CN106467147A - The body construction of autonomous driving vehicle - Google Patents
The body construction of autonomous driving vehicle Download PDFInfo
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- CN106467147A CN106467147A CN201610681797.5A CN201610681797A CN106467147A CN 106467147 A CN106467147 A CN 106467147A CN 201610681797 A CN201610681797 A CN 201610681797A CN 106467147 A CN106467147 A CN 106467147A
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- transmission member
- drive transmission
- wheel
- peristome
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/32—Assembly, disassembly, repair or servicing of endless-track systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/14—Arrangement, location, or adaptation of rollers
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Of Transmissions (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
- General Details Of Gearings (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Rolling Contact Bearings (AREA)
Abstract
The present invention provides the body construction of autonomous driving vehicle, is configured with wheel on chassis, possesses：Body side frame, it is extended along chassis long side direction in chassis width direction both sides；First driver element, it possesses drive motor, drive shaft, the first belt wheel and first band roller box；Second driver element, it possesses the axletree of supporting wheel, the second belt wheel and the second band roller box；And endless belt.In first band roller box, form the first peristome in the side of the axis direction of drive shaft, carry roller box second, form the second peristome in the side of the axis direction of axletree, above-mentioned body construction possesses above-mentioned first peristome of covering, the bearing cage of the second peristome.
Description
Technical field
The present invention relates to the body construction of autonomous driving vehicle, more particularly to configure the autonomous row of wheels travel on chassis
Sail the body construction of vehicle.
Background technology
In conventional autonomous driving vehicle, it is known to and possesses two wheels in the side of vehicle long side direction, by driving
Transmission mechanism connects and drives this two wheels.
For the type of drive of such autonomous driving vehicle, endless belt feelings as drive transmission mechanism are being used
Under condition, when changing endless belt, need to take off driver element from chassis, decompose and take off endless belt, therefore driver element
The operations such as dismounting, the decomposition assembling of driver element are complicated, become and safeguard extremely difficult state.
Accordingly, as prior art, disclose and the crawler belt equally transmitting driving with endless belt is being arranged at the long side of vehicle
In the Track Type travel mechanism in direction, by being configured to dismount crawler belt with respect to vehicle body framework, thus realizing maintainability
The technology (with reference to patent documentation 1) improving.
Patent documentation 1：Japanese Unexamined Patent Publication 2013-244896 publication
However, in recent years, when using autonomous driving vehicle, in order to narrow region also can efficiently activity, the phase
Hope the little vehicle of easily action.
Therefore, for the vehicle less than the vehicle using the Track Type travel mechanism described in patent documentation 1, many
Using the space not needing handling maneuver, and handling maneuver, fixation can be carried out using the difference of the rotating speed of the wheel using left and right
The autonomous driving vehicle of four-wheel of the slip steering mode turned.
However, for such autonomous driving vehicle, being configured to dismount for driving from the side on chassis
In the case of the endless belt of wheel, the rotary shaft of wheel becomes cantilever position, therefore produces the unstable problem of the supporting of wheel.
Content of the invention
The present invention be in view of above-mentioned conventional problem points and complete, its object is to provide in autonomous driving vehicle,
Wheel will not be made supports unstable and the superior autonomous driving vehicle of maintainability body construction.
For solve the present invention of above-mentioned problem autonomous driving vehicle body construction as described below.
First purport of the present invention is to provide a kind of body construction of autonomous driving vehicle, is configured with the first car on chassis
Wheel and the second wheel are it is characterised in that possess：
First body side frame and the second body side frame, it is before and after the width both sides on above-mentioned chassis are along above-mentioned chassis
Direction is extended；
First driving body；
Second driving body；And
3rd drive transmission member (such as endless belt),
Above-mentioned first driving body possesses：
Drive division, it is used for driving the first wheel；
Drive shaft, it drives above-mentioned first wheel；
First drive transmission member (the such as first belt wheel), it is transmitted from above-mentioned drive shaft drives；And
First drive transmission member incorporating section, it receives above-mentioned first drive transmission member,
Above-mentioned second driving body possesses：
Axletree, it supports to the second wheel；
Second drive transmission member (the such as second belt wheel), it transmits towards above-mentioned axletree and drives；And
Second drive transmission member incorporating section, it receives above-mentioned second drive transmission member,
Above-mentioned first drive transmission member is linked by above-mentioned 3rd drive transmission member with above-mentioned second drive transmission member
And transmit driving,
Above-mentioned first driving body and above-mentioned second driving body are arranged at identical body side frame,
The side of the axis direction in above-mentioned drive shaft for the above-mentioned first drive transmission member incorporating section forms the first peristome,
The side of the axis direction in above-mentioned axletree for the above-mentioned second drive transmission member incorporating section forms the second peristome,
Above-mentioned body construction possesses above-mentioned first peristome of covering, the cover portion of above-mentioned second peristome,
Above-mentioned cover portion has：
First axle bearing portion, above-mentioned drive shaft bearing is to rotate freely by it；And
Second bearing portion, above-mentioned axletree is rotatably supported by it.
