 was four (actual driving modules 7fa, 7fb, 7ra, 7rb). However, the number of actual driving modules provided in the vehicle is not limited to this. That is, for example, the number of actual driving modules provided in the vehicle may be three or less or five or more.

[0164] Furthermore, in the above description, the seal material 771 is an oil seal. However, the seal material in the present invention is not limited to this. That is, for example, the seal material may be an O-ring.

[0165] Furthermore, in the above description, the restriction groove 731 is arranged on the first direction side of the wall portion 701. However, the groove in the present invention may be arranged on the second direction side of the wall portion. In this case, the thrust restriction member is arranged in the groove arranged on the second direction side of the wall portion. In other words, when the rotating shaft receives a thrust load in the direction in which the wall portion is located relative to the thrust restriction member, the axial movement of the rotating shaft is restricted by the thrust restriction member and the housing. In other words, the rotating shaft is unlikely to move in the first direction.

[0166] Furthermore, in the above description, the third frame 63f to which the first sensor module 2 is attached is disposed in front of the third frame 63r to which the second sensor module 3 is attached. That is, the first sensor module 2 is disposed in front of the second sensor module 3. However, the positional relationship between the sensor module and the second sensor module in the present invention is not limited to this. That is, for example, the positions of the two third frames on the front and rear sides may be interchanged. That is, the second sensor module may be disposed in front of the sensor module.

[0167] Furthermore, in the above description, the first sensor module 2 is attached to the third frame 63f. The second sensor module 3 is attached to the third frame 63r. That is, the third frame 63f to which the first sensor module 2 is attached is different from the third frame 63r to which the second sensor module 3 is attached. However, the sensor module of the present invention may be attached to a common third frame together with the second sensor module.

[0168] ●Features of this driving module and this vehicle● The features of the driving module and the vehicle described above are summarized below.

[0169] Features of this driving module This driving module is A traveling module (for example, this traveling module 7fa, 7fb, 7ra, 7rb) used in an assembled vehicle, a rotation axis (e.g., rotation axis 73); a motor (for example, motor 71) that rotates the rotary shaft; a wheel (e.g., wheel 76) attached to the rotating shaft; a radial restriction member (e.g., radial restriction member 77) that restricts movement of the rotary shaft in the radial direction of the rotary shaft; a housing (for example, housing 70) to which the motor and the radial restriction member are attached; and The housing includes: a wall portion (e.g., wall portion 701) disposed between the motor and the wheel; With a direction in which the motor is disposed with respect to the wall portion in an axial direction of the rotation shaft is a first direction, and a direction opposite to the first direction is a second direction; The rotation axis is The radial restriction member is rotatably inserted through the wall portion, a wheel mounting portion (e.g., wheel mounting portion 732) disposed on the second direction side of the wall portion and to which the wheel is attached; With The radial restriction member is a sealant (e.g., sealant 771); a cover member (e.g., cover member 772) attached to the surface of the wall portion on the second direction side and accommodating the sealing material together with the wall portion; With the sealing material is sandwiched between the rotating shaft and the cover member in the radial direction. It is characterized by:

[0170] In this driving module, The housing includes: a housing insertion hole (for example, housing insertion hole 70h) disposed in the wall portion and through which the rotation shaft is rotatably inserted; With The cover member is a restriction insertion hole (for example, a cover insertion hole 772h) disposed at a position opposite to the housing insertion hole and through which the rotation shaft is rotatably inserted; With The inner diameter (e.g., inner diameter D2) of the restriction insertion hole is larger than the outer diameter (e.g., outer diameter D3) of the rotation shaft and is equal to or smaller than the inner diameter (e.g., inner diameter D1) of the housing insertion hole. It can also be something like this.

[0171] This driving module is a bearing (e.g., bearing 74) that rotatably supports the rotary shaft; a holding member (e.g., holding member 75) that holds the bearing; and the holding member is disposed on the first direction side of the wall portion and attached to the housing; It can also be something like this.

[0172] This driving module is a thrust regulating member (e.g., thrust regulating member 78) that regulates the movement of the rotation shaft in the axial direction together with the wall portion; and The rotation axis is a groove (e.g., a restriction groove 731) disposed on the outer circumferential surface of the rotating shaft; With The groove is disposed adjacent to the wall portion in the axial direction, The thrust restricting member is disposed in the groove, facing the wall portion without contacting the wall portion; It can also be something like this.

[0173] In this driving module, The groove is disposed on the first direction side of the wall portion. It can also be something like this.

[0174] In this driving module, The groove is disposed on the second direction side of the wall portion. It can also be something like this.

