JP2003160069A - Suspension device and moving vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a suspension device allowing a vehicle to ground with all wheels, however many there are, without using any resilient member. <P>SOLUTION: The suspension device is structured so that the axles J1 and J2 of wheels W1 and W2 are coupled with a vehicle body BD1 through a fulcrum shaft G1 while the axles J3 and J4 of the other wheels W3 and W4 are directly coupled with the body BD1. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension device and a mobile vehicle, and is particularly suitable for application to a roller wheel type omnidirectional mobile vehicle having four or more wheels.

[0002]

2. Description of the Related Art As a conventional carrier, for example, Japanese Patent Laid-Open No.
As described in JP-A-118957, there is a configuration in which a driven vehicle using a drive wheel and two casters is connected. In addition, there is also a structure in which two moving wheels and one roller wheel are used for grounding at three points in order to make the wheels follow the ground stably.

Further, when there are four or more wheels,
There was also a structure in which all wheels were grounded using an independent suspension system.

[0004]

However, in the structure using casters, there is a problem that the vehicle body shakes when the casters are turned over and the casters are reversed. Further, in the structure in which the vehicle body is grounded at three points, since there are only three wheels, there is a problem that a large load is applied to each wheel when a heavy load is transported. Further, in the method using the independent suspension device, since it is used for an independent suspension device such as a spring, ups and downs of the vehicle body supported by the independent suspension device may occur or the vehicle body may vibrate due to load fluctuations and external forces. There was a problem.

SUMMARY OF THE INVENTION An object of the present invention is to provide a suspension system and an omnidirectional vehicle that can ground all wheels without using elastic members regardless of how many wheels they have.

[0006]

In order to solve the above-mentioned problems, according to the suspension device of claim 1, the vehicle body is suspended through a fulcrum shaft member that swings the axle around the fulcrum shaft. Is characterized by. As a result, even if the grounding surface has irregularities, the axle can swing and the wheels can be grounded, and all wheels can be grounded without using elastic members.

Therefore, even when traveling on an uneven surface using four or more wheels, all the wheels can be settled while suppressing ups and downs and vibrations of the vehicle body, and stable traveling can be realized. It will be possible. Further, even when there are four or more wheels, it is possible to support the load on all the wheels and to apply a large load. Further, according to the suspension device of the second aspect, two wheels are integrally rocked as one set.

As a result, even when the vehicle body is suspended via the fulcrum shaft member, the vehicle body can be kept horizontal without using an elastic member, and a solid immovable structure (rigid) can be obtained when stationary. Therefore, precision,
In addition, heavy work can be performed on the moving vehicle. Further, according to the suspension device of the third aspect, the fulcrum shaft is connected to the axle via a parallel link.

As a result, even if the axle swings around the fulcrum shaft, the inclination of the wheels can be kept constant, and more stable traveling can be realized. According to a fourth aspect of the present invention, the suspension device further includes a stopper member that stops the swing of the vehicle body at a predetermined position. With this, even when the center of gravity deviates from the vehicle body, it is possible to prevent the vehicle body from tilting largely due to its own weight while preventing the vehicle body from becoming unstable while allowing the axle to swing.

According to the mobile vehicle of the fifth aspect, N
(N ≧ 4) wheels, an axle supporting the wheels, (N-3) fulcrum shafts connected to the axles to rock the wheels, and a vehicle body suspended through the fulcrum shafts And is provided. As a result, even if the grounding surface has irregularities, the axle can swing and the wheels can be grounded, and all wheels can be grounded without using elastic members.

Therefore, even when four or more wheels are used to drive the uneven surface, all the wheels can be settled while suppressing ups and downs and vibrations of the vehicle body, and stable running can be realized. In addition to being possible, the load can be supported by all the wheels, and heavy loads can be transported. Further, according to the moving vehicle of claim 6, the vehicle has a tangential component with respect to the circumference around the center of gravity of the vehicle body,
The direction of the wheel is set.