In addition, second purport of the present invention is, above-mentioned first peristome is formed larger than above-mentioned first driving transfer part
The external diameter of part,
Above-mentioned second peristome is formed larger than the external diameter of above-mentioned second drive transmission member.
In addition, the 3rd purport of the present invention is, above-mentioned first peristome possesses can be for above-mentioned 3rd driving transfer part
The first notch that the side end of the above-mentioned side from above-mentioned first drive transmission member incorporating section for the part passes through,
Above-mentioned second peristome possesses can be received from above-mentioned second drive transmission member for above-mentioned 3rd drive transmission member
Receive portion above-mentioned side the second notch of passing through of side end.
In addition, the 4th purport of the present invention is, above-mentioned first peristome and/or above-mentioned second peristome with above-mentioned
Cover portion is formed as the installation constitution of taper using installation portion.
In addition, the 5th purport of the present invention is, it is arranged at the above-mentioned first axle bearing portion of above-mentioned cover portion and/or above-mentioned
Second bearing portion adopts conical bearing.
In addition, the 6th of the present invention the purport is, above-mentioned 3rd drive transmission member is configured at compares above-mentioned first side
Framework and/or above-mentioned second body side frame lean on the position of the inner side on above-mentioned chassis,
Above-mentioned first body side frame and/or above-mentioned second body side frame possess the cover covering above-mentioned 3rd drive transmission member
Portion.
In addition, the 7th purport of the present invention is, in above-mentioned first body side frame and/or above-mentioned second body side frame setting
Make above-mentioned second driving body along above-mentioned first body side frame and/or above-mentioned second body side frame with respect to above-mentioned first driving body
The travel mechanism of advance and retreat movement,
Make above-mentioned second driving body retreat using above-mentioned travel mechanism to move, carry out tearing open of above-mentioned 3rd drive transmission member
Dress operation.
In addition, the 8th purport of the present invention is, above-mentioned first wheel and/or above-mentioned second wheel possess：
Tyre element；And
Wheel elements, it supports to above-mentioned tyre element,
Above-mentioned cover portion is installed on above-mentioned first drive transmission member incorporating section in a detachable manner by secure component
And above-mentioned second drive transmission member incorporating section,
In above-mentioned wheel elements, in the position opposed with the above-mentioned secure component installing above-mentioned cover portion, being formed with can be from
The outer side with respect to above-mentioned chassis of above-mentioned wheel component carries out the wheel peristome of the disassembling operations of above-mentioned secure component.
According to first purport of the present invention, can stably support above-mentioned wheel, by taking off above-mentioned cover portion, can be from upper
State the first drive transmission member incorporating section and above-mentioned second driving body drive transmission member incorporating section and easily dismount above-mentioned
Three drive transmission member, therefore, it is possible to realize the body construction of the superior autonomous driving vehicle of maintainability.
Brief description
Fig. 1 is the integrally-built vertical view of the body construction of autonomous driving vehicle of the first embodiment illustrating the present invention
Explanatory diagram.
Fig. 2 is the explanatory diagram of the integrally-built side-looking of the body construction illustrating above-mentioned autonomous driving vehicle.
Fig. 3 is the explanation of the state that the first driver element being shown in and constituting above-mentioned autonomous mobile devices is mounted with wheel
Figure.
Fig. 4 is the sectional view of the structure illustrating above-mentioned first driver element and wheel.
Fig. 5 is the front view with the structure of protective cover for the bearing cage illustrating above-mentioned first driver element.
Fig. 6 is the sectional view of the structure illustrating above-mentioned bearing cage.
Fig. 7 is the front view of the structure of first band roller box illustrating above-mentioned first driver element.
Fig. 8 is the sectional view of the structure illustrating above-mentioned first band roller box.
Fig. 9 is the front view illustrating to constitute the structure of the bearing cage of the second driver element of above-mentioned autonomous mobile devices.
Figure 10 is the sectional view of the structure illustrating above-mentioned bearing cage.
Figure 11 is the second front view with the structure of roller box illustrating above-mentioned second driver element.
