Travel unit

Abstract

To provide a traveling unit capable of suppressing maintenance frequency with a simple configuration, having a high degree of freedom in layout, and capable of suppressing a burden on a worker.SOLUTION: A main body portion 110, and a pair of left and right swing arms 112 and wheels 113 that swing about a swing shaft 111 in a swing transmission portion 120, wherein the swing transmission portion 120 includes a first swing rotating body 121 and a second swing rotating body 122, a first transmission rotating body 123 that transmits rotation to the first swing rotating body 121, and a second transmission rotating body 124 that transmits rotation to the second swing rotating body 122, and the first transmission rotating body 123 and the second transmission rotating body 124 are connected by an interlocking shaft 125, the first oscillation rotating body 123 and the second oscillation rotating body 122 are interlocked with each other in the reverse direction, and an elastic structure 128 for elastically transmitting rotation is provided at least either between the first oscillation rotating body 121 and the first transmission rotating body 123 and / or between the second oscillation rotating body 122 and the second transmission rotating body 124.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

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

[0003] Furthermore, the suspension 36, which is positioned to support the direction-changing member 19 and is made up of a suspension spring 25, can absorb shocks that occur via the wheels (5L, 5R) while traveling. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 4567813 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the propulsion unit known in the above patent document still has room for improvement. In other words, the traveling unit known from Patent Document 1 and elsewhere is configured to link a pair of left and right wheels using a direction-changing member, a tilting member, and a string-like body, so it has many complex drive parts and there is a risk that manufacturing costs and the frequency of maintenance such as greasing will increase.

[0006] Furthermore, since the balance- or pulley-shaped direction-changing member and the left and right tilting members are connected via a string-like body to link the left and right wheels, it is necessary to arrange the direction-changing member and tilting member so that they have a predetermined size and a predetermined distance, which may reduce the layout freedom of the device. Furthermore, because the suspension is positioned to support the direction-changing member, the central part of the traveling unit must be disassembled when replacing the suspension, which could increase the work time and the burden on the worker.

[0007] The present invention aims to solve these problems by providing a traveling unit with a simple configuration, which can reduce manufacturing costs and maintenance frequency, has a high degree of freedom in device layout, and can reduce working time and the burden on the worker. [Means for solving the problem]

[0008] The traveling unit of the present invention is a traveling unit having a main body, a swing transmission part provided on the main body, a pair of left and right swing arms provided on the swing transmission part so as to be swingable about a swing axis, and wheels provided on each of the swing arms, wherein the swing transmission part has a first swing rotor that rotates in conjunction with the swing of one of the swing arms, a second swing rotor that rotates in conjunction with the swing of the other swing arm, a first transmission rotor that transmits rotation via the first swing rotor and a first transmission wire, and a second transmission rotor that transmits rotation via the second swing rotor and a second transmission wire, and the first transmission rotor The rotor and the second transmission rotor are connected by an interlocking shaft that links their respective rotation axes, and the first oscillating rotor and the second oscillating rotor are configured so that their rotations can be interlocked in opposite directions, and at least one of the spaces between the first oscillating rotor, the first transmission rotor, and the first transmission wire body and / or the space between the second oscillating rotor, the second transmission rotor, and the second transmission wire body has an elastic structure that elastically transmits rotation between the first oscillating rotor and the first transmission rotor and / or between the second oscillating rotor and the second transmission rotor, thereby solving the above-mentioned problem. [Effects of the Invention]

