Traveling unit and traveling vehicle

Abstract

To provide a traveling unit and a traveling vehicle capable of maintaining a self-supporting state when the traveling vehicle is stopped and obtaining high traveling stability without causing wobbling even when traveling at a low speed.SOLUTION: The travel unit of the present invention includes a swing transmission part, and the swing transmission part includes a first swing rotating body configured to rotate in conjunction with swinging of one swing arm, a second swing rotating body configured to rotate in conjunction with swinging of the other swing arm, a first transmission rotating body configured to transmit rotation via the first swing rotating body and a first transmission strip body, and a second transmission rotating body configured to transmit rotation via the second swing rotating body and a second transmission strip body. The first transmission rotation body and the second transmission rotation body are connected by an interlocking shaft that couples the rotation shafts of the first transmission rotation body and the second transmission rotation body to each other, the first swing rotation body and the second swing rotation body are configured to be interlocked with each other so that the rotation directions of the first swing rotation body and the second swing rotation body are opposite to each other,.SELECTED DRAWING: Figure 5

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 provided on the swing transmission part so as to be swingable around a swing axis, and wheels provided on each of the swing arms, and a traveling vehicle equipped with the same. [Background technology]

[0002] Conventionally, there is known a three-wheeled bicycle having a pair of rear wheels, which is equipped with a running unit that causes the pair of rear wheels to oscillate as the body leans while in motion, and restores the oscillating motion using the restoring force of a spring (see, for example, Patent Document 1). The running unit of a tricycle known from Patent Document 1 and elsewhere (the names and symbols of the components in this paragraph follow the notation in Patent Document 1) comprises a rear cross frame 3 that supports a left rear wheel 1 and a right rear wheel 2, and a front frame 5 that extends in the fore-and-aft direction of the vehicle and supports the front wheels, and is swingably supported on the rear of the front frame 5, an end plate 6 having a slide hole 9 is provided at the rear of the front frame 5, and the end plate 6 and both ends of the rear cross frame 3 are engaged with a pair of left and right elastic bodies 7, 8, and an elastic body rest means is provided on at least one of the end plate 6 or the rear cross frame 3. As a result, if the vehicle body tilts to the left or right while traveling, the front frame 5 and end plate 6 also swing accordingly, and one of the elastic bodies 7, 8 applies a restoring force in accordance with the swing, so that the pair of elastic bodies 7, 8 can be operated individually without interfering with each other while applying a restoring force in a direction to eliminate the swinging state. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-053420 Summary of the Invention [Problem to be solved by the invention]

[0004] When the vehicle body is stopped, it is necessary to reliably maintain the vehicle body in a self-supporting state. However, when stopping a tricycle equipped with a traveling unit known from Patent Document 1 and other publications, for example, if the tricycle is loaded with luggage, the front frame 5 and end plates 6 may swing due to their own weight, which may exceed the restoring force of the elastic bodies 7 and 8, making it difficult for the vehicle body to remain self-supporting. Furthermore, if the restoring force of the elastic bodies 7 and 8 is increased to maintain the vehicle body's self-supporting state, smooth swinging while the vehicle is moving may be hindered. Furthermore, to stop the swinging of the vehicle body and maintain it self-supporting without using the elastic bodies, a separate mechanism is required to prevent the swinging motion of the frame 5 and end plates 6.

[0005] The present invention is intended to solve these problems, and aims to provide a traveling unit with a simple configuration that can maintain an independent state when the traveling vehicle is stopped, and that can achieve high traveling stability without wobbling even when the traveling vehicle is starting or being pushed, and a traveling vehicle equipped with the same. [Means for solving the problem]

[0006] 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 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, The above-mentioned problem is solved by having an interlocking shaft rotation suppression mechanism that generates resistance to the rotation of the interlocking shaft when the pair of left and right oscillating arms are positioned on the same plane and the pair of left and right wheels are in a neutral state where they are in contact with a flat surface. [Effects of the Invention]

