Travel apparatus
The traveling device addresses stability issues by employing a wheel and link mechanism that maintains equal load distribution, enhancing stability on uneven surfaces without increasing weight, thus allowing for a compact and efficient design.
Patent Information
- Application Number
- JP2024060634
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-04-04
- Publication Date
- 2025-10-17
AI Technical Summary
Conventional traveling devices experience insufficient stability, particularly when encountering large differences in floor levels or heavy loads.
A traveling device with a unique wheel arrangement and link mechanism, featuring first, second, and third wheels on each side of the vehicle body, connected by link members and rotating members, allowing wheels to pivot relative to the vehicle body, maintaining equal load distribution and enhancing stability.
The device achieves improved stability by maintaining equal load distribution across wheels, even on uneven surfaces, without increasing vehicle weight, enabling smaller and lighter design.
Smart Images
Figure 2025158261000001_ABST
Abstract
Description
[Technical Field]
[0001] The present disclosure relates to a running device. [Background technology]
[0002] BACKGROUND ART Conventionally, there is known a traveling device that includes traveling wheels and travels while carrying luggage or while towing a carriage carrying luggage (see, for example, Patent Document 1). [Prior art documents] [Patent documents]
[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-204538 Summary of the Invention [Problem to be solved by the invention]
[0004] However, with the conventional technology, for example, when there is a large difference in level on the floor surface or when the load is heavy, the running stability of the running device is not sufficient.
[0005] An object of the present disclosure is to provide a traveling device that can improve the traveling stability of the traveling device. [Means for solving the problem]
[0006] A traveling device according to one aspect of the present disclosure includes a first left wheel, a second left wheel, and a third left wheel arranged in the longitudinal direction on the left side of a vehicle body, a first right wheel, a second right wheel, and a third right wheel arranged in the longitudinal direction on the right side of the vehicle body, a left link member connecting the first left wheel, the second left wheel, and the third left wheel, and a right link member connecting the first right wheel, the second right wheel, and the third right wheel. The left link member includes a first left link member extending in the longitudinal direction, a second left link member connected to the first left link member and extending in the lateral direction, a third left link member connected to the second left link member, and a left rotating member arranged on the second left link member. The right link member includes a first right link member extending in the longitudinal direction, a second right link member connected to the first right link member and extending in the lateral direction, a third right link member connected to the second right link member, and a right rotating member arranged on the second right link member. Two of the first left wheel, the second left wheel, and the third left wheel are connected to the first left link member, and the remaining one is connected to the third left link member. Two of the first right wheel, the second right wheel, and the third right wheel are connected to the first right link member, and the remaining one is connected to the third right link member. The left rotating member and the right rotating member are attached to a frame of the vehicle body. [Effects of the Invention]
[0007] According to the present disclosure, it is possible to provide a traveling device that can improve the traveling stability of the traveling device. [Brief explanation of the drawings]
[0008] [Figure 1] FIG. 1 is a perspective view showing the overall configuration of a traveling device according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a perspective view showing the overall configuration of a running unit according to an embodiment of the present disclosure. [Figure 3] FIG. 3 is a perspective view showing the internal structure of the running unit according to the embodiment of the present disclosure. [Figure 4] FIG. 4 is a plan view showing the internal structure of the running unit according to the embodiment of the present disclosure. [Figure 5] FIG. 5 is a rear view showing the internal structure of the running unit according to the embodiment of the present disclosure. [Figure 6] FIG. 6 is a side view showing the internal structure of the running unit according to the embodiment of the present disclosure. [Figure 7] FIG. 7 is a schematic diagram showing a link mechanism of a traveling unit according to an embodiment of the present disclosure. [Figure 8] FIG. 8 is a schematic diagram showing a link mechanism of a traveling unit according to an embodiment of the present disclosure. [Figure 9] FIG. 9 is a plan view showing a link mechanism of a running unit according to an embodiment of the present disclosure. [Figure 10] FIG. 10 is a plan view illustrating another example of a link mechanism of a traveling unit according to an embodiment of the present disclosure. [Figure 11] FIG. 11 is a plan view illustrating another example of a link mechanism of a traveling unit according to an embodiment of the present disclosure. [Figure 12] FIG. 12 is a plan view illustrating another example of a link mechanism of a traveling unit according to an embodiment of the present disclosure. [Figure 13] FIG. 13 is a plan view illustrating another example of a link mechanism of a traveling unit according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION
[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Note that the following embodiments are examples that embody the present disclosure and do not limit the technical scope of the present disclosure.