Figure 12 is to illustrate the above-mentioned second sectional view with the structure of roller box.
Figure 13 is the explanatory diagram of the peristome illustrating above-mentioned first band roller box.
Figure 14 be illustrate constitute second embodiment of the present invention the band roller box of the body construction of autonomous driving vehicle with
The explanatory diagram of the structure of the installation portion of bearing cage.
Figure 15 be illustrate constitute third embodiment of the present invention the band roller box of the body construction of autonomous driving vehicle with
The explanatory diagram of the structure of the installation portion of bearing cage.
Figure 16 be illustrate constitute the present invention the body construction of autonomous driving vehicle of the 4th embodiment with roller box
The explanatory diagram of the structure of protective cover of bearing cage and body side frame.
Figure 17 is the driving list of the body construction of the autonomous driving vehicle illustrating wheel towards the 5th embodiment of the present invention
The explanatory diagram of the side-looking of installment state of unit.
Figure 18 is the side-looking of the structure of the body construction of autonomous driving vehicle of the 6th embodiment illustrating the present invention
Explanatory diagram.
Figure 19 is to illustrate to unload saying of the side-looking of the structure of the body construction of state of wheel in above-mentioned autonomous driving vehicle
Bright figure.
Figure 20 be illustrate from above-mentioned body construction unload protective cover state side-looking explanatory diagram.
Figure 21 be illustrate from above-mentioned body construction unload bearing cage state side-looking explanatory diagram.
Figure 22 be illustrate from above-mentioned body construction unload endless belt state side-looking explanatory diagram.
Figure 23 is the travel mechanism illustrating to make to dismount endless belt the second driver element movement in above-mentioned body construction
Structure explanatory diagram.
Wherein, description of reference numerals is as follows：
1、200、300、400、500：Body construction；2：Chassis；3、503：Wheel；4：Body side frame；4R、4L：Body side frame；5：
Drive motor；7：Drive shaft；8：Axletree；20：First driver element (the first driving body)；30：(the second driving of second driver element
Body)；41：First belt wheel (the first drive transmission member)；42：Second belt wheel (the second drive transmission member)；43：Endless belt (the
Three drive transmission member)；5、51、251、351：First band roller box (the first drive transmission member incorporating section)；52、252、352：The
Two bands roller box (the second drive transmission member incorporating section)；53：Peristome (first, second peristome)；54：Notch (first,
Two incisions portion)；60、260、360、460：Bearing cage (cover portion)；71、72、372：Bearing (first, second bearing portion)；80：Protection
Cover (cover portion)；90：Installation site adjusting screw (travel mechanism)；531：Tire；532：Wheel；533：Wheel peristome.
Specific embodiment
(first embodiment)
Hereinafter, referring to the drawings the mode of the body construction of the autonomous driving vehicle for implementing the present invention is illustrated.
Fig. 1 is an example of the mode carrying out an invention, and is the autonomous traveling of the first embodiment illustrating the present invention
The explanatory diagram of the integrally-built vertical view of the body construction of vehicle, Fig. 2 is the body construction illustrating above-mentioned autonomous driving vehicle
The explanatory diagram of integrally-built side-looking, Fig. 3 is that the first driver element being shown in and constituting above-mentioned autonomous mobile devices is mounted with car
The explanatory diagram of the state of wheel, Fig. 4 is the sectional view of the structure illustrating above-mentioned first driver element and wheel, and Fig. 5 is to illustrate
State the front view of the bearing cage of the first driver element and the structure of protective cover, Fig. 6 is that the side of the structure illustrating above-mentioned bearing cage is cutd open
View, Fig. 7 is the front view of the structure of first band roller box illustrating above-mentioned first driver element, and Fig. 8 is to illustrate above-mentioned first band
The sectional view of the structure of roller box, Fig. 9 is the knot illustrating to constitute the bearing cage of the second driver element of above-mentioned autonomous mobile devices
The front view of structure, Figure 10 is the sectional view of the structure illustrating above-mentioned bearing cage, and Figure 11 illustrates above-mentioned second driver element
Second front view with the structure of roller box, Figure 12 is to illustrate the above-mentioned second sectional view with the structure of roller box, and Figure 13 is to illustrate
The explanatory diagram of the peristome of above-mentioned first band roller box.
As shown in figure 1, the body construction 1 of the autonomous driving vehicle of first embodiment is to go in chassis 2 configuration wheel 3
The body construction of the autonomous driving vehicle sailed.
Herein, autonomous driving vehicle is to pass through the device that machinery or program independently travel not via the judgement of people,
For example be known in factory conveying object from principal mode industrial truck etc..
