Body drive system and movable body system

Abstract

The present invention provides a body drive device that is easily attached to a movable body and capable of appropriately maintaining the ground pressure from the drive wheels to the ground surface, and a movable body device equipped therewith. [Solution] The body drive device 30 includes a drive unit 31. The drive unit 31 includes a base 32 that is installed to be movable integrally with the movable body 2, a drive wheel 33 that is arranged to roll on the ground surface 100 and driven by power from an electric motor 35, a link member 43 that is connected to the base 32 so as to be swingable around a link shaft 41 parallel to the ground surface 100 and supports the drive wheel 33, and a shock absorber 45 and a spring 46 that are placed between the base 32 and the link member 43.

Description

Technical Field

[0006] , ,

[0001] The present invention relates to a body driving device and a movable body device.

Background Art

[0002] Outdoors, a movable roof may be provided and the roof may be moved as necessary. For example, by opening the roof on sunny days and closing the roof on rainy days, sunlight can be introduced on sunny days, and it is possible to facilitate boarding and alighting from a passenger car parked below the roof on rainy days. Here, a tent provided with a movable roof is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, regarding a movable roof, there may be a demand to change the configuration so that the roof is moved electrically instead of manually moving the roof at the initial installation. In such a case, it is conceivable to provide a drive mechanism to the movable roof as a retrofit. In such a case, it is preferable that the drive mechanism can be attached more easily.

[0005] As such a drive mechanism, for example, a configuration in which wheels (drive wheels) grounded on the ground are driven by an electric motor or the like can be considered. However, the ground is not always flat and may have irregularities. If the drive wheels cannot follow such undulations of the ground, there is a risk that the drive wheels will spin without sufficient ground contact pressure from the drive wheels to the ground.

[0006] Patent Document 1 neither discloses nor suggests the issues mentioned above regarding the ease of attaching the drive mechanism to the structure, such as the roof, or the ground pressure of the drive wheels.

[0007] In view of the above-mentioned problems, the present invention aims to provide a body drive device that is easily attached to a movable body and can appropriately maintain the ground pressure from the drive wheels to the ground surface, and a movable body device equipped therewith. [Means for solving the problem]

[0008] The present invention is characterized by the following structural drive device and movable structural device.

[0009] (1) Equipped with a drive unit, The aforementioned drive unit is A base that is installed to be movable in conjunction with the movable frame, Drive wheels are positioned to roll on the contact surface and are driven by power from a drive source, A link member that is connected to the base so as to be pivotable around a link axis parallel to the ground surface and supports the drive wheel, A shock absorber and an elastic member are placed between the base and the link member, A body drive system equipped with the following.

[0010] (2) The shock absorber comprises a piston attached to either the base or the link member, and a cylinder attached to the other of the base or the link member, The elastic member includes a spring that expands and contracts in accordance with the relative movement of the piston and the cylinder. The body drive device according to (1), further comprising an adjustment member for adjusting the initial length of the spring.

[0011] (3) The drive source is the body drive device according to (1) or (2) above, which includes an electric motor installed in the drive wheel.

[0012] (4) The drive wheel is installed at the lower vertical part of the movable body and rotates around a horizontal axis, and is a body drive device as described in any one of (1) to (3) above.

[0013] (5) A control unit for controlling the drive source, A body drive device according to any one of (1) to (4) above, further comprising: a housing section that houses the control unit and is installed on the movable body.

[0014] (6) A sensor for switching the operation of the drive source on and off, the sensor including a movable element installed on the movable body, The power supply for the control unit, the drive source, and the movable element, the power supply being supported by the movable body, The body drive device described in (5) above, further comprising the above.

[0015] (7) A movable frame including a pair of left and right legs and an upper part supported by the pair of left and right legs, A body drive device as described in any one of items (1) to (6) above, The drive unit of the aforementioned body drive device is installed on one of the left and right pair of legs, A movable body device further comprising a first driven wheel installed on the other of the pair of left and right legs and rotating in conjunction with the rotation of the drive wheel.

[0016] (8) A second driven wheel installed on either of the left and right legs and rotating in conjunction with the rotation of the drive wheel, The movable body device according to (7), further comprising: a rail for guiding the second driven wheel in the direction of movement of the movable body.

[0017] (9) The second driven wheels are provided in multiple locations along the direction of movement, The movable body device according to (8), wherein the drive wheel is positioned between a plurality of second driven wheels in the direction of movement.

[0018] (10) The movable body device according to (8) or (9) above, wherein a rail for the first driven wheel is not installed on either of the pair of left and right legs.

Advantages of the Invention

[0019] According to the present invention, it is configured to be easily attached to a movable body, and the ground pressure from the drive wheel to the ground surface can be appropriately maintained.

Brief Description of the Drawings

[0020] [Figure 1] FIG. 1 is a perspective view showing a main part of a movable body device according to an embodiment of the present invention. [Figure 2] FIG. 2 is an enlarged perspective view of a main part around the right leg portion of the movable body device. [Figure 3] FIG. 3 is a front view of a main part of the body drive device. [Figure 4] FIG. 4 is a side view of a main part of the body drive device. [Figure 5] FIG. 5 is an enlarged perspective view of a periphery of the housing portion of the movable body device. [Figure 6] FIG. 6 is a side view of a part of the movable body device as seen from the right outside of the movable body. [Figure 7] FIG. 7 is an enlarged perspective view of a main part around the left leg portion of the movable body device. [Figure 8] FIG. 8 is a block diagram for explaining a main part of an electrical configuration of the movable body device. [Figure 9] FIGS. 9(A), 9(B) and 9(C) are diagrams for explaining the setting of the initial length of a spring by an adjustment member.

