JP2766005B2 - Traveling car - Google Patents

Description

Description: BACKGROUND OF THE INVENTION [0001] The present invention relates to a freely travelable traveling vehicle having a suspension mechanism and a mechanism thereof, and more particularly to a vehicle capable of omnidirectional traveling, in a narrow place or in an undulating place. The present invention relates to a traveling vehicle and a transport vehicle suitable for use in a vehicle.

[Background Art] As a conventional traveling mechanism, there is a bogie device capable of traveling in all directions as described in Japanese Patent Application Laid-Open No. 63-149270. Four wheels with a roller having a rotation axis in the circumferential direction arranged on the outer peripheral surface of the wheel, a reduction gear, and a motor are used fixed to the vehicle body, and are used in the traveling direction of the wheel and the rotation direction of the roller orthogonal to the direction. It is possible to move.

[Problem to be Solved by the Invention] However, in this method, when the grounding of the four wheels is uncertain, there is a problem that it is difficult for the bogie to go straight. That is, even with slight unevenness of the road surface, a state where three of the four wheels on the front, rear, left and right are stably grounded and one wheel is not grounded easily occurs. Here, when the wheels arranged on the left and right are driven, the front and rear wheels are stopped, and the vehicle body is to be driven forward, if one of the left and right driven wheels does not touch the ground, The driving force is generated asymmetrically with respect to the vehicle body. At this time, in order to cancel the uneven distribution of the driving force, the driving force depends on the slip force of the front and rear wheels in directions other than the roller rotation direction. However, since the rollers of the front and rear wheels are rotating to move forward, the occurrence of lateral slippage is inevitable due to minute deformation of the roller surface, and the traveling direction of the vehicle body is not stabilized.

When four or more wheels are used, it is necessary to make the wheels follow irregularities on the floor surface.

An object of the present invention is to provide a traveling vehicle that prevents the body from leaning while improving the stability of the omnidirectional traveling mechanism in the traveling direction.

Another object of the present invention is to provide an economical traveling vehicle that can prevent leaning with a simple configuration.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides first and second holding members that are three-dimensionally crossed at right angles, and at both ends of the first and second holding members, respectively. A shaft-supported wheel, the first and second holding members, a base provided on the wheel, and a plurality of support mechanisms provided between the base and the first and second holding members And characterized in that:

A first and second holding member that crosses at right angles, a wheel pivotally supported at both ends of the first and second holding member, the first and second holding member and the wheel, And a plurality of tables provided between the table and the first and second holding members, respectively, for restraining the table and the first and second holding members to be parallel. And a cantilever support mechanism.

Further, in the traveling vehicle, a plurality of elastic support mechanisms are provided between the platform and the first and second holding members.

Also, a plurality of opposed wheels which have at least one rotation axis in a tangential direction of the wheel outer peripheral surface, and which can move in both rotation directions of the wheel and the roller by providing a roller rotatable around the axis. First suspension means for respectively suspending the pair of opposed wheels, and second suspension means for three-dimensionally intersecting the first suspension means at right angles and suspending another pair of opposed wheels. Mounting means disposed on the suspension means, and means for restraining a straight line connecting the rotation centers of the opposed driving wheels so as to always remain parallel to the mounting means. .

Also, a plurality of opposed wheels which have at least one rotation axis in a tangential direction of the wheel outer peripheral surface, and which can move in both rotation directions of the wheel and the roller by providing a roller rotatable around the axis. First suspension means for respectively suspending the pair of opposed wheels, and second suspension means intersecting at right angles with the first suspension means and suspending another pair of opposed wheels. Mounting means arranged on the first and second suspension means, and means for restraining a straight line connecting the rotation centers of the opposed wheels to be always parallel to the mounting means. A transfer mechanism capable of loading and unloading a conveyed article is mounted on the placing means.

In addition, by having at least one rotation axis in the tangential direction of the wheel outer peripheral surface and providing a roller rotatable around the axis, the wheel can be moved in both rotation directions of the wheel and the roller.
Two or more driving wheels and the four or more driving wheels
The relative position of the holding member that holds in a state where the wheels face each other,
A plurality of holding members that intersect at right angles with at least one of the other holding members, a vehicle body disposed on the holding member, and a parallel member that restrains the holding member and the vehicle body so as to be parallel to each other. A mechanism is provided between the holding member and the vehicle body.

A plurality of pairs of driving wheels having at least one rotation axis in the tangential direction of the wheel outer peripheral surface and being rotatable around the axis so as to be movable in both rotation directions of the wheel and the roller; A holding member that holds the plurality of pairs of driving wheels in opposition to each other by two wheels and keeps a relative distance between the opposing driving wheels constant, wherein a relative position of the holding member is at least one position with any other holding member. It is characterized in that it has a plurality of holding members that are three-dimensionally intersecting at a right angle, a luggage placement table arranged on the holding member, and a parallel mechanism that always keeps the holding member and the luggage placement table parallel.

In addition, by providing at least one rotation axis in the tangential direction of the wheel outer peripheral surface and providing a roller rotatable around the axis, the first to fourth drives capable of moving in both rotation directions of the wheel and the roller are provided. A first holding member for holding the wheel and the first and second drive wheels so as to face each other, and a third holding member for holding the third and fourth drive wheels so as to face each other; A second holding member disposed so as to intersect at right angles with a holding member holding the second drive wheel; a vehicle body disposed on the first holding member and the second holding member; A parallel mechanism for restraining the holding members so that the first and second holding members face and are parallel to the vehicle body.

A first and a second driving wheel, each having a shaft in the tangential direction of the outer peripheral surface and having a roller rotatable around the shaft, and disposed opposite to each other, A sub-chassis for connecting wheels, and a first end fixed to the sub-chassis and arranged to extend in the same direction from a symmetrical position with respect to a center of the sub-chassis.
A first unit comprising: a first swing arm; a second swing arm; first and second rods respectively disposed at the other ends of the first and second swing arms with respect to the sub-chassis; A second unit having the same configuration as the first unit, which crosses at right angles to the first unit;
And a main chassis that couples the second unit.

Further, first and second drive wheels, each having a shaft provided in a tangential direction of the outer peripheral surface thereof and having a roller rotatable around the shaft, are disposed opposite to each other, and the first and second drive wheels are respectively provided. A third sub-chassis connecting the first and second driving wheels arranged in a direction orthogonal to the first driving wheel; a first sub-chassis connecting the first and second driving wheels arranged in the opposite direction; A second sub-chassis connecting the third and fourth drive wheels to be disposed and intersecting the first sub-chassis at right angles; and a main chassis disposed on the first and second upper parts. A first swing arm and a second swing arm each having one end fixed to the first sub-chassis and arranged to extend in the same direction from a position symmetrical with respect to the center of the first sub-chassis; One end is fixed to each of the second sub-chassis. And third and fourth swing arms arranged to extend in the same direction from a position symmetrical with respect to a center portion of the second sub-chassis; First to fourth rods respectively disposed at positions corresponding to the other ends of the first to fourth swing arms, respectively,
And the other end of each of the fourth to fourth swing arms is connected to the corresponding first to fourth rods at a position closer to the road surface than the rotation center of the first to fourth drive wheels. First to fourth bearings to be connected, first and fourth bearings disposed between the first sub-chassis and the main chassis, and disposed at positions symmetrical with respect to a center of the first sub-chassis. A second spring, third and fourth springs disposed between the second sub-chassis and the main chassis, and disposed at positions symmetrical with respect to a center portion of the second sub-chassis; A damper is disposed between the main chassis and the first and second sub-chassis, and is arranged in parallel near a position where the spring is disposed.