The body construction 1 of the autonomous driving vehicle of first embodiment is configured to mainly possess chassis 2, wheel (the first car
Wheel, the second wheel) 3, body side frame 4 (4R, 4L), for driving moment (the first wheel) 3 drive motor (drive division) 5, slow down
Device (driving transfer part) 6, the drive shaft 7 of driving moment (the first wheel) 3 and wheel (the second wheel) 3 is supported
Axletree 8.
Hereinafter, referring to the drawings the structure of the body construction 1 of the autonomous driving vehicle of first embodiment is illustrated.
The chassis 2 constituting the body construction 1 of autonomous driving vehicle is configured to longer rectangular-shaped of fore-and-aft direction on chassis,
Body side frame 4R, 4L are extended the width both sides in chassis along chassis long side direction.
Body side frame 4R, 4L are formed in the way of constituting rectangular frame-shaped.
Body side frame 4R, 4L for example can also be made up of the tectosome of the tubulose with rectangular-shaped section.
In the first embodiment, constituting makes drive motor 5, decelerator (for example, gear-box) 6 and drive shaft 7 one
Ground first driver element (the first driving body) 20 of blocking and make the construction rotatably supporting axletree 8 integratedly single
Second driver element (the second driving body) 30 of unitization.In Fig. 1, Fig. 2, become in the first driver element 20 and the second driving
Unit 30 is mounted with the state of wheel 3.Additionally, referring to the drawings flag F L (Fig. 2) represents the ground outside floor within doors or room.
In addition, each wheel 3 is the wheel with tire with tire 31 and wheel 32, but it can also be the wheel without tire.
First driver element 20 and the second driver element 30 are configured to by endless belt (the 3rd drive transmission member) 43 even
Tie and transmit driving.
The drive shaft 7 of the first driver element 20 be provided with towards endless belt 43 transmission drive the first belt wheel (first annular
Part driving body) 41.
It is provided with to transmit from endless belt 43 in the axletree 8 of the second driver element 30 and drive and the second belt wheel of axle shaft 8
(the second annular element driving body) 42.
As shown in figure 3, the first driver element 20 possesses, and drive shaft 7 is supported and is received with the first of the first belt wheel 41
Band roller box (the first drive transmission member incorporating section) 51.
As shown in Figure 7, Figure 8, the bearing of trend (axis direction) of the axis of the drive shaft 7 in configuration for the first band roller box 51
The side of wheel 3 side is formed with the peristome 53 (the first peristome) for dismounting endless belt 43, and possesses covering peristome
53 bearing cage (cap assembly cover portion) 60 (Fig. 5, Fig. 6).Drive shaft 7 is provided with the axle rotatably supporting drive shaft 7
Hold 72 (Fig. 5, Fig. 6), when bearing cage 60 is installed on peristome 53, in the hole portion fitted shaft of the central part positioned at bearing cage 60
Hold 72, thus bearing cage 60 is supported to bearing 72 and so that bearing 72 is positioned.
For the first driver element 20, the first belt wheel 41 received by first band roller box 51, and drive shaft 7 is configured to,
By be arranged at drive motor 5 side (inside body side frame) side bearing 71 (Fig. 3, Fig. 4, Fig. 6) be arranged at bearing cage 60
Bearing 72 (first axle bearing portion) be supported to rotate freely in the way of double base.
First band roller box 51 compare body side frame 4 lean on vehicle body inside decelerator is integratedly installed.The above-below direction of decelerator 6
Profile be configured to less than the profile of first band roller box 51.That is, it is configured to for the first driver element 20 to be installed on body side frame 4
In the case of, from the side of body side frame 4 make decelerator 6 body side frame 4 inframe by and be configured inside chassis 2, in body side frame 4
Interior configuration first band roller box 51.
As shown in figure 4, the second driver element 30 possesses the second band that axletree 8 is supported and is received with the second belt wheel 42
Roller box (the second drive transmission member incorporating section) 52.
As shown in Figure 11, Figure 12, second with roller box 52 configuration axletree 8 axis direction wheel 3 side side shape
Become to have the peristome 53 (the second peristome) for dismounting endless belt 43, and possess the bearing cage 60 (figure covering peristome 53
9th, Figure 10).As shown in Figure 10, Figure 12, axletree 8 is provided with the bearing 72 rotatably supporting axletree 8, by bearing cage
60 when being installed on peristome 53, in the hole portion fitted bearing 72 of the central part positioned at bearing cage 60, thus bearing cage 60 is to bearing
72 are supported and so that bearing 72 is positioned.
