JP2002067642A - Vehicle wheel driving unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable four wheels to be always grounded even in a bumpy road by having both a fixed axel unit and a swinging axel unit. SOLUTION: The vehicle wheel diving unit is provided with the swinging axel unit 10 and the fixed axel unit 20 on the front and rear of a driving body 2, each axel unit having a right wheel 25 and a left wheel 15. The swinging axel unit 10 comprises a swinging axel bearing 11 mounted on the area within the horizontally extending vertical plane of the driving body, the swinging axel baring 11 being able to swing, a swinging axel unit 14 mounted on the area within the horizontally extending vertically plane of the swinging axel bearing 11, the swinging axel unit 14 being able to swing and having a wheel at its both ends, a swinging cylinder 16 and 17 for swinging the swinging axel bearing 11 against the driving body 2, and a swinging control unit 33 for controlling the motion of the swinging cylinder 16 and 17 according to a swinging balance status of the swinging axel unit 14 within the swinging axel bearing 11.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle wheel traveling device having traveling wheels at four positions in front, rear, left and right of a traveling body.

[0002]

2. Description of the Related Art As a vehicle having such a wheel traveling device, there is, for example, a self-propelled wheel-type aerial work vehicle. The self-propelled wheel-type aerial work vehicle is composed of a vehicle wheel traveling device having traveling wheels at four front, rear, left, and right sides of a traveling body, and an aerial working device provided on the traveling body. Is configured to perform high-altitude work using a high-altitude work device while the ground is in contact with the traveling body. As described above, since the wheels directly support the traveling body, all the members that rotatably support the wheels are directly attached to the traveling body (ie, without using a suspension device or the like) and rigidly, and the wheels are grounded. It is configured to be able to stably support the high-altitude working device on the traveling body in this state.

However, simply attaching the wheel support members that rotatably support the four front, rear, left and right wheels to the traveling body as it is, when the vehicle travels on an uneven road surface,
There is a problem that the three wheels contact the ground and support the traveling body, and the remaining one wheel floats up, resulting in unstable traveling body support. For this reason, two sets of axle devices each having a pair of left and right wheels are provided before and after the traveling body, and one of the axle devices is fixed to the traveling body (this is referred to as a fixed axle device). ,
It is known that the other axle device is swingably attached to a traveling body in a vertical plane extending left and right (this is referred to as a swing axle device) to constitute a traveling device.

As such a traveling device, for example, as disclosed in US Pat. No. 5,447,331,
The front axle device is mounted on the traveling body so as to swing freely and a hydraulic cylinder for controlling the swing position is provided. The rear axle device is mounted on the traveling body so as to be slightly swingable and the hydraulic cylinder is operated in accordance with the slight swing. There is a wheel traveling device configured to control the operation of the vehicle and always contact four wheels. According to such a wheel traveling device, even when traveling on an uneven road surface, it is possible to travel while constantly contacting all four wheels by the swing control of the front axle device, and the traveling body is stably supported. Is done.

[0005]

However, in the above-described wheel traveling device, both the front and rear axle devices need to be swingably attached to the traveling body, so that the traveling device configuration is complicated and the manufacturing cost is increased. There is a problem. Further, in the wheel traveling device, a means for detecting a slight swing of the rear axle device is provided in the rear axle device, and the swing of the front axle device is controlled based on this detection. In addition, a control device interlocking with the rear axle device is required, and there is a problem that the control device configuration is complicated and expensive, for example, the hydraulic line and the control line disposed on the traveling body are lengthened and complicated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems. One of the axle devices is fixed to the traveling body, and only the other axle device is swingably attached to the traveling body.
An object of the present invention is to provide a vehicle wheel traveling device that can control the swinging of the swingable axle device by a hydraulic cylinder or the like so that the four wheels can be constantly grounded.