First and second drive wheels, each having a shaft in the tangential direction of the outer peripheral surface and having a roller rotatable around the shaft, and disposed to face each other; and the first and second drive wheels. A third sub-chassis arranged in a direction perpendicular to the first and second driving wheels, a first sub-chassis connecting the first and second driving wheels arranged opposite to each other, A second sub-chassis connecting third and fourth drive wheels and intersecting the first sub-chassis at right angles; a main chassis disposed on an upper surface of the first and second sub-chassis; First and second swing arms each having one end fixed to the first sub-chassis and extending in the same direction from a position symmetrical with respect to the center of the first sub-chassis; One end is fixed to each sub chassis. Third and fourth swing arms arranged so as to extend in the same direction from a position symmetrical with respect to the center of the second sub-chassis; The first to fourth rods respectively disposed at positions corresponding to the other ends of the fourth swing arms, the other ends of the first to fourth swing arms, and the first to fourth rods respectively corresponding to the other ends of the first to fourth swing arms. And first to fourth bearings connected at a position closer to the road surface than the rotation center of the first to fourth drive wheels.
Placed between the sub-chassis and the main chassis,
First and second springs disposed at positions symmetrical with respect to the center of the first sub-chassis; and the second sub-chassis disposed between the second sub-chassis and the main chassis. Third and fourth springs arranged at positions symmetrical with respect to the center of the main body, and arranged between the main chassis and the first and second sub-chassis, and paired near the arrangement position of the springs. And a first to a fourth motor connected to the first to fourth drive wheels for driving the first to fourth drive wheels, respectively. And

Also, by providing at least one rotating shaft in a tangential direction of the outer peripheral surface of the wheel and providing a roller rotatable around the axis, a first movable shaft can be moved in both rotating directions of the wheel and the roller.
To a fourth driving wheel, a first swing arm that connects the first and second driving wheels arranged opposite to each other, and is arranged to bypass the third or fourth driving wheel, A second connecting means for connecting the third and fourth driving wheels arranged opposite to each other and arranged so as to bypass the first and second driving wheels and intersecting the first swing arm at right angles. A swing arm, a main chassis disposed above the drive wheel, and a first arm disposed between the main chassis and the first swing arm, and the first and second drive wheels can be moved up and down by the same amount. First and second rods disposed equidistant from the respective rotation centers of the first and second drive wheels in the direction of the third or fourth drive wheel; the main chassis; Located between the second swing arm, Equal distance from the respective rotation centers of the third drive wheel and the fourth drive wheel in the direction of the first or second drive wheel so that the third and fourth drive wheels can move up and down by the same amount. And the third and fourth rods are disposed between the first and second swing arms and the main chassis, and correspond to the first to fourth drive wheels. First to fourth springs mounted so that the fourth to fourth drive wheels act equally on the main chassis; and between the main chassis and the first and second swing arms, and the first to fourth springs. It is characterized by having first to fourth dampers arranged in parallel with the fourth spring.

Further, by providing at least one rotating shaft in the tangential direction of the outer peripheral surface of the wheel and providing a roller rotatable around the axis, the first to fourth driving units capable of moving in both rotating directions of the wheel and the roller are provided. A first sub-chassis for connecting the wheel and the first and second drive wheels arranged opposite to each other, and connecting the third and fourth drive wheel for the opposite arrangement, and A second sub-chassis perpendicularly intersecting the first sub-chassis; a main chassis disposed on the upper surface of the first and second sub-chassis; one end fixed to the first sub-chassis; First and second swing arms arranged to extend in the same direction from a position symmetrical with respect to the center of the first sub-chassis, and a main chassis arranged on the first and second swing arms And said Mei The third drive arm is disposed between a chassis and the first swing arm, and the third drive wheel and the second drive wheel are moved up and down by the same amount from the center of rotation of the first and second drive wheels. Or first and second rods disposed at an equal distance in any one of the fourth direction, and disposed between the main chassis and the second swing arm, and the third and fourth rods are disposed between the main chassis and the second swing arm. The third and fourth wheels are arranged at equal distances from the respective rotation centers of the third and fourth drive wheels in either direction of the first or second drive wheel so that the drive wheels can move up and down by the same amount. 4, a connecting member for connecting the first and second swing arms, and a fifth rod suspended from the main chassis between a center of the connecting member and the main chassis. It is characterized by the following.

A first and a second drive wheel, each having a shaft in the tangential direction of the outer peripheral surface and having a roller rotatable around the shaft, and disposed opposite to each other, and the first and the second drive wheels; Third and fourth drive wheels arranged in a direction orthogonal to the wheels,
A first sub-chassis connecting the first and second driving wheels disposed opposite to each other;
A second sub-chassis connecting the first and second driving wheels, and crossing at right angles to the first sub-chassis; a main chassis disposed above the first and second sub-chassis; The first and second drive wheels are disposed between a first sub-chassis and the main chassis, and correspond to the first and second drive wheels so as to face the first and second drive wheels. Of the first wheel
And the second triangular link, the third and fourth triangular links disposed between the second sub-chassis and the main chassis, and the corresponding points of the first and second triangular links. A first intermediate rod, which connects corresponding points of the third and fourth triangular links and intersects with the first intermediate rod; First and second springs disposed between the first sub-chassis and disposed between the first sub-chassis and symmetrically with respect to a center of the first sub-chassis; Third and fourth springs disposed between the main chassis and symmetrical with respect to the center of the second sub-chassis; and a third spring disposed between the main chassis and the first and second sub-chassis. Placed between Further comprising a from the first arranged side by side from the serial first close position of the fourth spring and a fourth damper characterized.

Also, by providing at least one rotating shaft in the tangential direction of the outer peripheral surface of the wheel and providing a roller rotatable around the axis, the first to sixth driving units capable of moving in both rotating directions of the wheel and the roller are provided. A wheel, a first holding member that holds the first and second drive wheels such that the first and second drive wheels face each other, and a third and fourth drive wheel that faces each other. A second holding member for holding the third and fourth drive wheels and the fifth and sixth drive wheels are held so as to face each other, and the first and second drive wheels are held together. A third holding member disposed orthogonal to both the first holding member for holding and the second holding member for holding the third and fourth drive wheels; A vehicle body disposed on the second and third holding members; And having a parallel mechanism that restrains the holding member so as to be parallel to the holding member to the vehicle body.

[Action] As described above, in the present invention, the virtual axle of the driving wheel that is paired with the holding member that holds the wheels and that intersects three-dimensionally with a suspension mechanism such as a cantilever support mechanism and an elastic support mechanism is parallel to the vehicle body. It is designed to move up and down while keeping it. For this reason, even if there are four drive wheels and there is undulation on the floor surface, a situation does not occur in which one of the drive wheels does not touch the ground. In other words, when there is a dent in the road surface and the ground pressure of one wheel decreases, the total with the ground pressure of the opposing wheel decreases, so the suspension mechanism supporting this pair of wheels extends,
The entire vehicle body is inclined so as to follow the road surface, and the contact pressure of the wheels on the concave side of the road surface is increased. At this time, the ground pressure shared by the other virtual axle increases, and the ground pressure of the virtual axles becomes less uniform. However, the ground pressure of the wheels at both ends of one virtual axle is equal, and both wheels are located at positions opposing the center of gravity of the vehicle body. Is not inhibited.