Thus, by driving three or more wheels, the vehicle body can be rotated in-situ (super-spinning) and the moving direction of the moving vehicle can be easily controlled. . According to the moving vehicle of claim 7,
The wheels are symmetrically arranged on the circumference. As a result, unless the position of the center of gravity is extremely offset, the load can be almost evenly shared by the wheels.
It becomes possible to run while supporting a large weight.

Further, according to the moving vehicle of the present invention, two or more of the N wheels are driving wheels and the rest are driven wheels. As a result, it is possible to achieve omnidirectional traveling while securing the necessary driving force by driving the minimum necessary number of wheels. Also,
According to the moving vehicle of claim 9, the wheel is a roller wheel having a free roller.

As a result, even when the vehicle body moves in a direction other than the rotation direction of the roller wheel, the movement of the roller wheel in a direction other than the rotation direction can be absorbed by the rotation of the free roller, and the sideslip of the roller wheel can be prevented. As a result, it becomes possible to smoothly move the moving vehicle in all directions. According to the mobile vehicle of claim 10,
It is further characterized by further comprising cooperative drive means for cooperatively driving the drive wheels based on the turning speed of the vehicle body center.

Thus, even when three or more wheels are driven, the vehicle body can be smoothly moved in a desired direction without slipping the wheels. Also,
According to another aspect of the present invention, the cooperative driving means controls the driving speed of each wheel so that the combined vector of the sideslip speed and the tangential speed of the wheel matches the required turning speed. . As a result, even when three or more wheels are driven, the wheels can be made to cooperate with each other to drive the moving vehicle, and the vehicle body can be smoothly moved in all directions.

According to the mobile vehicle of the twelfth aspect,
Two of the N wheels are driving wheels, and the traveling control is performed by combining super-spinning turning and turning around an arbitrary point on the driving wheel axis. As a result, complete / omnidirectional traveling can be performed only by obtaining the respective velocities of the left and right drive wheels with the center between the drive wheels as the vehicle body center.

[0017]

DETAILED DESCRIPTION OF THE INVENTION A suspension device and an omnidirectional vehicle according to embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a front view showing a schematic configuration of a suspension device according to a first embodiment of the present invention. In addition, this first
In the embodiment, the vehicle body is supported by four wheels.

In FIG. 1, wheels W1 to W4 are provided with axles J1 to J4, and axles J1 and J2 are fulcrum axes G1.
And the axles J3 and J4 are directly connected to the vehicle body BD1. Then, as shown in FIG. 1B, when the contact surfaces GL of the wheels W1 to W4 are uneven, the axles J1 and J2 swing around the fulcrum axis G1 and the weight of the vehicle body BD1 causes the wheels W1 and W2 to swing. Grounds to the ground plane GL.

Therefore, even when the four wheels W1 to W4 are used to travel on the uneven surface, all the wheels can be settled while suppressing ups and downs and vibration of the vehicle body, and stable running is realized. In addition to being able to support the load on all wheels, a large load can be applied. FIG. 2 is a front view showing a schematic configuration of the suspension device according to the second embodiment of the present invention. In addition, this second
In the embodiment, a stopper member that stops the swing of the vehicle body at a predetermined position is provided.

In FIG. 2, in addition to the structure of FIG.
Protrusions T1 and T2 are provided on D1. Then, as shown in FIG. 2B, for example, when the vehicle body BD1 leans counterclockwise to a certain extent or more, the protrusion T1 comes into contact with the axle J1 to prevent the vehicle body BD1 from leaning further. For this reason,
Even when the vehicle body BD1 is swingable around the fulcrum axis G1, it is possible to prevent the vehicle body BD1 from largely tilting due to its own weight, and to prevent the vehicle body BD1 from becoming unstable.

FIG. 3 is a front view showing a schematic structure of a suspension device according to a third embodiment of the present invention. In the third embodiment, roller wheels N1 and N2 are used as the wheels W1 and W2 in FIG. In FIG. 3, the axles J1, J2 of the roller wheels N1, N2 are
The frame FL1 is connected to the vehicle body BD1 via a fulcrum axis G1.

