JP2010006247A5 - - Google Patents

Description

Leg wheel device and traveling device using the same

  The present invention relates to a leg wheel device and a traveling device using the same.

  When the vehicle travels on a flat road surface, the traveling device uses wheels that can travel smoothly and can move at a relatively high speed. The traveling device has four wheels (hereinafter referred to as “main wheels”) attached to the front, rear, left, and right of the main body portion, so that stable traveling has been performed. On the other hand, when the road surface has a step, it is difficult to get over the step if the diameter of the main wheel is small. Under such circumstances, a traveling device has been proposed in which auxiliary wheels (hereinafter referred to as “sub wheels”) are provided on four raising and lowering arms on the front, rear, left and right of the main body.

In this conventional traveling device, the raising and lowering arm is raised and lowered according to the step, the sub-wheel is grounded on the step before the main wheel, the main body is lifted, and then the main wheel is grounded. I was overcoming. Further, when traveling on a slope or the like, the height of the auxiliary wheel is changed by the raising / lowering arm to support the main body, thereby suppressing the inclination of the main body (for example, see Patent Document 1).
Japanese Utility Model Publication No. 60-117284

  Since the conventional traveling device can change the traveling direction only on the main wheel side, when traveling on a road surface with a slope or a road surface with a step, the traveling direction when traveling with the secondary wheel in contact with the ground It was difficult to change.

  Therefore, the present invention uses a leg wheel device that enables the steering of both the main wheel and the auxiliary wheel, and enables stable steering even when traveling using both the main wheel and the auxiliary wheel. An object is to provide a traveling device.

In order to achieve this object, the leg wheel device of the present invention is a sub-wheel unit having a wheel drive input and a steering drive input at the tip of a swing arm based on a main wheel unit having a wheel drive input and a steering drive input. The swing arm includes first and second swing arms that connect each of two axes parallel to the horizontal direction in the main wheel unit and each of two axes parallel to the horizontal direction in the auxiliary wheel unit. The link arms are arranged substantially in parallel, and are constituted by a parallel link mechanism configured so that the auxiliary wheel unit can be driven up and down while maintaining the vertical angle of the auxiliary wheel unit with the main wheel unit side as a base point. Each of the two link shafts of the arm is provided with a rotational shaft that can be rotated concentrically. The two rotational shafts are rotationally connected by a first connecting member, and are connected to each of the two link shafts of the second link arm. same A pivot shaft that is pivotable. The pivot shafts are pivotally connected by a second connecting member, and are connected to the main wheel unit side by two drive sources provided on a noble base on which the main wheel unit is installed. Each of the rotating shafts of the first link arm, the wheel driving force is transmitted by the rotating shaft connecting system of the first link arm, the steering driving force is transmitted by the rotating shaft connecting system of the second link arm, A driving force is transmitted to each wheel drive input and each steering drive input of the auxiliary wheel unit.

By such arrangement of this, with the two link shaft line parallel links constituting the swing arm, performs a driving force transmitting two systems of steering drive system with a wheel drive system with respect to the main wheel unit and the sub-wheel unit In addition to the wheel drive and steering drive of the main wheel, the wheel drive and steering drive of the auxiliary wheel installed at the tip of the swing arm can be realized.

As the first and second connecting members, bevel gears are provided on each of the rotation shafts disposed so as to be rotatable concentrically between the main wheel unit side link shaft and the sub wheel unit side link shaft at both ends of the link arm, A drive shaft provided with bevel gears at both ends is arranged parallel to the link arm, and the bevel gears at both ends of the drive shaft are respectively meshed with the bevel gears on the rotation shaft so that both rotation shafts rotate in the same phase. You may comprise.

According to such a configuration, it is possible to prevent the rotating shafts from interfering and rotating due to the swing arm rotating. That is, when the swing arm rotates, the drive shaft rotates and the meshing phase of the bevel gear with each rotation shaft at both ends of the drive shaft changes differentially, causing interference with each rotation shaft. do not do. When the auxiliary wheel and the main wheel are switched by turning the swing arm, the wheel rotation speed and the wheel steering angle can be switched stably without discontinuity. Even if you want to, you can run stably.

Further, a clutch mechanism may be provided in the middle of the drive shafts of the first and second connecting members. According to such a configuration, when the auxiliary wheel is not used, the auxiliary wheel can be kept stationary, so that the rotation and direction movement of the auxiliary wheel do not damage surrounding people and buildings, and safety is ensured. Can increase the sex.

Also, by performing the intermittent bonds / blocking actively clutch mechanism provided in the middle of the drive shaft of the second coupling member, adjusting the steering angle and the steering angle of the sub-wheel of the main wheels to different angles It becomes possible to do.

  Moreover, you may provide the two encoders which each detect the steering angle of a main wheel and a subwheel. According to such a configuration, even if the auxiliary wheel is stationary due to the clutch mechanism being turned off and the steering angle of the main wheel is different, the two steering angles can be detected by the two encoders. it can.

Also, Kitai a swing driving unit for driving rotation of at least one of the base link portion side of the first link arm or the second link arm is provided, the swing drive unit main wheel unit is installed You may make it provide in. According to this configuration, the swing operation drive unit can be arranged on the noble platform side, so that the weight and moment of inertia of the entire movable unit can be reduced.

Also, distribution of the worm gear at both ends and a second worm wheel which is fixed to the first worm wheel and the end link portion fixed to the at least one of the base link portion of the first link arm or the second link arm The worm shaft may be connected via a provided worm shaft and the worm shaft may be rotationally driven. According to this configuration, the rotational load during the swing operation can be dispersed around the root-side rotation shaft and the tip-side rotation shaft.

Also, the Kitai swing arm and the main wheel unit is installed may be as connected by the gas spring. According to such a configuration, the main body can be lifted by using both the gas spring and the motor of the arm drive unit, and the load on the motor can be reduced. The motor can be reduced in size or power can be saved.

Also, the gas spring may be fixable in free length. According to such a configuration, after the posture control of the main body is completed, the length of the gas spring can be locked and the posture of the main body can be supported and maintained, so that the drive motor for the swing operation can be driven. Can be stopped, and power consumption can be further reduced.

  Moreover, a suspension device may be provided for each of the main wheel and the sub wheel, and the driving force from the wheel drive transmission unit may be transmitted to the main wheel and the sub wheel via two spline-coupled transmission shafts. According to such a configuration, even if the positions of the main wheel and the sub-wheel are changed by the suspension device, the position change is absorbed by the two transmission lines coupled by the spline. For example, even if two bevel gears are provided, one attached directly to the main wheel or the sub-wheel and the other attached to the transmission shaft, the driving force can be reliably transmitted.

  Next, the traveling device of the present invention includes at least one leg wheel device described above. By switching between the main wheel and the auxiliary wheel that can move up and down, it is possible to go up and down a road surface with a step or a slope.

  As described above, according to the present invention, in the leg wheel device provided in the auxiliary wheel unit at the tip of the swing arm starting from the main wheel unit, not only steering by the main wheel unit side wheel but also steering by the auxiliary wheel unit side wheel is possible. In addition, it is possible to provide a leg wheel device and a travel device using the same that enable stable steering even when traveling using both the main wheel and the auxiliary wheel.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Embodiment 1)
Hereinafter, traveling device 1 according to Embodiment 1 of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic diagram showing an example of the configuration and usage state of a traveling device 1 according to Embodiment 1 of the present invention, and FIG. 2 is a circuit block diagram of the traveling device 1.

  As shown in FIG. 1, the traveling device 1 has a configuration suitable for traveling on a road surface having a slope or a step. That is, the traveling device 1 has a leg wheel device 2 attached to the front left of the main body 1f, a leg wheel device 3 attached to the front right, a leg wheel device 4 attached to the rear left, and a leg wheel device 5 attached to the rear right.

  The leg wheel device 2 includes a main wheel 32 that enables the main body portion 1f to travel and a sub wheel 22 that enables the main body portion 1f to travel and can move up and down.

  Similarly, the leg wheel device 3 includes a main wheel 33 that enables the main body portion 1f to travel and a sub wheel 29 that enables the main body portion 1f to travel and can move up and down.

  In addition, the leg wheel device 4 includes a main wheel 34 that enables the main body portion 1f to travel and a secondary wheel 30 that enables the main body portion 1f to travel and can move up and down.

  In addition, the leg wheel device 5 includes a main wheel 35 that enables the main body portion 1f to travel and a sub wheel 31 that enables the main body portion 1f to travel and can move up and down.

  Further, as shown in FIG. 2, the traveling device 1 can detect the inclination of the travel command input unit 25 that instructs the travel speed and the travel direction, the step detection unit 27a that detects the step on the road surface, and the main body 1f. An inclination detection unit 27b and a control unit 21 that controls the leg wheel device 2, the leg wheel device 3, the leg wheel device 4, and the leg wheel device 5 are provided.

  The control unit 21 determines the posture angles (main wheels 32) of the leg wheel devices 1 to 4 based on the input instruction regarding the traveling speed and the traveling direction from the traveling command input unit 25 and the detection results of the step detecting unit 27a and the inclination detecting unit 27. , 33, 34, 35), the wheel speeds and steering angles of the main wheels 32, 33, 34, 35 and the auxiliary wheels 22, 29, 30, 31 are controlled. Controls running posture and running motion.

  With such a configuration, the traveling device 1 controls the posture angles of the leg wheel device 2, the leg wheel device 3, the leg wheel device 4, and the leg wheel device 5 by the control unit 21, and there is an inclination or a step on the traveling road surface. Even if it exists, it can drive | work, maintaining the main-body part 1f horizontally. Further, while maintaining this horizontal posture, it is possible to control the wheel speeds and steering angles of the main wheels 32, 33, 34, 35 and the auxiliary wheels 22, 29, 30, 31 so that the road surface can be smoothly steered. While driving.

