Traveling device

Abstract

A traveling device (100) according to a first aspect comprises: travel motors (130) that drive respective drive wheels respectively included in corner modules (110) which are disposed at both ends on the front side of a vehicle body (101) and / or disposed at both ends on the rear side of the vehicle body (101); and a plurality of power supply sources (140) that respectively supply electric power to the plurality of travel motors (130), wherein each of the power supply sources (140) is disposed in the corner module (110) in which the travel motor (130) that receives electric power supplied from said power supply source (140) is disposed.

Description

Running gear

[0001] The present invention relates to a traveling device equipped with wheels including drive wheels and steerable wheels.

[0002] Patent Document 1 describes a technology relating to the arrangement of a battery in a vehicle body having a plurality of corner modules.

[0003] Patent Document 2 discloses that the power supply for the steering system controller may be disposed in the corner module.

[0004] Conventionally, the battery that supplies large amounts of power to the driving motor and steering motor located in the corner module is placed under the floor of the vehicle body.

[0005] Special table 2023-535263 publication Special table 2023-508806 publication

[0006] However, placing the battery under the vehicle floor requires a large amount of underfloor space, as structural components such as a frame to protect the battery are required in addition to the battery itself to meet safety standards. This makes it difficult to lower the vehicle floor, posing problems such as making it difficult for wheelchair users to get in and out, and making it time-consuming to load and unload luggage.

[0007] The present invention has been made in consideration of the above-mentioned problems, and provides a traveling device that can be made low-floor.

[0008] One traveling device of the present invention comprises a corner module disposed at each end of the front side of the vehicle body and a traveling motor that drives a drive wheel provided on at least one of the corner modules disposed at each end of the rear side of the vehicle body, and a plurality of power supply sources that supply power to each of the plurality of traveling motors, the power supply sources being disposed in the corner module in which the traveling motor to which the power supply sources supply power is disposed.

[0009] One traveling device of the present invention comprises corner modules arranged at both front ends of the vehicle body and corner modules arranged at both rear ends of the vehicle body, each of which has a steering motor that steers a steering wheel provided on at least one of the corner modules, and a plurality of power supply sources that supply power to each of the plurality of steering motors, the power supply sources being arranged in the corner modules in which the steering motors to which the power supply sources supply power are arranged.

[0010] According to the present invention, it is no longer necessary to place a power supply source such as a battery under the floor of the vehicle body, and the vehicle body can be made lower in floor level.

[0011] FIG. 1 is a perspective view showing a corner module of a traveling device and a frame of a vehicle body. FIG. 2 is a perspective view showing one of the corner modules from the outside. FIG. 3 is a perspective view showing one of the corner modules from the inside. FIG. 4 is a block diagram showing the connection relationship between a power supply source and each motor. FIG. 5 is a plan view showing the positional relationship between a front wheel and a power supply source within a corner module. FIG. 6 is a plan view showing the positional relationship between a rear wheel and a power supply source within a corner module. FIG. 7 is a front view showing another example of the positional relationship between a front wheel and a power supply source within a corner module.

[0012] Hereinafter, embodiments of a traveling device according to the present invention will be described with reference to the drawings. Note that the following embodiments are presented as examples to explain the present invention and are not intended to limit the present invention. For example, the shapes, structures, materials, components, relative positional relationships, connection states, numerical values, mathematical formulas, the content of each step in a method, and the order of each step shown in the following embodiments are merely examples and may include content not described below. Furthermore, while geometric expressions such as parallel and orthogonal may be used, these expressions do not indicate mathematical precision and include substantially acceptable errors, deviations, etc. Furthermore, expressions such as simultaneous and identical also include substantially acceptable ranges.