When the ground surface GL has irregularities, the axles J1 and J2 swing around the fulcrum shaft G1 via the frame FL1 so that the roller wheels N1 and N2 contact the ground surface GL. Here, the roller wheel N1,
N2 is for generating a rotational force in an arbitrary direction. For example, the roller wheel N1 is provided with two wheels Na and Nb, and the wheel Na is provided with three free rollers 1a to 1c. And the wheel Nb has 3
Individual free rollers 1d to 1f are provided.

The wheels Na and Nb are connected to each other such that the positions of the free rollers 1a to 1f are displaced by 60 degrees in the circumferential direction. As a result, when the vehicle body BD1 moves in the direction of the roller wheels N1 and N2, the roller wheels N1 and N2 take charge of the rotation of the wheels Na and Nb around the axles J1 and J2, and the direction of the roller wheels N1 and N2. When the vehicle body BD1 moves vertically, the rotation of the free rollers 1a to 1f can take charge, and the roller wheels N1 and N2 can follow the movement of the vehicle body BD1 in any direction without changing the direction. .

FIG. 4 is a side view showing a schematic configuration of a suspension system according to the fourth embodiment of the present invention. In the fourth embodiment, roller wheels are used as the wheels W1 and W2 in FIG. 1, and drive wheels are used as the wheels W3 and W4 in FIG. In FIG. 4, the roller wheel N11 is provided with free rollers 11a to 11c, and the axle of the roller wheel N11 is connected to the frame FL2. The frame FL2 has a fulcrum axis G1.
Is connected to the vehicle body BD1 via a bearing BR1 that serves as the vehicle body, and the axles of the drive wheels WK are directly connected to the vehicle body BD1.

Thus, by driving the drive wheel WK, the roller wheel N11 can be driven in any direction, and the roller wheel N11 supports the bearing BR1 as a fulcrum corresponding to the unevenness of the ground contact surface GL. As a result, it is possible to realize all-wheels grounding traveling. FIG. 5: is a top view which shows schematic structure of the suspension device which concerns on 5th Embodiment of this invention. Note that this fifth embodiment is similar to FIG.
Roller wheels N21 to N2 as the wheels W1 to W4 of
4 is used, and these four roller wheels N21 to N24 are individually driven.

In FIG. 5, roller wheels N21, N
22 axles J1, J2 are connected to the frame FL3,
The frame FL3 is a bearing BR2 that serves as a fulcrum axis G1.
Is connected to the vehicle body BD1 via. Further, the axles J3 and J4 of the roller wheels N23 and N24 are connected to the vehicle body BD1.
The motors M1 to M4 are provided on the roller wheels N21 to N24, respectively.

By driving the roller wheels N21 to N2 by the motors M1 to M4, it is possible to realize an omnidirectional vehicle capable of traveling in arbitrary directions while being rotated arbitrarily and capable of traveling on all wheels. You can Further, even when the robot is arranged on the body BD1 and the work arm of the robot is used to perform the work at rest, the work can be a solid immovable structure (rigid), so that the work can be performed accurately and with a heavy load. it can.

FIG. 6 is a front view showing a schematic structure of a suspension device according to a sixth embodiment of the present invention. In the sixth embodiment, the axle can swing about the fulcrum shaft via the parallel link. In FIG. 6, the axles J1, J2 of the roller wheels N31, N32 are the frame FL4,
Each of the frames FL4 and FL5 is connected to FL5.
Is connected to the parallel links RK1 and RK2, and the parallel links RK1 and RK2 are connected to the vehicle body BD2 via fulcrum axes G2 and G3.

As a result, as shown in FIG. 6 (b), the roller wheels N31, N corresponding to the irregularities of the ground contact surface GL.
Even when 32 swings, the roller wheel N3
The inclinations of 1 and N32 can be kept constant, and more stable traveling can be realized. FIG. 7A is a top view showing a schematic configuration of a suspension device according to the seventh embodiment of the present invention, and FIG. 7B is a schematic view of the suspension device according to the seventh embodiment of the present invention. It is a front view which shows a structure. In addition, in the seventh embodiment, the vehicle body is supported by five wheels.