[0010] Fig. 1 is a perspective view showing the overall configuration of a traveling device 10 according to an embodiment of the present disclosure. The traveling device 10 is, for example, an unmanned transport vehicle (Automatic Guided Vehicle), and is configured to include a traveling unit 1 and a shelf unit 2 connected to the traveling unit 1. Fig. 2 is a perspective view showing the overall configuration of the traveling unit 1.
[0011] The shelf unit 2 is a storage shelf that can store objects to be transported by the traveling device 10. For example, the shelf unit 2 is placed on and connected to the top of the traveling unit 1. In another embodiment, the shelf unit 2 may be configured as a cart equipped with wheels and connected to the traveling unit 1 so that it can be towed.
[0012] The running unit 1 has a circular outer shape when viewed from above (see FIG. 2), and is configured to be capable of forward and backward running as well as turning on the spot (pilot turning). As shown in FIG. 2, the top of the running unit 1 is configured to allow a shelf unit 2 to be connected. The top of the running unit 1 may also have a connecting part (such as a hook) to which a cart can be connected. The running unit 1 may also have a sensor that detects obstacles, etc. The running unit 1 may also have a function to automatically run (autonomously run) along a preset running route while detecting obstacles, for example.
[0013] 3 to 6 show an example of the internal structure of the running unit 1, omitting the exterior cover. Fig. 4 is a plan view of the internal structure, Fig. 5 is a rear view of the internal structure as seen from the D2 direction (see Fig. 3), and Fig. 6 is a side view of the internal structure as seen from the D1 direction (see Fig. 3).
[0014] The running unit 1 includes a first left wheel 1L, a second left wheel 2L, and a third left wheel 3L arranged in the front-to-rear direction on the left side of the vehicle body, and a first right wheel 1R, a second right wheel 2R, and a third right wheel 3R arranged in the front-to-rear direction on the right side of the vehicle body. The first left wheel 1L, the second left wheel 2L, and the third left wheel 3L are arranged in this order from front to rear on the left side of the vehicle body, and the first right wheel 1R, the second right wheel 2R, and the third right wheel 3R are arranged in this order from front to rear on the right side of the vehicle body.
[0015] For example, the first left wheel 1L is located on the front left side of the running unit 1, the second left wheel 2L is located in the center left side of the running unit 1, and the third left wheel 3L is located on the rear left side of the running unit 1. Also, the first right wheel 1R is located on the front right side of the running unit 1, the second right wheel 2R is located in the center right side of the running unit 1, and the third right wheel 3R is located on the rear right side of the running unit 1.
[0016] The second left wheel 2L and the second right wheel 2R are configured as drive wheels, while the first left wheel 1L, the third left wheel 3L, the first right wheel 1R, and the third right wheel 3R are configured as driven wheels. The drive wheels are driven by a motor that is powered by power supplied from a battery.
[0017] The second left wheel 2L is disposed to the left of the first left wheel 1L and the third left wheel 3L on the vehicle body in the direction of travel, and the second right wheel 2R is disposed to the right of the first right wheel 1R and the third right wheel 3R on the vehicle body in the direction of travel. That is, of the first left wheel 1L, the second left wheel 2L, and the third left wheel 3L, the second left wheel 2L is disposed on the leftmost outer side of the vehicle body, and of the first right wheel 1R, the second right wheel 2R, and the third right wheel 3R, the second right wheel 2R is disposed on the rightmost outer side of the vehicle body. The first left wheel 1L and the third left wheel 3L are disposed on a straight line parallel to the direction of travel, and the first right wheel 1R and the third right wheel 3R are disposed on a straight line parallel to the direction of travel. In another embodiment, the first left wheel 1L and the third left wheel 3L may be disposed with a lateral offset, and the first right wheel 1R and the third right wheel 3R may be disposed with a lateral offset.