Further, the drive wheels are arranged such that their axles are on two straight lines forming a right angle, and the set of drive wheels arranged on the same straight line is held by a suspension mechanism that moves up and down while keeping parallel to the vehicle body. As a result, if the floor surface is not deformed even when an uneven load is applied to the vehicle body, specific wheels do not sink and rolling or pitching does not occur in the vehicle body. In particular, when a bogie equipped with a robot arm is configured, the vehicle body does not tilt due to a change in the posture of the robot arm, and the reproducibility of the position of the robot arm does not deteriorate, which is suitable for this application.

[Embodiment] A mechanism according to an embodiment of the present invention will be described below with reference to FIGS. 1 to 11, and a control portion will be described with reference to FIGS. 11 to 21.

 First, the mechanism will be described.

FIG. 1 is a simplified perspective view showing a suspension mechanism of a traveling vehicle according to the present invention from an obliquely upward direction in an easy-to-understand manner.
FIG. 2 is a plan view of the carriage as viewed from the bottom. Third
The figure is a longitudinal sectional view in which the bogie is divided by a longitudinal center line. In FIG. 1, the wheel 1 is schematically shown,
The main chassis 8 is transparent.

As shown in FIGS. 4 and 5, the wheel 1 has a structure in which each has an axis in the connection direction on the outer peripheral surface and has a roller rotatable around the axis. The roller 1a includes a roller core 1a1 and a roller rubber layer 1a2.
Thereby, the shaft 1c can be rotated about the rotation axis. The shaft 1c is fixed to the wheel 1f by a spacer 1d and a holding plate 1e. In the gap between the roller 1a by the spacer 1d and the holding plate 1e, there are other rollers 1a alternately arranged in a staggered manner at positions shifted in the rotation axis direction of the wheel 1,
The outer shape projected in the rotation axis direction of the wheel 1 is circular. Depending on the structure of the wheel 1, the wheel 1 transmits a tangential driving force or a braking force when viewed from the rotation axis direction to the floor, but transmits the force in a direction orthogonal to the force. Absent.

As shown in FIGS. 1 to 3, the wheels 1 are independently driven by motors 3 via reduction gears 2, respectively. Even when the motor 3 is not provided, the same effect can be achieved by driving the traveling vehicle from outside. These wheels 1, reduction gear 2, and bidirectionally rotatable motor 3 are mounted on main chassis 8.
(See FIG. 3) and holding members 4a, 4
b (hereinafter referred to as subchassis), the same subchassis 4
Above, the rotation axis of the wheel 1 is fixed so as to be on the same straight line. The rotation axis shared by the wheels 1 is called a virtual axle, but since the sub-chassis 4a and 4b are orthogonal, the virtual axle is also orthogonal in a cross shape. These sub-chassis 4a, 4b are respectively arranged so as to extend in the same direction from a position symmetrical with respect to the center of the sub-chassis. It is fixed and connected to a main chassis 8 via a rod 7 disposed via the bearing 6 and the other end of the corresponding swing arm 5a, 5b. Further, a spring 9 and a damper 10 (see FIG. 3) are arranged between each of the sub-chassis 4a and 4b and the main chassis 8.

Here, when it is desired to travel in an arbitrary direction depending on the structure and arrangement of the wheels 1, if the rotation speed of the orthogonal wheels 1 is used as a projection component of the target traveling speed vector, the direction of the vehicle body is changed. It is possible to travel in any direction without it. Furthermore, if all the wheels 1 are rotated in the same direction so that the rotation speed is proportional to the distance from the center of rotation to the wheels 1, the vehicle body spins in the opposite direction to the rotation of the wheels 1.

Since the sub-chassis 4a and 4b are connected to the main chassis 8 via the swing arms 5a and 5b, the bearing 6 and the rod 7, respectively, even if the floor has undulations or irregularities, the main chassis 8 may have excessive vibration. , The four wheels 1 follow the floor surface and maintain a sufficient contact pressure. In these cases, the spring 9 (hereinafter, referred to as a spring) and the damper 10 need to be used in an appropriate range. For example, when the spring 9 or the damper 10 is extremely strong, the traveling vehicle may jump up against the undulation of the floor surface. When the spring 9 is extremely weak, there is no force to ground the wheel 1 against the dent on the floor surface, and there may be a case where a sufficient ground pressure cannot be obtained with the wheel 1 hitting the dent of the floor. In this case, the parallelism between the main chassis 8 and the road surface is maintained even when the spring 9 and the damper 10 are not provided or when an eccentric load is applied.

Further, since the surface rubber layer 1a2 is present on the roller 1a, a sufficiently large frictional resistance is generated between the floor surface and the roller 1a, so that wheel spin does not occur. Further, the two sub-chassis 4 are connected to the main chassis 8 by the respective swing arms 5.
Therefore, even if an unbalanced load occurs in the main chassis 8, the main chassis 8 and the floor are kept parallel. Therefore, rolling and pitching of the main chassis 8 due to the unbalanced load does not occur. The main chassis referred to here means the vehicle body itself, and includes a mounting table when a mounting table is provided on the main chassis.

Hereinafter, the reason why the main chassis 8 does not tilt even when there is an eccentric load will be described in detail. As shown in FIG. 6, when the center of gravity is at the center of the four wheels 1 on a flat floor surface, it is assumed that the bogie is adjusted so that the load sharing of each wheel 1 is equal. At this time, assuming that the mass of the vehicle body is M and the gravitational acceleration is g, the reaction force that the four wheels 1 receive from the floor is Mg / 4. At this time and the position of the center of gravity as the origin, the coordinates of the wheel 1 are changed from the point A to the point D, (T ₁ , 0) (− T ₁ , 0) (0, T ₂ ) (0, −
T ₂ ). Due to the mechanism, the wheel 1 has diagonal points A and B,
A pair of points C and D is supported by a spring in parallel with the main chassis 8.

Here, as shown in FIG. 7, the position of the center of gravity is coordinate (0,
Even if you move to y), it is assumed that all four wheels are in contact with the ground. Now, the assumption on the mechanism, the following relationship (1) (2) is satisfied from the drag F ₁ which receives the four wheels 1 to F _4.

_{F 1 + F 2 = F 3} + F 4 ...... (1) F 1 + F 2 + F 3 + F 4 = Mg ...... (2) F 1 = F 2 ...... (3) F 1 = F 2 = Mg / 4 ...... _{(4) F 3 + F 4} = Mg / 2 ...... (5) F 3 ≧ 0, F 4 ≧ 0 ...... (6) 0 ≦ F 3 ≦ Mg / 2,0 ≦ F 4 ≦ Mg / 2 ...... ( 7) yMg−T ₂ F ₃ + T ₂ F ₄ = 0 (8) F ₃ ≧ F ₄ (9) This is because the spring supporting the vehicle body extends and has no contraction due to the assumption of four-wheel grounding. Further, from the symmetry with respect to the Y axis, the above (3) also holds. Therefore, the above (4) and (5) hold. Here, (6) is obtained from the assumption of four-wheel grounding, and (7) is obtained from (5).