[0007]

In order to achieve the above object, according to the present invention, two sets of axle devices each having a pair of left and right wheels are provided on the front and rear of a traveling body, and a vehicle wheel traveling device is provided. And one of these axle devices is fixed to the traveling body to form a fixed axle device, and the other of the axle devices can swing on the traveling body in a substantially vertical plane extending in the vehicle width direction (lateral direction). To form a swing axle device. Then, the swing axle device,
An oscillating vehicle bearing member attached to the traveling body so as to be able to oscillate in a substantially vertical plane extending in the vehicle width direction (lateral direction), and oscillating in the oscillating vehicle bearing member in a substantially vertical plane extending in the vehicle width direction. A swinging axle device which is mounted so as to be able to swing and has wheels at the left and right ends in the vehicle width direction, a swinging actuator for swinging the swinging bearing member relative to the traveling body, and a swinging axle device in the swinging bearing member. And a swing control device that controls the operation of the swing actuator in accordance with the swing balance state.

The fixed axle device in the present invention means a device in which the wheels are rotatable with respect to the vehicle body but are fixed so as not to be able to move vertically relative to each other, and have an axle connecting the left and right wheels. Instead, a configuration in which the left and right wheels are directly rotatably attached to a vehicle body (traveling body) is also included.

If the traveling device travels on an uneven road surface, the traveling axle device swings in the oscillation axle device in the oscillation axle device according to the unevenness of the road surface. The axle device is swung. As a result, the swing balance state of the swing axle device changes. According to this change, the operation of the swing actuator is controlled by the swing control device to restore the swing balance. As a result, even when traveling on an uneven road surface, it is possible for the four wheels to travel while reliably touching the ground,
A stable running support is always provided.

[0010] When the traveling device stops traveling, the swing axle device is fixedly held by the swing actuator at the swing position corresponding to the road surface condition at this time. For this reason, the traveling body is stably supported by the four wheels, and it is possible to stably perform an aerial work or the like using the aerial work apparatus provided on the traveling body.

Further, in the present invention, the swing control device may be arranged such that the swing axle device is located at a predetermined swing position in the axle bearing member (specifically, when the vehicle is on a flat road surface and all four wheels are in contact with the ground). (A relative swing position with respect to the axle bearing member), the swing axle device is controlled to return the swing axle device to a predetermined swing position by operating the swing actuator in accordance with the swing change, and the fixed axle device Control to ground all the left and right wheels of the swing axle device.

In the present invention, the traveling device is configured by disposing a fixed axle device and a swing axle device before and after the traveling body, and the swing control system is entirely incorporated in the swing axle device. It is. Therefore, the traveling device according to the present invention can be obtained by simply using the axle device used in the conventional traveling device as it is and replacing only the swinging axle device. Also,
Since the swing control system is entirely incorporated in the swing axle device, the control system configuration can be simplified, and the entire device can be reduced in size and size.

In another aspect of the present invention, two sets of axle devices each having a pair of left and right wheels are provided on the front and rear of a traveling body to constitute a wheel traveling device for a vehicle, and one of these axle devices travels. The fixed axle device is fixed to the body to constitute a fixed axle device, and the other axle device has a pair of left and right wheel devices that support wheels rotatably and vertically up and down on the left and right sides of the traveling body. And this wheel device, respectively, up and down movement support means for supporting the wheel rotatably and vertically movable with respect to the traveling body, an up and down movement actuator for moving the up and down movement position of the up and down movement support means to a predetermined position, A vertical movement control device for controlling the operation of the vertical movement actuator in accordance with the contact state of the wheels.

When the traveling device travels on an uneven road surface, the vertical movement actuator operates according to the ground contact state of each wheel, which changes according to the irregular surface condition of the road. And each wheel is always grounded. As a result, even when traveling on an uneven road surface, the four wheels can travel while reliably contacting the ground, and stable traveling body support is always performed.

In this wheel traveling device, the traveling device according to the present invention can be obtained by simply using the axle device used in the conventional traveling device as it is for the fixed axle device and replacing only the swinging axle device. Can be. In addition, since the swing control system is entirely incorporated in the swing axle device, the control system configuration can be simplified, and the entire device can be reduced in size and size.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. First, an aerial work vehicle 1 having a wheel traveling device according to the present invention will be described with reference to FIG. The aerial work vehicle 1 includes a lower traveling body 2 having front and rear axle devices 10 and a rear axle device 20 having a pair of left and right wheels 15 and 25, respectively, and a swing provided on the lower traveling body 2. It has a device 3 and an upper traveling body 4 that is horizontally rotatable on the lower traveling body 2 by the pivoting device 3, and a high working device is disposed on the upper traveling body 4. Is done.