  For example, FIG. 1 (A) is an example of a usage state of the traveling device 1 when traveling on a road surface of a downward slope. In this case, the traveling device 1 lowered the leg wheel device 2 and the leg wheel device 3 downward, grounded the auxiliary wheel 22 and the auxiliary wheel 29 on the road surface, and lifted the main wheel 32 and the main wheel 33 upward. In this state, the sub wheels 22, the sub wheels 29, the main wheels 34, and the main wheels 35 are driven to travel. Thereby, the traveling device 1 can travel while suppressing the inclination of the main body 1f. Further, if necessary, the traveling direction can be changed by controlling the steering angles of the auxiliary wheel 22, the auxiliary wheel 29, the main wheel 34, and the main wheel 35.

  FIG. 1B is an example of a usage state of the traveling device 1 when traveling so as to cross the road surface of an oblique slope. In this case, the traveling device 1 lowered the leg wheel device 3 and the leg wheel device 5 downward, grounded the auxiliary wheel 29 and the auxiliary wheel 31 to the road surface, and lifted the main wheel 33 and the main wheel 35 upward. In this state, the vehicle travels with the auxiliary wheel 29, the auxiliary wheel 31, the main wheel 32 and the main wheel 34. Thereby, the traveling device 1 can travel while suppressing the inclination of the main body 1f. Further, the traveling direction can be changed by controlling the steering angles of the auxiliary wheel 29, the auxiliary wheel 31, the main wheel 32, and the main wheel 34 as necessary.

  Furthermore, FIG.1 (C) is an example of the use condition of the traveling apparatus 1 when climbing the road surface with a level | step difference. Even in this case, as shown in FIG. 1 (C), the leg wheel devices 2 and 3 are moved upward and moved forward, the auxiliary wheel 22 and the auxiliary wheel 29 are grounded to the road surface above the step, and thereafter The main body 1f, the main wheels 32 and 33, and the main wheels 34 and 35 are lifted upward by moving the leg wheel devices 2 and 3 to a substantially horizontal state and simultaneously lowering the leg wheel devices 4 and 5 downward. You can get over the steps. After the main wheels 34 and 35 get over the step, the sub-wheels 30 and 31 can get over the step by moving the leg wheel device 4 and the leg wheel device 5 to a substantially horizontal state.

  Similarly, FIG. 1 (D) shows an example of the usage state of the traveling device 1 when descending a step. First, at the descending step, the leg wheel devices 2 and 3 are lowered to the lower side and grounded to the lower side of the step. Then, when the main wheels 34 and 35 exceed the step, the leg wheel devices 2 and 3 are moved to a substantially horizontal state and at the same time the leg wheel devices 4 and 5 are operated to the upper side. 1f, the main wheels 32 and 33, and the main wheels 34 and 35 can be lowered to the lower side surface of the step to descend the step.

  FIG. 1E is an example of a usage state of the traveling device 1 when passing through a road surface having a groove. Even in this case, if the distance between the auxiliary wheel 22 and the main wheel 32 of the leg wheel device 2 or the distance between the auxiliary wheel 29 and the main wheel 33 of the leg wheel device 3 is larger than the width of the groove, the traveling device 1 The device 2 or the leg wheel device 3 can be used to travel across the groove.

  FIG. 1F is an example of a usage state of the traveling device 1 when traveling on a road surface with a level difference. Even in this case, the traveling device 1 can be made to travel while suppressing the inclination of the main body 1f in the same manner as shown in FIG.

  As described above, the traveling device 1 uses the ground wheels as the sub wheels 22 and the main wheels 32, the sub wheels 29 and the main wheels 33, the main wheels 34 and the sub wheels 30, and the main wheels 35 according to the slope and the road surface with steps. By switching appropriately between the wheel and the auxiliary wheel 31, stable running is possible.

The leg wheel device in the traveling device of the present invention includes a sub-wheel unit having a wheel drive input and a steering drive input at the tip of a swing arm based on a main wheel unit having a wheel drive input and a steering drive input. In the swing arm, the first and second link arms that connect each of the two axes parallel to the horizontal direction in the main wheel unit and each of the two axes parallel to the horizontal direction in the auxiliary wheel unit are arranged substantially in parallel. With the main wheel unit side as a base point, the sub wheel unit is configured by a parallel link mechanism configured to be able to be driven up and down while substantially maintaining the vertical angle of the sub wheel unit. Each of the first link shafts is provided with a rotation shaft that can be rotated concentrically, and both the rotation shafts are rotationally connected by the first connecting member. Furthermore, each of the second link shafts is provided with a rotation shaft that can be rotated concentrically, and both rotation shafts are rotationally connected by the second connecting member. The two drive sources provided on the frame where the main wheel unit is installed respectively drive the rotation shaft on the main wheel unit side, transmit the wheel driving force through the first link rotation shaft connection system, and rotate the second link A steering driving force is transmitted by the shaft coupling system, and the driving force is transmitted to each wheel driving input and each steering driving input of the main wheel unit and the sub wheel unit.

In this way, the leg wheel device provided in the auxiliary wheel unit is provided at the tip of the swing arm with the main wheel unit as a base point, the swing arm in the leg wheel device is constituted by a parallel link, and two link shaft systems are used. The wheel drive system and the steering drive system are transmitted to the main wheel unit and the sub wheel unit in two systems, and not only the wheel drive and the steering drive of the main wheel but also the sub wheel installed at the tip of the swing arm unit. The wheel drive and steering drive are realized.

The first and second rotating shaft connecting members can have various configurations such as providing a pulley on each rotating shaft and connecting them with an endless belt. In particular, as the first and second connecting members, bevel gears are provided on each of the rotation shafts arranged so as to be rotatable about the main wheel unit side link shaft and the sub wheel unit side link shaft at both ends of the link arm. Then, drive shafts with bevel gears at both ends are arranged parallel to the link arm, and the bevel gears at both ends of the drive shaft are meshed with the bevel gears on the rotation shafts so that both rotation shafts rotate in the same phase. Thus, the rotation of the swing arm can prevent the rotation shafts from interfering and rotating. That is, when the swing arm rotates, the drive shaft rotates and the meshing phase of the bevel gear with each rotation shaft at both ends of the drive shaft changes differentially, causing interference with each rotation shaft. do not do.

  With such a configuration, it is possible to eliminate the change in interference between the steering angle and the wheel rotation speed due to the vertical movement even when the auxiliary wheel is moved up and down by the swing arm portion, and the steering direction and the wheel can be changed even when the auxiliary wheel and the main wheel are switched. Since the rotation speed is not discontinuous and can be switched stably, stable steering is possible even when traveling with the auxiliary wheel and the main wheel in combination.

  Next, a detailed configuration of the traveling device 1 will be described with reference to FIGS. 3 and 4.

  Here, an example in which four leg wheel devices are used for the main body 1f will be described. Specifically, an example will be described in which the leg wheel device 2 is attached to the front left of the main body portion 1f, the leg wheel device 3 is attached to the front right, the leg wheel device 4 is attached to the rear left, and the leg wheel device 5 is attached to the rear right.

  FIG. 3 is a top view for explaining the outline of the traveling apparatus 1 according to the first embodiment of the present invention, and FIG. 4 is a side view for explaining the outline of the traveling apparatus 1.

  As shown in FIGS. 3 and 4, with respect to a plane that passes through the center point O of the main body 1f, includes the X axis parallel to the traveling direction A of the traveling device 1, and is perpendicular to the luggage platform 1a on the upper surface of the main body 1f. The leg wheel device 3 has a configuration in which the leg wheel device 2 is plane-symmetric. Further, the leg wheel device 4 has the same configuration as the leg wheel device 3 and is configured by turning the leg wheel device 3 180 degrees. And the leg wheel apparatus 5 has the same structure as the leg wheel apparatus 2, and is the structure which turned the leg wheel apparatus 2 180 degree | times. Thus, each leg wheel apparatus is the same composition.

  First, the leg wheel device 2 will be described. As shown in FIGS. 3 and 4, the leg wheel base 6 is provided with rotating bearing portions 6 a and 6 b having a straight line 1 h perpendicular to both side surfaces of the leg wheel base 6 as an axis. Similarly, the leg wheel base 6 is provided with rotating bearing portions 6c and 6d having a straight line 1i perpendicular to both side surfaces of the leg wheel base 6 as an axis.

  Next, the link mechanism of the leg wheel device 2 using the rotary bearing portions 6a, 6b, 6c, 6d will be described.

  The upper rotation link portion 10 includes an upper rotation link (outer) 10a, an upper rotation link (inner) 10b, and a reinforcing connecting member 10c having substantially the same outer shape, and the upper rotating link ( The outer) 10a and the upper rotation link (inner) 10b are integrated. Then, hollow rotating boss portions 10d and 10g are fixed to both ends of the upper rotating link (outer) 10a, respectively, and hollow rotating boss portions 10e and 10h are respectively fixed to both ends of the upper rotating link (inner) 10b. Is fixed.

  The rotating boss portions 10d and 10e of the upper rotating link portion 10 are rotatably inserted into the rotating bearing portions 6a and 6b of the leg wheel base 6, respectively, and the hollow inner peripheral surface of the rotating boss portions 10d and 10e. The rotary shaft 10f is rotatably inserted into the rotary boss portions 10g and 10h, and the rotary shaft 18 is inserted into the hollow inner peripheral surfaces of the rotary boss portions 10g and 10h.