[0009] In the traveling units of claims 1 and 8, the swing transmission part has a first swinging rotor that rotates in conjunction with the swing of one swinging arm, a second swinging rotor that rotates in conjunction with the swing of the other swinging arm, a first transmission rotor that transmits rotation via the first swinging rotor and the first transmission wire, and a second transmission rotor that transmits rotation via the second swinging rotor and the second transmission wire, the first transmission rotor and the second transmission rotor are connected by an interlocking shaft that links their respective rotation axes, and the first swinging rotor and the second swinging rotor are configured so that their rotations can be interlocked in opposite directions, so that, for example, when one wheel swings upward due to road surface conditions, the swing transmission part can swing the other swing arm downward in conjunction with the swing of one swinging arm, causing the other wheel to swing downward. Conversely, when only the other wheel swings upward, the swing transmission unit can link the other wheel to swing downward. This allows the swing transmission unit to change the height of the pair of left and right wheels depending on the left and right tilt of the vehicle body, the unevenness of the road surface, and the shape of the slope, ensuring that both left and right wheels are firmly in contact with the ground and improving driving stability. In addition, by placing the swing shaft and interlocking shaft close to each other, the structure for interlocking the left and right wheels in the swing direction can be consolidated, thereby saving space and improving the layout freedom of the traveling unit. Furthermore, at least one of the spaces between the first oscillating rotor, the first transmission rotor, and the first transmission wire and / or the spaces between the second oscillating rotor, the second transmission rotor, and the second transmission wire has an elastic structure that elastically transmits rotation between the first oscillating rotor and the first transmission rotor and / or between the second oscillating rotor and the second transmission rotor, so that the elastic structure can reliably absorb and mitigate the impact on the traveling unit when the wheels touch the ground. Furthermore, when performing maintenance on the elastic structure, only the part where the elastic structure is connected needs to be removed, eliminating the need to disassemble the central part of the traveling unit, thereby reducing the time required for maintenance work and the burden on the worker.

[0010] According to the configuration of claim 2, the elastic structure is provided in the middle of at least one of the first transmission wire and the second transmission wire. Therefore, when the first transmission wire and the second transmission wire are subjected to an impact that generates excessive tensile force, the elastic structure elastically deforms to absorb the tensile force, so that the first transmission wire and the second transmission wire are not deteriorated by excessive pulling, thereby improving the lifespan of the traveling unit and suppressing an increase in the frequency of maintenance. Furthermore, contact of the elastic structure with the first transmission rotor, the second transmission rotor, the first oscillating rotor, and the second oscillating rotor can be easily avoided, preventing the device configuration from becoming complicated. Furthermore, if the first transmission wire and the second transmission wire are configured to be exposed, the elastic structure can be accessed quickly and easily when inspecting or replacing the elastic structure, thereby improving work efficiency. According to the configuration of claim 3, the elastic structure is composed of a tension relief section that relieves the tension on a portion of at least one of the first transmission beam and the second transmission beam, and an elastic body that biases the tension relief section in the direction of relaxing the tension on the tension relief section.Since the elastic body is connected to both ends of the tension relief section, the elastic structure can be provided without separating the first transmission beam and the second transmission beam, and the elastic structure can be easily detached from the first transmission beam and the second transmission beam by simply attaching and detaching the elastic body. Furthermore, for example, if the tension relief section is adjusted so that it fully stretches before the elastic body breaks due to excessive tensile force applied to the elastic structure, the elastic body can be prevented from breaking, and the frequency of replacing the elastic body can be reduced. Furthermore, for example, if the elastic body is adjusted so that it breaks before the tension relief section is fully stretched due to excessive tensile force applied to the elastic structure, the user can quickly sense that excessive impact has occurred to the running unit due to the elastic body breaking, and excessive impact can be prevented from being applied to components of the running unit other than the elastic body.