The high-altitude working device includes a boom 5 arranged on the upper traveling body 4 so as to be able to move up and down, an arm 6 arranged at the end of the boom 5 so as to be able to move up and down, and a work attached to the end of the arm 6. And a worktable 7 for passengers. Boom 5
Is raised and lowered by a lifting cylinder 5a. The boom 5 is composed of a plurality of telescopic booms which are telescopic and extend and contract by a built-in telescopic cylinder (not shown). The arm 6 is constituted by a parallel link mechanism, and is raised and lowered by an arm raising and lowering cylinder (not shown). The work table 7 has a leveling mechanism (not shown) and is attached to the tip of the arm 6, and is always kept horizontal regardless of the ups and downs of the boom 5. The worktable 7 is attached to the tip of the arm 7 so as to be able to turn horizontally (swing).

The rear axle device 20 is fixed to the undercarriage 2 to form a fixed axle device.
As shown in FIG. 1, the swinging axle device is configured to be swingable in a vertical plane extending left and right and attached to the lower traveling body 2. This front axle device 10 is shown in FIG.
This will be described in detail with reference to FIG.

The front axle device 10 includes a swinging vehicle bearing member 11 pivotally connected to the lower traveling body 2 by a first pivot pin 12 and capable of swinging in a vertical plane extending left and right, and a swinging vehicle bearing member 11. Axle arranging hole 1 penetrating right and left
The oscillating axle device 14 is provided in the inside 1a, and left and right front wheels 15a and 15b are provided on the left and right sides of the oscillating axle device 14. The swing axle device 14 is loosely inserted into the axle arrangement hole 11a, and is swingably supported by a second pivot pin 13 in a vertical plane extending left and right with respect to the swing axle bearing member 11. For this reason, the oscillating axle device 14
It is possible to slightly swing around the second pivot pin 13 in the axle arrangement hole 11a. A swing detection sensor 18 for detecting such swing of the swing axle device 14 is provided on the swing axle bearing member 11.

Although the detailed configuration of the swing axle device 14 is not shown, for example, an axle connected to the left and right front wheels 15 and
An axle housing rotatably supports the axle. The axle housing is swingably supported by a swinging axle bearing member 11 by a second pivot pin 13. Further, the swing axle device 14 may be provided with a steering device for turning the left and right front wheels 15 or may be configured to rotate the front wheels 15. However, rear axle device 2
Since 0 is fixed to the lower traveling body 2, a steering device is generally provided in the rear axle device 20, and the rear wheels 25 are driven.

As described above, the rocking vehicle bearing member 11 is the first
Although it is swingable about the pivot pin 12 with respect to the lower traveling body 2, left and right swing cylinders 16 and 17 for controlling the swing are attached to the lower traveling body 2 as shown. . The left and right swing cylinders 16 and 17 have pistons 16a and 17a protruding downward, and the lower ends of the pistons 16a and 17a are in contact with the swing vehicle bearing member 11. Therefore, by controlling the supply of hydraulic pressure to the left and right swing cylinders 16 and 17 to control the expansion and contraction of the pistons 16a and 17a, the swing of the swing bearing member 11 can be arbitrarily controlled. Driving bearing member 11
Can be fixedly held at an arbitrary swing position.

In order to perform hydraulic supply control for such swing control, a hydraulic supply source having a hydraulic pump or the like driven by an engine (not shown) mounted on the upper traveling body 2 A hydraulic switching valve 32 for controlling the supply of the hydraulic pressure supplied from the hydraulic supply source 31 and a swing control device 33 for controlling the operation of the hydraulic switching valve 32 are provided. The hydraulic pressure switching valve 32 receives the hydraulic pressure supplied from the hydraulic pressure supply source 31 through oil passages 33 and 34 connected to the right and left oscillating cylinders 16 and 17, and controls the left and right oscillating cylinders 1.
6 and 17 are controlled so as to supply and discharge, and the oscillating vehicle bearing member 11 is controlled.
Swing control. The operation of the hydraulic switching valve 32 is controlled by a swing control device 33. The swing control device receives a detection signal from the swing detection sensor 18 via a line 18a, and swings the swing vehicle bearing member 11. When the swing change of the axle device 14 occurs, the operation control of the hydraulic switching valve 32 is performed to operate the left and right swing cylinders 16 and 17 so as to restore the swing change.