  Similarly, the lower rotation link portion 11 includes a lower rotation link (outer) 11a, a lower rotation link (inner) 11b, and a reinforcing connecting member 11c having substantially the same outer shape. The moving link (outer) 11a and the lower rotating link (inner) 11b are integrated. Hollow rotating boss portions 11d and 11g are fixed to both ends of the lower rotating link (outer) 11a, respectively, and hollow rotating boss portions 11e and 11h are fixed to both ends of the lower rotating link (inner) 11b, respectively. Is fixed.

  The rotating boss portions 11d and 11e of the lower rotating link portion 11 are rotatably inserted into the rotating bearing portions 6c and 6d of the leg wheel base 6, respectively, and the hollow inner peripheral surfaces of the rotating boss portions 11d and 11e. The rotary shaft 11f is rotatably inserted into the rotary boss portions 11g and 11h, and the rotary shaft 19 is inserted into the hollow inner peripheral surfaces of the rotary boss portions 11g and 11h.

  The vertical movable link portion 20 has a distance between the rotation center (axial center) of the rotation shaft 18 provided in the upper rotation link portion 10 and the rotation center of the rotation shaft 19 provided in the lower rotation link portion 11. The distance between the shaft centers of the rotary bearing portion 6a (6b) and the rotary bearing portion 6c (6d) provided on the leg wheel base 6, that is, the rotation center of the rotary shaft 10f provided on the upper rotary link portion 10 The rotation boss 10g, the rotation boss 10h, the rotation boss 11g, and the rotation boss 10g, the rotation boss 10g, the rotation boss 11g, and the rotation center of the rotation shaft 11f provided on the lower rotation link 11 It is provided on the outer peripheral surface of the rotating boss portion 11h so as to be rotatable.

  Thereby, when the upper rotation link portion 10 and the lower rotation link portion 11 rotate around the respective rotation bearing portions 6a, the rotation bearing portions 6b, the rotation bearing portions 6c, and the rotation bearing portions 6d, The vertical movable link part 20 moves up and down while being parallel to a line (straight line 6e) connecting the axis of the rotary bearing part 6a and the axis of the rotary bearing part 6c.

  Further, in the leg wheel device 2, the auxiliary wheel 22 is directly or indirectly attached to the vertical movable link unit 20, and the main wheel 32 is directly or indirectly attached to the leg wheel base 6.

  Similarly, in the leg wheel device 3, the upper rotating link (outer) 12a and the upper rotating link (inner) 12b in which the upper rotating link portion 12 has substantially the same outer shape are integrated by the reinforcing connecting member 12c. Thus, the upper rotation link portion 12 is rotatably provided on the rotation bearing portions 7 a and 7 b of the leg wheel base 7. Further, the lower rotation link portion 13 is configured such that a lower rotation link (outer) 13a and a lower rotation link (inner) 13b having substantially the same outer shape are integrated by a reinforcing connecting member 13c. The moving link portion 13 is rotatably provided on the rotating bearing portions 7 c and 7 d of the leg wheel base 7.

  Further, the vertical movable link portion 24 moves up and down while being parallel to the straight line 6e when the upper rotation link portion 12 and the lower rotation link portion 13 rotate around the respective rotation bearing portions.

  Further, in the leg wheel device 3, the auxiliary wheel 29 is attached to the vertical movable link portion 24, and the main wheel 33 is directly or indirectly attached to the leg wheel base 7.

  Similarly, in the leg wheel device 4, the upper rotation link (outer) 14 a and the upper rotation link (inner) 14 b in which the upper rotation link portion 14 has substantially the same outer shape are integrated by the reinforcing connecting member 14 c. The upper rotation link portion 14 is rotatably provided on the rotation bearing portions 8 a and 8 b of the leg wheel base 8. Further, the lower rotation link portion 15 is configured such that the lower rotation link (outer) 15a and the lower rotation link (inner) 15b having substantially the same outer shape are integrated by the reinforcing connecting member 15c, and the lower rotation link 15 The link portion 15 is rotatably provided on the rotary bearing portions 8c and 8d of the leg wheel base 8.

  The vertical movable link portion 26 moves up and down while being parallel to the straight line 6f when the upper rotation link portion 14 and the lower rotation link portion 15 rotate around the respective rotation bearing portions.

  Further, in the leg wheel device 4, the auxiliary wheel 30 is attached to the vertical movable link portion 26, and the main wheel 34 is directly or indirectly attached to the leg wheel base 8.

  Similarly, in the leg wheel device 5, the upper rotating link (outer) 16a and the upper rotating link (inner) 16b in which the upper rotating link portion 16 has substantially the same outer shape are integrated by the reinforcing connecting member 16c. The upper rotation link portion 16 is rotatably provided on the rotation bearing portions 9 a and 9 b of the leg wheel base 9. Further, the lower rotation link portion 17 is configured such that the lower rotation link (outer) 17a and the lower rotation link (inner) 17b having substantially the same outer shape are integrated by the reinforcing connecting member 11c, and the lower rotation link The link part 17 is provided in the rotation bearing parts 9c and 9d of the leg wheel base 9 so that rotation is possible.

  The vertical movable link portion 28 moves up and down while being parallel to the straight line 6f when the upper rotation link portion 16 and the lower rotation link portion 17 rotate around the respective rotation bearing portions.

  In the leg wheel device 5, the auxiliary wheel 31 is attached to the vertical movable link portion 28, and the main wheel 35 is attached to the leg wheel base 9.

  It should be noted that the axis of each of the rotation shaft 10f and the rotation shaft 11f in the leg wheel device 2 and the axis of each of the rotation shaft 12f and the rotation shaft 13f in the leg wheel device 3 coincide with the straight line 1h and the straight line 1i, respectively. It is attached to the main body 1f.

  Similarly, the axis of each of the rotation shaft 14f and the rotation shaft 15f in the leg wheel device 4 and the axis of each of the rotation shaft 16f and the rotation shaft 17f in the leg wheel device 5 are aligned with the straight line 1j and the straight line 1k, respectively. Is attached to the main body 1f.

  Thus, by moving the auxiliary wheel 22 up and down using the parallel link mechanism, the auxiliary wheel 22 and the main wheel 32 can be simultaneously driven by a gear train with a single drive source, as will be described later. . The auxiliary wheel 22 and the main wheel 32, the auxiliary wheel 29 and the main wheel 33, the main wheel 34 and the auxiliary wheel 30, and the main wheel 35 and the auxiliary wheel 31 are arranged in-line. With this in-line arrangement, the steering direction and the wheel rotation speed can be switched stably without discontinuity.

  Next, the wheel drive transmission system in the leg wheel device will be described with reference to FIGS.

  Here, since the leg wheel devices 3, 4, and 5 have the same configuration as the leg wheel device 2, each wheel drive transmission system (wheel drive transmission unit) in the leg wheel device 2 will be described.

  FIG. 5 is a schematic top view for explaining the wheel drive transmission system of the leg wheel device according to Embodiment 1 of the present invention, and FIG. 6 is a schematic side view for explaining the wheel drive transmission system of the leg wheel device. 7 is a schematic front view for explaining a wheel drive transmission system of the legged wheel device.

  5 to 7, in the leg wheel device 2, the inner and outer peripheral surfaces of the rotating boss portions 10 d and 10 e are coaxially processed around the axis, and the inner peripheral surface and the outer peripheral surface form a concentric circle. The drive transmission shaft 40 (same as the rotating shaft 10f in FIG. 3) supported on the inner peripheral surfaces of the rotating boss portions 10d and 10e is centered on the axis of the rotating bearing portions 6a and 6b, that is, on the straight line 1h. It is rotatably supported by the rotating bosses 10d and 10e so as to have.

  The drive transmission shaft 40 includes a pulley 44, a first main wheel bevel gear 45 for driving the main wheel 32 in the middle portion, and a first sub wheel umbrella for driving the sub wheel 22 on the other end side. A gear 46 is fixed.

  The drive transmission shaft 40 is belt driven by a motor 48 with a speed reducer provided on the leg wheel base 6 via a belt 47.

  Next, the wheel drive transmission system of the main wheel 32 will be described.

  The first main wheel bevel gear 45 meshes with a second main wheel bevel gear 50 provided at one end of the first main wheel transmission shaft 49. The first main wheel transmission shaft 49 is substantially perpendicular to the axis of the drive transmission shaft 40, that is, the straight line 1h, and is a bearing 51 fixed to the leg wheel base 6 so as to be parallel to the straight line 6e (see FIG. 4). The first spur gear 52 is disposed at the other end.

  A second spur gear 54 provided at one end of the second main wheel transmission shaft 53 is engaged with the first spur gear 52. Similar to the first main wheel transmission shaft 49, the second main wheel transmission shaft 53 is fixed to the leg wheel base 6 so as to be substantially perpendicular to the straight line 1h and parallel to the straight line 6e (see FIG. 6). The third spur gear 57 is disposed at the other end.

  Similarly to the second main wheel transmission shaft 53, the third main wheel transmission shaft 60 is substantially perpendicular to the straight line 1h and parallel to the straight line 6e (see FIG. 6). A fourth spur gear 61 held at one end of the third main wheel transmission shaft 60 is meshed with the third spur gear 57. A fifth spur gear 62 is disposed at the other end of the third main wheel transmission shaft 60.

  Further, the third main wheel transmission shaft 60 penetrates through the main wheel support portion 63 and the fifth spur gear 62 is arranged inside the substantially U-shaped main wheel support portion 63. It has become. The main wheel support portion 63 can be rotated around the third main wheel transmission shaft 60 by the bearing portion 59 of the leg wheel base 6, and can be rotated in the thrust direction (the third main wheel transmission shaft 60. It has a substantially U-shaped shape in which movement in the axial direction is suppressed.

  Further, the fourth main wheel transmission shaft 66 is rotatably supported by bearings 64 and 65 provided on the main wheel support portion 63 so as to be parallel to the axis of the third main wheel transmission shaft 60. The sixth spur gear 67 provided on the fourth main wheel transmission shaft 66 is engaged with the fifth spur gear 62. A third main wheel bevel gear 68 is disposed on the other end side of the fourth main wheel transmission shaft 66.