[0018] According to the above configuration, for example, by driving the second left wheel 2L to rotate in the forward direction and rotating the second right wheel 2R in the backward direction, it becomes possible to make a pivot turn in the clockwise direction of the running unit 1. Also, by driving the second left wheel 2L to rotate in the backward direction and rotating the second right wheel 2R in the forward direction, it becomes possible to make a pivot turn in the counterclockwise direction of the running unit 1.
[0019] In addition, in the traveling unit 1, the first left wheel 1L, the second left wheel 2L, and the third left wheel 3L are fixed to left link members (L11, L12, etc.), and the first right wheel 1R, the second right wheel 2R, and the third right wheel 3R are fixed to right link members (R11, R12, etc.). In addition, the left link member and the right link member are each fixed to a common link member FL connected to the vehicle body via rotating members (L52, R52). In other words, the traveling unit 1 is equipped with a link mechanism that connects each wheel with a link member. As shown in FIG. 5, the first left wheel 1L, the third left wheel 3L, and the second left wheel 2L are connected by left rotating members (the front left rotating member L51 and the rear left rotating member L52 described below) so as to be rotatable left and right relative to the vehicle body around the left rotating axis Lx (in the direction of the arrow in FIG. 5), and the first right wheel 1R, the third right wheel 3R, and the second right wheel 2R are connected by right rotating members (the front right rotating member R51 and the rear right rotating member R52 described below) so as to be rotatable left and right relative to the vehicle body around the right rotating axis Rx (in the direction of the arrow in FIG. 5).
[0020] The specific configuration of the link mechanism will be described below. Fig. 7 shows a schematic diagram of the link mechanism of the traveling unit 1. Fig. 8 shows an exploded perspective view of the common link member FL. Fig. 9 shows a plan view of the link mechanism excluding the common link member FL.
[0021] The running unit 1 includes a left link member connecting the first left wheel 1L, the second left wheel 2L, and the third left wheel 3L, and a right link member connecting the first right wheel 1R, the second right wheel 2R, and the third right wheel 3R.
[0022] The left link member comprises a first front left link member L11 arranged on the front side of the vehicle body and extending in the longitudinal direction, a second front left link member L21 arranged on the front side of the vehicle body, connected to the first front left link member L11 and extending in the left-right direction, a third left side link member L3 connected to the second front left link member L21 and extending in the longitudinal direction, a second rear left side link member L22 arranged on the rear side of the vehicle body, connected to the third left side link member L3 and extending in the left-right direction, and a first rear left side link member L12 arranged on the rear side of the vehicle body, connected to the second rear left side link member L22 and extending in the longitudinal direction.
[0023] 9, the front left rotating member L51 is disposed on the second front left link member L21, and the rear left rotating member L52 is disposed on the second rear left link member L22. Specifically, as shown in Fig. 9, the front left rotating member L51 is disposed between the connection portion between the second front left link member L21 and the first front left link member L11 (one end of the second front left link member L21) and the connection portion between the second front left link member L21 and the third left link member L3 (the other end of the second front left link member L21), and the rear left rotating member L52 is disposed between the connection portion between the second rear left link member L22 and the first rear left link member L12 (one end of the second rear left link member L22) and the connection portion between the second rear left link member L22 and the third left link member L3 (the other end of the second rear left link member L22). The front left rotating member L51 may be disposed, for example, on the left side of the second front left link member L21 in the left-right direction (the side closest to the second left wheel 2L), or may be disposed near the center of the second front left link member L21 in the left-right direction. The rear left rotating member L52 may be disposed, for example, on the left side of the second rear left link member L22 in the left-right direction (the side closest to the second left wheel 2L), or may be disposed near the center of the second rear left link member L22 in the left-right direction.
[0024] 8 and 9, the front left rotating member L51 and the rear left rotating member L52 are rotatably connected to a common link member FL. As shown in Fig. 8, the common link member FL is formed of a single frame. A front left end F11 of the common link member FL is connected to the front left rotating member L51, and a rear left end F12 of the common link member FL is connected to the rear left rotating member L52. In other words, the front left rotating member L51 and the rear left rotating member L52 are connected to the common link member FL so as to be rotatable in the left-right direction relative to the vehicle body around a common left rotation axis Lx extending in the front-rear direction.