The above (8) is established from the balance of the moment about the X axis. Here, since each term in the equation is positive or 0, the above (9) holds. Therefore, as shown in the above (10), the value α
Is defined, F ₃ and F ₄ can be expressed as the above (11). By substituting this into the above (8), the above (12) is obtained. Therefore, y has the range of the above (13). Wherein when y = T _2/2, a _{F 3 = Mg / 2, F} 4 = 0. As described above, when the center of gravity is located at a position within half the distance from the center of the four wheels 1 to an arbitrary wheel 1, the bogie of the above mechanism does not tilt.

In FIGS. 1 to 3, the height of the bearing 6 between the swing arm 5a and the rod 7 is arranged at a position lower than the height of the rotating shaft of the wheel 1, for the following reason.

The balance of the force around the swing arm 5 is analyzed according to FIG. 8, which is a diagram schematically showing the suspension mechanism of the present embodiment. For the sake of simplicity, the left and right driving wheels are considered as one, and the rolling friction of the wheels, mechanical loss of driving, and the moment of inertia of the wheels are ignored. Now, when a driving torque T is applied to the driving wheel, the driving wheel applies a torque −
Give the T and the traction force f _2. A torque -T for pushing down the bearing 6 acts on the swing arm 5a, and the height of the bearing 6 becomes δ.
₂ sink. On the other hand, when the height of the bearing 6 at rest is lower than the height of the rotating shaft of the wheel 1 by Δ, the reverse torque (due to the traction force f ₂ and the difference Δ + δ ₂ between the height of the bearing 6 and the height of the rotating shaft of the wheel 1) Δ + δ ₂ ) × f ₂ also occurs. Horizontal length L of the swing arm 5 is a tension when the rod 7 L»δ ₂
F ₂ ', the normal force from the floor surface to the drive wheels at rest F ₂
If the radius of the wheel 1 is R, the following relationship (14) is established.

T− (Δ + δ ₂ ) f ₂ −LF ₂ ′ = 0 (14) F ₂ ′ = {T− (Δ + δ ₂ ) f ₂ } / L (15) T = Rf ₂ … (16) F ₂ ′ = (R−Δ−δ ₂ ) f ₂ / L (17) δ ₁ = δ ₂ = δ ₃ = δ ₄ = δ (18) 2k ₁ = k ₂ = 2k ₃ (19) ) Δ = F ₂ ′ / 2 (k ₂ ) = (R−Δ−δ) f ₂ / ( ₂ kL) (20) Therefore, the above (15) is obtained. Here, the above (17) is obtained from the above relation (16). Here, in the present embodiment, there is a relationship of the above (18) from the assumption that no inclination can occur, and
Since the spring 9 of each wheel 1 is equal, the above (19) is established. Further, since the subsidence δ depends on the tension of the rod 7, the above (20) is established, and thus the above (21) is obtained. From the above (21), it can be seen that it is sufficient to set R = Δ in order to make the sinking δ due to acceleration / deceleration zero.

However, since this result means that the center of the bearing 6 must be at the same height as the floor surface, it cannot be realized as it is. Furthermore, since there is a limit to the length of the swing arm 5, a large value of Δ means that the swing arm 5 is greatly inclined, and when there is undulation or unevenness on the floor surface and the load of the bogie varies. In this case, the vertical movement of the sub-chassis 4 with respect to the main chassis 8 means that the main chassis 8 is swung back and forth and right and left. At this point, Δ is preferably set to 0.

Therefore, it is necessary to set Δ to an appropriate value between 0 and R in consideration of the expected state of the floor surface, load fluctuation of the bogie, and acceleration required for the bogie.

Hereinafter, the control portion of this embodiment will be described with reference to FIGS. 9 to 14. FIG. 9 is a plan view of a truck provided with the control device and the tracking sensor of the present invention as viewed from above the vehicle body. FIG. 10 is a three-dimensional view of the cart of FIG. 9 as viewed from the front. FIG. 11 to FIG. 13 are plan views showing the arrangement when the bogie of FIG. 9 is displaced from the guidance target. FIG. 14 is a flowchart showing the principle of the cart control device of FIG. Note that, for the sake of simplicity, the description will be made assuming that the wheels 1A to 1D are arranged equidistant from the center of the main chassis 8. However, when the actual arrangement of the wheels is not equidistant, appropriate correction is performed.

At this time, the one-dimensional CCD element 2 provided near the wheels 1A to 1D
2 and the sensors 21A to 21D comprising the optical system 23 detect the guidance target 202 made of tape having a high reflectance provided on the floor surface 203, and detect the central axis of the guidance target 202 or the guidance target.
It is assumed that the displacement between the boundary between the floor 202 and the floor 203 and the central axis of the sensors 21A to 21D is output. The outputs from the sensors 21A to 21D are input to the controller 20, and the controller 20
20 controls the motors 3A to 3D.

Here, the main chassis 8 moves along X
The returning operation of the main chassis 8 when the main chassis 8 is displaced from the guidance target 202 while traveling at the target speed v in the direction will be described.

Now, as shown in FIG.
2, the sensor 21A outputs α and the sensor 2 when the center is shifted by a distance α.
1B is the output -α. On the other hand, the center of the main chassis 8 is located at the position indicated by the guidance target 202, but the direction is shifted by an angle θ, and the position of the sensors 21A and 21B is shifted by a distance α, as shown in FIG. , Sensors 21A and 2
The outputs of 1B are both α. If the outputs of the sensors 21A to 21D are denoted as A, B, C, and D, respectively, (AB) / 2 indicates a deviation from the guidance target 202 of the main chassis 8, and (A + B) /
Reference numeral 2 denotes an angle deviation between the main chassis 8 and the guidance target 202.

At this time, the rotational speeds of the wheels 1A to 1D and the motors 3A to 3D are positive in the counterclockwise direction as viewed from the outside of the main chassis 8, and the peripheral speeds of the wheels 1A to 1D are used for A, B, C, respectively. Assuming D, in the case of the arrangement of FIG. 11, A = α, B = −α, C = −
If v and D = v, the main chassis 8 returns to the guidance target 202 after a unit time. On the other hand, in the case of the arrangement of FIG. 12, if A = α, B = α, C = v + α, and D = v + α, the main chassis 8 returns to the guidance target 202 after a certain time. Here, assuming that the outputs of the sensors 21A and 21B are a and b, respectively, and that (a + b) / 2 = m and (ab) / 2 = n, the peripheral speeds of the wheels 1A to 1D are represented by the following determinant. It is described in (1).

Similarly, when the main chassis 8 is displaced from the guidance target 202 while the main chassis 8 is traveling at the target speed w in the Y direction along the guidance target 202, the sensors 21C and 21D If the outputs are c and d, respectively, and (c + d) / 2 = p and (cd) / 2 = q, the peripheral velocities of the wheels 1A to 1D are described by the following determinant (2). .

Further, as shown in FIG. 13, when the main chassis 8 tries to stop at a fixed stop point where the guidance target 202 is orthogonal to the main chassis 8, the parallel movement is determined by the determinant (1) and the row example (2).
This is the same as in the above case, and this control is superimposed. However, since the values of rotation are read out simultaneously from the sensors 21A to 21D, the sensitivity is calculated in the case of the determinant (1) and the determinant (2). The same control can be realized by reducing the value to 1/2. The peripheral speeds of the wheels 1A to 1D at this time are described by the following determinant (3).