  Further, the main wheel shaft 69 is fixed to both side surfaces of the main wheel support portion 63 so as to be perpendicular to the axis of the fourth main wheel transmission shaft 66, and the main wheel 32 having the wheel bearing portions 32a and 32b is used as the main wheel 32. A fourth main wheel bevel gear 70, which is rotatably arranged around the wheel shaft 69 and is integrally connected to the main wheel 32, meshes with the third main wheel bevel gear 68.

  When the third main wheel bevel gear 68 is engaged with the fourth main wheel bevel gear 70, the intersection of the axis of the main wheel shaft 69 and the center of the main wheel 32 in the width direction is the third main wheel. The width of the main wheel 32 is set so that the extension line of the axis of the wheel transmission shaft 60 passes. That is, when the width of the main wheel 32 is set to a width set from the pressure resistance relationship, the intersection of the axis of the main wheel shaft 69 and the center of the main wheel 32 in the width direction is the axis of the third main wheel transmission shaft 60. The distance between the fifth spur gear 62 and the sixth spur gear 67 disposed on the fourth main wheel transmission shaft 66 may be set so that the extended line of the second main wheel passes through.

  Next, the wheel drive transmission system of the auxiliary wheel 22 will be described.

  A second auxiliary wheel bevel gear 74 provided at one end of a first auxiliary wheel transmission shaft 73 (drive shaft) is connected to the first auxiliary wheel bevel gear 46 disposed at the other end of the drive transmission shaft 40. Are engaged.

  The shaft center of the first auxiliary wheel transmission shaft 73 is provided on the shaft center of the drive transmission shaft 40, that is, the straight line 1 h, and the upper rotation link (outside) 10 a in the upper rotation link portion 10 of the leg wheel device 2. Rotate upward so that it passes through the axis of the rotating boss portion 10g, that is, the axis of the rotating shaft 18 (see FIGS. 3 and 4) and is perpendicular to the straight line 1h and the axis of the rotating boss portion 10g. The link portion 10 is held by bearing portions 75 and 76 fixed to the upper rotation link (outer) 10a, and an electromagnetic clutch 77 is connected to the other end.

  The second side of the electromagnetic clutch 77 is supported by bearings 78 and 79 disposed in the upper rotation link portion 10 so as to coincide with the axis of the first auxiliary wheel transmission shaft 73. The transmission wheel 80 (drive shaft) for the secondary wheel is connected, and a third bevel gear 81 for the secondary wheel is fixed to the end of the second transmission wheel 80 for the secondary wheel.

  In this manner, the electromagnetic clutch 77 can block the transmission of the driving force from the first auxiliary wheel transmission shaft 73 to the second auxiliary wheel transmission shaft 80, and the auxiliary wheel 22 is not used when the auxiliary wheel 22 is not used. The wheel 22 can be kept stationary. Thereby, the rotation of the auxiliary wheel 22 prevents the surrounding person and the building from being damaged, and the safety is improved.

  The fourth auxiliary wheel bevel gear 85 is substantially parallel to the axis of the drive transmission shaft 40 and supported by the inner peripheral surfaces of the rotating boss portions 10g and 10h provided in the upper rotating link portion 10. Further, it is disposed at one end of a third auxiliary wheel transmission shaft 84 (same as the rotary shaft 18 in FIGS. 3 and 4). The fourth auxiliary wheel bevel gear 85 meshes with the third auxiliary wheel bevel gear 81. A fifth auxiliary wheel bevel gear 86 is fixed to the other end of the third auxiliary wheel transmission shaft 84.

  The fifth auxiliary wheel bevel gear 86 meshes with a sixth auxiliary wheel bevel gear 88 provided at one end of the fourth auxiliary wheel transmission shaft 87. The fourth auxiliary wheel transmission shaft 87 is a bearing fixed to the vertical movable link 20 so as to be parallel to a line (straight line 6e) connecting the axis of the rotary bearing 6a and the axis of the rotary bearing 6c. The first auxiliary wheel spur gear 90 is disposed at the other end.

  The second auxiliary wheel spur gear 92 is provided at one end of the fifth auxiliary wheel transmission shaft 91, and the second auxiliary wheel spur gear 92 meshes with the first auxiliary wheel spur gear 90. Similarly to the fourth auxiliary wheel transmission shaft 87, the fifth auxiliary wheel transmission shaft 91 is parallel to a line (straight line 6e) connecting the axis of the rotary bearing portion 6a and the axis of the rotary bearing portion 6c. In this manner, the third auxiliary wheel spur gear 95 is disposed at the other end, which is held by the bearing portions 93 and 94 fixed to the vertical movable link portion 20.

  The fourth auxiliary wheel spur gear 98 is parallel to a line (straight line 6e) connecting the axis of the rotary bearing portion 6a and the axis of the rotary bearing portion 6c in the same manner as the fifth auxiliary wheel transmission shaft 91. The fourth sub-wheel spur gear 98 is provided at one end of a sixth sub-wheel transmission shaft 97 held by a bearing portion 96 fixed to the vertical movable link portion 20 so that the fourth sub-wheel spur gear 98 is a third sub-wheel. A fifth sub-wheel spur gear 99 is disposed at the other end of the sixth sub-wheel transmission shaft 97.

  The leg wheel support portion 101 can be rotated around the sixth auxiliary wheel transmission shaft 97 by the bearing portion 100 of the vertical movable link portion 20 and is in the thrust direction (the axial center of the sixth auxiliary wheel transmission shaft 97). Direction) and the sixth auxiliary wheel transmission shaft 97 penetrates the inside of the leg wheel support portion 101, and the substantially U-shaped leg wheel. The fifth auxiliary wheel spur gear 99 is disposed inside the support portion 101.

  The sixth auxiliary wheel spur gear 110 rotates to bearing portions 107 and 108 (not shown) provided on the leg wheel support portion 101 so as to be parallel to the axis of the sixth auxiliary wheel transmission shaft 97. The sixth auxiliary wheel spur gear 110 is provided on a freely supported seventh auxiliary wheel transmission shaft 109, and the fifth auxiliary wheel spur gear 99 meshes with the seventh auxiliary wheel transmission shaft 109. A seventh auxiliary wheel bevel gear 111 is disposed on the other end side of the motor.

  Then, the leg wheel shaft 112 is fixed to both side surfaces of the leg wheel support portion 101 so as to be perpendicular to the axis of the seventh auxiliary wheel transmission shaft 109, and the auxiliary wheel 22 having the wheel bearing portions 22a, 22b is attached to the leg. An eighth auxiliary wheel bevel gear 113 that is rotatably arranged around the wheel shaft 112 and is integrally connected to the auxiliary wheel 22 is arranged to mesh with the seventh auxiliary wheel bevel gear 111.

  Further, when the eighth auxiliary wheel bevel gear 113 is engaged with the seventh auxiliary wheel bevel gear 111, the intersection of the axis of the leg wheel shaft 112 and the center of the auxiliary wheel 22 in the width direction is set to the sixth auxiliary wheel bevel gear 111. The width of the auxiliary wheel 22 is set so that the extension line of the axis of the wheel transmission shaft 97 passes. That is, when the width of the auxiliary wheel 22 is set to a width set from the relationship of pressure resistance, the intersection of the axis of the leg wheel shaft 112 and the center in the width direction of the auxiliary wheel 22 is the axis of the sixth auxiliary wheel transmission shaft 97. The fifth auxiliary wheel spur gear 110 provided on the seventh auxiliary wheel transmission shaft 109 and the fifth auxiliary wheel transmission shaft 97 provided at one end of the sixth auxiliary wheel transmission shaft What is necessary is just to set the space | interval position of the spur gear 99 for this subwheel.

  The axis of the first auxiliary wheel transmission shaft 73 passes through the axis of the rotation boss 10d of the upper rotation link (outer) 10a, that is, the axis of the drive transmission shaft 40 and is orthogonal to the drive transmission shaft 40. To do. The shaft center of the first auxiliary wheel transmission shaft 73 is connected to the second auxiliary wheel transmission shaft 80 (drive shaft) via the electromagnetic clutch 77. The second auxiliary wheel transmission shaft 80 has the same axis as that of the first auxiliary wheel transmission shaft 73, and the axial centers thereof are the upper rotation link (outer) 10 a and the upper rotation link (inner ) Passing through the shaft center of the third auxiliary wheel transmission shaft 84 supported by the shaft centers of the rotating boss portions 10g and 10h provided on the respective 10b, that is, the inner peripheral surfaces of the rotating boss portions 10g and 10h, and It is comprised so that it may orthogonally cross.

  Further, a second auxiliary wheel bevel gear 74 provided at one end of the first auxiliary wheel transmission shaft 73 and a third auxiliary wheel bevel gear fixed to one end of the second auxiliary wheel transmission shaft 80. Reference numeral 81 denotes a position where the first sub-wheel bevel gear 46 and the fourth sub-wheel bevel gear 85 are engaged with each other with respect to the axis of the drive transmission shaft 40 and the axis of the third sub-wheel transmission shaft 84. Each of them is configured to be located on the same side, that is, on the right side of the axis of each of the drive transmission shaft 40 and the third auxiliary wheel transmission shaft 84 in FIG.

  As a result, even if the auxiliary wheel 22 of the leg wheel device 2 is moved up and down, interference of the rotational speed between the auxiliary wheel 22 and the main wheel 32 due to the vertical movement can be eliminated, and the auxiliary wheel 22 and the main wheel 32 are switched. In addition, the rotational speed, that is, the traveling speed of the traveling device 1 is not discontinuous and can be switched stably.

