JP2017039485A - Vehicle body structure of autonomous travel vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle body structure of an autonomous travel vehicle which stabilizes support of wheels, and excellent in maintenance property.SOLUTION: A vehicle body structure (1) of an autonomous travel vehicle in which wheels (3) are arranged on a chassis (2) comprises: side frames (4R, 4L) disposed in both sides of a chassis width direction and extended in a chassis longer direction; first drive units (20) comprising a drive motor (5), a drive shaft (7), a first pulley (41) and a first pulley box (51); second drive units (30) comprising an axle (8) for supporting the wheels (3), a second pulley (42) and a second pulley box (52); and an endless belt (43). The first pulley box (51) and the second pulley box (52) comprise an opening on a side face of the drive shaft (7) or the axle (8) in the axial direction, and comprise a bearing cover (60) for covering the opening.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle body structure of an autonomously traveling vehicle, and more particularly to a vehicle body structure of an autonomously traveling vehicle that travels with wheels arranged on a chassis.

  A conventional autonomously traveling vehicle is known that has two wheels on one side in the longitudinal direction of the vehicle and is driven by connecting the two wheels with a drive transmission means.

  In such a driving system for autonomously traveling vehicles, when an endless belt is used as the drive transmission means, when replacing the endless belt, it is necessary to remove the drive unit from the chassis, disassemble the endless belt, Work such as removal and assembly of the drive unit and disassembly and assembly of the drive unit has become complicated, and maintenance has been extremely difficult.

  Therefore, as a conventional technique, in a crawler type moving mechanism in which a crawler for transmitting driving is provided in the longitudinal direction of the vehicle in the same manner as an endless belt, the crawler is configured to be detachable from the vehicle body casing, thereby improving maintainability. What was made is disclosed (refer patent document 1).

JP2013-244896A

  However, in recent years, when using autonomously traveling vehicles, there has been a demand for small vehicles that are easy to act in order to efficiently operate even in a narrow area.

  Therefore, a skid steer that is smaller in size than the one that uses the crawler type moving mechanism described in Patent Document 1, does not require a steering space, and that can be steered and fixedly turned by the difference in the number of rotations of the left and right wheels. Many four-wheel autonomous vehicles using this method are adopted.

  However, in such an autonomous vehicle, when the endless belt for driving the wheel is configured to be detachable from the side of the chassis, the wheel rotation shaft is in a cantilever state, and thus the wheel support is unstable. The problem of becoming.

  The present invention has been made in view of the above-described conventional problems, and provides a vehicle body structure of an autonomous traveling vehicle that is excellent in maintainability without causing unstable wheel support in the autonomous traveling vehicle. With the goal.

  The vehicle body structure of the autonomous traveling vehicle according to the present invention for solving the above-described problems is as follows.

  The present invention relates to a vehicle body structure for an autonomous traveling vehicle in which wheels are arranged on a chassis, side frames extending in the longitudinal direction of the chassis on both sides in the chassis width direction, driving means for driving the wheels, and the wheels A first drive transmission member (for example, a first pulley) to which drive is transmitted from the drive shaft, and a first drive transmission member housing portion that houses the first drive transmission member. 1 drive body, an axle supporting the wheel, a second drive transmission member (for example, a second pulley) for transmitting drive to the axle, and a second drive transmission member housing for housing the second drive transmission member And a third drive transmission member (for example, an endless belt) that connects the first drive transmission member and the second drive transmission member, and the first drive body and the first drive transmission member. Two drive bodies are provided on the same side frame, The first drive transmission member accommodating portion and the second drive transmission member accommodating portion are provided with a cover portion that forms an opening on the side surface in the axial direction of the drive shaft or the axle and covers the opening, The cover portion is provided with a bearing portion that rotatably supports the drive shaft or the axle.

  In the present invention, it is preferable that the opening is formed larger than an outer diameter of the first drive transmission member or the second drive transmission member.

  Further, according to the present invention, the opening includes a notch through which the third drive transmission member can pass from a side end portion of a side surface of the first drive transmission member accommodation portion or the second drive transmission member accommodation portion. It is preferable to provide.

  Moreover, it is preferable that this invention set it as the attachment structure which formed the attaching part of the opening part of the said 1st drive transmission member accommodating part and the said 2nd drive transmission member accommodating part, and the said cover part in the taper shape.

  Moreover, it is preferable that this invention employ | adopts a conical bearing as a bearing part provided in the said cover part.

  In the present invention, it is preferable that the third drive transmission member is disposed in the side frame, and the side frame includes a cover portion that covers the third drive transmission member.