[0007] According to the traveling unit and traveling vehicle equipped with the same of the present invention, the traveling unit has 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, and 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 the first transmission wire, and a second transmission rotor that transmits rotation via the second swing rotor and the second transmission wire, and The interlocking rotors are connected by an interlocking shaft that links their rotation shafts, and the first and second oscillating rotors are configured to be interlocked so that their rotations can move in opposite directions, and have an interlocking shaft rotation suppression mechanism that generates resistance to the rotation of the interlocking shaft when the pair of left and right oscillating arms are positioned on the same plane and the pair of left and right wheels are in a neutral state where they are in contact with a flat surface.When the running vehicle is stopped and in a neutral state, the interlocking shaft rotation suppression mechanism generates resistance to the rotation of the interlocking shaft, so that swaying of the running vehicle is prevented in conjunction with the prevention of rotation of the interlocking shaft, allowing the running vehicle to maintain its self-sustaining state.Furthermore, when the running vehicle starts from a stopped state or when the driver is walking while pushing the running vehicle, the self-sustaining state of the running vehicle is maintained until a force greater than the resistance force generated in the interlocking shaft is applied by the interlocking shaft rotation suppression mechanism, so that wobbling of the running vehicle can be suppressed and high running stability can be achieved. Furthermore, in the present invention, the interlocking shaft rotation prevention mechanism is configured to include an engaged portion arranged on the interlocking shaft and an engaging member that can engage with the engaged portion, and the engagement of these generates resistance to the rotation of the interlocking shaft, thereby ensuring the above-mentioned effect.

[0008] Furthermore, in this invention, when the engaged portion is a V-shaped groove formed in an annular collar fixed to the interlocking shaft and the engaging member is a spherical member biased towards the collar, as long as the rotation angle of the interlocking shaft is within a certain angle range where the spherical member engages with the V-shaped groove, a certain amount of resistance to the rotation of the interlocking shaft is generated, and the vehicle remains self-sustaining. However, when a force greater than the resistance generated in the interlocking shaft begins to be applied, for example when a force acting on the interlocking shaft to swing is applied during normal driving, the rotation angle of the interlocking shaft moves outside the certain angle range, and the engagement between the V-shaped groove and the spherical member is released. This reduces the resistance to the rotational torque of the interlocking shaft, ensuring the same swing function as before.

[0009] Furthermore, in the present invention, the configuration in which the collar is fixed between the first transmission rotor and the second transmission rotor of the interlocking shaft allows for space saving in the traveling unit and improved layout freedom. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a perspective view showing an example of the configuration of the main parts of a propulsion unit 100 of the present invention in a neutral state. [Figure 2] FIG. 2 is a top view of the propulsion unit 100 of FIG. 1. [Figure 3] FIG. 2 is a rear view of the propulsion unit 100 of FIG. 1. [Figure 4] 2 is a perspective view showing the position of a linkage shaft rotation suppression mechanism in the traveling unit 100 of FIG. 1. FIG. [Figure 5] FIG. 2 is a cross-sectional view of the propulsion unit 100 of FIG. [Figure 6] 2 is a side view of a linkage shaft rotation suppression mechanism that constitutes the traveling unit 100 of FIG. 1. [Figure 7] FIG. 7 is a cross-sectional view of the interlocking shaft rotation suppression mechanism of FIG. 6. [Figure 8] 10 is a diagram illustrating the operation of the propulsion unit 100 of the present invention as seen from the rear. FIG. [Figure 9]10 is an explanatory diagram showing the state of the first wheel 113L side when the first wheel 113L swings upward in the propulsion unit 100 of the present invention. FIG. [Figure 10] 10 is an explanatory diagram showing the state of the second wheel 113R side when the first wheel 113L swings upward in the propulsion unit 100 of the present invention. FIG. [Figure 11] 5A and 5B are explanatory diagrams showing an engaged state and a disengaged state of the interlocking shaft rotation inhibiting mechanism according to the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0011] A propulsion unit 100 according to an 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 101 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 101 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. 3, the main body 101 is not shown, and in FIG. 4, the main plates 102R and 102L of the main body 101 are not shown.

[0012] As shown in Figures 1 to 5, the traveling unit 100 according to the first embodiment of the present invention comprises a main body 101, a swing transmission unit 120 connected to the main body 101, 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), 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), and an interlocking shaft rotation suppression mechanism 130 that generates resistance to rotation of the interlocking shaft 125 described later.