[0011] According to the configuration described in claim 4, the first transmission member is composed of an ended chain having one end connected to the first oscillating rotor and the other end connected to the first transmission rotor, and the second transmission member is composed of an ended chain having one end connected to the second oscillating rotor and the other end connected to the second transmission rotor.Therefore, the first transmission rotor, first oscillating rotor, second transmission rotor, and second oscillating rotor function as sprockets to reliably transmit rotation, and each sprocket can be formed into a fan shape only in the area that meshes with the ended chain, which reduces the weight of the oscillating transmission unit and reduces the storage space. According to the configuration described in claim 5, the elastic structure is composed of a tension relief section and an elastic body, and the elastic body biases the two ends of the three or more consecutive axes of the chain that constitute at least one of the first transmission beam and the second transmission beam toward each other.Therefore, the tension relief section protrudes so as to intersect with the direction of movement of the chain, allowing the elastic structure to be provided without dividing the chain, the shape and position of the tension relief section can be easily controlled, and the elastic structure can be easily attached and detached by simply attaching and detaching the elastic body. Furthermore, for example, by adjusting the chain that constitutes the tension relief section so that it fully stretches before the elastic body breaks due to excessive tensile force applied to the elastic structure, it is possible to prevent the elastic body from breaking and reduce the frequency of replacing the elastic body. Furthermore, for example, if the elastic body is adjusted so that it breaks before the chain that constitutes the tension relief section is fully stretched due to excessive tensile force applied to the elastic structure, the user can quickly realize that excessive impact has been caused to the running unit by the breakage of the elastic body, and excessive impact can be prevented from being applied to the components of the running unit other than the elastic body, thereby suppressing chain breakage.

[0012] According to the configuration of claim 6, the oscillating transmission part has a third oscillating rotor that is adjacent to the first oscillating rotor in the axial direction and rotates integrally therewith, a fourth oscillating rotor that is adjacent to the second oscillating rotor in the axial direction and rotates integrally therewith, a third transmission rotor that transmits rotation via the third oscillating rotor and the third transmission wire, and a fourth transmission rotor that transmits rotation via the fourth oscillating rotor and the fourth transmission wire, the third transmission rotor and the fourth transmission rotor being connected by an interlocking shaft, the third transmission wire being configured to transmit rotation due to tension in the opposite direction to the first transmission wire, and the fourth transmission wire being configured to transmit rotation due to tension in the opposite direction to the second transmission wire.Therefore, the transmission wires will not slacken with any movement of the oscillating arms, and for example, even if the main body is lifted and both wheels are lifted off the ground, both oscillating arms will not swing downward together and will reliably interlock in opposite directions. Furthermore, at least one of the spaces between the third oscillating rotor, the third transmission rotor, and the third transmission wire body and / or the spaces between the fourth oscillating rotor, the fourth transmission rotor, and the fourth transmission wire body has an elastic structure that elastically transmits rotation between the third oscillating rotor and the third transmission rotor and / or between the fourth oscillating rotor and the fourth transmission rotor, so that the elastic structure can reliably absorb and mitigate impacts that occur when tension occurs in the opposite direction to the first transmission wire body or the second transmission wire body. According to the configuration described in claim 7, the third transmission wire body is composed of an ended chain having one end connected to the third oscillating rotor and the other end connected to the third transmission rotor, and the fourth transmission wire body is composed of an ended chain having one end connected to the fourth oscillating rotor and the other end connected to the fourth transmission rotor.As a result, the third transmission rotor, the third oscillating rotor, the fourth transmission rotor, and the fourth oscillating rotor act as sprockets, allowing for reliable transmission of rotation, and each sprocket can be formed into a fan shape only in the area that meshes with the ended chain, which reduces the weight of the oscillating transmission unit and reduces the storage space. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a perspective view of a propulsion unit 100 according to an embodiment of the present invention. [Figure 2] FIG. 1 is a top view of a propulsion unit 100 according to an embodiment of the present invention. [Figure 3] 1 is a perspective view showing a main body 110 of a propulsion unit 100 according to an embodiment of the present invention. [Figure 4] 3 is a rear view illustrating the operation of the propulsion unit 100 according to one embodiment of the present invention. FIG. [Figure 5] 10 is an explanatory diagram showing the state of the second wheel 113L side of the propulsion unit 100 according to one embodiment of the present invention when the second wheel 113L swings upward. FIG. [Figure 6] 10 is an explanatory diagram showing the state of the first wheel 113R side of the propulsion unit 100 according to one embodiment of the present invention when the second wheel 113L swings upward. FIG. [Figure 7] 10 is an explanatory diagram showing the state of the elastic structure 128 when the first wheel 113R or the second wheel 113L of the propulsion unit 100 according to one embodiment of the present invention swings. FIG. [Figure 8] FIG. 2 is a perspective view showing an elastic structure 138 of the propulsion unit 100 according to an embodiment of the present invention. [Figure 9] FIG. 3 is a cross-sectional view showing an elastic structure 138 of the propulsion unit 100 according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] A propulsion unit 100 according to one embodiment of the present invention will be described below with reference to the drawings. Note that, since other components of the traveling vehicle other than the traveling unit 100 are not shown in the illustration, the main body 110 is shown divided into left and right halves, but in reality, they are connected by other components not shown, and the left and right main body parts 110 are integrated so that the relative positions of the oscillating shaft 111 (first oscillating shaft 111R, second oscillating shaft 111L) and the interlocking shaft 125 are fixed.