Modes for Carrying Out the Invention

[0021] Figure 1 is a perspective view showing the main part of a movable frame device 1 according to one embodiment of the present invention. Figure 2 is an enlarged perspective view of the main part around the right leg portion 6R of the movable frame device 1. Figure 3 is a front view of the main part of the frame drive device 30. Figure 4 is a side view of the main part of the frame drive device 30. Figure 5 is an enlarged perspective view of the area around the housing portion 74 of the movable frame device 1. Figure 6 is a side view of a part of the movable frame device 1 seen from the right outside of the movable frame 2. Figure 7 is an enlarged perspective view of the main part around the left leg portion 6L of the movable frame device 1. Figure 8 is a block diagram for explaining the main part of the electrical configuration of the movable frame device 1.

[0022] [Summary of this invention] As shown in Figures 1 to 8, the movable structure device 1 includes, for example, a movable structure 2, which is a movable building. The movable structure 2 reciprocates in a predetermined direction X relative to the roof 3a of the fixed structure 3, which is a building. As a result, the movable structure 2 moves between a front end position P1 that covers the lateral space 4 located to the side of the fixed structure 3 from above, and a rear end position P2 that opens the lateral space 4 and is housed in the fixed structure 3 below the roof 3a. The linear movement of the movable structure 2 is performed by a structure drive device 30. Passenger cars and various objects can be placed in the space below the roof 3a and in the lateral space 4. By moving the movable structure 2 from the space below the roof 3a toward the lateral space 4, for example, it is possible to prevent occupants getting in and out of a passenger car parked in the lateral space 4 from being exposed to rain or sunlight.

[0023] The movable structure 2 is not limited to the configuration described later in this embodiment. The movable structure 2 may be other general movable structures, such as a movable tent house or a bellows-type accordion tent.

[0024] Below, we will describe a more specific example of the configuration of this embodiment.

[0025] The movable frame device 1 comprises a movable frame 2, a guide mechanism 5, and a frame drive device 30.

[0026] [Movable frame] In this embodiment, the movable body 2 is formed in a gate shape (inverted U-shape), and for example, it has a length of several meters in the direction of movement X, a length of several meters in the left-right direction Y which is perpendicular to the direction of movement X and the horizontal direction, and a length of about 1 to 2 meters in the height direction Z.

[0027] The movable body 2 includes a pair of left and right legs 6L and 6R, and an upper part 7 that is supported by the pair of left and right legs 6L and 6R.

[0028] The legs 6L and 6R are each provided as columns of the movable frame 2 and are formed in an elongated shape in the direction of movement X when viewed from above. Each leg 6L and 6R may be formed in a wall shape, or, as in this embodiment, may be composed of a skeletal member by combining a plurality of columnar members and beam-like members. In this embodiment, each leg 6L and 6R comprises a lower beam 8 that extends along the direction of movement X and is positioned near the contact surface (ground) 100, a plurality of columnar members 9 (four in this embodiment) arranged spaced apart in the direction of movement X and extending upward from the lower beam 8, an upper beam 10 that extends along the direction of movement X and connects the upper ends of the columnar members 9, and a plurality of intermediate beams 11 that extend between the lower beam 8 and the upper beam 10 and connect adjacent columnar members 9 in the direction of movement X.

[0029] The upper section 7 is the upper part of the movable frame 2 and is a roof that covers the lateral space 4 from above. The upper section 7 has a configuration in which both ends are supported by a pair of legs 6L and 6R. In this embodiment, the upper section 7 comprises a plurality of beam sections 12 that are stretched between the upper beams 10, 10 of the legs 6L and 6R and arranged in the direction of movement X, connecting beams 13 that connect adjacent beam sections 12 to each other, and a flat roof member (not shown) that is supported by these beam sections 12 and connecting beams 13 and covers the lateral space 4 from above.

[0030] The movable body 2 having the above configuration is guided to move in the direction of movement X by the guide mechanism 5.

[0031] [Guide mechanism] In this embodiment, the guide mechanism 5 is configured such that the rail 23 is provided on only one of the pair of left and right legs 6L and 6R (in this embodiment, the right leg 6R), and the other leg (in this embodiment, the left leg 6L) is not provided with a rail. This ensures that the rail 23 does not obstruct pedestrians or objects when they pass near the left leg 6L of the movable body device 1. Furthermore, since the rail does not need to be installed on the left leg 6L, construction work to install a rail on the left leg 6L is unnecessary.

[0032] The guide mechanism 5 includes a caster guide 15 installed on the left leg 6L and a roller guide 16 installed on the right leg 6R. Alternatively, the roller guide 16 may be installed on the left leg 6L and the caster guide 15 on the right leg 6R.

[0033] The caster guide 15 is equipped with a fixed caster 18 installed on the lower beam 8 of the left leg 6L.