  In addition, the wheel drive transmission system of the auxiliary wheel 29 and the main wheel 33, the main wheel 34 and the auxiliary wheel 30, and the main wheel 35 and the auxiliary wheel 31 can similarly eliminate the interference of the rotational speed. Even if the main wheel is switched, the steering direction can be switched stably without discontinuity.

  Further, the positions where the second auxiliary wheel bevel gear 74 and the third auxiliary wheel bevel gear 81 mesh with the first auxiliary wheel bevel gear 46 and the fourth auxiliary wheel bevel gear 85 are driven in FIG. You may comprise so that it may be located in the left side of each axial center of the transmission shaft 40 and the transmission shaft 84 for 3rd subwheels. More specifically, the meshing positions and directions of the bevel gears 81 and 85 and the meshing positions and directions of the bevel gears 74 and 46 are set so that the drive shafts 40 and 84 rotate in the same direction. By doing so, the drive shaft automatically rotates with respect to the swing arm rotation, and the meshing phase of the bevel gears at both ends of the drive shaft changes differentially, so that interference with the drive shafts 40 and 84 is prevented. Does not occur. That is, the wheel rotation speed does not change due to the swing arm rotation.

Next , a steering drive transmission system in the leg wheel device will be described. Here, since the leg wheel devices 3, 4, and 5 have the same configuration as the leg wheel device 2, a steering drive transmission system in the leg wheel device 2 will be described here .

First, the steering drive transmission system for the main wheel 32 will be described . Misao steering drive shaft 150 is rotatably supported on each of the inner peripheral surface of the falls below the dynamic link (outer) 11a and falls below the dynamic link (the) 11b to the rotating boss 11d respectively provided, 11e . Therefore, the axis of the steering drive shaft 150 is configured to have an axis on the axis of the rotary bearing portions 6c and 6d, that is, on the straight line 1i.

  A driving spur gear 153 is fixed to the steering drive shaft 150 and meshes with a motor coupling spur gear 155 fixed to the driving shaft of the steering drive motor 154.

  A first auxiliary wheel steering bevel gear 156 is fixed to one end of the steering drive shaft 150, and the main wheel steering worm gear 157 is interposed between the driving spur gear 153 and the first auxiliary wheel steering bevel gear 156. Is fixed.

  The main wheel steering worm gear 157 is fixed to the upper portion of the main wheel support portion 63 (FIG. 6) and meshes with a main wheel steering worm wheel 158 that can rotate around the third main wheel transmission shaft 60. ing.

Next, a steering drive transmission system for the auxiliary wheel 22 will be described . First second for auxiliary wheel steering provided at one end of the auxiliary wheel steering bevel gear 156 first auxiliary wheel steering transmission shaft 159 (drive shaft) disposed at one end of the steering rudder drive shaft 150 The bevel gear 160 is engaged.

  On the other hand, a third auxiliary wheel steering drive shaft 169 having a fourth auxiliary wheel steering bevel gear 168 provided at one end is provided on each of the lower rotation link (outer) 11a and the lower rotation link (inner) 11b. The rotating boss portions 11g and 11h are rotatably arranged on the inner peripheral surfaces.

  The first auxiliary wheel steering transmission shaft 159 (drive shaft) is a pivot provided in the pivot center of the pivot bearing portion 6d, that is, the pivot center of the steering drive shaft 150 and the lower pivot link portion 11 of the leg wheel device 2. Passes through the axis of the bosses 11g and 11h, that is, the axis of the third auxiliary wheel steering drive shaft 169, that is, the axis of the rotary shaft 19 (see FIGS. 3 and 4), and the axis of the steering drive shaft 150; That is, it is held by bearings 161 and 162 fixed to the lower rotation link (inner) 11b of the lower rotation link portion 11 so as to be a line perpendicular to the straight line 1i, and an electromagnetic clutch 163 is connected to the other end. Yes.

  The second side of the electromagnetic clutch 163 is supported by bearings 164 and 165 disposed on the lower rotation link portion 11 so as to coincide with the axis of the first auxiliary wheel steering transmission shaft 159. The auxiliary wheel steering transmission shaft 166 (drive shaft) is connected, and a third auxiliary wheel steering bevel gear 167 is fixed to the end of the second auxiliary wheel steering transmission shaft 166.

  As described above, the electromagnetic clutch 163 can block the transmission of the driving force from the first auxiliary wheel steering transmission shaft 159 to the second auxiliary wheel steering transmission shaft 166, and the auxiliary wheel 22 is not used. The auxiliary wheel 22 can be kept stationary. This prevents the surrounding person or building from being damaged by the movement of the auxiliary wheel 22 in the direction, thereby improving safety.

  When the electromagnetic clutch 163 is turned off (not connected), the transmission of the drive from the first auxiliary wheel steering transmission shaft 159 to the second auxiliary wheel steering transmission shaft 166 is cut off. Although 32 can be steered, the secondary wheel 22 remains stationary. Therefore, when the electromagnetic clutch 163 is turned off, the steering angles of the main wheel 32 and the auxiliary wheel 22 are different. Therefore, an encoder (not shown) for detecting the steering angle of each of the main wheel 32 and the auxiliary wheel 22 is provided, and the electromagnetic clutch 163 is operated by steering based on the steering angle detected from these encoders. Even when the vehicle is turned off, the steering angles of the main wheel 32 and the auxiliary wheel 22 are matched.

Also, by performing actively intermittently coupling / blocking the electromagnetic clutch 163, it is possible to adjust the steering angle and the steering angle of the sub-wheels 22 of the main wheel 32 at different angles. Thereby, for example, even in a situation where both the main wheel 32 and the auxiliary wheel 22 are in contact with each other, it is possible to set and control the traveling route of each wheel on a concentric circle.

  The auxiliary wheel steering worm gear 170 is disposed on the third auxiliary wheel steering drive shaft 169 between the bearing boss portions 11g and 11h.

The auxiliary wheel steering worm gear 170 is fixed to the upper portion of the leg wheel support portion 101, and meshes with a worm wheel 171 that can rotate around the sixth auxiliary wheel transmission shaft 97.

  Thus, since the auxiliary wheel 22 and the main wheel 32 are gear-coupled via the first auxiliary wheel steering transmission shaft 159, the auxiliary wheel 22 and the main wheel 32 have the same steering angle in the same traveling direction. Can do.

In addition, a first auxiliary wheel steering bevel gear 156 is disposed at one end of a steering drive shaft 150 having an axis on the straight line 1i, and a third axis having the same axis as the axis of the rotating boss portions 11g and 11h. A fourth auxiliary wheel steering bevel gear 168 is disposed at one end of the auxiliary wheel steering drive shaft 169. Then, the second sub-wheel steering bevel gear 160 and the third sub-wheel steering bevel gear 167 are respectively connected to the first sub-wheel steering bevel gear 156 and the fourth sub-wheel steering bevel gear 168, respectively. The shaft center of the first sub-wheel steering transmission shaft 159 and the shaft center of the second sub-wheel steering transmission shaft 166 are the center of the steering drive shaft 150 and the third sub-wheel steering drive shaft 169. The configuration is such that it passes through the axis and is orthogonal to the axis of the steering drive shaft 150 and the axis of the third auxiliary wheel steering drive shaft 169. Further, the positions at which the second auxiliary wheel steering bevel gear 160 and the third auxiliary wheel steering bevel gear 167 mesh with the first auxiliary wheel steering bevel gear 156 and the fourth auxiliary wheel steering bevel gear 168, respectively. axis and a third respective same side with respect to the axis of the auxiliary wheel steering drive shaft 169 of the steering drive shaft 150, Sunawa Chi OPERA steering drive shaft 150 with the axis of the third sub-wheel steering drive shaft 169 Configure to be on the right side of the axis.

  Thereby, even if the auxiliary wheel 22 is moved up and down, the interference of the steering angle between the auxiliary wheel 22 and the front main wheel 32 due to the vertical movement can be eliminated, and the steering direction is not correct even when the auxiliary wheel 22 and the main wheel 32 are switched. It can be switched stably without being continuous.

Speaking of al, the drive shaft 150 and 169 so as to rotate in the same direction, to as to set the engaging position and orientation of the bevel gears 156 and 160 of the engaging position and orientation and the bevel gear 168 and 167. By doing so, the drive shaft automatically rotates with respect to the rotation of the swing arm, and the meshing phase of the bevel gears at both ends of the drive shaft changes differentially, so that interference with the drive shafts 150 and 169 occurs. Does not occur. That is, the steering angle does not change due to the rotation of the swing arm.

  In addition, the steering drive transmission system of the auxiliary wheel 29 and the main wheel 33, the main wheel 34 and the auxiliary wheel 30, and the main wheel 35 and the auxiliary wheel 31 can similarly eliminate the interference of the steering angle. Even if the main wheel is switched, the steering direction can be switched stably without discontinuity.

  Further, the transmission of the reaction force received from the road surface by the worm gears 157 and 170 can be blocked. Thereby, the steering direction can be stabilized.

Next, referring to FIG. 8 and FIG. 9 , a drive transmission system for swing operation that swings the upper rotation link (outer) 10a and the upper rotation link (inner) 10b in the leg wheel device 2 as a swing arm portion. The configuration of will be described.

FIG. 8 is a schematic top view for explaining the swing operation of the leg wheel device 2 according to Embodiment 1 of the present invention, and FIG. 9 is a schematic side view for explaining the swing operation of the leg wheel device 2.

  In addition, the drive transmission system for each swing operation in the leg wheel devices 3, 4, and 5 has the same configuration, and here, the leg wheel device 2 will be described for easy understanding.