[0013] The swing transmission part 120 has a first swing sprocket 121 which is a first swing rotating body connected to the first swing arm 112R by the first swing shaft 111R, a second swing sprocket 122 which is a second swing rotating body connected to the second swing arm 112L by the second swing shaft 111L, a first transmission sprocket 123 which is a first transmission rotating body that transmits rotation via the first swing sprocket 121 and the first transmission member, the first chain 126, and a second transmission sprocket 124 which is a second transmission rotating body that transmits rotation via the second swing sprocket 122 and the second transmission member, 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.

[0014] The first chain 126 has both ends fixed to the first swing sprocket 121 and the first transmission sprocket 123 , and is looped between the lower side of the first swing sprocket 121 and the lower side of the first transmission sprocket 123 . The second chain 127 has both ends fixed to the second 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.

[0015] The interlocking shaft rotation suppression mechanism 130 generates resistance to the rotation of the interlocking shaft 125 when the pair of left and right oscillating arms 112 (first oscillating arm 112R, second oscillating arm 112L) are positioned on the same plane and the pair of left and right wheels 113 (first wheel 113R, second wheel 113L) are in a neutral state where they are in contact with a flat surface FG. Specifically, as also shown in Figures 6 and 7, the interlocking shaft rotation suppression mechanism 130 has an annular collar 131 fixed between the first transmission sprocket 123 and the second transmission sprocket 124 of the interlocking shaft 125, and a pushing portion 135 having a spherical member 136 biased toward the outer circumferential surface of the collar 131.

[0016] Collar 131 is a generally disk-shaped member having a through-hole 131h in the center of its ring shape, through which interlocking shaft 125 is inserted, and a groove 132 with a V-shaped cross section, which serves as an engaged portion, is formed on the outer peripheral surface of collar 131 so as to extend in the axial direction of interlocking shaft 125. Collar 131 is fixed to interlocking shaft 125 so that when the running vehicle is in a neutral position, the center line X of groove 132 (a line passing through center point C of collar 131 in a cross section perpendicular to the center axis of interlocking shaft 125 and bottom V of the V-shape of groove 132) is perpendicular to flat surface FG. As a result, the open portion of groove 132 faces flat surface FG when the running vehicle is in a neutral position. Collar 131 can be fixed to interlocking shaft 125 by, for example, combining segments 131a and 131b, which have arc-shaped cross sections and form collar 131, with interlocking shaft 125 sandwiched between them and fastening them with fixing screws 131f. One segment 131a has a recess 131c formed on the inner peripheral surface thereof to prevent collar 131 from rotating relative to interlocking shaft 125. The groove 132 has a shape that is plane-symmetrical with respect to a plane that passes through the center line X and the central axis of the interlocking shaft 125 when the propulsion unit 100 is in the neutral state. This prevents differences in the degree of swinging to the left and right. The angle of the slope of groove 132 relative to the plane passing through center line X and the central axis of interlocking shaft 125 will vary depending on the diameter and degree of force of spherical member 136, the depth of groove 132, etc., but it will suffice if the angle is such that groove 132 and spherical member 136 are engaged to prevent the vehicle from wobbling when the vehicle transitions from low-speed driving to normal driving at normal speed, and the engagement is reliably released during normal driving.

[0017] The pushing portion 135 has a spherical member 136 which is an engaging member, and a biasing member 137 which biases the spherical member 136 towards the groove 132 of the collar 131. The biasing member 137 is made up of a spring 137a and a cylindrical housing 137b with a bottom that houses the spring 137a. The biasing member 137 generates a resistance force against the rotation of the interlocking shaft 125 when the spherical member 136 is engaged with the groove 132 of the collar 131, that is, when the spherical member 136 is pushed into the groove 132 and comes into contact with the slope of the groove 132, but at this time, the resistance force can be varied. The main body 101 has two main plates 102 (a first main plate 102R and a second main plate 102L) arranged facing each other across a storage space in which the oscillation transmission part 120 and the interlocking shaft rotation suppression mechanism 130 are housed, and a flat floor plate 103 welded below the main plates 102R, 102L so as to be positioned below the interlocking shaft 125 of the oscillation transmission part 120 and so that these main plates 102R, 102L are joined to each other, and the push-in part 135 is fixed to the floor plate 103 by a fixing member 139. Specifically, at the position on the floor plate 103 closest to the collar 131, i.e., directly below the traveling unit 100 in its neutral state, the axis of the spring 137a of the biasing member 137 is fixed in a state that coincides with the center line X of the collar 131 fixed to the interlocking shaft 125.