[0175] This driving module is a cylindrical second thrust regulating member (e.g., second thrust regulating member 79) that regulates movement of the rotation shaft in the first direction; and The wheel is a tire (e.g., tire 761); a wheel (e.g., wheel 762) that holds the tire; a wheel support member (e.g., wheel support member 763) fixed to the wheel mounting portion and supporting the wheel; With The second thrust restricting member includes: a radial restriction member and a wheel support member disposed between the radial restriction member and the wheel support member so as to accommodate a portion of the rotary shaft; A gap (for example, a gap S2) is formed between the radial regulating member or the wheel support member and the second thrust regulating member in the axial direction. It can also be something like this.

[0176] In this driving module, The second thrust restricting member includes: Attached to the radial regulating member or the wheel support member, It can also be something like this.

[0177] This driving module is a cylindrical thrust regulating member (e.g., a second thrust regulating member 79) that regulates movement of the rotation shaft in the first direction; and The wheel is a tire (e.g., tire 761); a wheel (e.g., wheel 762) that holds the tire; a wheel support member (e.g., wheel support member 763) fixed to the wheel mounting portion and supporting the wheel; With The thrust restricting member is a radial restriction member and a wheel support member disposed between the radial restriction member and the wheel support member so as to accommodate a portion of the rotary shaft; A gap (for example, a gap S2) is formed between the radial regulating member or the wheel support member and the thrust regulating member in the axial direction. It can also be something like this.

[0178] In this driving module, The wheel is a tire (e.g., tire 761); a wheel (e.g., wheel 762) that holds the tire; a wheel support member (e.g., wheel support member 763) fixed to the wheel mounting portion and supporting the wheel; With The wheel mounting portion is A polygonal (e.g., hexagonal) outer surface, With The wheel support member is a first boss portion (for example, a first boss portion 7631) extending in the first direction; a polygonal (e.g., hexagonal) first boss insertion hole (e.g., first boss insertion hole 7631h) disposed in the first boss portion and into which the wheel mounting portion is fitted; Equipped with It can also be something like this.

[0179] In this driving module, The wheel is Wheel insertion hole (e.g., wheel insertion hole 762h), With The wheel support member is a second boss portion (for example, second boss portion 7632) extending in the second direction; a second boss insertion hole (for example, a second boss insertion hole 7632h) disposed in the second boss portion and into which an end of the rotation shaft is inserted; With The second boss portion is inserted into the wheel insertion hole. It can also be something like this.

[0180] Features of this vehicle This vehicle is An assembly vehicle (for example, the vehicle 1), A plurality of driving modules; A frame (for example, frame 6) to which the traveling module is detachably attached; and The traveling module is a traveling module (for example, this traveling module 7fa, 7fb, 7ra, 7rb), It is characterized by:

[0181] This vehicle is a control device (e.g., control device 5) that controls the operation of the traveling module; and The frame is a first frame (for example, first frames 61f, 61r) to which a pair of the traveling modules are attached among the plurality of traveling modules; With In the first frame, the rotation axes of the pair of traveling modules are arranged on the same virtual line, In the axial direction, the traveling modules are arranged so that the first directions of the traveling modules face each other, the control device controls the operation of the motors of the pair of traveling modules so that the rotation directions of the motor rotation shafts of the motors of the pair of traveling modules are the same when the vehicle turns. It can also be something like this.

[0182] In this vehicle, The axial direction is a horizontal direction, and a direction perpendicular to the axial direction and the up-down direction is a front-back direction, The frame is a second frame (e.g., second frame 62) disposed along the front-rear direction and supporting the first frame; a first fixing member (for example, a first frame fixing member) that fixes the first frame to a predetermined position on the second frame in the front-rear direction; Equipped with It can also be something like this.

[0183] In this vehicle, The first frame is a specific first frame (for example, specific first frame 61f) that can swing relative to the second frame; With The specific first frame is a front wall portion (for example, the front wall portion 611f) disposed along the axial direction and facing forward; a rear wall portion (e.g., rear wall portion 613f) disposed along the axial direction and facing rearward; A front through-hole (for example, a front through-hole 614h1) disposed in the center of the front wall portion in the axial direction; A rear through-hole (for example, a rear through-hole 614h2) is arranged in the center of the rear wall portion in the axial direction, facing the front through-hole; With The second frame is an elongated base member (for example, a first base member 621) arranged along the front-rear direction; a support shaft (for example, a support shaft 622) that is inserted through the front through-hole and the rear through-hole and that swingably supports the specific first frame; A pair of support members (for example, support members 623f and 623r) that support both ends of the support shaft; With The pair of support members are disposed below the base member and attached to the base member. It can also be something like this.