As shown in FIGS. 8 and 9 , the rotation transmission shaft 180 is supported by bearing portions 181 and 182 provided on the leg wheel base 6 so as to be parallel to the axis of the drive transmission shaft 40, that is, the straight line 1h. ing. A first swinging spur gear 183 and a second swinging spur gear 184 are fixed to both ends of the rotation transmission shaft 180, and the first swinging spur gear 183 and the second swinging spur gear 184 are fixed. A swinging operation spur gear 185 is fixed to a substantially intermediate portion with respect to 184, and meshes with a driving spur gear 187 fixed to the rotation shaft of the swinging operation motor 186.

  The output shafts of the first reduction gear 188 and the second reduction gear 189 are connected to the upper rotation link (outer) 10a and the upper rotation link (inner) 10b in the leg wheel device 2, respectively, and their input shafts. The third swinging operation spur gear 190 and the fourth swinging operation spur gear 191 are connected to each other so as to rotate around the axis of the rotation bearing portions 6a and 6b. The third swing operation spur gear 190 and the fourth swing operation spur gear 191 mesh with the first swing operation spur gear 183 and the second swing operation spur gear 184, respectively.

  In this way, by rotating both sides of the first swinging operation spur gear 183 and the second swinging operation spur gear 184, compared to rotating one of them, the top of the leg wheel device 2 is improved. Driving distortion when the swing link (outer) 10a and the upper link (inner) 10b are swung is suppressed.

  As another example of the leg wheel device 2, a differential gear may be used to swing the upper rotating link (outer) 10a and the upper rotating link (inner) 10b to further suppress drive distortion. .

FIG. 10 is a schematic top view for explaining another example of the leg wheel device 2 according to Embodiment 1 of the present invention.

As shown in FIG. 10 , the differential gear 193 is used to swing the upper rotary link (outer) 10 a and the upper rotary link (inner) 10 b.

  Specifically, a differential gear 193 is connected to a swing operation drive spur gear 185 to which the rotational driving force of the swing operation drive motor 186 is transmitted via the drive spur gear 187, and the first gear is connected via the differential gear 193. The first swinging operation spur gear 183 and the second swinging operation spur gear 184 are driven.

In FIG. 10 , the bearing portion provided on the leg wheel base 6 so that the first rotation transmission shaft 194 and the second rotation transmission shaft 195 are parallel to the axis of the drive transmission shaft 40, that is, the straight line 1h. The bearing portion 196 attached to the leg wheel base 6 and the bearing portion 182 provided to the leg wheel base 6 and the bearing portion 197 attached to the leg wheel base 6 are respectively supported.

  The drive spur gear 185 for swing operation is loosely fitted to the second rotation transmission shaft 195 and is configured to be rotatable. Then, the differential gear 193 is coupled to the swing operation drive spur gear 185, and the rotational drive of the swing operation drive spur gear 185 serves as an input of the differential gear 193. The first rotation transmission shaft 194 and the second rotation transmission shaft 195 are connected via a differential gear 193, and the first swing operation spur gear 183 and the second swing operation are connected via the differential gear 193. The spur gear 184 is driven. With this configuration, the first swinging operation spur gear 183 and the third swinging operation spur gear 190 mesh with each other, and the second swinging operation spur gear 184 and the fourth swinging operation spur gear 190. Even when there is a phase shift due to backlash or the like in meshing with the gear 191, the phase adjustment is performed by the action of the differential gear 193, so that stable drive transmission can be realized.

  As still another example of the leg wheel device 2, a swing operation spur gear is fixed to the rotation transmission shaft 180 in the arm drive transmission system, and meshed with the drive worm gear fixed to the rotation shaft of the swing operation drive motor. You may make it drive together.

FIG. 11 is a schematic top view for explaining still another example of the leg wheel device 2 according to Embodiment 1 of the present invention, and FIG. 12 is a schematic side view for explaining still another example of the leg wheel device 2. It is.

As shown in FIGS. 11 and 12 , the swing transmission spur gear 303 is fixed to the rotation transmission shaft 180, and is engaged with the worm gear 305 fixed to the rotation shaft of the swing operation drive motor 304 and driven.

  Specifically, the rotation transmission shaft 180 is supported by bearing portions 181 and 182 provided on the leg wheel base 6 so as to be parallel to the axis of the drive transmission shaft 40, that is, the straight line 1 h. A first swinging operation spur gear 301 and a second swinging operation spur gear 302 are fixed to both ends of the rotation transmission shaft 180, and the first swinging operation spur gear 301 and the second swinging operation spur gear 302 are fixed. A swing operation spur gear 303 is fixed to a substantially middle portion with 302, and meshes with a worm gear 305 fixed to the rotating shaft of the swing operation drive motor 304.

  The upper rotation link (outer) 10a and the upper rotation link (inner) 10b are respectively provided with a third swinging operation spur gear 306 and a first rotation gear so as to rotate about the axis of the rotation bearing portions 6a and 6b. Four swinging spur gears 307 are fixed and meshed with the first swinging spur gear 301 and the second swinging spur gear 302, respectively.

(Embodiment 2)
Hereinafter, a leg wheel device according to Embodiment 2 of the present invention will be described with reference to the drawings.

FIG. 13 is a schematic top view for explaining the arm drive transmission system of the leg wheel device according to Embodiment 2 of the present invention, and FIG. 14 is a schematic side view for explaining the arm drive transmission system of the leg wheel device. . In addition, about the thing which has the structure similar to the structure of Embodiment 1, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

In FIG. 13 , the difference from the arm drive transmission system of the first embodiment is that gears are provided on both the base side link part (base link part) and the vertical movable link side link part (tip link part), These gears are connected via a worm shaft, and the worm shaft is rotationally driven to swing the upper rotational link (outer) 10a and the upper rotational link (inner) 10b.

13 and 14 , a substantially central portion of the upper rotation link (outer) 10 a and the upper rotation link (inner) 10 b constituting the upper rotation link portion 10 (see FIGS. 3 and 4) in the leg wheel device 2. , The bearing portions 321 and 322 are connected to the reinforcing connecting member 10c so as to pass through the axis of the drive transmission shaft 40 and the axis of the third auxiliary wheel transmission shaft 84 and be parallel to a straight line perpendicular to the axis. The swing operation drive shaft 323 is supported by the bearing portions 321 and 322. Worm gears 324 and 325 are disposed at both ends of the swing operation drive shaft 323 (worm shaft), respectively.

  Worm wheels 326 and 327 are engaged with the worm gears 324 and 325, respectively. The worm wheel 326 is fixed to a gear mounting portion 6 f provided on the leg wheel base 6 constituting the leg wheel device 2. The rotation center of the worm wheel 326 is disposed so as to coincide with the axis of the drive transmission shaft 40, that is, the straight line 1h, and the worm wheel 326 is configured to be loosely fitted to the drive transmission shaft 40. Is rotatable with respect to the worm wheel 326.

  The worm wheel 327 has the same specifications as the worm wheel 326, and is fixed to a gear mounting portion 20 a provided in the vertical movable link portion 20 of the leg wheel device 2. The rotation center of the worm wheel 327 is arranged so as to coincide with the axis of the third auxiliary wheel transmission shaft 84, and the worm wheel 327 is configured to be loosely fitted to the third auxiliary wheel transmission shaft 84. Therefore, the third auxiliary wheel transmission shaft 84 is rotatable with respect to the worm wheel 327.

  A swing operation drive gear 328 is fixed to the swing operation drive shaft 323 at a substantially intermediate portion between the worm gear 324 and the worm gear 325, and the drive gear 329 is engaged with the swing operation drive gear 328. The drive gear 329 is coupled to a swing operation drive motor 331 attached to a motor board 330 fixed on the reinforcing coupling member 10c.

As described above, according to the second embodiment, the leg wheel device 2 can swing the upper rotation link (outer) 10a and the upper rotation link (inner) 10b.
According to this configuration, the rotational load during the swing operation can be dispersed around the root-side rotation shaft and the tip-side rotation shaft.

(Embodiment 3)
Hereinafter, a leg wheel device according to Embodiment 3 of the present invention will be described with reference to the drawings.

Figure 15 is a schematic front view for explaining a suspension device for the leg-wheel device in the third embodiment of the present invention, FIG 16 is a schematic side view for explaining a suspension measures Doashi wheel device, Fig. 17 Doashi It is sectional drawing of the shaft both ends of a wheel apparatus. In addition, about the thing which has the structure similar to the structure of Embodiment 1, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

In FIG. 15 , the point different from the first embodiment is that a suspension device is provided on each wheel in the traveling device 1. Thereby, the impact from the road surface which the traveling apparatus 1 receives also at the time of rough road surface traveling can be relieved, and the impact in the luggage stand 1a can be suppressed.

In FIG. 15 , the suspension devices in the four main wheels and the four auxiliary wheels have the same configuration, and therefore, the configuration of the suspension device provided on the main wheel 32 will be described here.

With reference to FIGS. 15 to 17, the configuration of the wheel drive transmission system of the main wheels 32.

  First, an outline of main parts different from the first embodiment in the wheel drive transmission system and the steering drive transmission system of the main wheel 32 will be described.

As shown in FIGS. 15 to 17 , in the third embodiment, instead of the fourth main wheel transmission shaft 66 of the first embodiment, two spline-coupled transmission shafts, that is, the spline transmission shaft 203 and A spline boss shaft 201 is used.

Moreover, in this Embodiment 3, instead of the main wheel shaft 69 which supports the main wheel 32 of Embodiment 1, the D cut shaft (refer FIG. 17 (A)) which cut the both sides of the round shaft in parallel in both ends. The main wheel shaft 205 using) is made slidable.

  The support member and the support portion of the main wheel 32 are connected by a suspension spring 212.