[0013] The drawings are schematic diagrams in which emphasis, omission, or adjustment of proportions is appropriately made for the purpose of explaining the present invention, and differ from the actual shapes, positional relationships, and proportions. The X-axis, Y-axis, and Z-axis shown in the drawings represent Cartesian coordinates arbitrarily set for the purpose of explaining the drawings. In other words, the Z-axis is not necessarily an axis along the vertical direction, and the X-axis and Y-axis are not necessarily located within a horizontal plane.

[0014] In addition, in the following, multiple inventions may be collectively described as one embodiment, and some of the contents described below may be described as optional components related to the present invention.

[0015] FIG. 1 is a perspective view showing corner modules 110 of a traveling device 100 and the framework of a vehicle body 101. FIG. 2 is a perspective view showing one of the corner modules 110 from the outside. FIG. 3 is a perspective view showing one of the corner modules 110 from the inside. The traveling device 100 is a device that has wheels and realizes at least one of traveling and steering using electricity. The type of traveling device 100 is not limited, and examples include automobiles, buses, trucks, construction machinery, agricultural machinery, and automated guided vehicles. In this embodiment, the traveling device 100 has four corner modules 110. Each corner module 110 includes wheels, a traveling motor 130, a power supply source 140, a steering motor 150, a lifting device 160, and a suspension device 170. The corner modules 110 may also include structural members such as a frame that surrounds the wheels.

[0016] The wheels are annular or disc-shaped members that rotate about a rotation axis. The wheels function as drive wheels that cause the traveling device 100 to travel along a road surface or floor surface by rotating about the rotation axis, and function as steered wheels that change the traveling direction of the traveling device 100 by turning the wheels about a substantially vertical direction while the traveling device 100 is traveling. In this embodiment, the front wheels 121 included in the corner modules 110 arranged at both ends in the width direction (Y-axis direction in the figure) on the front side (X- side in the figure) of the vehicle body 101 function as drive wheels and steered wheels, and the rear wheels 122 included in the corner modules 110 arranged at both ends in the width direction on the rear side (X+ side in the figure) of the vehicle body 101 function as drive wheels.

[0017] The traveling motor 130 is a motor that drives the wheels, which function as drive wheels, to rotate about their rotation axes, thereby propelling the traveling device 100. In the present embodiment, the traveling motor 130 is attached as an in-wheel motor to each of the front wheels 121 and rear wheels 122, which function as drive wheels. Furthermore, the traveling motor 130 is not directly connected to the wheels, but is connected via a reducer (not shown).

[0018] Steering motor 150 is a motor that drives the wheels that function as steered wheels to turn approximately vertically, thereby steering traveling device 100. In the case of the present embodiment, steering motor 150 is attached to each of front wheels 121 that function as steered wheels. Furthermore, steering motor 150 is not directly connected to the wheels, but is connected via reducer 151 (see FIG. 3), link 152, steered wheel holding member 153, etc.

[0019] The lifting device 160 is a device that can change the vehicle height of the traveling device 100, and is equipped with a lifting motor 161. In the present embodiment, the lifting device 160 is attached to the vehicle body 101 corresponding to the corner module 110, and changes the height position of the vehicle body 101 relative to the wheels by moving one of the components of the suspension device 170 (e.g., a shock absorber) relative to the vehicle body 101 based on the driving force of the lifting motor 161. The lifting device 160 is disposed in each of the four corner modules 110.

[0020] The suspension device 170 is connected between the vehicle body 101 and the wheels, and has the function of absorbing shocks caused by unevenness in the road surface, adjusting the distance between the vehicle body 101 and the wheels so that the wheels maintain contact with the road surface, and maintaining the attitude of the wheels relative to the vehicle body 101 at a predetermined angle, such as the camber angle or caster angle.

[0021] 4 is a block diagram showing the connection relationship between the power supply source 140 and each motor. The power supply source 140 is included in each corner module 110. The power supply source 140 disposed in each corner module 110 located at both ends of the front width direction of the vehicle body 101 supplies power to the travel motor 130, steering motor 150, and lift motor 161 included in the corner module 110. The power supply source 140 disposed in each corner module 110 located at both ends of the rear width direction of the vehicle body 101 supplies power to the travel motor 130 and lift motor 161 included in the corner module 110.