[0015] As shown in Figures 1 to 3, a traveling unit 100 according to one embodiment of the present invention has a main body 110, a swing transmission unit 120 connected to the main body 110, a pair of left and right swing arms 112 (first swing arm 112R, second swing arm 112L) swingably mounted on the swing transmission unit 120 around a swing axis 111 (first swing axis 111R, second swing axis 111L), and wheels 113 (first wheel 113R, second wheel 113L) rotatably connected to the swing arms 112 by respective rotation axes 114 (first rotation axis 114R, second rotation axis 114L).

[0016] The swing transmission unit 120 has a first swing sprocket 121 which is a first swing rotating body connected to the first swing arm 112R by the first swing shaft 111R, a second swing sprocket 122 which is a second swing rotating body connected to the second swing arm 112L by the second swing shaft 111L, a first sprocket 123 which is a first transmitting rotating body that transmits rotation via the first swing sprocket 121 and the first transmission body, the first chain 126, and a second transmitting sprocket 124 which is a second transmitting rotating body that transmits rotation via the second swing sprocket 122 and the second transmission body, the second chain 127. The first transmission sprocket 123 and the second transmission sprocket 124 are connected by a linking shaft 125 that couples their respective rotation shafts.

[0017] The first chain 126 has both ends fixed to the first oscillating sprocket 121 and the first transmission sprocket 123, and is looped between the lower side of the first oscillating sprocket 121 and the lower side of the first transmission sprocket 123, and the center part of the first chain 126 is connected by an elastic structure 128 having elasticity. The second chain 127 has both ends fixed to the second swing sprocket 122 and the second transmission sprocket 124 , and is looped between the lower side of the second swing sprocket 122 and the upper side of the second transmission sprocket 124 . This allows the first oscillating sprocket 121 and the second oscillating sprocket 122 to rotate in opposite directions in conjunction with each other. Furthermore, the first swing sprocket 121 and the second swing sprocket 122 are formed in a sector shape, which allows the weight of the swing transmission part 120 to be reduced and the storage space to be reduced.

[0018] Next, the interlocking operation of the first wheel 113L and the second wheel 113R by the propulsion unit 100 according to one embodiment of the present invention will be described with reference to FIGS. First, as shown in FIG. 4, while traveling on a flat surface FG, when the second wheel 113L of the traveling unit 100 moves from the flat surface FG onto a convex surface TG, the second swing arm 112L moves upward around the second swing shaft 111L. At this time, the second oscillating sprocket 122 connected to the second oscillating arm 112L by the second oscillating shaft 111L also rotates, and since the second chain 127 is wound in opposite directions around the second transmission sprocket 124 and the second oscillating sprocket 122, the second transmission sprocket 124 rotates in the opposite direction to the second oscillating sprocket 122.