Such a swing control will be specifically described.
First, consider the case where the aerial work vehicle 1 is located on a flat road.
At this time, assuming that the swinging vehicle bearing member 11 is freely swingable, the left and right rear wheels 25 of the rear axle device 20 fixed to the lower traveling body 20 and the front axle device swingably attached. The left and right front wheels 15 of the vehicle 10 touch the flat road surface, and the lower traveling body 2 is in a state parallel to the road surface. That is, the swinging axle device 14 of the front axle device 10 extends parallel to the road surface, and the lower traveling unit 2 integrally connected to the rear axle device 20 also extends parallel to the road surface. At this time, the swinging axle bearing member 11 is, as shown in FIG.
Left and right oscillating cylinder 1 so that the oscillating position is parallel to
Operation controls 6 and 17 are performed.

Consider a case where the vehicle is moved from such a flat road to an uneven road surface and, for example, the right wheel 15a of the front axle device 10 enters the concave portion. Thus, the right wheel 15
When a enters the recess, the right wheel 15a is moved downward, and the swing axle device 14 is swung clockwise in FIG. 1 around the second pivot pin 13 (that is, inside the swing axle bearing member 11). The balance state or the swinging state of the swinging axle device 14 in (1) changes). As shown, the swing axle device 14 is provided with the axle mounting hole 1 of the swing axle bearing member 11.
Although only a slight swing can be made within 1a, the slight swing is detected by the swing detection sensor 18 and a detection signal is sent to the swing control device 33.

The swing control device 33 receiving this detection signal controls the operation of the hydraulic switching valve 32 to operate the left and right swing cylinders 16 and 17, and causes the swing axle bearing member 11 to swing the swing axle device 14. Swing in the direction of movement. By this swing control, the swing axle device 14 is moved together with the swing axle bearing member 11.
Is swung clockwise, and the right wheel 15a is moved downward. When the right wheel 15a comes into contact with the concave portion due to the swing, the swing axle device 14 can no longer swing. From this state, the oscillating wheel bearing member 1 is moved by the oscillating cylinders 16 and 17.
When the swing detection sensor 18 detects that the balance 1 or the swing state is changed to a state where the balance 1 or the swing state is located on a flat road as shown in FIG. The operation of the swing cylinders 16 and 17 is stopped by returning the hydraulic switching valve 32 to neutral. As a result, the right wheel 15a is reliably grounded in the recess, and the other three wheels are also grounded, that is, all the wheels 15, 25 are grounded.

The above-described control is performed for any change in the vertical movement of any of the wheels, and control is performed such that all the wheels are always in contact with the ground when the aerial work vehicle 1 travels on an uneven road surface. . Although the case where the front wheel enters the recess and moves up and down has been described above, when the rear wheel enters the recess, the traveling body 2 moves in a direction inclining with the rear wheel. Front axle device 10
Is pivoted with respect to the vehicle body. That is, the relative relationship with the vehicle body 2 is the same as when the front wheel 15 is located in the concave portion or the convex portion. Even when the rear wheel enters the concave portion, all the wheels are controlled by the swing control in the front axle device 10. Can be grounded.

In the wheel traveling device having the above-described configuration, the rear axle device 20 can be fixed to the lower traveling body 2 and does not require a control device or the like. The axle device used can be used as it is. On the other hand, since the swing control mechanism and its control system are all provided collectively in the front axle device 10, these device configurations can be integrated and integrated to reduce the size and size. Further, by simply replacing the front axle device (fixed axle device) fixed to the traveling body with the front axle device (swinging axle device) of the present invention, a vehicle having the traveling device according to the present invention is obtained. be able to.

Next, a second embodiment of the wheel traveling device according to the present invention will be described with reference to FIGS.
This wheel traveling device is also used in the aerial work vehicle 1 shown in FIG. 2, and the rear axle device 20 is fixed to the lower traveling body 2 to constitute a fixed axle device. It is the same as the one. However, the front axle device is different from that of the first embodiment, and all the left and right wheels 58, 58 are provided.
Are configured to be independently movable up and down, as shown in FIG.