[0025] As a result, the first front left link member L11, the second front left link member L21, the third left link member L3, the second rear left link member L22, and the first rear left link member L12 are rotatable in the left-right direction relative to the vehicle body about the left rotation axis Lx by the front left rotating member L51 and the rear left rotating member L52. Therefore, the first left wheel 1L and the third left wheel 3L located to the right of the left rotation axis Lx, and the second left wheel 2L located to the left of the left rotation axis Lx, are rotatable in the left-right direction relative to the vehicle body about the left rotation axis Lx (see FIG. 5).
[0026] The right link member comprises a first front right link member R11 arranged on the front side of the vehicle body and extending in the longitudinal direction, a second front right link member R21 arranged on the front side of the vehicle body, connected to the first front right link member R11 and extending in the left-right direction, a third right link member R3 connected to the second front right link member R21 and extending in the longitudinal direction, a second rear right link member R22 arranged on the rear side of the vehicle body, connected to the third right link member R3 and extending in the left-right direction, and a first rear right link member R12 arranged on the rear side of the vehicle body, connected to the second rear right link member R22 and extending in the longitudinal direction.
[0027] 9, the front right rotating member R51 is disposed on the second front right link member R21, and the rear right rotating member R52 is disposed on the second rear right link member R22. Specifically, as shown in Fig. 9, the front right rotating member R51 is disposed between the connection portion between the second front right link member R21 and the first front right link member R11 (one end portion of the second front right link member R21) and the connection portion between the second front right link member R21 and the third right link member R3 (the other end portion of the second front right link member R21), and the rear right rotating member R52 is disposed between the connection portion between the second rear right link member R22 and the first rear right link member R12 (one end portion of the second rear right link member R22) and the connection portion between the second rear right link member R22 and the third right link member R3 (the other end portion of the second rear right link member R22). The front right rotating member R51 may be disposed, for example, on the right side of the second front right link member R21 in the left-right direction (on the side of the second right wheel 2R), or may be disposed near the center of the second front right link member R21 in the left-right direction. The rear right rotating member R52 may be disposed, for example, on the right side of the second rear right link member R22 in the left-right direction (on the side of the second right wheel 2R), or may be disposed near the center of the second rear right link member R22 in the left-right direction.
[0028] 8 and 9, the front right rotating member R51 and the rear right rotating member R52 are rotatably connected to a common link member FL. As shown in Fig. 8, a front right end F21 of the common link member FL is connected to the front right rotating member R51, and a rear right end F22 of the common link member FL is connected to the rear right rotating member R52. That is, the front right rotating member R51 and the rear right rotating member R52 are connected to the common link member FL so as to be rotatable in the left-right direction relative to the vehicle body around a common right rotation axis Rx that extends in the front-rear direction.
[0029] As a result, the first front right link member R11, the second front right link member R21, the third right link member R3, the second rear right link member R22, and the first rear right link member R12 can rotate left and right relative to the vehicle body about the right rotation axis Rx by the front right rotating member R51 and the rear right rotating member R52. Therefore, the first right wheel 1R and the third right wheel 3R located to the left of the right rotation axis Rx, and the second right wheel 2R located to the right of the right rotation axis Rx can rotate left and right relative to the vehicle body about the right rotation axis Rx (see FIG. 5).
[0030] As shown in Figure 8, each end of the common link member FL (front left end F11, rear left end F12, front right end F21, rear right end F22) is connected to each rotating member (front left rotating member L51, rear left rotating member L52, front right rotating member R51, rear right rotating member R52), and the common link member FL is fixed to the body of the traveling device 10.
[0031] As described above, the traveling unit 1 according to this embodiment is provided with a link mechanism that allows the left wheel (second left wheel 2L) and the right wheel (first left wheel 1L and third left wheel 3L), which are arranged on the left side of the vehicle body and spaced apart in the left-right direction, to rotate in the left-right direction around a single rotation axis (left rotation axis Lx) that extends in the front-rear direction.Furthermore, the traveling unit 1 is provided with a link mechanism that allows the left wheel (first right wheel 1R and third right wheel 3R) and the right wheel (second right wheel 2R), which are arranged on the right side of the vehicle body and spaced apart in the left-right direction, to rotate in the left-right direction around a single rotation axis (right rotation axis Rx) that extends in the front-rear direction.