[0034] The fixed caster 18 has a first driven wheel 21. The first driven wheel 21 is installed on the left leg 6L, which is the other of the pair of left and right legs 6L, 6R, and rotates in conjunction with the rotation of the drive wheel 33 (linear movement of the movable body 2), which will be described later. In the fixed caster 18, the orientation of the first driven wheel 21 is fixed. Therefore, even when the direction of travel of the movable body 2 changes between when the movable body 2 moves forward in one direction X1 of the direction of movement X and when it moves backward in the other direction X2 of the direction of movement X, the orientation of the first driven wheel 21 around the vertical axis does not change.

[0035] Thus, the left leg 6L is supported by a fixed caster 18, rather than a movable caster whose orientation can be freely changed around the vertical axis. As a result, even if there is no rail on the left leg 6L side to guide the fixed caster 18, the left leg 6L can be easily moved straight in the direction of movement X. Alternatively, a movable caster capable of changing the orientation of the first driven wheel 21 around the vertical axis may be provided instead of the fixed caster 18.

[0036] The fixed caster 18 is positioned below the lower beam 8 of the left leg portion 6L. The fixed caster 18 is provided at multiple locations (two locations in this embodiment) spaced apart in the direction of movement X, and in this embodiment, it is positioned near the front end 2a and the rear end 2b of the movable body 2 in the direction of movement X.

[0037] The roller guide 16 guides the movement of the movable body 2 so that it does not shift position in the left-right direction Y, which is perpendicular to the direction of movement X, when the movable body 2 moves in the direction of movement X. In this embodiment, the roller guide 16 is configured such that the second driven wheel 22, which has a guide groove 22a formed therein, fits into the protrusion 23a of the rail 23, but this is not required. For example, the roller guide 16 may be configured such that a roller with a convex outer circumference fits into a concave rail.

[0038] In this embodiment, the roller guide 16 includes a rail 23 installed on the ground surface 100 and a second driven wheel 22 as a roller installed on the lower beam 8 of the right leg portion 6R via a connecting member 17.

[0039] The rail 23 is provided to guide the second driven wheel 22 in the direction of movement X. The rail 23 has a convex portion 23a formed in a cross section perpendicular to the direction of movement X, with the convex portion being upward, and extends along the direction of movement X. The rail 23 is positioned below the lower beam 8 of the right leg portion 6R. The rail 23 is installed on the ground surface 100, with the convex portion 23a positioned above the ground surface 100. This configuration eliminates the need for excavation work on the ground surface 100 to install the rail 23.

[0040] The second driven wheel 22 is installed on the right leg 6R, which is one of the pair of left and right legs 6L and 6R, and rotates in conjunction with the rotation of the drive wheel 33 (linear movement of the movable body 2), which will be described later. The second driven wheel 22 is positioned below the lower beam 8 of the right leg 6R. The outer diameter of the second driven wheel 22 is smaller in the axial central portion than in the outer diameter of the portions at both ends of the axial direction, so that a guide groove 22a is formed on the outer circumference. The guide groove 22a is fitted into a convex rail 23. The support shaft 22b of the second driven wheel 22 is connected to the right leg 6R by a connecting member 17 fixed to the lower beam 8.

[0041] The second driven wheel 22 is provided at multiple locations (two locations in this embodiment) along the direction of movement X, and in this embodiment, it is positioned near the front end 2a and the rear end 2b of the movable body 2.

[0042] [Structural drive system] The frame drive unit 30 (hereinafter also simply referred to as the drive unit 30) is provided to move the movable frame 2 in the direction of movement X by power. In this embodiment, the drive unit 30 is configured to be retrofitted to the movable frame 2. That is, the drive unit 30 can be installed on the movable frame 2 while the movable frame 2, which is installed on the ground surface 100 via the guide mechanism 5, is in a state where it can be manually moved. By configuring the drive unit 30 to be retrofitted to the movable frame 2 in this way, the drive unit 30 is made easier to install on various movable frame 2s. In this embodiment, the drive unit 30 is positioned so as not to protrude outward from the movable frame 2 in the left-right direction Y (inward relative to both ends of the movable frame 2 in the left-right direction Y). This prevents the movable frame device 1 from becoming wider in the left-right direction Y due to the drive unit 30. In this embodiment, the drive unit 30 is an electric drive unit, but it may be a drive unit of another power type, such as a hydraulic drive unit.

[0043] The drive unit 30 comprises a drive unit 31 and a control unit 60 for controlling the drive unit 31.

[0044] [Drive Unit] The drive unit 31 is provided to provide driving force to the movable body 2 to move in the direction of movement X. The drive unit 31 is located on only one of the pair of left and right legs 6L and 6R, and in this embodiment, it is located on the right leg 6R. In other words, the drive unit 31 is located adjacent to the roller guide 16 of the guide mechanism 5. In this embodiment, the drive unit 31 is installed near the lower beam 8 of the right leg 6R. In this embodiment, the drive unit 31 is located near the front end 2a of the movable body 2, but the position of the drive unit 31 in the direction of movement X is not limited.

[0045] As clearly shown in Figures 2 to 4, the drive unit 31 includes a base 32 that is installed integrally with the movable body 2 so as to be movable, drive wheels 33, a suspension mechanism 34 that connects the base 32 and the drive wheels 33, and an electric motor 35.