[0019] Furthermore, since the first transmission sprocket 123 and the second transmission sprocket are connected by an interlocking shaft 125 that connects their respective rotation shafts, the first transmission sprocket 123 rotates in the same direction as the second transmission sprocket . Since the first chain 126 is wound around the first transmission sprocket 123 and the first oscillating sprocket 121 in the forward direction, the first oscillating sprocket 121 rotates in the same direction as the first transmission sprocket 123 and rotates in the opposite direction to the second oscillating sprocket 122. As a result, the first swing arm 112R connected to the first swing sprocket 121 by the first swing shaft 111R swings downward, and the first wheel 113R comes into contact with the flat surface FG. As the traveling vehicle moves further and the second wheel 113L moves from the convex surface TG onto the flat surface FG, the second wheel 113L loses the force to swing upward and begins to swing downward together with the second swing arm 112L due to its own weight. Meanwhile, the first wheel 113R remains in contact with the flat surface FG and swings upward together with the first swing arm 112R as viewed from the first swing shaft 111R, so that the rotation axes 114 of the pair of left and right wheels 113 are positioned in a straight line and come into contact with the flat surface FG.

[0020] In this way, the pair of left and right wheels 113 are configured to swing in opposite directions in unison, so even if one wheel 113 runs over a step or the like, the other wheel 113 can be placed on the ground without the main body 110 tilting significantly, thereby improving running stability. Furthermore, the interlocking relationship between the first wheel 113R and the second wheel 113L naturally operates such that when only the first wheel 113R swings upward, the second wheel 113L also swings downward. Furthermore, even if the vehicle body tilts when the vehicle is turning a curve, both the first wheel 113R and the second wheel 113L can contact the ground, thereby improving running stability. Furthermore, each sprocket around which the first chain 126 and the second chain 127 having ends are wound may be missing some or all of its outer teeth, as long as the ends of the chains are fixed and capable of transmitting a force in the pulling direction. Furthermore, the first chain 126 wound in the forward direction may be formed in an endless shape and wound around the entire circumference.

[0021] Furthermore, since the center of the first chain 126 is connected by an elastic structure 128 having elasticity, the elastic structure 128 can reliably absorb and mitigate the impact on the traveling unit 100 when the pair of left and right wheels 113 touch the ground by elastic deformation. Furthermore, when first chain 126 and second chain 127 receive an impact that generates excessive tension, elastic structure 128 elastically deforms to absorb the tension, preventing first chain 126 and second chain 127 from being excessively pulled and deteriorating, thereby improving the lifespan of traveling unit 100 and suppressing an increase in the frequency of maintenance. Furthermore, since the elastic structure 128 is positioned in the center of the first chain 126, it is easy to avoid contact of the elastic structure 128 with the first transmission sprocket 123 or the first oscillating sprocket 121, which prevents the device configuration from becoming complicated and eliminates the need to provide additional space for the elastic structure 128. Furthermore, if the first chain 126 is configured to be exposed, the elastic structure 128 can be accessed quickly and easily when inspecting or replacing the elastic structure 128, thereby improving work efficiency. Furthermore, when performing maintenance on the elastic structure 128, only the part where the elastic structure 128 is connected needs to be removed, so there is no need to disassemble the central part of the traveling unit 100, which reduces the work time and the burden on the worker during maintenance.

[0022] Furthermore, the elastic structure does not have to be configured to divide and connect the central portion of the first chain 126. For example, as shown in Figures 8 and 9, the first chain 136 may not be divided near the center, but may instead be configured as a tension relief portion 139 made up of tension relief plates 139a, 139b, and 139c, and elastic structure 138 may be configured from tension relief portion 139 and elastic body 140 that biases connecting pins P1 and P4, which connect both ends of tension relief portion 139, toward each other. When such an elastic structure 138 is used, the tension relief portion 139 itself is the first chain 136 itself, so that the elastic structure 138 can be easily detached from the first chain 136 simply by attaching and detaching the elastic body 140 . Furthermore, for example, by adjusting the tension relief portion 139 so that it fully stretches before the elastic body 140 breaks due to excessive tensile force applied to the elastic structure 138, it is possible to prevent the elastic body 140 from breaking and reduce the frequency of replacing the elastic body 140. Furthermore, for example, if the elastic body 140 is adjusted so that it breaks before the tension relief section 139 is fully stretched due to excessive tensile force applied to the elastic structure 138, the user can quickly sense that excessive impact has occurred to the running unit 100 due to the breakage of the elastic body 140, and excessive impact can be prevented from being applied to components of the running unit 100 other than the elastic body 140.