[0022] The type of power supply source 140 is not limited, and examples include a primary battery, a secondary battery, a capacitor, a fuel cell, and a generator. Also, a combination of two or more of a primary battery, a secondary battery, a capacitor, a fuel cell, and a generator may be used as the power supply source 140. In the present embodiment, the power supply source 140 is a secondary battery.

[0023] FIG. 5 is a plan view showing the positional relationship between the front wheels 121 and the power supply source 140 within the corner module 110. FIG. 6 is a plan view showing the positional relationship between the rear wheels 122 and the power supply source 140 within the corner module 110. As shown in FIG. 5 , in a top view (a state viewed from the Z+ side in the figure), at least a portion of the power supply source 140 and at least a portion of the front wheels 121 are arranged in an overlapping positional relationship, and the power supply source 140 is arranged in front of the front wheels 121. Also, as shown in FIG. 6 , in a top view (a state viewed from the Z+ side in the figure), at least a portion of the power supply source 140 and at least a portion of the rear wheels 122 are arranged in an overlapping positional relationship, and the power supply source 140 is arranged behind the rear wheels 122.

[0024] The present invention is not limited to the above-described embodiments. For example, the present invention may be embodied in another embodiment by arbitrarily combining the components described in this specification or by excluding some of the components. Furthermore, the present invention also includes various modifications that would occur to a person skilled in the art without departing from the spirit of the present invention, i.e., the meaning of the wording of the claims.

[0025] For example, in the above embodiment, a single corner module 110 is provided with a single power supply source 140, which supplies power to multiple motors provided in the same corner module 110. However, a single corner module 110 may be provided with multiple power supply sources 140, and may supply power individually to multiple motors provided in the same corner module 110.

[0026] Furthermore, although the power supply source 140 included in one corner module 110 only supplies power to the motor included in the same corner module 110, the power supply source 140 included in one corner module 110 may also supply power to the motors included in other corner modules 110. In this way, if the power supply source 140 included in one corner module 110 is unable to supply power to the motor included in the same corner module 110, power can be supplied from the power supply source 140 included in the other corner module 110.

[0027] Also, as shown in FIG. 7, when viewed from the front (as viewed from the X- side in the figure), at least a portion of the power supply source 140 and at least a portion of the front wheel 121 (or the rear wheel 122) may be arranged in an overlapping positional relationship.

[0028] Furthermore, although the power supply source 140 has been described as supplying power to the motor included in the corner module 110, the power supply source 140 may also supply power to electronic devices such as an ECU (Electronic Control Unit) provided in the same corner module 110, sensors, and motors other than those described above.

[0029] (Summary) The traveling device 100 of the first embodiment comprises corner modules 110 arranged at both front ends of the vehicle body 101 and travel motors 130 that drive drive wheels provided on at least one of the corner modules 110 arranged at both rear ends of the vehicle body 101, and a plurality of power supply sources 140 that supply power to each of the plurality of travel motors 130, and the power supply sources 140 are arranged in the corner modules 110 in which the travel motors 130 to which the power supply sources 140 supply power are arranged.

[0030] The traveling device 100 of the second aspect may include the first aspect, and comprises corner modules 110 arranged at both front ends of the vehicle body 101, and steering motors 150 that steer the steering wheels provided on at least one of the corner modules 110 arranged at both rear ends of the vehicle body 101, and a plurality of power supply sources 140 that supply power to each of the plurality of steering motors 150, and the power supply sources 140 are arranged in the corner modules 110 in which the steering motors 150 to which the power supply sources 140 supply power are arranged.