FIG. 14 shows a flowchart of the control device for realizing the above control method. First, an action mode is determined by referring to a command given from the host controller 204 or the keyboard 37 or a predetermined action schedule and map information built in the controller 20 (60). Next, the value of the sensor 21 required according to the action is determined
The necessary determinants are read out by the determinants (64), (66), and (68) and are calculated from the determinants (1) to (3). Next, the calculation result is confirmed, and if an abnormal value is indicated, correction or abnormality processing is performed, and the speed of each motor 3 is determined in steps 70, 72, 74, and 76. Next, each motor 3
Drive and wait for unit time (78,80). Thereafter, the value of each sensor is checked (82), and it is determined whether the current action has been completed.
If the operation has not been completed, the same operation is repeated, and if the operation is to be performed externally, the coordinates of the current position are output to the outside if necessary and the operation is waited until the operation is completed (86).
After the work is completed, the operation returns to the initial operation again. By the above,
Traveling is controlled.

Here, the gain of the control system is set to 100% for explanation of the principle. However, in an actual control system, it is necessary to correct the gain to an appropriate value. Although the integral term, the derivative term, and the like in the control are ignored, it is natural that the performance is improved by considering these terms in the actual control.

FIG. 15 is a block diagram showing the structure of the controller 20 that performs the above processing. The central processing unit 30 is connected to the rewritable storage device 31 and the fixed storage device 32 via the main communication means 39. Then, the processing shown in FIG. 14 is performed according to the programs and map information stored in the storage devices 31, 32. Further, the central processing unit 30 is connected to a signal input / output device 33, a motor control device 34, and an external communication device 35 via a sub-communication means 40 in order to read / output a calculation result and read data of the external sensor 21. The signal input / output device 33 manages signal input / output means such as the sensor 21, and the motor control device 34 controls the motor 3. External communication device
35 is a display device 36, a keyboard 37, a host controller 204
It is connected to a communication terminal 38 and the like for performing communication of occurrence of abnormality, operation termination and report of operation result in a non-contact manner.

FIG. 16 shows an example in which this embodiment is applied to an automatic guided vehicle with an arm. The automatic guided vehicle 100 measures the displacement of the guidance target using the plurality of optical sensors 21. The controller 20 built in the automatic guided vehicle 100 performs the operation using the arm 101 based on the force of the optical sensor 20 based on the force of the optical sensor 20.
Automatically corrects both the position and the angle, and operates the traveling mechanism so as to come to the generally determined position and angle in front of the work station 205. Regarding the remaining minute position / angle error, the controller 20 responds to the planned coordinates of the operation command given to the arm 101 by coordinate correction. As a result, the reproducibility of the position of the arm 101 is enhanced, and an accident in which a part of the arm 101 is hit against the work 201 during handling of the work 201 is prevented. Here, the upper controller 204 and the controller 20 communicate with each other via the communication terminal 38 'of the upper controller 204 provided in the work station 205 and the communication terminal 38 corresponding to 38' among some communication terminals 38 of the bogie. Communication is performed, and work instructions and the like are delivered. Note that the suspension mechanism of the present embodiment has a feature that the unmanned transport vehicle 100 does not tilt due to the overturning moment generated by the posture of the arm 101 because there is essentially no rolling pitching due to the unbalanced load. It goes without saying that securing the position reproducibility has a great significance. The work 201 is a trolley 1
It is arranged on the platform 206 on 00. In particular, the present embodiment is most suitable for a transfer operation in cleaning related to semiconductor manufacturing, which is a job which dislikes dust, is forced to travel in a narrow passage, and dislikes vibration.

While one embodiment of the present invention has been described above, the present invention includes the following alternative modifications.

FIGS. 17 to 21 show alternative variations of the suspension mechanism of the present invention. 17 to 21, the wheels 1 are schematically shown, and the main chassis 8 is transparent. FIG. 17 shows an embodiment in which the virtual axle of the wheel 1 is not cross-shaped. In this embodiment, a sub-chassis 4a 'is provided in parallel with the sub-chassis 4a, and the whole is formed in a katakana "" shape. The swing arms 5a and 5a 'are arranged so as to face each other. The amount of calculation for determining the speed of the motor 3 is larger than that of the first embodiment, and there is a possibility that the grounding property against the undulation of the floor may be slightly deteriorated. However, in this embodiment, the area formed by the six wheels 1 is large. High stability against falling down and a large number of wheels 1, so it is highly likely to keep going straight even if about one wheel 1 floats up. Similarly, a lattice-shaped structure such as a "well" shape is also possible It is.

18 and 19 show an example in which the sub-chassis 4a and 4b are realized by parallel links so as to operate in parallel with the main chassis 8. FIG. In this embodiment, the sub-chassis 4a and 4b are connected to the main chassis 8 by the rod 7 via the triangular link 11. Here, the pair of triangular links 11 is held by the intermediate rod 12 so as to maintain the same rotation angle. Furthermore, the posture of the triangular link 11 at rest is the rod 7 of the triangular link 11.
The height of the joint between the main chassis 8 and the sub-chassis 4a, 4b of the triangular link 11 is equal to the height of the joint between the sub-chassis 4a and 4b. Very small. Further, in this embodiment, since the direction of the driving force of the driving wheels and the operation direction of the suspension mechanism are orthogonal to each other, there is an advantage that the traveling mechanism does not sink or the like due to the inertial force during acceleration / deceleration. In this embodiment, the spring 9 and the damper 10 are the same as those shown in the first embodiment (see FIG. 3).

FIG. 20 shows a sub-chassis 4 and a swing arm 5 integrated into a swing arm 5 '.

The swing arm 5 'is shaped to bypass one of the drive wheels not held by the swing arm 5', so that the two drive wheels held by the swing arm move up and down by the same stroke. . Also,
The rod 7, the main chassis 8, the spring 9, and the damper 10 (not shown) are the same as in the first embodiment. Thereby, the number of parts is reduced, and the rigidity of the suspension mechanism is increased. FIG. 21 does not use the spring 9 and the damper 10 between the swing arm 5 'and the main chassis 8 in the embodiment of FIG. 20, and instead has an intermediate rod 12a and an intermediate rod for connecting the swing arm 5'. A fifth rod 7 'is provided between the central main chassis 8 of 12a. In this embodiment, two intersecting swing arms 5 '
Always performs the same stroke operation on the main chassis 8 in the opposite direction. This prevents any one of the wheels from floating due to the unevenness of the floor surface, and prevents the wheel from being driven, and the mechanism does not change the height of the bogie even when the load changes. According to this embodiment, the suspension mechanism does not use a spring and a damper. Therefore, even when a bogie is used with a large load, the suspension mechanism does not have a bottom and the like, and even if the vehicle body weight changes significantly, There is no possibility that the followability of the wheel 1 to the surface is hindered. Also, because there are few components,
There is an advantage that it can be manufactured at low cost.