In FIG. 7, each of the wheels W11 to W15 is provided with an axle J11 to J15, and the axles J11 and J1.
2 is connected to the vehicle body BD3 via a fulcrum shaft G11, axles J13 and J14 are connected to the vehicle body BD3 via a fulcrum shaft G12, and further, the axle shaft J15 is directly connected to the vehicle body BD3. Further, the wheels W11 to W15 are symmetrically arranged on the circumference around the center of gravity G, and the wheels W11 to W15 are
The direction of W15 is set so as to be in contact with the circumference around the center of gravity G.

The ground plane GL of the wheels W11 to W15
If there is unevenness, the axles J11 to J14 are each fulcrum axis G1.
1, swings around G12, and the weight of the body BD3 causes the wheels W to
11 to W15 are grounded to the ground plane GL. Therefore, even when traveling on the uneven surface using the five wheels W11 to W15, all the wheels can be settled while suppressing the ups and downs and vibrations of the vehicle body, and stable traveling can be realized. In addition, the load can be supported by the five wheels W11 to W15, and a large load can be applied.

Further, each wheel W1 is arranged on the circumference around the center of gravity G.
By arranging 1 to W15 symmetrically, each wheel W11 to
The load can be evenly distributed to W15, and stable running can be performed while supporting a large load. Furthermore, by setting the directions of the wheels W11 to W15 so as to contact the circumference around the center of gravity G, all the wheels W11
By simply rotating 11 to W15 in the same direction, it is possible to make a super turning turn, and it is possible to easily change the direction of the vehicle body BD3.

FIG. 8 (a) is a top view showing a schematic structure of a suspension system according to the eighth embodiment of the present invention, and FIG. 8 (b).
[Fig. 8] is a front view showing a schematic configuration of a suspension device according to an eighth embodiment of the present invention. The eighth embodiment has six
It supports the car body with individual wheels. In FIG. 8, the axles J21 to J2 are attached to the wheels W21 to W26.
6, the axles J21, J22 are connected to the vehicle body BD4 via the fulcrum shaft G21, the axles J23, J24 are connected to the vehicle body BD4 via the fulcrum shaft G22, and the axle shaft J25,
J26 is connected to the vehicle body BD4 via a fulcrum axis G23.

The wheels W21 to W26 are symmetrically arranged on the circumference around the center of gravity G, and each wheel W21.
The directions of W26 to W26 are set so as to contact the circumference around the center of gravity G. When the ground contact surface GL of the wheels W21 to W26 is uneven, the axles J21 to J26 swing around the fulcrum shafts G21, G22, G23, and the weight of the vehicle body BD4 causes the wheels W21 to W26 to contact the ground contact surface GL. Ground.

For this reason, even when the six wheels W21 to W26 are used to travel on an uneven surface, all the wheels can be settled while suppressing ups and downs and vibrations of the vehicle body, and stable running is realized. In addition to being capable of supporting the load, the six wheels W21 to W26 can support the load, and a large load can be applied. Further, by symmetrically arranging the wheels W21 to W26 on the circumference around the center of gravity G, it becomes possible to evenly distribute the load to the wheels W21 to W26, and carry out stable running while supporting a large overweight. It becomes possible.

Further, by setting the directions of the wheels W21 to W26 so as to contact the circumference around the center of gravity G,
Only by rotating all the wheels W21 to W26 in the same direction, it is possible to make a super turning turn, and it is possible to easily change the direction of the vehicle body BD4. Here, for example, the wheel W2
3, W25 as driving wheels, wheels W21, W22, W24,
When W26 is the driven wheel, the driving speed V3 is driven by driving the wheels W23 and W25 at the driving speed V3.
Wheels W21, W22, W24, W26 are driven at speeds V1, V2, V4, V6 corresponding to V3, V5, and vehicle body BD4.
Can be driven in a desired direction.