[0184] This vehicle is a sensor module (e.g., a first sensor module 2) that acquires environmental information related to the environment outside the vehicle; and The frame is a third frame (for example, third frame 63f) disposed above the second frame and supported by the second frame; a second fixing member (for example, a third frame fixing member) that fixes the third frame to a predetermined position of the second frame in the front-rear direction; With The third frame is a long second base member (for example, second base member 631f) arranged along the vertical direction; a sensor support member (e.g., sensor support member 632f) that is supported by the second base member and supports the sensor module; a third fixing member (for example, a first sensor fixing member) that fixes the sensor support member to a predetermined position on the second base member in the vertical direction; Equipped with It can also be something like this.

[0185] This vehicle is an electrical equipment storage module (e.g., electrical equipment storage module 4) that houses the control device; and The frame is a fourth frame (e.g., fourth frames 64f and 64r) disposed above the second frame and supported by the second frame; a fourth fixing member (for example, a fourth frame fixing member) that fixes the fourth frame to a predetermined position on the second frame in the front-rear direction; With The electrical equipment storage module is mounted on the fourth frame. It can also be something like this. [Explanation of symbols]

[0186] 1 vehicle 2. First sensor module 3 Second Sensor Module 4 Electrical equipment storage module 5. Control device 6 frames 61 1st Frame 61f 1st frame (specific 1st frame) 61r 1st frame 611f Front wall 611r front wall 612f Ceiling 612r Ceiling 613f Rear wall 613r rear wall 614h1 Front through hole 614h2 Rear through hole 62 2nd frame 621 First base member 622 Support shaft 623f Support member 623r Support member 6231f 1st upper support part 6231r 2nd upper support part 6232f Front support 6232r Rear support part 63 3rd Frame 63f 3rd frame 63r 3rd frame 631 Second base member 631f Second base member 631r Second base member 632f Sensor support member 632r Sensor support member 64 4th frame 64f 4th frame 64r 4th frame 7. Driving module 7fa driving module 7fb driving module 7ra driving module 7rb driving module 70 Case 701 Wall section 70h Housing insertion hole 71 Motor 72 Coupling 73 Rotation axis 731 Regulatory Groove 732 Wheel mounting part 74 Bearings 75 Retaining member 76 Wheels 761 Tires 762 Wheels 762h Wheel insertion hole 763 Wheel support member 7631 First Boss Section 7631h First boss insertion hole 7632 Second boss section 7632h Second boss insertion hole 77 Radial control member 771 Sealing material 772 Cover material 772h Cover insertion hole 78 Thrust control member 79 Second thrust limiting member B1 male thread B2 male thread D1 Inner diameter (housing insertion hole) D2 Inner diameter (cover insertion hole) D3 Outer diameter (rotation axis) S1 Gap S2 Gap

Claims

1. A traveling module used in an assembled vehicle, A rotation axis; a motor that rotates the rotary shaft; a wheel attached to the rotating shaft; a radial restriction member that restricts movement of the rotary shaft in a radial direction of the rotary shaft; a housing to which the motor and the radial restriction member are attached; and The housing includes: a wall portion disposed between the motor and the wheel; With a direction in which the motor is disposed with respect to the wall portion in an axial direction of the rotation shaft is a first direction, and a direction opposite to the first direction is a second direction; The rotation axis is The radial restriction member is rotatably inserted through the wall portion, a wheel mounting portion disposed on the second direction side of the wall portion and to which the wheel is attached; With The radial restriction member is A sealing material; a cover member attached to a surface of the wall portion on the second direction side and configured to accommodate the sealing material together with the wall portion; With the sealing material is sandwiched between the rotating shaft and the cover member in the radial direction. A traveling module characterized by:

2. The housing includes: a housing insertion hole disposed in the wall portion and through which the rotation shaft is rotatably inserted; With The cover member is a restricting insertion hole disposed at a position opposite to the housing insertion hole and through which the rotation shaft is rotatably inserted; With an inner diameter of the restriction insertion hole is larger than an outer diameter of the rotary shaft and is equal to or smaller than an inner diameter of the housing insertion hole; The traveling module according to claim 1 .

3. a bearing that rotatably supports the rotary shaft; a holding member for holding the bearing; and the holding member is disposed on the first direction side of the wall portion and attached to the housing; The traveling module according to claim 1 .

4. a thrust restricting member that restricts movement of the rotation shaft in the axial direction together with the wall portion; and The rotation axis is a groove disposed on the outer peripheral surface of the rotating shaft; With The groove is disposed adjacent to the wall portion in the axial direction, The thrust restricting member is disposed in the groove, facing the wall portion without contacting the wall portion; The traveling module according to claim 3.