[0032] As a result, even if there are steps of different heights on the floor surface in the left-right direction on the left side of the vehicle body with respect to the traveling direction of the traveling device 10, the link mechanism can maintain an equal load distribution among the second left wheel 2L, the first left wheel 1L, and the third left wheel 3L. Similarly, even if there are steps of different heights on the floor surface in the left-right direction on the right side of the vehicle body with respect to the traveling direction of the traveling device 10, the link mechanism can maintain an equal load distribution among the second right wheel 2R, the first right wheel 1R, and the third right wheel 3R.
[0033] Furthermore, since there is no need to increase the vehicle body weight to ensure the running stability of the running device 10, the running device 10 can be made smaller and lighter.
[0034] [Other embodiments] The traveling device 10 according to the present disclosure is not limited to the above-described embodiment, and may be in the following embodiment.
[0035] 10, the first front left link member L11 and the first rear left link member L12 may be formed by a single first left link member L10, and the first front right link member R11 and the first rear right link member R12 may be formed by a single first right link member R10. That is, the first left wheel 1L and the third left wheel 3L may be connected to a single first left link member L10, and the first right wheel 1R and the third right wheel 3R may be connected to a single first right link member R10. Alternatively, the second front left link member L21 and the second rear left link member L22 may be formed by a single link member, and the second front right link member R21 and the second rear right link member R22 may be formed by a single link member (not shown).
[0036] In another embodiment, as shown in FIG. 11, the front left rotating member L51 and the rear left rotating member L52 may be disposed on the third left link member L3. For example, the front left rotating member L51 is disposed on the front end of the third left link member L3, and the rear left rotating member L52 is disposed on the rear end of the third left link member L3. Similarly, the front right rotating member R51 and the rear right rotating member R52 may be disposed on the third right link member R3. For example, the front right rotating member R51 is disposed on the front end of the third right link member R3, and the rear right rotating member R52 is disposed on the rear end of the third right link member R3.
[0037] Here, a configuration for stabilizing the center of gravity of the traveling device 10 will be described. For example, as shown in Fig. 12, a triangle is created connecting the ground contact points of the first left wheel 1L, the second left wheel 2L, and the third left wheel 3L. The front left rotating member L51 is located at the intersection of the front hypotenuse of the triangle and the second front left link member L21, and the rear left rotating member L52 is located at the intersection of the rear hypotenuse of the triangle and the second rear left link member L22. Similarly, a triangle is created connecting the ground contact points of the first right wheel 1R, the second right wheel 2R, and the third right wheel 3R. The front right rotating member R51 is located at the intersection of the front hypotenuse of the triangle and the second front right link member R21, and the rear right rotating member R52 is located at the intersection of the rear hypotenuse of the triangle and the second rear right link member R22.
[0038] 13, a triangle is formed connecting the ground contact points of the first left wheel 1L, the second left wheel 2L, and the third left wheel 3L, and the front left rotating member L51 is located at the intersection of the front hypotenuse of the triangle and the third left link member L3, and the rear left rotating member L52 is located at the intersection of the rear hypotenuse of the triangle and the third left link member L3. Similarly, a triangle is formed connecting the ground contact points of the first right wheel 1R, the second right wheel 2R, and the third right wheel 3R, and the front right rotating member R51 is located at the intersection of the front hypotenuse of the triangle and the third right link member R3, and the rear right rotating member R52 is located at the intersection of the rear hypotenuse of the triangle and the third right link member R3.
[0039] As described above, by placing rotating members at the intersections of the sides of the triangle connecting the ground contact points of the wheels and the link members, it is possible to generate an area (rectangular area AR1) in which a load can be loaded without compromising the stability of the center of gravity of the traveling device 10. The rectangular area AR1 corresponds to the area connecting the four rotating members. In other words, by loading a load within the rectangular area AR1, it becomes possible to travel the traveling device 10 stably. Note that, when the rectangular area AR1 is to be widened, it is sufficient to place rotating members at the points where the area of the rectangular area AR1 becomes larger among the intersections of the sides of the triangle and the link members.