On the other hand, when all the wheels W21 to W26 are used as driving wheels and the wheels W23 and W25 are driven at driving speeds V3 and V5, a speed V1 corresponding to the driving speeds V3 and V5,
Wheels W21, W22, W24, W2 at V2, V4, V6
Wheels W21, W22, W24, W
26 are cooperatively driven at drive speeds V1b, V2b, V4b, and V6b. Thereby, all the wheels W21 to W26
Even when the vehicle is driven, the vehicle body BD4 can be driven in a desired direction without causing the wheels W21 to W26 to idle.

By cooperatively driving the wheels W21 to W26, not only in-situ rotation (super-spinning turning) but also omnidirectional movement from turning with an arbitrary radius to linear movement in an arbitrary direction is realized. be able to. FIG. 9: is a figure explaining the cooperative drive theory of each wheel of the multi-wheel mobile vehicle which concerns on one Embodiment of this invention. In addition, in this embodiment, it is assumed that N wheels are provided on the vehicle body.

In FIG. 9, O (0,0) is the center of the vehicle body,
P (X ₀ , Y ₀ ) is the turning center of the vehicle body, and Q (X _i , Y _i ) is i.
The center of the (i = 1, 2, ..., N) -th wheel Wi, θ
Is the direction angle from the vehicle body center O to the turning center P, and φ is the wheel Wi.
Direction, V ₀ is the turning speed around the vehicle body, V _XY is the required turning speed, V _t is the driving speed of the wheels Wi, V _a is the sideslip speed of the wheels Wi, and d (line segment PQ) is the turning center P and the wheels Wi. , R is the distance from the body center O to the wheels Wi, R ₀ is the distance from the body center O to the turning center P, α is the line segment connecting the center of the wheels Wi and the turning center P, and the X axis Angle formed by and β
Is the turning speed vector at the position of the wheel Wi and the wheel Wi
, Ω is the angular velocity of turning.

When the turning center P and the rotational angular velocity are given with the vehicle body center O as the origin, the required turning speed V _{XY at} the position of the wheel Wi is automatically determined. That is, R ₀ = √ (X ₀ ² + Y ₀ ² ) ... (1) R = √ (X ² + Y ² ) ... (2) d = √ ((X ₀ −X) ² + (Y ₀ -Y) ² ) ... (3) V _XY = dV ₀ / R ₀ ... (4) α = tan ^-1 ((Y ₀ -Y) / (X ₀ -X)) ... (5 ) Β = π / 2−α−φ (6) V _a = V _XY sinβ (7) V _t = V _XY cosβ (8) However, V ₀ = R ₀ ω ...・ (9) V _XY = dω (10).

Therefore, when the turning center P and the rotational angular velocity are given with the center O of the vehicle body as the origin, the wheels Wi may be driven at the driving velocity V _t of the equation (8). That is, when the turning speed V ₀ around the vehicle body is given, ω is obtained from the equations (1) and (9), and ω and d of the equation (3) are substituted into the equation (10) to obtain V _XY . By substituting this V _XY and β in equation (6) into equation (8), the drive speed V _t of the wheel Wi can be obtained.

Similarly, the driving speed V _t of each wheel is obtained with respect to the turning center P, and these wheels are simultaneously driven to smoothly move in all directions using a plurality of wheels without slipping. be able to. In the case of two-wheel drive, the formula can be simplified as follows.
FIG. 10 is a diagram for explaining the steering theory of the two-wheel independent drive wheel truck according to the embodiment of the present invention.

In FIG. 10, O is the center of the vehicle body, C is the midpoint between the wheels WL and WR, and ω _L and ω _R are the wheels WL and W.
R is the angular velocity of rotation, V is the speed of movement of the vehicle body, V _X is the super-spinning component, V _Y is the forward / backward component, θ is the direction angle of travel, and a is O
The distance between C, b is the wheel interval, P is the instantaneous center, and x is the instantaneous center horizontal distance. Here, x = a / tan θ (11) ω _L / ω _R = (x + b / 2) / (x−b / 2) = (a / tan θ + b / 2) / (a / tan θ−b / 2 ) = (1 + b / (2a) · tan θ) / (1-b / (2a) · tan θ) (12)