  According to the vehicle body structure of an autonomous vehicle according to the present invention, a vehicle body structure of an autonomous vehicle in which wheels are arranged on a chassis, a side frame extending in the longitudinal direction of the chassis on both sides of the chassis width, and driving the wheels. Drive means for driving, a drive shaft for driving the wheel, a first drive transmission member for transmitting drive from the drive shaft, and a first drive transmission member housing portion for housing the first drive transmission member. A second drive transmission member that includes a first drive body that includes the axle that supports the wheel, a second drive transmission member that transmits drive to the axle, and a second drive transmission member housing that houses the second drive transmission member. A driving body, and a third driving transmission member that connects the first driving transmission member and the second driving transmission member, and the first driving body and the second driving body are provided on the same side frame. The first drive transmission member accommodating portion and the (2) The drive transmission member housing portion includes an opening on the side surface in the axial direction of the drive shaft or the axle and a cover portion that covers the opening, and the drive shaft or the axle is provided on the cover portion. By providing a bearing portion that is rotatably supported, the wheel can be stably supported, and by removing the cover portion, the first drive transmission member accommodation portion and the second drive body drive transmission member accommodation. Since the third drive transmission member can be easily attached and detached from the part, it is possible to realize a vehicle body structure of an autonomous vehicle that is excellent in maintainability.

It is explanatory drawing by planar view which shows the whole structure of the vehicle body structure of the autonomous vehicle which concerns on 1st Embodiment of this invention. It is explanatory drawing by the side view which shows the whole structure of the vehicle body structure of the said autonomous vehicle. It is explanatory drawing which shows the state which attached the wheel to the 1st drive unit which comprises the said autonomous traveling apparatus. It is side surface sectional drawing which shows the structure of a said 1st drive unit and a wheel. It is a front view which shows the structure of the bearing cover and protective cover of a said 1st drive unit. It is side surface sectional drawing which shows the structure of the said bearing cover. It is a front view which shows the structure of the 1st pulley box of the said 1st drive unit. It is side surface sectional drawing which shows the structure of a said 1st pulley box. It is a front view which shows the structure of the bearing cover of the 2nd drive unit which comprises the said autonomous traveling apparatus. It is side surface sectional drawing which shows the structure of the said bearing cover. It is a front view which shows the structure of the 2nd pulley box of the said 2nd drive unit. It is side surface sectional drawing which shows the structure of a said 2nd pulley box. It is explanatory drawing which shows the opening part of the said 1st pulley box. It is explanatory drawing which shows the structure of the attachment part of the pulley box and bearing cover which comprise the vehicle body structure of the autonomous vehicle which concerns on 2nd Embodiment of this invention. It is explanatory drawing which shows the structure of the attaching part of the pulley box and bearing cover which comprise the vehicle body structure of the autonomous vehicle which concerns on 3rd Embodiment of this invention. It is explanatory drawing which shows the structure of the bearing cover of the pulley box which comprises the vehicle body structure of the autonomous vehicle which concerns on 4th Embodiment of this invention, and the protective cover of a side frame. It is explanatory drawing by the side view which shows the attachment state of the wheel to the drive unit of the vehicle body structure of the autonomous vehicle which concerns on 5th Embodiment of this invention. It is explanatory drawing by the side view which shows the structure of the vehicle body structure of the autonomous running vehicle of 6th Embodiment of this invention. It is explanatory drawing by the side view which shows the structure of the vehicle body structure in the state which removed the wheel in the said autonomous vehicle. It is explanatory drawing by the side view which shows the state which removed the protective cover from the said vehicle body structure. It is explanatory drawing by the side view which shows the state which removed the bearing cover from the said vehicle body structure. It is explanatory drawing by the side view which shows the state which removed the endless belt from the said vehicle body structure. It is explanatory drawing which shows the structure of the moving means which moves a 2nd drive unit in order to attach or detach an endless belt in the said vehicle body structure.

(First embodiment)
DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for implementing a vehicle body structure of an autonomous vehicle according to the present invention will be described with reference to the drawings.
FIG. 1 is an example of an embodiment for carrying out the invention, and is an explanatory view in plan view showing the overall structure of a vehicle body structure of an autonomous vehicle according to the first embodiment of the present invention. FIG. 2 is a vehicle body of the autonomous vehicle. FIG. 3 is an explanatory view showing the overall structure of the structure, FIG. 3 is an explanatory view showing a state in which wheels are attached to the first drive unit constituting the autonomous mobile device, and FIG. 4 is a structure of the first drive unit and wheels. FIG. 5 is a front view showing the configuration of the bearing cover and the protective cover of the first drive unit, FIG. 6 is a side sectional view showing the configuration of the bearing cover, and FIG. 7 is the side view of the first drive unit. FIG. 8 is a side sectional view showing the configuration of the first pulley box, and FIG. 9 is a front view showing the configuration of the bearing cover of the second drive unit constituting the autonomous traveling device. FIG. 10 shows the bearing cover. FIG. 11 is a front view showing the configuration of the second pulley box of the second drive unit, FIG. 12 is a side sectional view showing the configuration of the second pulley box, and FIG. It is explanatory drawing which shows the opening part of a pulley box.