This wheel device 50 is provided with a third
Up / down support link (up / down support means) 5 pivotally supported by a pivot pin 51a and attached to be vertically swingable.
1 and a wheel 5
Eight axles 58a are rotatably mounted, and wheels 58 are rotatably and vertically movably supported by tips of vertically moving support links 51. Further, a vertically moving cylinder (vertically moving actuator) 52 is loosely connected to the lower traveling body 2 via a fourth pivot pin 54 as shown in the figure, and a piston 52 of the vertically moving cylinder 52 is provided.
“a” extends downward and is pivotally connected to the tip of the vertically movable support link 51. Therefore, the vertically movable support link 51 is swung by the vertically movable cylinder 52, and the wheel 58 can be vertically moved.

Here, the fourth pivot pin 54 is loosely inserted into the pivot hole 53a formed at the upper end of the vertical moving cylinder 52, and the vertical moving cylinder 52 is pivotally connected to the lower traveling body 2. The pivot hole 53a has a diameter larger than that of the fourth pivot pin 54, and the vertical moving cylinder 52 can move up and down relative to the fourth pivot pin 54. A vertical movement detection sensor 55 for detecting the vertical relative movement is attached to the lower traveling body 2.

The wheel device 50 having the above structure is used for the lower traveling body 2.
A front axle device is provided at two places on the left and right in the front of the front axle device.
It is configured as shown in FIG. The control device includes a hydraulic supply source 61 including a hydraulic pump and the like driven by an engine (not shown) mounted on the upper traveling body 2.
A hydraulic switching valve 62 for controlling the supply of the hydraulic pressure supplied from the hydraulic supply source 61; a vertical movement control device 60 for controlling the operation of the hydraulic switching valve 62;
Cylinder 63 operated by receiving the hydraulic pressure controlled by the
And a slave cylinder 66 connected via a.

The hydraulic pressure switching valve 32 controls the distribution of the hydraulic pressure supplied from the hydraulic pressure supply source 31 to the left and right oil chambers 63a and 63b of the master cylinder 63. As a result, the piston 64 of the master cylinder 63 is moved right and left in the figure, and the piston 67 of the slave cylinder 66 connected to the piston 64 via the connecting member 65.
Is moved right and left. When the piston 67 is moved left and right in this manner, the left and right oil chambers 66 of the slave cylinder 66 are moved.
The hydraulic oil is supplied / discharged from one of the cylinders a and 66b to the rod-side oil chambers of the left and right vertically movable cylinders 52 via the oil passages 67a and 67b. The bottom oil chambers of the left and right vertical moving cylinders 52 are connected via an oil passage 68.

As a result, the left and right front wheels 58 can be moved up and down. As is apparent from the configuration shown in the drawing, when one of the left and right front wheels 58 is moved up, the other is moved down. The same control as the vertical movement of the left and right front wheels 15 due to the swing of the swing axle device 14 in the front axle device 10 shown in FIG. Therefore, similarly to the swing control of the front axle device 10 shown in FIG. 1, the vertical movement control device 60 that has received the detection signal from the vertical movement detection sensor 55 in the left and right wheel devices 50 is based on this detection signal. In this way, the operation of the vertical moving cylinder 52 is controlled to constantly control all the wheels to touch the ground. The details of this control are the same as in the case of the first embodiment, and a description thereof will be omitted.

In the above description, the rear axle device is a fixed axle device, and the front axle device is supported by the wheel device 50 as shown in FIG. You may comprise so that it may support.

[0035]

As described above, according to the wheel traveling device according to the present invention, when the traveling device travels on an uneven road surface, the traveling axle device swings in accordance with the unevenness of the road surface. The oscillating axle device is oscillated in the oscillating bearing member, and the operation of the oscillating actuator is controlled by the oscillating control device in accordance with the oscillating change to restore the oscillating balance. Even when traveling, it is possible to travel while the four wheels are securely in contact with the ground,
A stable running support is always provided. When the traveling device stops traveling, the swing axle device is fixedly held by the swing actuator at the swing position corresponding to the road surface condition at this time. For this reason, the traveling body is stably supported by the four wheels, and it is possible to stably perform an aerial work or the like using the aerial work apparatus provided on the traveling body.