[0018] By arranging the collar 131 and the pushing portion 135 in the above-described positional relationship, when the traveling unit 100 is in a neutral state, the spherical member 136 of the pushing portion 135 can engage with the groove 132 of the collar 131, thereby generating resistance to the rotation of the interlocking shaft 125.

[0019] Next, the interlocking operation of the first wheel 113R and the second wheel 113L 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. 8, while traveling on a flat surface FG, when the second wheel 113L of the traveling unit 100 moves from the flat surface FG onto a convex surface TG, the second swing arm 112L swings upward around the second swing shaft 111L. At this time, as shown in Figure 9, 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.

[0020] Also, as shown in Figure 10, the first transmission sprocket 123 and the second transmission sprocket 124 are connected by an interlocking shaft 125 that connects their respective rotation axes, so that the first transmission sprocket 123 rotates in the same direction as the second transmission sprocket 124. 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.

[0021] 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 101 tilting significantly, 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, similar to the first oscillating sprocket 121 and the second oscillating sprocket 122, the first transmission sprocket 123 and the second transmission sprocket 124, around which the end-shaped first chain 126 and the second chain 127 are wound, may be missing some or all of their outer teeth, as long as the ends of each chain are fixed and capable of transmitting tensile force. 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.

[0022] Next, the engagement operation of the interlocking shaft rotation inhibiting mechanism 130 in the traveling unit 100 according to the embodiment of the present invention, which generates resistance to the rotation of the interlocking shaft 125, will be described with reference to FIG. First, when the propulsion unit 100 is placed in the neutral state, as shown in Figure 11(a), the biasing member 137 of the pushing portion 135 biases the spherical member 136 to engage with the groove 132 of the collar 131, i.e., the spherical member 136 contacts at least one of the inclined surfaces of the groove 132, thereby locking the rotation of the collar 131 and generating resistance to the rotation of the interlocking shaft 125 that interlocks with it. When the rotation of the interlocking shaft 125 is inhibited, the rotation of the first transmission sprocket 123 and the second transmission sprocket 124 that interlock with it is also inhibited, and therefore the rotation of the first swing sprocket 121 and the second swing sprocket 122 that interlock with them via the first chain 126 and the second chain 127 that are wound around them is also inhibited, and as a result, the pair of left and right swing arms 112 are maintained in the neutral state, i.e., the pair of left and right swing arms 112 are positioned on the same plane. Therefore, when a traveling vehicle equipped with the traveling unit 100 is stopped, the traveling vehicle is prevented from swinging, and the traveling vehicle can maintain an independent state. Also, even when traveling at low speeds, such as when a driver is walking while pushing the traveling vehicle, the traveling vehicle can maintain an independent state, thereby ensuring high safety.

[0023] Next, after the running vehicle starts from a stopped state and transitions to normal running and the running vehicle is to perform its normal swing function, as shown in Figure 11(b), the engagement between the spherical member 136 in the interlocking shaft rotation suppression mechanism 130 and the groove 132 of the collar 131 is released, thereby reducing the resistance to the rotation of the interlocking shaft 125. In other words, when normal swinging occurs in the running vehicle as shown in Figures 8 to 10, the interlocking shaft 125 rotates greatly, and therefore the collar 131 also rotates greatly in conjunction with this interlocking shaft 125, as shown in Figure 12. Since the pushing portion 135 is fixed to the floor plate 103, its basic position relative to the interlocking shaft 125 does not move, but the collar 131 is rotated and the angular position of the groove 132 relative to the interlocking shaft 125 moves, so that the spherical member 136 is pushed out of the groove 132 of the collar 131, and in a state where the spherical member 136 is slightly displaced along the spring axis toward the inside of the housing 137b, it is brought into a disengaged state in which it contacts the outer peripheral surface 131p of the collar 131 other than the groove 132, and slides on the outer peripheral surface 131p of the collar 131 other than the groove 132 as the collar 131 rotates. As a result, when the vehicle is traveling at low speeds after starting, the vehicle will maintain its self-sustaining state until a force greater than the resistance force generated in the interlocking shaft 125 is applied by the interlocking shaft rotation suppression mechanism 130, preventing the vehicle from wobbling.When the vehicle transitions to normal driving and the normal swing function of the vehicle is to be exerted, the engagement between the groove 132 of the collar 131 in the interlocking shaft rotation suppression mechanism 130 and the spherical member 136 of the push-in portion 135 is released, and the resistance to rotation of the interlocking shaft 125 is smaller than in the engaged state in the neutral state, making normal swing possible easily, and high driving stability can be achieved at all times from starting to normal driving.