[0046] In this embodiment, the base 32 is formed by processing a plate member such as a steel plate. In this embodiment, the base 32 is formed by bending a part of a flat plate member.

[0047] The base 32 comprises a fixing portion 36 fixed to the movable body 2, a base body 37 extending inward from the fixing portion 36 in the left-right direction Y of the movable body 2, and a link shaft mounting portion 38 fixed to the base body 37.

[0048] The fixing portion 36 has, for example, a plurality of through holes 36a. Fixing members such as bolts (not shown) are passed through these through holes 36a and through holes (not shown) formed in the column member 9 of the right leg portion 6R, and the fixing members are secured with nuts or the like. In this way, the fixing portion 36 is fixed to the right leg portion 6R. Note that the through holes 36a are not necessarily elongated holes in the height direction Z, but rather round holes as in this embodiment. This is because, in this embodiment, the height position of the drive wheel 33 is variable by the suspension mechanism 34, so it is not necessary to adjust the height position of the base 32 relative to the right leg portion 6R.

[0049] The through-hole 36a may be an elongated hole in the height direction Z, allowing for adjustment of the position of the fixing part 36 in the height direction Z. Furthermore, the fixing part 36 only needs to be fixed to the right leg part 6R, and the specific fixing method is not limited. The base body 37 extends from the fixing part 36 toward the center of the movable body 2 in the left-right direction Y.

[0050] In this embodiment, the base body 37 is formed in a flat plate shape. The base body 37 is positioned on the inner surface side of the right leg portion 6R and extends downward from a position above the lower beam 8. At both ends in the left-right direction Y at the lower part of the base body 37, a link shaft mounting portion 38 is formed by a pair of left and right plate portions 39 and 40 supported by the base body 37.

[0051] The link shaft mounting portion 38 is provided for mounting the link shaft 41. The link shaft 41 is a shaft member that extends along the left-right direction Y. The link shaft mounting portion 38 supports the link shaft 41 by inserting it into through holes formed in a pair of plate portions 39, 40 of the link shaft mounting portion 38.

[0052] The base body 37 is provided with a shock absorber bracket 42 to which a shock absorber 45, which will be described later as part of the suspension mechanism 34, is attached.

[0053] The suspension mechanism 34 mitigates the impact acting on the drive wheels 33 when they move in the direction X along with the movable body 2 on the uneven contact surface 100. The suspension mechanism 34 also adjusts the contact pressure of the drive wheels 33 on the contact surface 100. In this embodiment, the suspension mechanism 34 is positioned in front of the base 32 in the direction X, but it may also be positioned behind the base 32.

[0054] The suspension mechanism 34 includes a link member 43 that is pivotably connected to the base 32 around a link axis 41 parallel to the ground surface 100 and supports the drive wheel 33, a shock absorber 45 and a spring (elastic member) 46 suspended between the base 32 and the link member 43, and an adjustment member 47 for adjusting the initial length L0 of the spring 46.

[0055] The link member 43 is formed, for example, by bending a metal plate. In this embodiment, the link member 43 is formed in an upside-down U-shape when viewed from the direction of movement X.

[0056] The link member 43 has a top plate 43a and a pair of side plates 43b and 43c that extend downward from both ends of the top plate 43a in the left-right direction Y.

[0057] The top plate 43a is provided with a shock absorber bracket 48 to which a shock absorber 45 is attached. The pair of side plates 43b and 43c are each formed in a tapered shape, with the width in the height direction Z decreasing as they move backward in the direction of movement X from the top plate 43a. The rear ends of the pair of side plates 43b and 43c are connected to a link shaft 41, which in turn is connected to a link shaft mounting portion 38 of the base 32. As a result, the link member 43 and the drive wheel 33 can swing around the link shaft 41.

[0058] An axle 49 is connected to the front of a pair of side plates 43b and 43c. The pair of side plates 43b and 43c are connected to the drive wheel 33 via this axle 49. It can also be said that the link member 43 supports the drive wheel 33 via the axle 49. The link shaft 41 and the axle 49 are arranged parallel to the ground surface 100. A portion of the drive wheel 33 is housed in the space enclosed by the top plate 43a and the pair of side plates 43b and 43c. The lower portion of the drive wheel 33 is located below the link member 43, and this lower portion is in contact with the ground surface 100.

[0059] The shock absorber unit 44 is formed by a shock absorber 45, a spring 46, and an adjustment member 47.

[0060] The shock absorber 45 is, for example, a fluid pressure damper, which uses fluid pressure such as hydraulic pressure to dampen the oscillating force that causes the link member 43 (drive wheel 33) to swing around the link shaft 41. The shock absorber 45 comprises a piston 51 attached to the base 32 via a shock absorber bracket 42, and a cylinder 52 attached to the link member 43 via a shock absorber bracket 48.

[0061] The piston 51 and cylinder 52 are connected to corresponding shock absorber brackets 42 and 48, respectively, via connecting shafts parallel to the link shaft 41. Alternatively, the piston 51 may be attached to the link member 43 and the cylinder 52 may be attached to the base 32. As the link member 43 swings around the link shaft 41, the amount of protrusion of the piston 51 from the cylinder 52 changes, thereby damping the swing of the link member 43 (drive wheel 33).