FIG. 22 to FIG. 25 show modified examples of the wheel 1 of the present invention.
FIG. 22 shows a grounding ring 1g used when the arrangement of the rollers 1a in the wheel 1 of the first embodiment is not staggered but in only one row. FIG. 23 shows a wheel 1 using this grounding ring 1g. In this embodiment, the independence of the traveling mechanism on the rotation angle of the wheels in the first embodiment is partially lost. In this case, the position at which the vehicle can be switched from straight traveling to traversing is limited to the pitch of the roller 1a, and there is a limit that the followability to the traveling path during straight traveling can be corrected only within the notch of the grounding ring 1g. However, in applications that mainly use straight running and do not require strong followability with respect to the running path, there is an advantage that the number of rollers 1a can be reduced and the cost can be reduced.

FIGS. 24 and 25 show an embodiment in which the number of rollers 1a is further limited and the number of rollers 1a is limited to one for one wheel 1. FIG. In this case, there is an advantage that the price can be further reduced while maintaining the advantage of the present invention that it can be traversed, although the limitation is further increased.

FIG. 26 shows an alternative modification in which the calculation is implemented in a circuit to reduce the calculation time of the control device of the first embodiment. The outputs of the sensors 21A to 21D are switched by the four-circuit three-contact switching mechanism 50 into three types, that is, when traveling in the X direction, when traveling in the Y direction, and when stopping at a fixed point, and sent to the attenuator unit 51. The signal that has passed, distributed, and attenuated through the attenuator unit 51 is distributed, and further the bogie target speed in the X and Y directions.
v and w are also added together by the adder / subtracters 52A to 52D. The outputs of these adders / subtracters 52A to 52D are wheels 1A to 1D
Is input to the servo amplifiers 53A to 53D as the target peripheral speed, and drives the motors 3A to 3D and the wheels 1A to 1D. According to the present embodiment, the central processing unit 30 has an advantage that the operation can be greatly simplified only by operating the switching mechanism 50, and high-speed control can be performed because an analog control system is used.

The following determinant (4) is an embodiment in which the control method of the first embodiment is simplified.

In the first embodiment, switching is performed when traveling in the X direction, when traveling in the Y direction, and when stopping at a fixed point. In this case, it is necessary to hold a plurality of determinants (4) to be evaluated and make a selection.
In particular, in the embodiment of FIG. 26, it is inevitable that the number of input signals of the adder / subtracters 52A to 52D increases and the structure becomes complicated. Therefore, the sensors 20A and 21B and the sensors 21C and 21D are separately turned on and off, and the control method for the progress and the stop is unified, so that the controller 20 (see FIG. 15)
The burden on the user can be reduced. In this case, when v and w are 0, the determinant (4) is equal to the determinant (3). However, when proceeding in the X and Y directions, the irrelevant signals and the target speed are not completely the same as those in the case of the determinants (1) and (2) even if the target speed is ignored. That is, since the sensitivity to the angle shift indicated by m and p is reduced by half, the sensitivity to the angle shift is reduced when traveling in the X and Y directions using only one of m and p. However, in this bogie, the posture during traveling is not necessarily related to the traveling direction of the bogie.
When the guidance target 202 exists within the effective range of 21A to 21D, the direction of the bogie may be inclined. On the contrary, there is a possibility that a sudden change in attitude during traveling may reduce the straightness of the bogie, and from this point, there is also an advantage in unifying the control method into one.

Further, as a modification of the above-described control method, it is also possible to take an arbitrary value between the values at the time of progress and at the time of fixed point stop, without setting the sensitivity to the angle shift at the time of fixed point stop.

In the first embodiment, one tracking sensor is provided for one wheel, but it is also possible to use the same method by using eight tracking sensors, for example, for oblique traveling. If necessary, instead of using a CCD line sensor as the tracking sensor, multiple single optical sensors are arranged around the vehicle body and used as a tracking sensor as a whole, so that it is possible to eliminate the restriction on the body traveling direction . In addition, the combination of the guidance target 202 and the sensor 21 is not only described in the first embodiment,
Naturally, a combination of a magnetic tape and a magnetic head, a combination of a metal plate and a current collector, a combination of a wall surface and an ultrasonic distance meter, etc. are also possible. The guidance target should be provided not only on the floor but also on the ceiling. Is also possible.

Further, depending on the capabilities of the central processing unit 30 and the like, the guidance target 202 does not need to be continuous, for example, setting the guidance target on a grid point at a fixed interval, and correcting the posture and position near the guidance target. It is also possible to run independently by adding an encoder to the motor 3 between the guidance targets.

In the case where the suspension mechanism of the present invention is used, the present invention is not limited to the wheels movable in both directions shown in FIG. When the swing arm crosses the suspension arm in a three-dimensional manner, the same effect can be obtained even if the intersection is not a right angle.

[Effects of the Invention] As described above, according to the present invention, an unmanned traveling vehicle capable of traveling in all directions suitable for use in a narrow place can be realized. In addition, there is no generation of dust due to the stationary setting of the steered wheels and the like, and a running mechanism free of rolling and pitching of the vehicle body due to uneven load can be obtained by the unique suspension. These characteristics are particularly important for the transfer of articles in a clean room related to semiconductor manufacturing.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a simplified structure of the traveling mechanism of the present invention obliquely from above, FIG. 2 is a bottom view showing the structure of the traveling mechanism of FIG. 1, and FIG. 3 is FIG. FIGS. 4 (a), (b) and 5 are views showing the structure of the wheels of the traveling mechanism of the present invention, and FIGS. 6 to 8 are the present invention. Schematic diagram showing symbols for analysis of the suspension mechanism of
FIG. 9 shows a vehicle body provided with the control device and the sensor of the present invention,
FIG. 10 is an elevational view of the bogie of FIG. 9 as viewed from the front, and FIGS. 11 to 13 show arrangements when the bogie of FIG. 9 is displaced from the guidance target. FIG. 14 is a flowchart showing the control method of the bogie of FIG. 9, FIG. 15 is a block diagram showing the structure of a control device for realizing the control method, and FIG. FIGS. 17 to 21 are views showing alternative modifications of the suspension mechanism of the present invention, FIGS. 22 to 25 are views showing another structure of the wheel of the present invention, and FIGS. FIG. 2 is a block diagram showing a main part of another control device for realizing the control method of the present invention. 1 ... wheels 2 ... reduction gears 3 ... motors 4 ... subchassis 5 ... swing arms 7 ... rods 8 ... main chassis 9 ... springs 10 ... dampers 11 …… Triangle link, 12 …… Intermediate rod, 20 …… Control device, 21 …… Sensor, 101 …… Arm, 202 …… Guided target, 203 …… Floor surface, 204 …… Host controller, 205 …… Work station , 206 ... units.