In addition, first band roller box 51 and or second band roller box 52 in, bearing 72 can also be fixed on bearing in advance
Cover 60.
In addition, and then it is also possible to making the supporting drive shaft 7 of bearing cage 60 or the hole portion of axletree 8 be integrally formed in itself
The parts of bearings such as such as sliding bearing and as bearing function.
Second driver element 30 is configured to, and in the second band roller box 52, receives the second belt wheel 42, and by being arranged at car
Wheel opposition side (inside body side frame) the bearing 71 of side be arranged at the bearing 72 (second bearing portion) of bearing cage 60 with double
Axletree 8 is rotatably supported by the mode held.
In the case that the second driver element 30 is installed on body side frame 4, second joins from the side of body side frame 4 with roller box 52
Put the inframe in body side frame 4.
First band roller box 51 and the second peristome 53 with roller box 52, as shown in Fig. 7, Figure 11, Figure 13, are respectively formed as
External diameter more than the first belt wheel 41 or the second belt wheel.
In addition, being formed with and can lead to for endless belt 43 in the end of first band roller box 51 and the second side with roller box 52
The notch 54 (the first notch, the second notch) (Fig. 7, Figure 11, Figure 13) crossed.
As shown in Figure 1 and Figure 2, the first driver element 20 and the second driver element 30 are arranged with respect to identical side frame
Frame 4R, 4L are able to integratedly dismount from the outside of vehicle body.
As shown in Figure 1 and Figure 2, the side in the outside of the vehicle body of body side frame 4R, 4L is provided with and is configured at side frame for covering
The protective cover (cover portion) 80 of the endless belt 43 of the inside of frame 4R, 4L.
Protective cover 80 is to cover space between first driver element 20 of body side frame 4R, 4L and the second driver element 30
Mode is arranged.
As described above, the body construction 1 of the autonomous driving vehicle of first embodiment possesses：Body side frame 4R, 4L；Make drive
First driver element of dynamic motor 5, decelerator 6, drive shaft 7, the first belt wheel 41 and first band roller box 51 integratedly blocking
20th, axletree 8, the second belt wheel 42 and second are made with roller box 52 integratedly the second driver element 30 of blocking and by first
Belt wheel 41 and the endless belt 43 of the second belt wheel 42 link.
And then, in the body construction 1 of autonomous driving vehicle, by the first driver element 20 and 30 points of the second driver element
It is not integrally provided to identical body side frame 4R, 4L in a detachable manner.
And then, drive shaft 7 and axletree 8 are supported to rotate freely in two positions along its axis direction.
In addition, first band roller box 51 and second with roller box 52 on the axis direction of drive shaft 7 or axletree 8 in vehicle body
Outside side formed peristome 53.
And then, the body construction 1 of autonomous driving vehicle possesses the bearing cage 60 covering peristome 53.
And then, by possessing, in bearing cage 60, the bearing 72 rotatably supporting drive shaft 7 or axletree 8, can
Stably support wheel 3, by unloading bearing cage 60, can easily dismount from first band roller box 51 and the second band roller box 52
Endless belt 43.Thereby, it is possible to not from chassis 2 unload the first driver element 20, the second driver element 30 and easily carry out annular
With the maintenance of 43 replacing, the replacing of bearing 72 etc., therefore, it is possible to realize the vehicle body structure of the superior autonomous driving vehicle of maintainability
Make.
In addition, in the first embodiment, protective cover 80 is arranged by the side in the outside in body side frame 4R, 4L, can
Suppression mud etc. enters the inside of body side frame 4R, 4L thus protecting endless belt 43.
In addition, in the first embodiment, formed and peristome 53 phase in first band roller box 51 and the second band roller box 52
Notch 54 even, therefore makes the dismounting of endless belt 43 be easier.
Even if additionally, not in first band roller box 51 and the second band roller box 52 setting notch 54, only passing through to arrange opening
Portion 53 also can dismount endless belt 43, but for example by making being shaped so as to than the first belt wheel 41 or the second band of peristome 53
The external diameter of wheel 42 is big, can easily carry out the dismounting of endless belt 43.
(second embodiment)
Next, illustrating to second embodiment of the present invention referring to the drawings.
Figure 14 be illustrate constitute second embodiment of the present invention the band roller box of the body construction of autonomous driving vehicle with
The explanatory diagram of the structure of the installation portion of bearing cage.
Additionally, the body construction of the autonomous driving vehicle for second embodiment, to autonomous with first embodiment
The structure identical structure mark identical reference of the body construction 1 of driving vehicle simultaneously omits the description.