[0040] Here, the traveling device 10 (traveling unit 1) may have a function of detecting a guide member (e.g., a magnetic tape) placed on the floor surface and traveling along the guide member. In this case, the first left wheel 1L and the first right wheel 1R of the traveling unit 1 are arranged with a gap that allows the traveling unit 1 to travel across the guide member. This prevents the traveling unit 1 from riding over the guide member, thereby preventing damage to the guide member.
[0041] [Disclosure Note] The following is a summary of the disclosure extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.
[0042] <Appendix 1> a first left wheel, a second left wheel, and a third left wheel arranged in the front-rear direction on the left side of the vehicle body; a first right wheel, a second right wheel, and a third right wheel arranged in the front-rear direction on the right side of the vehicle body; a left link member connecting the first left wheel, the second left wheel, and the third left wheel; a right link member connecting the first right wheel, the second right wheel, and the third right wheel; Equipped with the left link member includes a first left link member extending in the front-rear direction, a second left link member connected to the first left link member and extending in the left-right direction, a third left link member connected to the second left link member, and a left rotating member disposed on the second left link member, the right side link member includes a first right side link member extending in the front-rear direction, a second right side link member connected to the first right side link member and extending in the left-right direction, a third right side link member connected to the second right side link member, and a right side rotating member disposed on the second right side link member, two of the first left wheel, the second left wheel, and the third left wheel are connected to the first left link member, and the remaining one is connected to the third left link member; two of the first right wheel, the second right wheel, and the third right wheel are connected to the first right link member, and the remaining one is connected to the third right link member; the left rotating member and the right rotating member are attached to a frame of the vehicle body; Running gear.
[0043] <Appendix 2> the first left wheel and the third left wheel are connected to the first left link member, and the second left wheel is connected to the third left link member; the first right wheel and the third right wheel are connected to the first right link member, and the second right wheel is connected to the third right link member; 10. The running device according to claim 1.
[0044] <Appendix 3> the first left link member includes a first front left link member disposed on the front side of the vehicle body and a first rear left link member disposed on the rear side of the vehicle body, the second left link member includes: a second front left link member disposed on the front side of the vehicle body and connected to front ends of the first front left link member and the third left link member; and a second rear left link member disposed on the rear side of the vehicle body and connected to rear ends of the first front left link member and the third left link member, the left side rotating member includes a front left side rotating member disposed between one end and the other end of the second front left side link member, and a rear left side rotating member disposed between one end and the other end of the second rear left side link member, the first right link member includes a first front right link member disposed on the front side of the vehicle body and a first rear right link member disposed on the rear side of the vehicle body, the second right link member includes a second front right link member disposed on the front side of the vehicle body and connected to front ends of the first front right link member and the third right link member, and a second rear right link member disposed on the rear side of the vehicle body and connected to rear ends of the first front right link member and the third right link member, the right side rotating member includes a front right side rotating member disposed between one end and the other end of the second front right side link member, and a rear right side rotating member disposed between one end and the other end of the second rear right side link member, 10. The running device according to claim 2.
[0045] <Appendix 4> the second left wheel disposed between the first left wheel and the third left wheel, and the second right wheel disposed between the first right wheel and the third right wheel are drive wheels, the first left wheel, the third left wheel, the first right wheel, and the third right wheel are driven wheels; 3. A running device as described in appendix 3.
[0046] <Appendix 5> the second left wheel is disposed to the left of the vehicle body relative to the first left wheel and the third left wheel in the traveling direction, the second right wheel is disposed on the right side of the vehicle body relative to the first right wheel and the third right wheel in the traveling direction. 5. The running device according to claim 4.