──────────────────────────────────────────────────続 き Continuing on the front page (51) Int.Cl. ⁶ Identification code FI G05D 1/02 G05D 1/02 E (72) Inventor Minoru Ikeda 292 Yoshida-cho, Totsuka-ku, Yokohama-shi, Kanagawa Prefecture Production technology of Hitachi, Ltd. Inside the laboratory (72) Inventor Hiroshi Kikuchi 292, Yoshida-cho, Totsuka-ku, Yokohama-shi, Kanagawa Prefecture Inside the Hitachi, Ltd. Production Research Laboratory (56) References JP-A-63-149270 (JP, A) JP-A-59-109402 ( JP, A) JP-A-60-241438 (JP, A) JP-A-48-16303 (JP, A) JP-A 62-74002 (JP, U) JP-A 61-24439 (JP, Y2) Showa 32-1751 (JP, B1) (58) Fields investigated (Int. Cl. ⁶ , DB name) B60B 19/00 B62D 61/00 B62D 9/00

Claims (21)

(57) [Claims] 1. A first and a second holding member that are three-dimensionally intersecting with each other, wheels respectively supported on both ends of the first and the second holding members, the first and the second holding members, and A traveling vehicle comprising: a platform provided on wheels; and a plurality of support mechanisms provided between the platform and the first and second holding members. 2. A first and a second holding member which are three-dimensionally crossing at a right angle, wheels respectively supported on both ends of the first and the second holding member, and the first and the second holding members. And a base provided on the wheel; and a base provided between the base and the first and second holding members, respectively, so that the base and the first and second holding members are parallel to each other. And a plurality of cantilever support mechanisms. 3. The traveling vehicle according to claim 2, wherein a plurality of elastic support mechanisms are provided between the platform and the first and second holding members. 4. A plurality of wheels having at least one rotation axis in a tangential direction of an outer peripheral surface of a wheel and having a roller rotatable around the axis so as to be movable in both rotation directions of the wheel and the roller. Opposing wheels; first suspension means for respectively suspending the pair of opposed wheels; and second suspension means for orthogonally crossing the first suspension means at right angles and suspending another pair of opposed wheels. Suspension means, Placement means arranged on the suspension means, and Means for restraining a straight line connecting the rotation centers of the opposed drive wheels so as to always keep parallel to the placement means. A traveling vehicle characterized by the following. 5. A plurality of wheels having at least one rotation axis in a tangential direction of an outer peripheral surface of a wheel and having a roller rotatable around the axis so as to be movable in both rotation directions of the wheel and the roller. Opposing wheels, first suspension means for respectively suspending the pair of opposed wheels, and second suspension means for three-dimensionally intersecting the first suspension means at right angles and suspending another pair of opposed wheels. Suspension means; mounting means arranged on the first and second suspension means; restraint such that a straight line connecting the rotation centers of the opposed wheels is always parallel to the mounting means. And a transfer mechanism capable of loading and unloading a conveyed article on the placing means. 6. A wheel having at least one rotation axis in a tangential direction of an outer peripheral surface of a wheel and having a roller rotatable around the axis, so that four or more wheels can move in both rotation directions of the wheel and the roller. A plurality of holding members, in which the relative positions of the driving wheel and the holding member holding the four or more driving wheels in a state of facing each other two wheels at a right angle with at least one of the other holding members in a three-dimensional manner. A traveling vehicle, wherein: a vehicle body disposed on the holding member; and a parallel mechanism for restraining the holding member and the vehicle body so as to be parallel are provided between the holding member and the vehicle body. . 7. A plurality of pairs having at least one rotation axis in a tangential direction of an outer peripheral surface of a wheel and having a roller rotatable around the axis so as to be movable in both rotation directions of the wheel and the roller. And a holding member for keeping the relative distance between the opposing driving wheels constant by making the plurality of pairs of driving wheels face each other two by two wheels, wherein the relative position of the holding member is any other holding member. And a plurality of holding members that intersect at right angles at least at one point, a luggage mounting table disposed on the holding member, and a parallel mechanism that always keeps the holding member and the luggage mounting table parallel. Characteristic traveling vehicle. 8. A wheel having at least one rotation axis in a tangential direction of an outer peripheral surface of a wheel and having a roller rotatable around the axis, whereby a first to a first roller capable of moving in both rotation directions of the wheel and the roller are provided. 4, a first holding member that holds the first and second drive wheels so as to face each other, and a third holding member that holds the third and fourth drive wheels so as to face each other, and A second holding member disposed so as to three-dimensionally intersect at right angles with a holding member holding the second drive wheel; and a vehicle body disposed on the first holding member and the second holding member; And a parallel mechanism for restraining the holding member so that the first and second holding members face and become parallel to the vehicle body. 9. A first and a second drive wheel, each having a shaft in a tangential direction of the outer peripheral surface and having a roller rotatable around the shaft, wherein the first and second drive wheels are disposed to face each other. And a first and second sub-chassis having one end fixed to the sub-chassis and extending in the same direction from a symmetrical position with respect to a center of the sub-chassis. A first unit comprising: a swing arm; first and second rods respectively disposed at the other ends of the first and second swing arms with respect to the sub-chassis; and a three-dimensional body perpendicular to the first unit. A traveling vehicle, comprising: a second unit having the same configuration as the first unit and intersecting with each other; and a main chassis connecting the first and second units. 10. A first and a second drive wheel, each of which has a shaft provided in a tangential direction of an outer peripheral surface thereof, has rollers rotatable around the shaft, and is disposed so as to face each other; And third and fourth drive wheels arranged in a direction orthogonal to the second drive wheel and a first sub-chassis connecting the first and second drive wheels arranged opposite to each other; Third placed opposite
A second sub-chassis connecting the first and fourth drive wheels and intersecting the first sub-chassis at right angles; a main chassis disposed on the first and second upper parts; A first swing arm and a second swing arm each having one end fixed to the sub-chassis and arranged to extend in the same direction from a position symmetrical with respect to a center of the first sub-chassis; Third and fourth swing arms each having one end fixed to the sub-chassis and extending in the same direction from a position symmetric with respect to the center of the second sub-chassis; First to fourth rods fixed so as to hang down and arranged at positions corresponding to the other ends of the first to fourth swing arms, respectively; and the first to fourth swings. Each other end of the arm,
First to fourth bearings, which respectively connect the corresponding first to fourth rods, and wherein the connection positions are connected at positions closer to the road surface than the rotation centers of the first to fourth drive wheels; First and second springs disposed between the first sub-chassis and the main chassis and symmetrically disposed with respect to a center of the first sub-chassis; and the second sub-chassis. And third and fourth springs disposed between the main chassis and the main chassis, and disposed at positions symmetrical with respect to a center of the second sub-chassis; and the main chassis and the first and second sub-chassis. And a damper disposed between the chassis and juxtaposed near a position where the spring is disposed. 11. Each has an axis in a tangential direction of an outer peripheral surface,
First and second driving wheels having rollers rotatable about the axis and disposed opposite to each other; and third and fourth driving wheels disposed in a direction orthogonal to the first and second driving wheels. A driving wheel, a first sub-chassis connecting the first and second driving wheels disposed opposite each other, and a third sub-chassis disposed opposite the third driving chassis.
A second sub-chassis connecting the first and second driving wheels and intersecting the first sub-chassis at right angles; a main chassis disposed on the upper surface of the first and second sub-chassis; First and second swing arms each having one end fixed to the first sub-chassis and extending in the same direction from a position symmetrical with respect to a center of the first sub-chassis; Third and fourth swing arms each having one end fixed to the sub-chassis and extending in the same direction from a position symmetric with respect to the center of the second sub-chassis; First to fourth rods fixed so as to hang down and arranged at positions corresponding to the other ends of the first to fourth swing arms, respectively; and the first to fourth switches. Each and the other end of the Guamu,