As shown in figure 14, the body construction 200 of the autonomous driving vehicle of second embodiment make first band roller box 251 and
Second is shaped so as to taper with roller box 252 and the installation portion of bearing cage 260.
In this second embodiment, the installation portion 261a of bearing cage 260 is formed as most advanced and sophisticated tapered taper.With this installation portion
Installation portion 251a (252a) opening of 261a corresponding first band roller box 251 (or second with roller box 252) is formed towards car
The inner side of body and most advanced and sophisticated tapered taper are to contact with installation portion 261a face.
Due to constituting like this, therefore according to second embodiment, can be with respect to first band roller box 251 and the second band
Roller box 252 easily carries out the dismounting operation of bearing cage 260.
(the 3rd embodiment)
Next, illustrating to third embodiment of the present invention referring to the drawings.
Figure 15 be illustrate constitute third embodiment of the present invention the band roller box of the body construction of autonomous driving vehicle with
The explanatory diagram of the structure of the installation portion of bearing cage.
Additionally, the body construction of the autonomous driving vehicle for the 3rd embodiment, to autonomous with first embodiment
The structure identical structure mark identical reference of the body construction 1 of driving vehicle simultaneously omits the description.
As shown in figure 15, the body construction 300 of the autonomous driving vehicle of the 3rd embodiment make first band roller box 351 and
Second is shaped so as to taper, and the bearing 372 as bearing cage 360 side with roller box 352 and the installation portion of bearing cage 360
Using conical bearing.
In the third embodiment, the installation portion 361a of bearing cage 360 is formed as most advanced and sophisticated tapered taper.With this installation portion
Installation portion 351a (352a) opening of 361a corresponding first band roller box 351 (or second with roller box 352) is formed as tip gradually
Thin taper.
In addition, in the third embodiment, for bearing 372, inner ring 372a is installed on drive shaft 7 or axletree 8,
Outer ring 372b is installed on bearing cage 360.
Due to constituting like this, therefore according to the 3rd embodiment, with respect to first band roller box 351 and the second band roller box
352 dismounting operations easily carrying out bearing cage 360, and can easily be driven the determining of axis of axle 7 and axletree 8
Position.
(the 4th embodiment)
Next, illustrating to the 4th embodiment of the present invention referring to the drawings.
Figure 16 is the bearing with roller box of the body construction of autonomous driving vehicle of the 4th embodiment constituting the present invention
The explanatory diagram of the structure of protective cover of cover and body side frame.
Additionally, the body construction of the autonomous driving vehicle for the 4th embodiment, to autonomous with first embodiment
The structure identical structure mark identical reference of the body construction 1 of driving vehicle simultaneously omits the description.
As shown in figure 16, the body construction 400 of the autonomous driving vehicle of the 4th embodiment possesses makes protection endless belt
The protective cover 460 that protective cover and bearing cage are integrally formed.
In the 4th embodiment, become with the protective cover of body side frame 4R, 4L by making the bearing cage of first band roller box 51
The protective cover 460 of one and the second bearing cage 60 with roller box 52 constitute the inside of body side frame 4R, 4L to autonomous driving vehicle
The protective cover protected.Reference 62 is secure component.
Due to constituting like this, therefore according to the 4th embodiment, can be on the basis of the drive shaft 7 of first band roller box 51
Easily carry out the dismounting operation of protective cover 460.
(the 5th embodiment)
Next, illustrating to the 5th embodiment of the present invention referring to the drawings.
Figure 17 is the driving list of the body construction of the autonomous driving vehicle illustrating wheel towards the 5th embodiment of the present invention
The explanatory diagram of the side-looking of installment state of unit.
Additionally, the body construction of the autonomous driving vehicle for the 5th embodiment, to autonomous with first embodiment
The structure identical structure mark identical reference of the body construction 1 of driving vehicle simultaneously omits the description.
As shown in figure 17, the body construction 500 of the autonomous driving vehicle of the 5th embodiment is related to be installed on the first driving
The structure of the wheel 503 of unit 20 and the second driver element 30.Wheel 503 has tire 531 and the wheel of supporting tire 531
532.Being provided with the wheel 532 of tire 531, with to the axle being assemblied in the first driver element 20 and the second driver element 30
Hold the opposed position of the secure component 62 that cover 60 installed, form wheel peristome 533 in many places.
As shown in figure 17, wheel peristome 533 opening is formed as in the first driver element 20 and the second driver element 30
Be mounted with the state of wheel 503 can the position of regulation carry out from outside secure component 62 disassembling operations size.