[0062] The spring 46 is an example of the "elastic member" of the present invention. The spring 46 receives the load acting between the link member 43 (drive wheel 33) and the base 32 (movable body 2) while allowing the link member 43 (drive wheel 33) to swing around the link shaft 41. In this embodiment, the spring 46 is a coil spring, but it may be other elastic members such as a leaf spring or a rubber member. The spring 46 expands and contracts in accordance with the relative movement of the piston 51 and the cylinder 52. In this embodiment, the spring 46 is arranged on the outer circumference of the shock absorber 45 and is arranged substantially coaxially with the shock absorber 45. One end (upper end) of the spring 46 is supported by a spring receiving member 53 fixed to the piston 51. The spring receiving member 53 is, for example, a disc-shaped member. The other end (lower end) of the spring 46 is supported by an adjustment member 47 attached to the cylinder 52.

[0063] In this embodiment, the adjustment member 47 is a female threaded member that screws onto a male threaded portion 52a formed on the outer circumference of the cylinder 52. By rotating the adjustment member 47 relative to the male threaded portion 52a, its position in the cylinder axial direction relative to the cylinder 52 can be changed. This allows adjustment of the distance between the adjustment member 47 and the spring receiving member 53 (initial spring length L0). The initial spring length L0 refers to the length of the spring 46 when the drive wheel 33 is lifted off the ground surface 100 and not in contact with the ground surface 100, and no load from the ground surface 100 is acting on the spring 46.

[0064] Figures 9(A), 9(B), and 9(C) illustrate the setting of the initial length L0 of the spring 46 by the adjustment member 47. As shown in Figures 4, 9(A), 9(B), and 9(C), in this embodiment, a shock absorber 45 with a fixed overall length is used, in which the maximum overall length Lm of the shock absorber 45 is not changed. On the other hand, the reaction force (initial reaction force) of the spring 46 can be adjusted by changing the initial length L0 of the spring 46 using the adjustment member 47. Figure 9(A) shows the state in which the initial length L0 of the spring 46 of the shock absorber unit 44 is at its maximum, Figure 9(B) shows the state in which the initial length L0 of the spring 46 is set to a predetermined value, and Figure 9(C) shows the state in which the initial length L0 of the spring 46 is at its minimum. In the state shown in Figure 9(C), the shock absorber 45 and the spring 46 are in a fixed state.

[0065] In this way, by setting the initial length L0 of the spring 46, the initial compression amount Cp of the spring 46 can be set. That is, the spring 46 can be pre-compressed by operating the adjustment member 47. At this time, if the spring constant of the spring 46 is k and the initial compression amount of the spring 46 is Cp, then the pre-load (initial load) Fp of the spring 46 can be set to Fp = kCp. In this state, the drive wheel 33 is stationary and in contact with the ground surface 100, and the drive wheel 33 receives a reaction force from the ground surface 100, causing the length of the shock absorber 45 and the spring 46 to shorten by a predetermined amount x (x>0). As a result, in addition to the pre-load kCp, a load kx resulting from the shortening of the spring 46 by the predetermined amount x acts from the drive wheel 33 to the ground surface 100.

[0066] In other words, in addition to the spring load kx, a preliminary load kCp acts on the drive wheel 33, and a load F = kx + kCp acts on the drive wheel 33 when it is stationary. By adjusting this preliminary load kCp, sufficient ground pressure on the drive wheel 33 can be ensured. At this time, the vertical load Fv acting on the drive wheel 33 from the spring 46 is given by Fv = Fcosθ = (kx + kCp)cosθ, where θ is the inclination angle of the shock absorber 45 and the spring 46 with respect to the vertical.

[0067] Furthermore, by setting the initial length L0 of the spring 46 so that the second driven wheel 22 does not lift off the rail 23, the second driven wheel 22 can be kept in contact with the rail 23. This prevents the second driven wheel 22 from deviating from the rail 23 when the movable body 2 moves in the direction of movement X, and allows the movable body 2 to move in a straight line more reliably. Also, even if the second driven wheel 22 does not completely lift off the rail 23, a slight lift may cause the second driven wheel 22 to swing left or right in the direction Y relative to the rail 23. However, by adjusting the initial length L0 of the spring 46, the second driven wheel 22 can be made to be in closer contact with the rail 23. Therefore, such lifting of the second driven wheel 22 relative to the rail 23 can also be suppressed.

[0068] Furthermore, when the movable body 2 moves in the direction of movement X, the spring 46 compresses and extends in accordance with the unevenness of the ground surface 100, thereby preventing the drive wheels 33 from lifting off the ground surface 100. As a result, the drive wheels 33 are always in contact with the ground surface 100 with high ground pressure, preventing the drive wheels 33 from slipping (freewheeling).

[0069] The drive wheel 33 is installed at the lower vertical part of the movable body 2 and rotates around a horizontal axis. The drive wheel 33 is positioned to roll on the ground surface 100 and is driven by power from an electric motor 35. In this embodiment, the electric motor 35 is installed inside the drive wheel 33. That is, in this embodiment, the drive wheel 33 is driven by an in-wheel motor. The output shaft of the electric motor 35 may be directly connected to the drive wheel 33, or it may be configured to transmit power to the drive wheel 33 via a reduction mechanism such as a planetary gear mechanism. The configuration of the electric motor 35 inside the drive wheel 33 is well known, so a detailed explanation is omitted. The width of the drive wheel 33 (the contact length with the ground surface 100 in the left-right direction Y) is preferably set to be larger than the width of the first driven wheel 21 and the width of the second driven wheel 22. The outer circumferential surface of the drive wheel 33 is a flat cylindrical surface, but a tread pattern may be formed thereon. In this embodiment, the drive wheel 33 is positioned between a plurality of second driven wheels 22, 22 in the direction of movement X. More specifically, the drive wheel 33 is positioned near the front end 2a of the movable body 2 in the direction of movement X.