First to fourth bearings, which respectively connect the corresponding first to fourth rods, and wherein the connection positions are connected at positions closer to the road surface than the rotation centers of the first to fourth drive wheels; First and second springs disposed between the first sub-chassis and the main chassis and symmetrically disposed with respect to a center of the first sub-chassis; and the second sub-chassis. And third and fourth springs disposed between the main chassis and the main chassis, and disposed at positions symmetrical with respect to a center of the second sub-chassis; and the main chassis and the first and second sub-chassis. A damper disposed between the chassis and attached to form a pair near the position of the spring; and connected to the first to fourth drive wheels to drive the first to fourth drive wheels, respectively. First for Vehicle, characterized in that a et fourth motor. 12. A wheel having at least one rotating shaft in a tangential direction of an outer peripheral surface of a wheel and having a roller rotatable around the shaft, whereby a first to a first wheel capable of moving in both rotating directions of the wheel and the roller are provided. 4th drive wheel, the 1st swing arm arranged so as to connect the 1st and 2nd drive wheels arranged opposite to each other, and to bypass the 3rd or 4th drive wheel, A second swing that connects third and fourth drive wheels arranged in a manner to bypass the first and second drive wheels, and that crosses the first swing arm at right angles. An arm, a main chassis disposed above the driving wheels, and a main chassis disposed between the main chassis and the first swing arm, such that the first and second driving wheels can move up and down by the same amount. Each of the first and second drive wheels First and second rods arranged at an equal distance from a rotation center in a direction of the third or fourth drive wheel, and arranged between the main chassis and the second swing arm. And the center of rotation of each of the third drive wheel and the fourth drive wheel in either direction of the first or second drive wheel so that the third and fourth drive wheels can move up and down by the same amount. Third and fourth rods arranged at equidistant positions, arranged between the first and second swing arms and the main chassis, corresponding to the first to fourth drive wheels,
First to fourth springs mounted so that the first to fourth drive wheels act equally on the main chassis; and between the main chassis and the first and second swing arms, and A traveling vehicle comprising: first to fourth dampers arranged in parallel with first to fourth springs. 13. A wheel having at least one rotating shaft in a tangential direction of an outer peripheral surface of a wheel and having a roller rotatable around the shaft, the first to the first wheels being movable in both rotating directions of the wheel and the roller. 4, a first sub-chassis connecting the first and second driving wheels disposed opposite each other, and a third sub-chassis disposed opposite the third driving wheels.
A second sub-chassis connecting the first and second driving wheels and intersecting the first sub-chassis at right angles; a main chassis disposed on the upper surface of the first and second sub-chassis; First and second swing arms each having one end fixed to one of the first sub-chassis and extending in the same direction from a position symmetrical with respect to a center of the first sub-chassis; A main chassis disposed on a second swing arm, disposed between the main chassis and the first swing arm, wherein the first drive wheel and the second drive wheel can move up and down by the same amount; First and second rods arranged at equal distances from the respective rotation centers of the first and second drive wheels in the third or fourth direction, the main chassis and the second rod; Sui Between the rotation center of each of the third and fourth drive wheels so that the third and fourth drive wheels can move up and down by the same amount. Third and fourth rods arranged at equal distances in the direction, a connecting member for connecting the first and second swing arms, and a main member between a center of the connecting member and the main chassis. And a fifth rod suspended from a chassis. 14. Each has an axis in a tangential direction of an outer peripheral surface,
A first and a second drive wheel disposed opposite to each other, and a third and a fourth drive wheel disposed in a direction orthogonal to the first and the second drive wheels. A driving wheel, a first sub-chassis connecting the first and second driving wheels disposed opposite each other, and a third sub-chassis disposed opposite the third driving chassis.
A second sub-chassis connecting the first and second drive wheels and crossing the first sub-chassis at right angles; a main chassis disposed above the first and second sub-chassis; The first and second drive wheels are disposed between a first sub-chassis and the main chassis, and correspond to the first and second drive wheels so as to face the first and second drive wheels. First and second triangular links disposed on the drive wheels of the first and second sub-chassis and the main chassis, the third and fourth triangular links facing each other; The first connecting the corresponding points of the first and second triangular links
And a corresponding point of the third and fourth triangular links.
A second intermediate rod intersecting the intermediate rod of the first sub-chassis and the main chassis; being disposed between the first sub-chassis; and being symmetrical with respect to a center of the first sub-chassis. And first and second springs disposed at the following positions, and disposed between the second sub-chassis and the main chassis, and disposed at positions symmetrical with respect to the center of the second sub-chassis. Third and fourth springs, and first to fourth springs arranged between the main chassis and the first and second sub-chassis, and juxtaposed near the positions of the first to fourth springs. A traveling vehicle comprising: a damper; 15. A wheel having at least one rotation axis in a tangential direction of an outer peripheral surface of a wheel and having a roller rotatable around the axis, the first to the first wheels being movable in both rotation directions of the wheel and the roller. 6, a first holding member that holds the first and second drive wheels so that the first and second drive wheels face each other, and a third and a fourth drive wheel, respectively. A second holding member that holds the third and fourth drive wheels so as to face each other, the fifth and sixth drive wheels are held so as to face each other, and the first and second drive wheels are held. A third holding member arranged to be orthogonal to both the first holding member for holding a driving wheel and the second holding member for holding the third and fourth driving wheels; A vehicle body disposed on the first, second and third holding members; Vehicle, characterized in that it comprises a parallel mechanism the third holding member from the first restraining said holding member so as to be parallel to the vehicle body. 16. The traveling vehicle according to claim 1, wherein the wheels supported by the holding member are coaxial with the axles of the wheels and have substantially the same diameter. Characteristic traveling vehicle. 17. Each has an axis in the tangential direction of the outer peripheral surface,
A first and a second drive wheel disposed opposite to each other and having a roller rotatable around the axis; a sub-chassis connecting the first and the second drive wheels; First and second swing arms which are fixed and are arranged so as to extend in the same direction from positions symmetrical with respect to the center of the sub-chassis; and the sub-chassis of the first and second swing arms. A first unit consisting of first and second rods respectively arranged at the other end of the first unit, a second unit having the same configuration as the first unit and three-dimensionally crossing the first unit at right angles; A third unit that crosses the first unit at a right angle and that is arranged in parallel with the second unit;
A main chassis connecting the first to third units. 18. Each has an axis in a tangential direction of the outer peripheral surface,
A first and a second drive wheel disposed opposite to each other and having a roller rotatable around the axis; a sub-chassis connecting the first and the second drive wheels; First and second swing arms which are fixed and are arranged so as to extend in the same direction from positions symmetrical with respect to the center of the sub-chassis; and the sub-chassis of the first and second swing arms. A first unit consisting of first and second rods respectively arranged at the other end with respect to the first unit, a second unit having the same configuration as the first unit and arranged in parallel with the first unit, A third unit having the same configuration as the first unit, which three-dimensionally intersects the first and second units at right angles, and three-dimensionally intersects at right angles to the first and second units, and Arranged in parallel It is the the fourth unit of the same construction as the first unit, vehicle, characterized in that it comprises a main chassis for coupling the fourth unit from the first. 19. A vehicle mainly comprising a traveling vehicle according to any one of claims 17 to 18 for a vehicle mainly used for carrying luggage or playing games. 20. A traveling vehicle mainly comprising a traveling vehicle according to any one of claims 17 to 18, which is used for carrying cargo in a factory house or warehouse. 21. A traveling vehicle mainly used for carrying cargo in a factory house or warehouse, comprising the traveling vehicle according to any one of claims 17 to 18, and a transfer device for loading / unloading cargo. A traveling cart characterized by the following.