From equation (12), ω _L = (1 + b / (2a) · tan θ) / (1-b / (2a) · tan θ) · ω _R (13) holds. On the other hand, from the relationship between the speed and the rotation of the wheel, (ω _L + ω _R ) / 4 · D = V _Y = V cos θ (14) Substituting the expression (13) into the expression ω _L of the expression (14) gives (( 1 + b / (2a) · tanθ) / (1-b / (2a) · tanθ) +1) / 4 · ω R · D = Vcosθ ··· (15) to organize this, and seek ω _R, ω _R = 2V / D · (cos θ−b / (2a) · sin θ) (16) Similarly, when ω _L is obtained, ω _L = 2V / D · (cos θ + b / (2a) · sin θ). (17) Therefore, when the target moving speed V and the advancing direction angle θ are given, each wheel W is calculated using the equations (16) and (17).
The rotational angular velocities ω _L and ω _R of L and WR can be obtained.

In addition, it is possible to translate into a drive plan for each wheel WL, WR in accordance with the action trajectory of the vehicle body and the speed plan at that point. Here, the traveling direction angle θ is 90
At the time of the degree, cos θ of the equations (16) and (17) becomes 0, and the super-spinning turn can be performed. Also, x = ± b / 2
At the time of, it is possible to make a turning turn (a state in which one wheel is stopped), and it is understood from the equation (11) that tan θ = ± b / 2.

Further, the rotary table is placed on the center of the vehicle body to control the traveling direction angle θ, and three degrees of freedom (x, y, θ).
It is possible to move the vehicle and realize a complete / omnidirectional vehicle. FIG. 11 is a diagram illustrating a turning characteristic and a control method of a two-wheel drive omnidirectional vehicle according to an embodiment of the present invention. In the embodiment of FIG. 10, the distance a from the wheel shaft is a.
In contrast to the vehicle body centered on the center position apart from
In this embodiment, the center of the wheels is the center of the vehicle body.

In FIG. 11, V _L is the speed of the left wheel WL, V _R is the speed of the right wheel WR, ω _L is the angular speed of the left wheel WL, ω _R is the angular speed of the right wheel WR, ω _C is the turning angular speed, R Is the turning radius, b is the wheel spacing, and r is the wheel radius. Here, the velocities V _L and V _R of the left wheels WL and WR and the angular velocity ω _L ,
The relationship between ω _R and the wheel radius r is V _L = r × ω _L , V _R r × ω _R (21)

Here, from the similarity of the triangles, (R + b / 2) / (R-b / 2) = ω _L / ω _R (22) holds. (22) When the organizing the turning radius R _{formula, R = b (ω L +} ω R) / 2 (ω L -ω R) ··· (23) ω C = r / (2R) · (ω L -ω _R ) (24) holds.

By substituting the equation (23) into the equation (24), ω _C = r / b (ω _L -ω _R ) (25) holds. Here, in order to obtain the angular velocities ω _L and ω _R when the turning radius R and the turning angular velocity ω _C are given, the formula (25) is modified, and ω _R is substituted into the formula (22) to rearrange, ω _L = (R + b / 2) / r · ω _C (26) ω _R = (R−b / 2) / r · ω _C (27)

As a result, even in the case of control based on the theory that the center between wheels is centered on the vehicle body, the super-spinning turning and the turning around an arbitrary point on the drive wheel shaft are combined to move in any direction. Can run. With this method in which the center of the wheel is the center of the vehicle body, it is possible to independently move the traveling direction angle θ by super-spinning turning, but since it cannot be controlled simultaneously with the moving operation, super-spinning turning for changing the direction And running are divided.

The above-mentioned suspension system and moving vehicle are
It may be applied to transportation means such as luggage, transportation means such as robots, rough terrain vehicles, electric trolleys, wheelchairs, welfare equipment, movable furniture, trolleys for moving OA equipment and display devices, work benches, and the like. .