[0070] In the above configuration, the left leg 6L of the pair of left and right legs 6L, 6R does not have a rail for the first driven wheel 21 installed, nor does it have a drive wheel 33.

[0071] [Control Unit] As clearly shown in Figures 1, 5, 6, and 8, the control unit 60 controls the operation of the drive wheels 33, i.e., the movement of the movable body 2 in the direction of movement X. The control unit 60 includes a control unit 61 for controlling the electric motor 35, a sensor 62 for switching the operation of the electric motor 35 on and off, and an emergency stop button 63.

[0072] The control unit 61 is, for example, a computer or control panel, and includes an arithmetic unit such as a CPU (Central Processing Unit), volatile memory such as RAM (Random Access Memory), non-volatile memory such as ROM (Read-only memory), and a storage device such as a hard disk or SSD (Solid State Drive). The control unit 61 is connected to the electric motor 35, the sensor 62, and the emergency stop button 63. The control unit 61 may also be wirelessly connected to a terminal 110 for controlling the operation of the drive unit 31.

[0073] In this case, examples of terminal 110 include a PC (personal computer), smartphone, tablet, feature phone, smart glasses, and smart goggles. Terminal 110 has an application program (app) installed for controlling the control unit 61, and this application program issues commands to the control unit 61 according to the user's operation of terminal 110. Alternatively, a switch may be installed on the movable body 2, and the control unit 61 may be output when this switch is operated by the user.

[0074] When the above command is given, the control unit 61 outputs a command to the electric motor 35 to drive the movable body 2. For example, when the control unit 61 moves the movable body 2 forward along the direction of movement X, it outputs a drive command to the electric motor 35 to move the drive wheels 33 forward. Also, when the control unit 61 moves the movable body 2 backward along the direction of movement X, it outputs a drive command to the electric motor 35 to move the drive wheels 33 backward.

[0075] Sensor 62 is provided to detect the position of the movable body 2. Sensor 62 includes a front sensor 71 installed on the front end 2a side of the movable body 2 and a rear sensor 72 installed on the rear end 2b side of the movable body 2.

[0076] The front sensor 71 is a sensor that notifies the control unit 61 when the movable body 2 has reached the front end position P1 on one side X1 of the direction of movement X. The rear sensor 72 is a sensor that notifies the control unit 61 when the movable body 2 has reached the rear end position P2 on the other side X2 of the direction of movement X. In this embodiment, these sensors 71 and 72 are non-contact sensors using magnetism or infrared rays, but they may also be contact sensors using contacts.

[0077] The front sensor 71 comprises a movable element 71a fixed to the front end 2a of the movable body 2 and a stator 71b fixed to the ground surface 100. The movable element 71a is fixed to the lower beam 8 of the right leg 6R. The stator 71b is positioned adjacent to the movable element 71a when the movable element 71a (movable body 2) is at the front end position P1. When the movable element 71a detects the stator 71b, this detection result is output to the control unit 61, and the control unit 61 turns off the forward movement of the movable body 2 by the electric motor 35.

[0078] The rear sensor 72 comprises a movable element 72a fixed to the rear end 2b of the movable body 2 and a stator 72b fixed to the ground surface 100. The movable element 72a is fixed to the lower beam 8 of the right leg 6R. The stator 72b is positioned adjacent to the movable element 72a when the movable element 72a (movable body 2) is at the rear end position P2. When the movable element 72a detects the stator 72b, this detection result is output to the control unit 61, and the control unit 61 turns off the reverse movement of the movable body 2 by the electric motor 35.

[0079] The emergency stop button 63 is, for example, a switch-type button and is installed on the movable body 2. In this embodiment, the emergency stop buttons 63 are installed on the right leg 6R and the left leg 6L, respectively. The location and number of emergency stop buttons 63 are not limited. When any of the emergency stop buttons 63 is operated, the control unit 61 stops driving the electric motor 35 regardless of the position of the movable body 2.

[0080] In this embodiment, the control unit 60 is provided with a storage battery (secondary battery) as the power source 73. The power source 73 may also be commercial power supplied by a power company. Power from the power source 73 is supplied to the control unit 61, and from the control unit 61 is supplied to the sensors 71, 72 (movable elements 71a, 72a) and the electric motor 35.

[0081] In this embodiment, the control unit 61 and the power supply 73 are housed in a housing 74. The housing 74 is, for example, a box with a lid, and comprises a bathtub-shaped housing body 75 and a lid 76 that opens and closes the opening of the housing body 75. The housing body 75 is installed on the movable frame 2 using mounting members such as brackets 77 and 78, and in this embodiment, it is installed on the intermediate beam 11 of the right leg 6R. As a result, the control unit 61 and the power supply 73 are supported by the movable frame 2.