[0031] The third aspect of the traveling device 100 may include the first aspect or the second aspect, and is equipped with a lifting motor 161 that is arranged in at least two of the corner modules 110 and adjusts the vehicle height, and the power supply source 140 supplies power to the lifting motor 161 that is arranged in the corner module 110 in which the power supply source 140 is arranged.

[0032] According to any one of the first, second, and third aspects, the power supply sources 140, which take up a significant amount of space, are distributed among the multiple corner modules 110, thereby freeing up space under the floor of the vehicle body. This allows the vehicle body to have a lower floor. Furthermore, because the power supply sources 140 are distributed among the corner modules, maintenance such as replacing the power supply sources 140 is easier than if they were disposed under the floor.

[0033] The traveling device 100 of the fourth embodiment includes any one of the first to third embodiments, and the power supply source 140 is disposed on the front side or the rear side of the corner module 110, respectively.

[0034] According to the fourth aspect, the power supply sources 140 are each arranged at least on either the front or rear side of the wheels in the corner module 110, thereby making it possible to secure a wider space in the width direction of the vehicle body 101 and to realize a wider vehicle interior in the width direction.

[0035] The fifth aspect of the traveling device 100 includes any of the first to fourth aspects, and when viewed from above, at least a portion of the power supply source 140 overlaps with at least a portion of the wheel within the corner module 110 in which the power supply source 140 is arranged.

[0036] According to the fifth aspect, the power supply source 140 is placed by utilizing the space above the wheels, so that the corner module 110 can be made compact in the front-to-rear and width directions, thereby realizing a spacious vehicle interior.

[0037] The sixth aspect of the traveling device 100 includes any of the first to fifth aspects, and when viewed from the front, at least a portion of the power supply source 140 overlaps with at least a portion of the wheel within the corner module 110 in which the power supply source 140 is arranged.

[0038] According to the sixth aspect, the power supply source 140 is positioned by utilizing the space in the fore-and-aft direction of the wheel, so that the amount by which the power supply source 140 protrudes in the width direction relative to the wheel can be reduced or eliminated, and the corner module 110 can be made compact in the width direction to realize a spacious passenger compartment.

[0039] The present invention can be used in a traveling device that includes a motor in a corner module.

[0040] 100...Traveling device, 101...Vehicle body, 110...Corner module, 121...Front wheels, 122...Rear wheels, 130...Travel motor, 140...Power supply source, 150...Steering motor, 151...Reduction gear, 152...Link, 153...Steering wheel holding member, 160...Lifting device, 161...Lifting motor, 170...Suspension device

Claims

1. A traveling device comprising: a corner module disposed at each end of the front side of a vehicle body; a travel motor for driving a drive wheel provided on at least one of the corner modules disposed at each end of the rear side of the vehicle body; and a plurality of power supply sources for supplying power to each of the plurality of travel motors, wherein the power supply sources are disposed in the corner modules in which the travel motors to which the power supply sources supply power are disposed.

2. A traveling device comprising: a corner module disposed at each end of the front side of the vehicle body, and a steering motor for steering the steered wheels provided on at least one of the corner modules disposed at each end of the rear side of the vehicle body; and a plurality of power supply sources for supplying power to each of the plurality of steering motors, wherein the power supply sources are disposed in the corner modules in which the steering motors to which the power supply sources supply power are disposed.

3. A traveling device as described in claim 1 or 2, further comprising a lifting motor disposed in each of at least two of the corner modules to adjust the vehicle height, and the power supply source supplies power to the lifting motor disposed in the corner module where the power supply source is disposed.

4. The traveling device according to claim 1 or 2, wherein the power supply sources are disposed on the front side or rear side of the corner modules, respectively.

5. The traveling device according to claim 4, wherein, in a top view, at least a portion of the power supply source overlaps with at least a portion of a wheel within a corner module in which the power supply source is arranged.

6. The traveling device according to claim 4, wherein, in a front view, at least a portion of the power supply source and at least a portion of the wheel in the corner module in which the power supply source is arranged overlap each other.

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