  Next, an outline of the configuration of the wheel drive transmission system in the third embodiment will be described. In the third embodiment, the configuration of the fourth main wheel transmission shaft 66 (FIG. 6) is different from the configuration of the wheel drive transmission system of the main wheel 32 in the first embodiment in terms of the gear train and the configuration of each transmission shaft. Since the configuration is substantially the same except for (see FIG. 7), the configuration of parts different from the first embodiment will be described here.

In FIG. 15 , a fourth spur gear 61 and a fifth spur gear 62 are disposed at both ends of the third main wheel transmission shaft 60, and the fifth spur gear 62 meshes with the sixth spur gear 67. The configuration is the same as that of the first embodiment.

  The sixth spur gear 67 is fixed to one end of a spline boss shaft 201 whose inner peripheral portion 201 a is spline bossed, and is rotatably supported by bearing portions 64 and 65 provided on the main wheel support portion 202. Yes.

  A spline shaft corresponding to the spline boss of the spline boss shaft 201 is formed on the outer peripheral portion 203 a, and the bearing portion 204 is connected to the main wheel support portion 202 so that the axis of the spline transmission shaft 203 coincides with the axis of the spline boss shaft 201. Provided. Therefore, when the spline transmission shaft 203 is fitted into the spline boss shaft 201, the spline transmission shaft 203 can slide on the spline boss shaft 201 in the axial direction.

  As described above, in the third embodiment, sliding type spline coupling is used. A third main wheel bevel gear 68 is disposed at one end of the spline transmission shaft 203. Accordingly, the rotation of the sixth spur gear 67 is transmitted to the third main wheel bevel gear 68 by the spline coupling between the spline boss shaft 201 and the spline transmission shaft 203, and the sixth spur gear is coupled by the sliding spline coupling. The distance between 67 and the third main wheel bevel gear 68 is variable.

On the other hand, the bearing portion 32a, at the both side ends of the main wheel axle 205 for supporting the main wheels 32 through 32b, cut in parallel on both sides of the outer peripheral portion as shown in FIG. 17 (A), the main wheel axis 205 The main wheel 32 provided with the bearing portions 32a and 32b is slidable along a long hole 202a provided in the main wheel support portion 202 in the axial direction of the spline boss shaft 201 and the spline transmission shaft 203, and the bearing portion 32a. , 32b, and is rotatably supported around the main wheel shaft 205.

Incidentally, in the main wheel shaft 205 is not rotated, in order to slidable along the elongated hole 202a provided in the main wheel supporting portion 202, both side edge portions of the main wheel axis 205, FIG. 17 (B) As shown in FIG.

Further, as shown in FIG. 17 (C), the external shape is a rectangular shape (or two sides parallel shape) member 206 may be a main wheel axis 205 fixed to the main wheel axle 69.

  A fourth main wheel bevel gear 70 disposed integrally with the main wheel 32 having the wheel bearing portions 32a and 32b meshes with the third main wheel bevel gear 68, and is used for the third main wheel. The rotation of the bevel gear 68 is transmitted to the main wheel 32. In addition, a compression spring 214 is disposed between the upper end surface of the spline boss shaft 201 and the upper end surface of the spline transmission shaft 203 in the hole portion of the spline boss shaft 201 where the spline boss is formed. The wheel bevel gear 68 is configured to always abut against the fourth main wheel bevel gear 70.

  Spring receiving members 206 and 207 are fixed to both ends of the main wheel shaft 205, and spring receiving portions 208 and 209 are fixed to the spring receiving members 206 and 207, respectively. In addition, spring receiving portions 210 and 211 are respectively fixed to the side surfaces on both sides of the main wheel support portion 202. The spring receiving portions 210 and 211 are provided at positions facing the spring receiving portions 208 and 209, respectively. Suspension springs 212 and 213 are disposed between the spring receiver 208 and the spring receiver 210 and between the spring receiver 209 and the spring receiver 211, respectively.

  When the main wheel steering worm wheel 158 is rotated by the main wheel steering worm gear 157 (not shown), the main wheel support 202 to which the main wheel steering worm wheel 158 is fixed is rotated. The suspension springs 212 and 213 rotate together with the main wheel support portion 202 while being held between the spring receiving portion 208 and the spring receiving portion 210 and between the spring receiving portion 209 and the spring receiving portion 211.

  Next, the configuration of the wheel drive transmission system of the auxiliary wheel 22 will be described.

  The wheel drive transmission system from the fourth spur gear 61 to the main wheel 32 described above, and the wheel drive transmission system having the same configuration as the configuration in which the main wheel shaft 205 and the main wheel support portion 202 are connected by the suspension springs 212 and 213 are used as the auxiliary drive system. Used for wheels 22. However, since the auxiliary wheel 22 is attached to the leg wheel device 2, the main wheel support portion 202 in the main wheel 32 is restrained from moving in the thrust direction by the main body portion 1f, and the bearing portion 59 provided in the main body portion 1f. In the case of the auxiliary wheel 22, the main wheel support portion 202 is restrained from moving in the thrust direction by the vertical movable link portion 20, and around the bearing portion 100 provided in the vertical movable link portion 20. It is the structure which can be rotated to.

The wheel drive transmission system of the auxiliary wheel 22 in the present third embodiment is shown in FIG. 15 instead of the wheel drive transmission system (FIG. 6) from the fourth auxiliary wheel spur gear 98 to the main wheel 32 in the first embodiment. As shown, the wheel drive transmission system from the fourth spur gear 61 to the main wheel 32 is replaced. Further, the suspension spring 212 is added to the configuration in which the main wheel 32 is replaced with the auxiliary wheel 22.

  In order to improve the buffering performance of the suspension spring 212, a hydraulic or pneumatic damper may be provided in parallel with the suspension spring 212.

  As described above, according to the third embodiment, each leg wheel base and each main wheel and each vertical movable link portion and each leg wheel are connected by a suspension spring. It is possible to reduce the impact from the road surface that the traveling device receives even when traveling on rough terrain, and to improve the riding comfort on the luggage platform.

(Embodiment 4)
Hereinafter, a leg wheel device according to Embodiment 4 of the present invention will be described with reference to the drawings.

FIG. 18 is a schematic side view for explaining a swing motion transmission system of the leg wheel device according to Embodiment 4 of the present invention. In addition, about the thing which has the structure similar to the structure of Embodiment 1, the same code | symbol is attached | subjected and the detailed description is abbreviate | omitted. Moreover, the structure of the leg wheel apparatus 3, 4, 5 is also the same, and the leg wheel apparatus 2 is demonstrated here.

In FIG. 18 , the difference from the first embodiment is that the main body portion 1 f and the leg wheel device 2 attached to the main body portion 1 f are connected via a free length lock type gas spring 251. The operating force of 251 and the rotational force of the drive motor 186 for swing operation are used together to swing the leg wheel device 2 downward.

  As a result, when the leg wheel device 2 is swung downward and the auxiliary wheel 22 is grounded to the road surface and lifts the main body 1f, the load of the swing operation drive motor 186 can be reduced. Similarly, the load of the swing operation drive motor 186 in the other leg wheel device 3, the leg wheel device 4, and the leg wheel device 5 can be reduced.

  In particular, it can be used when traveling on a down slope road surface, traveling across an oblique slope road surface, climbing a stepped road surface, or descending a stepped road surface. This is useful for lifting a part or all of the main wheels of the leg wheel device provided on the upper side and for supporting the main body 1f so as to maintain its own weight in the posture.

  Hereinafter, the structure which connected the main-body part 1f and the leg wheel apparatus 2 attached to the main-body part 1f via the free length lock-type gas spring 251 is demonstrated.

As shown in FIG. 18 , the upper rotation link portion 252 has an approximately L-shaped upper rotation link (outer) 252a and an upper rotation having substantially the same shape as the outer shape of the upper rotation link (outer) 252a. The link (inner) 252b is fixedly connected to the rotation pressing shaft 252d and is integrated with the reinforcing connecting member 10c.

  That is, the upper rotation link portion 252 includes an upper rotation link (outer) 252a, an upper rotation link (inner) 252b, a reinforcing connecting member 10c, and a rotation pressing shaft 252d. Rotating bearings 6a and 6b provided on the leg wheel base 6 are rotatably provided.

  The lower rotation link portion 11 includes a lower rotation link (outer) 11 a, a lower rotation link (inner) 11 b, and a reinforcing connecting member 11 c, and the lower rotation link portion 11 is the leg wheel base 6. The rotary bearings 6c and 6d are rotatably provided.

  Further, the vertical movable link portion 20 includes a rotation boss portion 10g, 10h provided at an end of the upper rotation link portion 252 opposite to the rotation boss portions 10d, 10e, respectively, and a lower rotation link portion. 11, the rotation boss portions 11g and 11h provided at the ends opposite to the rotation boss portions 11d and 11e are rotatably provided.

  A housing provided on the other side of the leg wheel device 2 configured in this manner is rotatably connected to the rotary pressing shaft 252d at the end of the rod portion 251a of the free-length lock type gas spring 251. An end portion of the attachment portion 251b is rotatably connected around a rotation fulcrum shaft 254 fixed to a rotation fulcrum shaft attachment portion 253 provided on the main body portion 1f.

  The traveling device 1 corresponds to a leg wheel that is grounded to support the main body portion 1f when any or all of the auxiliary wheels 22, the auxiliary wheels 29, the auxiliary wheels 30 or the auxiliary wheels 31 are grounded to support the main body portion 1f. An operation instruction is given to the swing operation drive motor 186 so as to lower the leg wheel device to be lowered, and an instruction to generate a gas reaction force to the free length lock type gas spring 251 is issued.