[0052]

As described above, according to the present invention,
It is possible to follow the unevenness of the ground contact surface and swing the axle to make the wheels touch the ground.While suppressing ups and downs and vibrations of the vehicle body, it is possible to stabilize all the wheels and achieve stable running. In addition to being possible, it is possible to support the load on all wheels, and it is possible to carry heavy loads.

[Brief description of drawings]

FIG. 1 is a front view showing a schematic configuration of a suspension device according to a first embodiment of the present invention.

FIG. 2 is a front view showing a schematic configuration of a suspension device according to a second embodiment of the present invention.

FIG. 3 is a front view showing a schematic configuration of a suspension device according to a third embodiment of the present invention.

FIG. 4 is a side view showing a schematic configuration of a suspension device according to a fourth embodiment of the present invention.

FIG. 5 is a top view showing a schematic configuration of a suspension device according to a fifth embodiment of the present invention.

FIG. 6 is a front view showing a schematic configuration of a suspension device according to a sixth embodiment of the present invention.

FIG. 7 (a) is a top view showing a schematic configuration of a suspension device according to a seventh embodiment of the present invention, and FIG. 7 (b) is a suspension device according to the seventh embodiment of the present invention. It is a front view which shows the typical structure of.

8A is a top view showing a schematic configuration of a suspension device according to an eighth embodiment of the present invention, and FIG. 8B is a suspension device according to the eighth embodiment of the present invention. It is a front view which shows the typical structure of.

FIG. 9 is a diagram illustrating a theory of cooperative drive of each wheel of the multi-wheel mobile vehicle according to the embodiment of the present invention.

FIG. 10 is a diagram illustrating a steering theory of a two-wheel independent drive wheel truck according to an embodiment of the present invention.

FIG. 11 is a diagram illustrating a turning characteristic and a control method of a two-wheel drive omnidirectional vehicle according to an embodiment of the present invention.

[Explanation of symbols]

W1-W4, W11-W15, W21-W26 Wheels J1-J4, J11-J15, J21-J26 Axle G1, G2, G3, G11, G12, G21, G22,
G23 fulcrum axis BD1, BD2, BD3, BD4 vehicle body T1, T2 protrusion M1 to M4 motor BR1 and BR2 bearing FL1 to FL5 frame N1, N2, N11, N21 to N24, N31, N32
Roller wheel Na, Nb Wheel 1a-1f, 11a-11c Free roller WK Drive wheel RK1, RK2 Parallel link GL Ground plane

Claims (12)

[Claims] 1. A suspension device characterized in that a vehicle body is suspended via a fulcrum shaft member that swings an axle around a fulcrum shaft. 2. The suspension system according to claim 1, wherein two wheels are integrally rocked as a set. 3. The suspension system according to claim 1, wherein the fulcrum shaft is connected to the axle via a parallel link. 4. A stopper member for stopping swinging of the vehicle body at a predetermined position is further provided.
The suspension device according to claim 1. 5. N (N ≧ 4) wheels, an axle supporting the wheels, and an axle connected to the axle to swing the wheels (N-3).
A mobile vehicle comprising: individual fulcrum shafts; and a vehicle body suspended via the fulcrum shafts. 6. The vehicle according to claim 5, wherein the direction of the wheels is set so as to have a tangential component with respect to a circumference around the center of gravity of the vehicle body. 7. The mobile vehicle according to claim 6, wherein the wheels are symmetrically arranged on the circumference. 8. The mobile vehicle according to claim 5, wherein two or more of the N wheels are drive wheels and the rest are driven wheels. 9. The mobile vehicle according to claim 5, wherein the wheel is a roller wheel having a free roller. 10. The mobile vehicle according to claim 8, further comprising a cooperative drive means for cooperatively driving the drive wheels based on a turning speed around a vehicle body. 11. The movement according to claim 10, wherein the cooperative driving means controls the driving speed of each wheel such that a combined vector of the sideslip speed and the tangential speed of the wheel matches the required turning speed. car. 12. Two of the N wheels are drive wheels, and the traveling control is performed by combining super-spinning turning and turning around an arbitrary point on the driving wheel axis. The mobile vehicle according to any one of claims 5 to 7, which is characterized in that.