[0047] <Appendix 6> the front left rotating member and the rear left rotating member are rotatable relative to the vehicle body about a common left rotation axis extending in a front-to-rear direction, the front right rotation member and the rear right rotation member are rotatable relative to the vehicle body about a common right rotation axis extending in the front-rear direction, 6. The traveling device according to any one of appendices 3 to 5. [Explanation of symbols]
[0048] 10: Running gear 1: Running part 1L: 1st left wheel 1R: 1st right wheel 2L: 2nd left wheel 2R: 2nd right wheel 3L: 3rd left wheel 3R: 3rd right wheel FL: Common link member F11: Front left edge F12: Rear left edge F21: Front right edge F22:Rear right edge L11: First front left link member L12: First rear left link member L21: Second front left link member L22: Second rear left link member L3: Third left link member L51: Front left rotating member L52: Rear left rotating member R11: First front right link member R12: First rear right link member R21: Second front right link member R22: Second rear right link member R3: Third right link member R51: Front right rotation part R52: Rear right rotation part Lx: Left rotation axis Rx: Right rotation axis
Claims
1. a first left wheel, a second left wheel, and a third left wheel arranged in the front-rear direction on the left side of the vehicle body; a first right wheel, a second right wheel, and a third right wheel arranged in the front-rear direction on the right side of the vehicle body; a left link member connecting the first left wheel, the second left wheel, and the third left wheel; a right link member connecting the first right wheel, the second right wheel, and the third right wheel; Equipped with the left link member includes a first left link member extending in the front-rear direction, a second left link member connected to the first left link member and extending in the left-right direction, a third left link member connected to the second left link member, and a left rotating member disposed on the second left link member, the right side link member includes a first right side link member extending in the front-rear direction, a second right side link member connected to the first right side link member and extending in the left-right direction, a third right side link member connected to the second right side link member, and a right side rotating member disposed on the second right side link member, two of the first left wheel, the second left wheel, and the third left wheel are connected to the first left link member, and the remaining one is connected to the third left link member; two of the first right wheel, the second right wheel, and the third right wheel are connected to the first right link member, and the remaining one is connected to the third right link member; the left rotating member and the right rotating member are attached to a frame of the vehicle body; Running gear.
2. the first left wheel and the third left wheel are connected to the first left link member, and the second left wheel is connected to the third left link member; the first right wheel and the third right wheel are connected to the first right link member, and the second right wheel is connected to the third right link member; The traveling device according to claim 1 .
3. the first left link member includes a first front left link member disposed on the front side of the vehicle body and a first rear left link member disposed on the rear side of the vehicle body, the second left link member includes: a second front left link member disposed on the front side of the vehicle body and connected to front ends of the first front left link member and the third left link member; and a second rear left link member disposed on the rear side of the vehicle body and connected to rear ends of the first front left link member and the third left link member, the left rotating member includes a front left rotating member disposed between one end and the other end of the second front left link member, and a rear left rotating member disposed between one end and the other end of the second rear left link member, the first right link member includes a first front right link member disposed on the front side of the vehicle body and a first rear right link member disposed on the rear side of the vehicle body, the second right link member includes a second front right link member disposed on the front side of the vehicle body and connected to front ends of the first front right link member and the third right link member, and a second rear right link member disposed on the rear side of the vehicle body and connected to rear ends of the first front right link member and the third right link member, the right side rotating member includes a front right side rotating member disposed between one end and the other end of the second front right side link member, and a rear right side rotating member disposed between one end and the other end of the second rear right side link member, The traveling device according to claim 2.
4. the second left wheel disposed between the first left wheel and the third left wheel, and the second right wheel disposed between the first right wheel and the third right wheel are drive wheels, the first left wheel, the third left wheel, the first right wheel, and the third right wheel are driven wheels; The traveling device according to claim 3.
5. the second left wheel is disposed to the left of the vehicle body relative to the first left wheel and the third left wheel in the traveling direction, the second right wheel is disposed on the right side of the vehicle body relative to the first right wheel and the third right wheel in the traveling direction. The traveling device according to claim 4.
6. the front left rotating member and the rear left rotating member are rotatable relative to the vehicle body about a common left rotation axis extending in a front-to-rear direction, the front right rotation member and the rear right rotation member are rotatable relative to the vehicle body about a common right rotation axis extending in the front-rear direction, The traveling device according to any one of claims 3 to 5.
Citation Information
Patent Citations
Automatic travel vehicle, automatic travel vehicle control system, automatic travel vehicle control method, automatic travel vehicle control program, and storage medium
JP2019204538A