[0082] The housing section 74 is located at the front end 2a of the movable body 2, above the drive unit 31 and adjacent to the drive unit 31. Furthermore, the housing section 74 is positioned so as not to protrude from the drive unit 31 toward the center of the movable body 2 in the left-right direction Y. Through these arrangement considerations, the body drive device 30 as a whole is compactly arranged in the height direction Z and also compactly arranged in the left-right direction Y.

[0083] A through-hole 79 (Figure 5) is formed on one side of the housing body 75. Multiple wires 80 are passed through this through-hole 79 between the inside and outside of the housing 74. These wires 80 connect the control unit 61 inside the housing 74 to the sensors 71, 72 (movable elements 71a, 72a), the electric motor 35, and the emergency stop button 63 outside the housing 74, and are attached to the movable body 2 using cable ties or the like (not shown).

[0084] The lid 76 is attached to the opening of the housing body 75, for example, using a hinge mechanism. When the lid 76 is opened, the control unit 61 and power supply 73 inside the housing body 75 are exposed to the outside of the housing 74. This allows workers to maintain the control unit 61 and power supply 73 inside the housing body 75.

[0085] The above is a general overview of the movable frame device 1.

[0086] [An example of the operation of a movable structural device] When moving the movable body 2, for example, from the rear end position P2 to the front end position P1, the user, for example, operates the terminal 110 to give a predetermined command to the control unit 61. This causes the control unit 61 to drive the electric motor 35, which in turn rotates the drive wheels 33 to move the movable body 2 forward. When the movable element 71a of the front sensor 71 detects the stator 71b, the control unit 61 stops driving the electric motor 35. As a result, the movable body 2 stops at the front end position P1.

[0087] On the other hand, when moving the movable body 2 from, for example, the front end position P1 to the rear end position P2, the user, for example, operates the terminal 110 to give a predetermined command to the control unit 61. As a result, the control unit 61 drives the electric motor 35, and the rotation of the drive wheels 33 moves the movable body 2 in reverse. When the movable element 72a of the rear sensor 72 detects the stator 72b, the control unit 61 stops driving the electric motor 35. As a result, the movable body 2 stops at the rear end position P2.

[0088] [Effects in the Embodiment] As described above, according to this embodiment, the drive unit 31 can be installed on the movable body 2 as a whole by attaching the base 32 to the movable body 2. Therefore, it is easy to install the drive unit 31 on the movable body 2. In particular, it is easy to perform retrofitting work when retrofitting the drive unit 31 to the movable body 2. Furthermore, even if there are irregularities on the ground surface 100, the shock absorber 45 and spring 46 can press the drive wheels 33 against the ground surface 100 when the movable body 2 moves. This makes it possible to maintain appropriate ground pressure from the drive wheels 33 to the ground surface 100.

[0089] Furthermore, according to this embodiment, the initial length L0 of the spring 46 can be adjusted by providing the adjustment member 47. This allows for setting an appropriate initial length L0 of the spring 46 so as to apply sufficient ground pressure to the drive wheel 33 to suppress slippage of the drive wheel 33, while preventing the second driven wheel 22 from lifting off the rail 23.

[0090] Furthermore, according to this embodiment, by using an electric motor 35 (in-wheel motor) located within the drive wheel 33 as the drive source for the drive wheel 33, the overall space occupied by the drive wheel 33 and electric motor 35 can be reduced, making the drive unit 31 more compact. In addition, when attaching the drive unit 31 to the movable body 2, the assembly of the drive wheel 33 and electric motor 35 can be treated as a single component, further simplifying the configuration of the drive unit 31.

[0091] Furthermore, according to this embodiment, the drive wheels 33 are installed at the lower part of the movable body 2 and rotate around a horizontal axis. With this configuration, sufficient ground pressure can be applied to the drive wheels 33 by utilizing the weight of the movable body 2.

[0092] Furthermore, according to this embodiment, the control unit 61 for controlling the drive wheels 33 (electric motor 35) can be installed on the movable body 2. Therefore, there is no need to install the control unit 61 on the ground surface 100 on the side of the movable body 2, and the movable body device 1 can be made more compact.

[0093] Furthermore, according to this embodiment, the movable elements 71a, 72a of the sensors 71, 72 and the power supply 73 are installed on the movable body 2. As a result, it is not necessary to install these movable elements 71a, 72a and the power supply 73 on the ground surface 100 on the side of the movable body 2, and the movable body device 1 can be made more compact.

[0094] Furthermore, according to this embodiment, the drive unit 31 is installed on the right leg 6R of the movable body 2, and the first driven wheel 21 is installed on the left leg 6L of the movable body 2. With this configuration, the left leg 6L side, where the drive wheel 33 is not installed, can support the movable body 2 with the first driven wheel 21 and move smoothly in the direction of movement X.

[0095] Furthermore, according to this embodiment, the rail 23 of the roller guide 16 is also installed on the right leg portion 6R side where the drive unit 31 is installed. As a result, the rail 23 guides the second driven wheel 22, allowing the drive wheel 33 adjacent to the second driven wheel 22 to move stably in a straight line along the rail 23. Consequently, the straight-line movement of the movable body 2 can be improved.

[0096] Furthermore, according to this embodiment, the drive wheel 33 is positioned between a plurality of second driven wheels 22 in the direction of movement X. This allows the drive wheel 33 to be positioned inside the plurality of second driven wheels 22 in the direction of movement X, making the body drive unit 30 more compact.