[0023] Furthermore, for example, a third swinging sprocket that is adjacent to the first swinging sprocket 121 in the axial direction and rotates integrally therewith, a fourth swinging sprocket that is adjacent to the second swinging sprocket 122 in the axial direction and rotates integrally therewith, a third transmission sprocket that transmits rotation between the third swinging sprocket and a third chain, and a fourth transmission sprocket that transmits rotation between the fourth swinging sprocket and the fourth chain, the third transmission sprocket and the fourth transmission sprocket being connected by an interlocking shaft, the third chain being configured to transmit rotation due to tension in the opposite direction to that of the first chain, and the fourth chain being configured to transmit rotation due to tension in the opposite direction to that of the second chain, and a link between the third swinging sprocket, the third transmission sprocket and the third chain and / or the fourth chain. If at least one of the fourth oscillating sprocket, the fourth transmission sprocket, and the fourth chain is configured to have an elastic structure that elastically transmits rotation between the third oscillating sprocket and the third transmission sprocket and / or between the fourth oscillating sprocket and the fourth transmission sprocket, the third oscillating sprocket and the fourth oscillating sprocket can be linked to rotate in opposite directions, just like the first oscillating sprocket 121 and the second oscillating sprocket 122.Even if the main body 100 is lifted and both wheels 113 are lifted off the ground, both oscillating arms 112 can be reliably linked to rotate in opposite directions without swinging downward together, and the elastic structure can also absorb and mitigate the impact on the running unit 100 when the wheels are linked.

[0024] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments, and various design modifications can be made without departing from the present invention as set forth in the claims.

[0025] The propulsion unit according to the present invention can be used in a variety of vehicles that can run on wheels, such as vehicles equipped with engines, electric motors, etc., human-powered bicycles, and dollies for carrying luggage. In addition, in the above-described embodiment, the wheels of the running unit are described as functioning as the rear wheels of the running vehicle, but the configuration of the running unit is not limited to this, and for example, the running unit may be attached so as to function as the front wheels of the running vehicle.

[0026] In addition, in the above-described embodiment, the transmission member is described as being composed of a chain, but the transmission member may be a strip-shaped member such as a belt or a linear member such as a rope. Furthermore, in the above-described embodiment, the elastic structure is described as being provided in the center of the first chain, but the position and configuration of the elastic structure are not limited to this, and may be provided, for example, in the second chain, or in the connection between the first chain and the first transmission sprocket or first oscillating sprocket, or in the connection between the second chain and the second transmission sprocket or second oscillating sprocket.

[0027] Furthermore, in the above-described embodiment, the first oscillating sprocket and the second oscillating sprocket are described as being formed in a fan shape, but the configuration of the oscillating transmission part is not limited to this; for example, the first oscillating sprocket and the second oscillating sprocket may be formed in a disk shape, or the first transmission sprocket and the second transmission sprocket may be formed in a fan shape. [Explanation of symbols]

[0028] 100 ··· Travel unit 110 Frame member (main body) 111 ··· Oscillating shaft 112 ... swinging arm 113...wheel 114 Rotation axis 120 ··· Swing transmission part 121 First oscillating sprocket (first oscillating rotor) 122 Second oscillating sprocket (second oscillating rotor) 123 First transmission sprocket (first transmission rotor) 124 Second transmission sprocket (second transmission rotor) 125 ··· Interlocking shaft 126, 136... First chain (first transmission body) 127 Second Chain (Second Transmission Body) 128, 138 ··· Elastic structure 139...Tension relief part 139a, 139b, 139c ··· Strain relief plates 140 Elastic body FG...Flat surface TG...Convex surface P1, P2, P3, P4... Connecting pins