5. The groove is disposed on the first direction side of the wall portion. The traveling module according to claim 4.

6. The groove is disposed on the second direction side of the wall portion. The traveling module according to claim 4.

7. a cylindrical second thrust restricting member that restricts movement of the rotation shaft in the first direction; and The wheel is Tires and a wheel that holds the tire; a wheel support member fixed to the wheel mounting portion and supporting the wheel; With The second thrust restricting member includes: a radial restriction member and a wheel support member disposed between the radial restriction member and the wheel support member so as to accommodate a portion of the rotary shaft; a gap is formed between the radial regulating member or the wheel support member and the second thrust regulating member in the axial direction; 7. The traveling module according to claim 5 or 6.

8. The second thrust restricting member includes: Attached to the radial regulating member or the wheel support member, The traveling module according to claim 7.

9. a cylindrical thrust restricting member that restricts movement of the rotation shaft in the first direction; and The wheel is Tires and a wheel that holds the tire; a wheel support member fixed to the wheel mounting portion and supporting the wheel; With The thrust restricting member is a radial restriction member and a wheel support member disposed between the radial restriction member and the wheel support member so as to accommodate a portion of the rotary shaft; a gap is formed between the radial regulating member or the wheel support member and the thrust regulating member in the axial direction; The traveling module according to claim 3.

10. The wheel is Tires and a wheel that holds the tire; a wheel support member fixed to the wheel mounting portion and supporting the wheel; With The wheel mounting portion is Polygonal outer surface, With The wheel support member is a first boss portion extending in the first direction; a polygonal first boss insertion hole disposed in the first boss portion and into which the wheel mounting portion is fitted; Equipped with The traveling module according to claim 1 .

11. The wheel is Wheel insertion hole, With The wheel support member is a second boss portion extending in the second direction; a second boss insertion hole disposed in the second boss portion and through which an end of the rotation shaft is inserted; With The second boss portion is inserted into the wheel insertion hole. The propulsion module according to claim 10.

12. An assembly vehicle, A plurality of driving modules; a frame to which the traveling module is detachably attached; and The traveling module is a traveling module according to claim 1. A vehicle characterized by:

13. a control device for controlling the operation of the traveling module; and The frame is a first frame to which a pair of the traveling modules are attached, among the plurality of traveling modules; With In the first frame, the rotation axes of the pair of traveling modules are arranged on the same virtual line, In the axial direction, the traveling modules are arranged so that the first directions of the traveling modules face each other, the control device controls the operation of the motors of the pair of traveling modules so that the rotation directions of the motor rotation shafts of the motors of the pair of traveling modules are the same when the vehicle turns.

13. The vehicle of claim 12.

14. The axial direction is a horizontal direction, and a direction perpendicular to the axial direction and the up-down direction is a front-back direction, The frame is a second frame disposed along the front-rear direction and supporting the first frame; a first fixing member that fixes the first frame to a predetermined position on the second frame in the front-rear direction; Equipped with 14. The vehicle of claim 13.

15. The first frame is a specific first frame that is swingable relative to the second frame; With The specific first frame is a front wall portion disposed along the axial direction and facing forward; a rear wall portion disposed along the axial direction and facing rearward; a front through hole disposed in a central portion of the front wall portion in the axial direction; a rear through hole disposed in a central portion of the rear wall portion in the axial direction, the rear through hole being opposed to the front through hole; With The second frame is an elongated base member arranged along the front-rear direction; a support shaft that is inserted through the front through hole and the rear through hole and that supports the specific first frame so that the specific first frame can swing; a pair of support members that support both ends of the support shaft; With The pair of support members are disposed below the base member and attached to the base member.

15. The vehicle of claim 14.

16. a sensor module for acquiring environmental information relating to an environment outside the vehicle; and The frame is a third frame disposed above the second frame and supported by the second frame; a second fixing member that fixes the third frame to a predetermined position of the second frame in the front-rear direction; With The third frame is a second base member having an elongated shape and arranged along the vertical direction; a sensor support member supported by the second base member and supporting the sensor module; a third fixing member that fixes the sensor support member to a predetermined position on the second base member in the vertical direction; Equipped with 15. The vehicle of claim 14.

17. an electrical equipment storage module that houses the control device; and The frame is a fourth frame disposed above the second frame and supported by the second frame; a fourth fixing member that fixes the fourth frame to a predetermined position of the second frame in the front-rear direction; With The electrical equipment storage module is mounted on the fourth frame.

17. The vehicle of claim 16.

Images