As described above, for the body construction 500 of the autonomous driving vehicle of the 5th embodiment, in wheel 503
Wheel 532, tight with installed to the bearing cage 60 being assemblied in the first driver element 20 and the second driver element 30
Gu the opposed position of part 62 forms wheel peristome 533 in many places.Therefore, it is possible to carry out fastening part from wheel peristome 533
The disassembling operations of part 62, unload bearing cage 60 therefore, it is possible to not unload wheel 503, dismount endless belt 43 from peristome 53.
(the 6th embodiment)
Next, illustrating to the 6th embodiment of the present invention referring to the drawings.
In the case that 6th embodiment is specifically illustrated in carrying out upkeep operation in the body construction of autonomous driving vehicle,
Situation about carrying out from the side of vehicle.
Figure 18 is the side-looking of the structure of the body construction of autonomous driving vehicle of the 6th embodiment illustrating the present invention
Explanatory diagram, Figure 19 is the explanation illustrating to unload the side-looking of the structure of the body construction of state of wheel in above-mentioned autonomous driving vehicle
Figure, Figure 20 be illustrate from above-mentioned body construction unload protective cover state side-looking explanatory diagram, Figure 21 is to illustrate from above-mentioned car
Body construction unloads the explanatory diagram of the side-looking of state of bearing cage, and Figure 22 is the state illustrating to unload endless belt from above-mentioned body construction
Side-looking explanatory diagram, Figure 23 is the shifting illustrating to make to dismount endless belt the second driver element movement in above-mentioned body construction
The explanatory diagram of the structure of motivation structure.
Additionally, the body construction of the autonomous driving vehicle for the 6th embodiment, to autonomous with first embodiment
The structure identical structure mark identical reference of the body construction 1 of driving vehicle simultaneously omits the description.
6th embodiment will change endless belt 43 in the body construction 600 of autonomous driving vehicle in case of, son arranges
Lift, referring to the drawings upkeep operation is illustrated.
As shown in figure 18, in the maintenance of the body construction 1 that carries out the autonomous driving vehicle that side is covered by protective cover 80
In the case of, first, as shown in figure 19, unload wheel 3, so that the first driver element 20, the second driver element 30, protective cover 80 is exposed
And become the state easily operating body construction 1 from side.
In addition, in the case that the structure member that body side frame 4 leans on inside chassis is compared in maintenance, as shown in figure 20, taking off guarantor
Guard shield 80, becomes the state that the interior open of body side frame 4 makes endless belt 43 etc. expose.
In addition, in the case of taking off the endless belt 43 of the inside being configured at body side frame 4, as shown in figure 21, from the first drive
Moving cell 20 and the second driver element 30 unload bearing cage 60 and make peristome 53 and notch 54 opening.
In addition, as shown in figure 22, for example, by relaxing the installment state of the second driver element 30, making the second driver element
30 make endless belt 43 relax near the first driver element 20 side (direction of arrow).Then, by the both ends of endless belt 43 from
One belt wheel 41 and the second belt wheel 42 unload, can be from the first driver element 20 and second by peristome 53 and notch 54
Driver element 30 takes out.
Additionally, as making the second driver element 30 carry out, with respect to the first driver element 20, the moving machine of movement of retreating
Structure, such as shown in figure 23 it is also possible to be formed as structure：In the end of body side frame 4, installation site adjusting screw 90 is set,
Screwed hole corresponding with installation site adjusting screw 90 is set in the second driver element 30, by rotating installation site adjusting screw
90 make the second driver element 30 retreat along body side frame 4 moves.
As described above, the present invention is not limited to above-mentioned embodiment, can enter in the scope shown in technical scheme
The various changes of row.That is, by the embodiment party obtained from technological means combination suitably changing in the scope shown in technical scheme
Formula is also contained in the technical scope of the present invention.