Claims

1. A traveling unit having a main body, a swing transmission part provided on the main body, a pair of left and right swing arms provided on the swing transmission part so as to be swingable around a swing axis, and wheels provided on each of the swing arms, The swing transmission unit has a first swing rotor that rotates in conjunction with the swing of one of the swing arms, a second swing rotor that rotates in conjunction with the swing of the other swing arm, a first transmission rotor that transmits rotation via the first swing rotor and a first transmission wire, and a second transmission rotor that transmits rotation via the second swing rotor and a second transmission wire, The first transmission rotor and the second transmission rotor are connected by a linking shaft that links their respective rotation shafts, The first oscillating rotor and the second oscillating rotor are configured to be interlocked so that their rotations are in opposite directions, A traveling unit characterized in that at least one of the spaces between the first oscillating rotor, the first transmission rotor, and the first transmission wire and / or the spaces between the second oscillating rotor, the second transmission rotor, and the second transmission wire has an elastic structure that elastically transmits rotation between the first oscillating rotor and the first transmission rotor and / or between the second oscillating rotor and the second transmission rotor.

2. 2. The propulsion unit according to claim 1, wherein the elastic structure is provided in a middle portion of at least one of the first transmission member and the second transmission member.

3. the elastic structure is composed of a tension relief section that relieves tension on a portion of at least one of the first transmission member and the second transmission member, and an elastic body that biases the tension relief section in a direction that relieves the tension on the tension relief section, The propulsion unit according to claim 2, wherein the elastic body is connected to both ends of the tension relief portion.

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

5. the elastic structure is composed of a tension relief portion that relieves tension in a portion of at least one of the first transmission beam and the second transmission beam, and an elastic body that biases the tension relief portion in a direction that relieves the tension associated with the tension relief portion, The traveling unit according to claim 4, characterized in that the elastic body biases the two ends of the three or more consecutive axes of the chain that constitute at least one of the first transmission member and the second transmission member toward each other.

6. The swing transmission unit includes a third swing rotor that is adjacent to the first swing rotor in the axial direction and rotates integrally therewith, and a fourth swing rotor that is adjacent to the second swing rotor in the axial direction and rotates integrally therewith, a third transmission rotor that transmits rotation between the third oscillating rotor and a third transmission wire, and a fourth transmission rotor that transmits rotation between the fourth oscillating rotor and a fourth transmission wire, The third transmission rotor and the fourth transmission rotor are connected by a linking shaft, the third transmission member is configured to transmit rotation due to tension in a direction opposite to that of the first transmission member; the fourth transmission member is configured to transmit rotation due to tension in a direction opposite to that of the second transmission member; A traveling unit as described in claim 1, characterized in that at least one of the spaces between the third oscillating rotor and the third transmission rotor and the third transmission wire and / or the space between the fourth oscillating rotor and the fourth transmission rotor and the fourth transmission wire has an elastic structure that elastically transmits rotation between the third oscillating rotor and the third transmission rotor and / or between the fourth oscillating rotor and the fourth transmission rotor.

7. the third transmission wire body is configured as an end-shaped chain having one end connected to the third oscillating rotor and the other end connected to the third transmission rotor, The traveling unit according to claim 6, characterized in that the fourth transmission wire body is configured as an end-type chain having one end connected to the fourth oscillating rotor and the other end connected to the fourth transmission rotor.

8. A traveling vehicle comprising a body portion, a front traveling portion having wheels, and a rear traveling portion having wheels, wherein at least one of the front traveling portion and the rear traveling portion is configured with the traveling unit of claim 1.

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