In the present invention, the traveling device is constituted by disposing a fixed axle device and a swing axle device before and after the traveling body, and the swing control system is entirely incorporated in the swing axle device. Therefore, the traveling device according to the present invention can be obtained by simply using the axle device used in the conventional traveling device as it is and replacing only the swinging axle device. In addition, since the swing control system is entirely incorporated in the swing axle device, the control system configuration can be simplified, and the entire device can be reduced in size and size.

In another traveling device according to the present invention, one of the axle devices is fixed to the traveling body to form a fixed axle device, and the other of the axle devices can rotate the wheels on the left and right sides of the traveling body and move the wheels up and down. A pair of left and right wheel devices movably supported, each of the wheel devices being rotatable and vertically movable with respect to the traveling body; It has a vertical movement actuator that moves the vertical movement position of the vehicle to a predetermined position, and a vertical movement control device that controls the operation of the vertical movement actuator according to the contact state of the wheels, so that the vehicle travels on uneven road surfaces. In this case, the vertical movement actuator is actuated according to the ground contact state of each wheel that changes according to the uneven state of the road surface, and each wheel is always in a ground contact state. As a result, even when traveling on an uneven road surface, the four wheels can travel while reliably contacting the ground, and stable traveling body support can always be performed.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a front axle device and a control system thereof according to a first embodiment of the present invention.

FIG. 2 is a front view showing a self-propelled aerial work vehicle having the wheel traveling device according to the present invention.

FIG. 3 is an explanatory diagram showing a wheel device constituting a front axle device according to a second embodiment of the present invention.

FIG. 4 is an explanatory diagram showing a front axle device and a control system thereof according to a second embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Self-propelled aerial work platform 2 Undercarriage 5 Boom 6 Arm 7 Workbench 10 Front axle device 11 Swing car bearing member 13 Swing axle device 15 Front wheel 16, 17 Swing cylinder 18 Swing detection sensor 20 Rear axle device Reference Signs List 25 rear wheel 31 hydraulic supply source 32 hydraulic switching valve 33 swing control device 50 wheel device 51 vertical movement support link 52 vertical movement cylinder 55 vertical movement detection sensor 58 front wheel 60 vertical swing control device 61 hydraulic supply source 62 hydraulic switching valve 63 Master cylinder 66 Slave cylinder

Claims (2)

[Claims] 1. A vehicle wheel traveling device comprising two sets of axle devices each having a pair of left and right wheels provided before and after a traveling body, wherein one of the axle devices is fixed to the traveling body. And the other of the axle devices is swingably mounted on the traveling body in a substantially vertical plane extending in the vehicle width direction to constitute a swing axle device, wherein the swing axle device is A swinging vehicle bearing member attached to the traveling body so as to swing in a substantially vertical plane extending in the vehicle width direction, and a swinging movement in a substantially vertical plane extending in the vehicle width direction within the swinging vehicle bearing member. A rocking axle device that is mounted so as to have the wheels at the left and right ends in the vehicle width direction, a rocking actuator that rocks the rocking bearing member relative to the traveling body, and a rocking axle bearing member. You A swing control device that controls the operation of the swing actuator in accordance with the swing balance state of the swing axle device, wherein the swing control device is configured to control the swing in the axle bearing member. When the moving axle device swings from a predetermined swing position, the swing actuator is actuated in response to the swing change to control the swing axle device to return to the predetermined swing position. A wheel traveling device for a vehicle, which performs control to ground all the left and right wheels of an axle device and the left and right wheels of the swinging axle device. 2. A vehicle wheel traveling device comprising two sets of axle devices each having a pair of left and right wheels provided before and after a traveling body, wherein one of the axle devices is fixed to the traveling body. The fixed axle device is constituted, the other of the axle device is configured to have a pair of left and right wheel devices that support the wheels rotatably and vertically movable on the left and right of the traveling body, respectively, the wheel device is respectively Vertical movement support means for supporting the wheel rotatably and movably up and down with respect to the traveling body, a vertical movement actuator for moving the vertical movement position of the vertical movement support means to a predetermined position, and grounding of the wheel And a vertical movement control device that controls the operation of the vertical movement actuator in accordance with the ground state of the wheel. Vehicle wheel traveling apparatus according to claim Rukoto.