Claims (8)
1. a kind of body construction of autonomous driving vehicle, be configured with the first wheel and the second wheel on chassis it is characterised in that
The body construction of described autonomous driving vehicle possesses：
First body side frame and the second body side frame, its described chassis width both sides along described chassis fore-and-aft direction
It is extended；
First driving body；
Second driving body；And
3rd drive transmission member,
Described first driving body possesses：
Drive division, it is used for driving the first wheel；
Drive shaft, it drives described first wheel；
First drive transmission member, it is transmitted from described drive shaft drives；And
First drive transmission member incorporating section, it receives described first drive transmission member,
Described second driving body possesses：
Axletree, it supports to the second wheel；
Second drive transmission member, it transmits towards described axletree and drives；And
Second drive transmission member incorporating section, it receives described second drive transmission member,
Described first drive transmission member is linked with described second drive transmission member and passes by described 3rd drive transmission member
Pass driving,
Described first driving body and described second driving body are arranged at identical body side frame,
The side of the axis direction in described drive shaft for the described first drive transmission member incorporating section forms the first peristome,
The side of the axis direction in described axletree for the described second drive transmission member incorporating section forms the second peristome,
Described body construction possesses described first peristome of covering, the cover portion of described second peristome,
Described cover portion has：
First axle bearing portion, described drive shaft bearing is to rotate freely by it；And
Second bearing portion, described axletree is rotatably supported by it.
2. autonomous driving vehicle according to claim 1 body construction it is characterised in that
Described first peristome is formed larger than the external diameter of described first drive transmission member,
Described second peristome is formed larger than the external diameter of described second drive transmission member.
3. autonomous driving vehicle according to claim 1 body construction it is characterised in that
Described first peristome possesses can be for described 3rd drive transmission member from described first drive transmission member incorporating section
Described side the first notch of passing through of side end,
Described second peristome possesses can be for described 3rd drive transmission member from described second drive transmission member incorporating section
Described side the second notch of passing through of side end.
4. autonomous driving vehicle according to claim 1 body construction it is characterised in that
Described first peristome and/or described second peristome are formed as the installation of taper with described cover portion using installation portion
Construction.
5. autonomous driving vehicle according to claim 1 body construction it is characterised in that
It is arranged at the described first axle bearing portion of described cover portion and/or described second bearing portion adopts conical bearing.
6. autonomous driving vehicle according to claim 1 body construction it is characterised in that
Described 3rd drive transmission member is configured at compares described first body side frame and/or described second body side frame by described
The position of the inner side on chassis,
Described first body side frame and/or described second body side frame possess the cover portion covering described 3rd drive transmission member.
7. autonomous driving vehicle according to claim 1 body construction it is characterised in that
Make described second driving body in described first body side frame and/or described second body side frame setting along described first side
Framework and/or described second body side frame are retreated with respect to described first driving body the travel mechanism of movement,
Make described second driving body retreat using described travel mechanism to move, carry out the dismounting behaviour of described 3rd drive transmission member
Make.
8. autonomous driving vehicle according to claim 1 body construction it is characterised in that
Described first wheel and/or described second wheel possess：
Tyre element；And
Wheel elements, it supports to described tyre element,
Described cover portion by secure component be installed in a detachable manner described first drive transmission member incorporating section and
Described second drive transmission member incorporating section,
In described wheel elements, in the position opposed with the described secure component installing described cover portion, being formed with can be from described
The outer side with respect to described chassis of wheel component carries out the wheel peristome of the disassembling operations of described secure component.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-162872 | 2015-08-20 | ||
| JP2015162872 | 2015-08-20 | ||
| JP2016124785A JP6672090B2 (en) | 2015-08-20 | 2016-06-23 | Autonomous vehicle body structure |
| JP2016-124785 | 2016-06-23 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106467147A true CN106467147A (en) | 2017-03-01 |
Family
ID=58205953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610681797.5A Pending CN106467147A (en) | 2015-08-20 | 2016-08-17 | The body construction of autonomous driving vehicle |
Country Status (2)
| Country | Link |
|---|---|
| JP (2) | JP6672090B2 (en) |
| CN (1) | CN106467147A (en) |
Cited By (1)
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|---|---|---|---|---|
| CN115042890A (en) * | 2022-06-13 | 2022-09-13 | 荆楚理工学院 | Multifunctional barrier-free stair climbing vehicle |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110949506A (en) * | 2019-10-14 | 2020-04-03 | 南京浦航机械科技开发有限公司 | Be applied to outdoor no steering mechanism differential AGV |
| KR102340646B1 (en) * | 2021-09-03 | 2021-12-20 | 주식회사 아이들 | Power transmission device for autonomous robots |
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| US3592280A (en) * | 1968-06-10 | 1971-07-13 | Joachim Wappler | Variable-speed drive and combined braking and steering mechanism |
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| CN115042890A (en) * | 2022-06-13 | 2022-09-13 | 荆楚理工学院 | Multifunctional barrier-free stair climbing vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2020111324A (en) | 2020-07-27 |
| JP2017039485A (en) | 2017-02-23 |
| JP6833088B2 (en) | 2021-02-24 |
| JP6672090B2 (en) | 2020-03-25 |
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