  For example, a torque that lifts about half of the total weight of the traveling device 1 is generated by a free-length locking gas spring 251 connected to each of the leg wheel devices 2, 3, 4, and 5. That is, if the traveling device 1 generates a torque that lifts a weight corresponding to about 1/8 of the total weight of the traveling device 1 with one free length lock type gas spring 251, the leg wheel devices 2, 3, The power required for each swing operation drive motor 186 for lowering each of 4, 5 and lowering the traveling device 1 is about ½ compared to when no gas spring is attached. Further, when the leg wheel device is lifted upward while the main wheel is in contact with the ground, the power required for the swing operation drive motor 186 is substantially equal to the reverse direction to overcome the reaction force of the gas spring. (The weight of the traveling device 1 is not a load in this direction). The power distribution is approximately equal to normal and reverse, and the drive motor can be used efficiently. As a result, the swing operation drive motor 186 can be reduced in size or power consumption.

  As described above, according to the fourth embodiment, the free-length lock type gas spring 251 and the swing operation drive motor 186 are used together to lift the main body 1f. The swinging drive motor 186 can be reduced in size or power can be reduced.

  In addition, after the posture control of the main body portion 1f is completed, the length of the free length lock type gas spring 251 is locked, and the free length lock type gas spring 251 can support the own weight of the main body portion 1f and maintain the posture. . As a result, when the posture change is unnecessary, the drive of the swing operation drive motor 186 can be stopped, so that the power consumption can be further reduced.

  Further, since each of the leg wheel devices 2, 3, 4, and 5 can be steered by ± 180 degrees, they may be freely arranged in the main body portion 1f.

For example, FIG. 19 is a layout diagram disposed respectively leg wheel assemblies 2, 3, 4, 5 to the main body 1f, 19 (A) is obtained by directed toward the transverse direction to the traveling direction FIG. 19B is arranged in the vertical direction with respect to the traveling direction. Figure 19 (C) is obtained by radially arranged four leg wheel device from a substantially central position of the main body 1f. Figure 19 (D) is obtained by arranging the three legs wheel device. The arrangement of the leg wheel device can be selected according to the characteristics of the assumed road surface condition, and the applicability to application development of the leg wheel device of the present invention is high. A horizontal swing mechanism for pivotally attaching the leg wheel devices 2, 3, 4, 5 to the main body 1f may be provided, and the leg wheel devices 2, 3, 4, 5 may be configured to be adaptively adjustable by an actuator or the like.

In the first embodiment, the leg wheel devices 2, 3, 4, 5 are arranged on the main body 1f, but the arrangement and number are not limited thereto. For example, in the arrangement of FIG. 19B , instead of the leg wheel devices 4 and 5, the wheels 34, 30, 35, 31 may be replaced with leg wheels having a slave wheel configuration that does not have a wheel drive input and a steering drive input. . Of course, it may be replaced with a leg wheel in which only the steering drive input is omitted. In the traveling device of the present invention, if it is a regular four-wheel grounding configuration as shown in FIG. 19 (B), the leg wheel device of the present invention may be provided, for example, in either the front or rear, as shown in FIG. 19 (D). If it is a regular three-wheel grounding configuration, the leg wheel device of the present invention may be provided with either one in front or two in the rear, for example, and all the leg wheels need not be the leg wheel device of the present invention.

  According to the present invention, not only steering when the main wheel is grounded but also steering when the secondary wheel is grounded is possible, and it is possible to travel on a road surface with a slope or a road surface with a step more safely. It can be used for a luggage transport device or an electric wheelchair.

Schematic which shows the example of a structure and use condition of the traveling apparatus in Embodiment 1 of this invention. Circuit block diagram of the traveling device Top view for explaining the outline of the traveling device Side view for explaining the outline of the traveling device Model top view for demonstrating the wheel drive transmission system of the leg wheel apparatus in Embodiment 1 of this invention Schematic side view for explaining the wheel drive transmission system of the same leg wheel device Schematic front view for explaining the wheel drive transmission system of the same leg wheel device Schematic top view for explaining the swing operation of the same leg wheel device Schematic side view for explaining the swing operation of the same leg wheel device Schematic top view for explaining another example of the same leg wheel device Schematic top view for explaining still another example of the same leg wheel device Schematic side view for explaining still another example of the same leg wheel device Model top view for demonstrating the arm drive transmission system of the leg wheel apparatus in Embodiment 2 of this invention Schematic side view for explaining the arm drive transmission system of the leg wheel device Model front view for demonstrating the suspension apparatus of the leg wheel apparatus in Embodiment 3 of this invention Schematic side view for explaining the suspension device of the same leg wheel device Cross-sectional view of both ends of the same leg wheel device The schematic side view for demonstrating the swing motion dynamic transmission system of the leg wheel apparatus in Embodiment 4 of this invention The top view which shows the other example of the traveling apparatus in Embodiment 1 of this invention.

DESCRIPTION OF SYMBOLS 1 Traveling apparatus 1f Main-body part 2,3,4,5 Leg wheel apparatus 6,7,8,9 Leg wheel base 10,12,14,16,252 Upper rotation link part 11,13,15,17 Lower Moving link section 20, 24, 26, 28 Vertical movable link section 21 Control section 22, 29, 30, 31 Sub wheel 25 Travel command input section 27a Step detection section 27b Tilt detection section 32, 33, 34, 35 Main wheel 40 Drive Transmission shaft (shaft)
46 Bevel gear for first auxiliary wheel (first bevel gear)
48 Motor with reduction gear 73 First transmission wheel for sub-wheel (drive shaft)
74 Second bevel gear for secondary wheel (second bevel gear)
77,163 Electromagnetic clutch 80 Second auxiliary wheel transmission shaft (drive shaft)
81 Third auxiliary wheel bevel gear (second bevel gear)
84 Third shaft transmission shaft (shaft)
85 Bevel gear for fourth auxiliary wheel (first bevel gear)
150 Steering drive shaft
154 Steering drive motor 156 First auxiliary wheel steering bevel gear (first bevel gear)
159 First auxiliary wheel steering transmission shaft (drive shaft)
160 Second sub-wheel steering bevel gear (second bevel gear)
157, 170, 305, 324, 325 Worm gear 158, 171, 326, 327 Worm wheel 166 Second auxiliary wheel steering transmission shaft (drive shaft)
167 Third auxiliary wheel steering bevel gear (second bevel gear)
168 Fourth auxiliary wheel steering bevel gear (first bevel gear)
169 Third auxiliary wheel steering drive shaft
186, 304 Swing motion drive motor 201 Spline boss shaft 203 Spline transmission shaft 251 Free length lock type gas spring 323 Swing motion drive shaft (worm shaft)
331 Drive motor for swing operation

Claims (12)

A leg wheel device comprising a sub-wheel unit having a wheel drive input and a steering drive input at a tip end portion of a swing arm based on a main wheel unit having a wheel drive input and a steering drive input, wherein the swing arm is the main wheel unit. The main wheel unit includes first and second link arms that connect each of two axes parallel to the horizontal direction in the wheel unit and each of two axes parallel to the horizontal direction in the auxiliary wheel unit. Consists of a parallel link mechanism configured so that the auxiliary wheel unit can be driven up and down while maintaining the vertical angle of the auxiliary wheel unit from the side as a base point ,
Before SL rotatable rotating shaft disposed concentrically to each of the two link axes of the first link arm, shaft the both times are connected rotated by the first coupling member,
Each of the two link shafts of the second link arm is provided with a rotational shaft that can be rotated concentrically, and both the rotational shafts are rotationally connected by a second connecting member,
Both rotation shafts on the main wheel unit side are respectively driven by two drive sources provided on a noble base on which the main wheel unit is installed, and wheel driving force is generated by a rotation shaft coupling system of the first link arm. Transmitting the steering driving force by the rotating shaft connecting system of the second link arm,
A leg wheel device characterized in that a driving force is transmitted to each wheel drive input and each steering drive input of the main wheel unit and the sub wheel unit. The first connecting member is parallel to the first link arm and each bevel gear provided on both rotating shafts disposed rotatably about the two link shafts of the first link arm. The leg wheel device according to claim 1, wherein bevel gears provided at both ends of the arranged first drive shaft are engaged with each other so that the two rotation shafts rotate in the same phase. The second connecting member is parallel to the second link arm and the respective bevel gears provided on both rotating shafts arranged rotatably on the two link shafts of the second link arm. The leg wheel according to claim 1 or 2, wherein bevel gears provided at both ends of the arranged second drive shaft are engaged with each other so that the two rotation shafts rotate in the same phase. apparatus. The leg wheel device according to claim 2 or 3, wherein a clutch mechanism is provided in the middle of the first drive shaft. The leg wheel device according to claim 3, wherein a clutch mechanism is provided in the middle of the second drive shaft. 6. The leg wheel device according to claim 5, further comprising two encoders for detecting steering angles of the main wheel and the auxiliary wheel, respectively. There is provided a swing operation drive unit that rotationally drives at least one base link side of either the first link arm or the second link arm, and the swing operation drive unit is installed in the main wheel unit. The leg-wheel apparatus of Claim 1 provided in the stand. A worm gear is disposed at both ends of the first worm wheel fixed to the base link portion of at least one of the first link arm and the second link arm and the second worm wheel fixed to the tip link portion. The leg wheel device according to claim 1, wherein the leg wheel device is connected via a worm shaft, and the worm shaft is rotationally driven. The leg wheel device according to claim 7 or 8, wherein the swing arm portion and the noble stand on which the main wheel unit is installed are connected by a gas spring. The leg wheel device according to claim 9, wherein the gas spring can be fixed at a free length. A suspension device is provided for each of the main wheel and the sub wheel, and the wheel driving force is transmitted to the main wheel and the sub wheel via two transmission shafts coupled to each other by spline. The leg wheel device according to any one of claims 1 to 3. A travel device comprising at least one leg wheel device according to any one of claims 1 to 11.

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