[0024] [Vehicles in motion] The vehicle of the present invention is a vehicle equipped with a front running section having front wheels and a rear running section having rear wheels, and at least one of the front running section and the rear running section is made up of the above-mentioned running unit 100. The running vehicle according to one embodiment of the present invention is a three-wheeled vehicle with one front wheel and two rear wheels, and can be configured to use a running unit 100 having a swing transmission part 120 connected to the main body part 101 as the rear running part, a pair of swing arms 112 on the left and right that are swingable about a swing axis on the swing transmission part 120, and wheels 113 that are rotatably connected to each of the swing arms 112 by a rotation axis 114.

[0025] 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. 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 may be attached so as to function as the front wheels of the running vehicle, for example. Furthermore, in the above-described embodiment, the transmission member is configured as a chain, but the transmission member may be a band-like member such as a belt or a linear member such as a rope. Furthermore, in the above-described embodiment, the interlocking shaft rotation restraining mechanism was described as being composed of a combination of a V-shaped groove and a biased spherical member, but the configuration of the interlocking shaft rotation restraining mechanism is not limited to this, and the engaged portion may be any portion that can be interlocked with the interlocking shaft and engage with the engaging member to generate resistance to rotation of the interlocking shaft, and the engaging member may be any portion that can engage with the engaged portion without causing damage, etc. For example, the engaged portion may be a flat portion that is parallel to the flat surface when the traveling unit is in the neutral state, and the engaging member may be a block such as a rectangular parallelepiped. [Explanation of symbols]

[0026] 100 running unit 101 Frame member (main body) 102 Main Plate 103 Floor Plate 111 Swing axis 112 Swing arm 113 Wheels 114 Rotational Axis 120 Swing transmission part 121 First oscillating sprocket (first oscillating rotor) 122 Second oscillating sprocket (second oscillating rotor) 123 First transmission sprocket (first transmission rotor) 124 Second transmission sprocket (second transmission rotor) 125 Interlocking shaft 126 First Chain (First Transmission Body) 127 Second Chain (Second Transmission Body) 130 Interlocking shaft rotation prevention mechanism 131 Color 131a,131b split field 131c recess 131f fixing screw 131h Through hole 131p Outer circumferential surface 132 Groove 135 Push-in section 136 Spherical member 137 biasing member 137a Spring 137b Housing 139 Fixing member C center point FG flat surface TG Convex V bottom X center line

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 by having an interlocking shaft rotation suppression mechanism that generates resistance to the rotation of the interlocking shaft when the pair of left and right swing arms are positioned on the same plane and the pair of left and right wheels are in a neutral state in which they are in contact with a flat surface.

2. the interlocking shaft rotation inhibiting mechanism includes an engaged portion disposed on the interlocking shaft and an engaging member engageable with the engaged portion, 2. The traveling unit according to claim 1, wherein when the traveling unit is in a neutral state, the engaging member engages with the engaged portion, thereby generating resistance to the rotation of the interlocking shaft.

3. The engaged portion is a V-shaped groove formed in an annular collar fixed to the interlocking shaft, 3. The propulsion unit according to claim 2, wherein the engaging member is a spherical member biased toward the collar.

4. 4. The propulsion unit according to claim 3, wherein the collar is fixed between the first transmission rotor and the second transmission rotor of the interlocking shaft.

5. A traveling vehicle comprising a body section, a front traveling section having wheels, and a rear traveling section having wheels, wherein at least one of the front traveling section and the rear traveling section is configured with a traveling unit according to any one of claims 1 to 4.

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