[0097] Furthermore, according to this embodiment, the left leg 6L of the movable body 2 does not have a rail for the first driven wheel 21. With this configuration, the rail 23 is only on one leg side (right leg 6R) of the movable body 2. Therefore, there is no rail on the other leg side (left leg 6L), and the rail does not get in the way when people or objects move on the left leg 6L side. Moreover, since there is no need to install a rail on the left leg 6L side, the effort required for the installation of the movable body device 1 can be reduced.

[0098] As described above, according to this embodiment, the drive unit 31 and the control unit 60 can be easily installed on the movable body 2. Furthermore, on the left leg 6L side, people and objects can pass through smoothly without getting caught on the rails. Moreover, on the left leg 6L side, excavation work, leveling work, and rail installation work that would be required for rail installation are unnecessary. In addition, the ground pressure of the drive wheel 33 can be adjusted, and the second driven wheel 22 can be reliably grounded on the rail 23.

[0099] [Differentiation] Embodiments of the present invention have been described above. However, the present invention is not limited to the embodiments described above. Various modifications are possible to the present invention as long as they are described in the claims. In the following, configurations different from the embodiments described above will be mainly described, and similar configurations will be denoted by the same reference numerals in the figures and detailed descriptions will be omitted.

[0100] (1) In the above embodiment, a non-contact type (for example, electromagnetic induction type, non-radiation type, or radiation type) power receiving device may be provided in the housing section 74, and the power received by this power receiving device may be charged by the power supply 73. In this case, there is no need to run wiring for charging between the movable body device 1 and the outside of the movable body device 1.

[0101] (2) In the above embodiment, the drive unit 31 may be installed on the left leg 6L instead of the right leg 6R, or it may be installed on both legs 6L and 6R.

[0102] (3) In addition, in the above-described embodiment, the electric motor 35 may be positioned outside the drive wheel 33 and transmit power to the drive wheel 33 via a reduction mechanism or the like.

[0103] (4) In addition, in the above-described embodiment, the control unit 60 may be installed at a location other than the movable body 2, for example, on the ground surface 100.

[0104] (5) In addition, in the above embodiment, the roller guide 16 may be installed on each of the left and right pair of legs 6L and 6R. Alternatively, the caster guide 15 may be installed on each of the left and right pair of legs 6L and 6R. [Industrial applicability]

[0105] The present invention can be applied as a structural drive device and a movable structural device. [Explanation of symbols]

[0106] 1 Movable frame device 2 Movable frame 6L, 6R Pair of legs (left and right) 7 top 21 First Driven Wheel 22 Second Driven Wheel 23 rails 30. Body drive system 31 Drive Unit 32 Base 33 Drive wheels 35 Electric motor (power source) 41 Link axis 43 Link members 45 Shock absorbers 46. ​​Spring (elastic component) 47 Adjustment Member 51 Piston 52 cylinders 61 Control Unit 71 Front Sensor 71a Mover 72 Rear sensor 72a Mover 73 Power supply 74 containment section 100 Ground plane L0 is the initial length of the spring. X direction of movement

Claims

1. Equipped with a drive unit, The aforementioned drive unit is A base that is installed to be movable in conjunction with the movable frame, Drive wheels are positioned to roll on the contact surface and are driven by power from a drive source, A link member that is connected to the base so as to be pivotable around a link axis parallel to the ground surface and supports the drive wheel, A shock absorber and an elastic member are placed between the base and the link member, A body drive system equipped with the following.

2. The shock absorber comprises a piston attached to either the base or the link member, and a cylinder attached to the other of the base or the link member. The elastic member includes a spring that expands and contracts in accordance with the relative movement of the piston and the cylinder. The body drive device according to claim 1, further comprising an adjustment member for adjusting the initial length of the spring.

3. The body drive device according to claim 1, wherein the drive source includes an electric motor installed in the drive wheel.

4. The drive wheel is installed at the lower vertical part of the movable body and rotates around a horizontal axis, as described in claim 1.

5. A control unit for controlling the aforementioned drive source, The body drive device according to claim 1, further comprising: a housing unit that houses the control unit and is installed on the movable body.

6. A sensor for switching the operation of the drive source on and off, the sensor including a movable element installed on the movable body, The power supply for the control unit, the drive source, and the movable element, the power supply being supported by the movable body, The body drive device according to claim 5, further comprising the above.

7. A movable frame including a pair of left and right legs, and an upper section supported by the pair of left and right legs, A body drive device according to any one of claims 1 to 6, The drive unit of the aforementioned body drive device is installed on one of the left and right pair of legs, A movable body device further comprising a first driven wheel installed on the other of the pair of left and right legs and rotating in conjunction with the rotation of the drive wheel.

8. A second driven wheel is installed on one of the pair of left and right legs and rotates in conjunction with the rotation of the drive wheel, The movable body device according to claim 7, further comprising: a rail for guiding the second driven wheel in the direction of movement of the movable body.

9. The second driven wheels are provided in multiple locations along the direction of movement. The movable body device according to claim 8, wherein the drive wheel is arranged between a plurality of second driven wheels in the direction of movement.

10. The movable body device according to claim 8, wherein the rail for the first driven wheel is not installed on either of the left and right legs.

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