  As shown in FIG. 1, a vehicle body structure 1 of an autonomous traveling vehicle according to the first embodiment is a vehicle body structure of an autonomous traveling vehicle that travels by arranging wheels 3 on a chassis 2, and the autonomous traveling vehicle according to the present invention. The body structure is adopted.

  Here, the autonomously traveling vehicle is a device that autonomously travels by machine or program without human judgment, for example, an autonomous industrial transport vehicle that carries an object in a factory is known. Yes.

  The vehicle body structure 1 of the autonomously traveling vehicle according to the first embodiment mainly includes a chassis 2, wheels 3, side frames 4 (4 </ b> R, 4 </ b> L), and a drive motor (drive means) 5 for driving the wheels 3. , A speed reducer (drive transmission means) 6, a drive shaft 7 that drives the wheel 3, and an axle 8 that supports the wheel 3.

  Below, the characteristic structure of the vehicle body structure 1 of the autonomous traveling vehicle of 1st Embodiment is demonstrated with reference to drawings.

A chassis 2 constituting the vehicle body structure 1 of the autonomously traveling vehicle is configured in a rectangular shape that is long in the front-rear direction, and side frames 4R, 4L are extended in the longitudinal direction of the chassis on both sides in the width direction.
For example, the side frames 4R and 4L may be configured by a pipe-shaped structure having a rectangular cross section.

  In the first embodiment, a first drive unit (first drive body) 20 in which a drive motor 5, a speed reducer (for example, a gear box) 6 and a drive shaft 7 are integrated into a unit, and an axle 8 are rotatable. A second drive unit (second drive body) 30 is formed by integrating the supporting structure into a unit. 1 and 2, the wheel 3 is mounted on the first drive unit 20 and the second drive unit 30.

  The 1st drive unit 20 and the 2nd drive unit 30 are comprised by the endless belt (3rd drive transmission member) 43, and are comprised so that a drive may be transmitted.

  The drive shaft 7 of the first drive unit 20 is provided with a first pulley (first endless member drive body) 41 that transmits drive to the endless belt 43.

  The axle 8 of the second drive unit 30 is provided with a second pulley (second endless member drive body) 42 that is driven by the endless belt 43 and drives the axle 8.

  As shown in FIG. 3, the first drive unit 20 includes a first pulley box (first drive transmission member accommodating portion) 51 that supports the drive shaft 7 and accommodates the first pulley.

  As shown in FIGS. 5, 6, 7, and 8, the first pulley box 51 has an opening 53 for attaching and detaching the endless belt 43 to the side surface of the arranged drive shaft 7 on the wheel 3 side in the axial direction. And a bearing cover (cover member cover portion) 60 that covers the opening 53 is provided. The drive shaft 7 is provided with a bearing 72 that rotatably supports the drive shaft 7.

  In the first drive unit 20, the first pulley box 51 accommodates the first pulley 41, and the drive shaft 7 is provided on the bearing 71 and the bearing cover 60 provided on the side surface on the drive motor 5 side (side frame inner side). The bearing 72 is configured to be rotatably supported by both ends.

  In the first pulley box 51, the speed reducer 6 is integrally attached inside the side frame 4. The outer shape of the speed reducer 6 in the vertical direction is smaller than the outer shape of the first pulley box 51. That is, when the first drive unit 20 is mounted on the side frame 4, the speed reducer 6 is passed from the side of the side frame 4 to be disposed inside the chassis 2, and the first pulley box 51 is disposed in the side frame 4. It is configured as follows.

  As shown in FIG. 4, the second drive unit 30 includes a second pulley box (second drive transmission member accommodating portion) 52 that supports the axle 8 and accommodates the second pulley.

As shown in FIGS. 9, 10, 11, and 12, the second pulley box 52 has an opening 53 for attaching and detaching the endless belt 43 to the side surface on the wheel 3 side in the axial direction of the arranged axle 8. A bearing cover 60 that is formed and covers the opening 53 is provided. As shown in FIG. 8, the axle 8 is provided with a bearing 72 that rotatably supports the axle 8. When the bearing cover 60 is attached to the opening 53, a hole in the center of the bearing cover 60 is provided. The bearing 72 is fitted into the portion so that the bearing cover 60 supports the bearing 72 and positions the bearing 72.
The bearing 72 may be fixed to the bearing cover 60 in advance.
Further, the hole itself for supporting the drive shaft 7 or the axle 8 of the bearing cover 60 may be configured such that, for example, a bearing member such as a sliding bearing is integrally formed to function as a bearing. .

  In the second drive unit 30, the second pulley box 51 accommodates the second pulley 42, and the axle 8 is provided on the bearing 71 and the bearing cover 60 provided on the side opposite to the wheel side (inside the side frame). The bearing 72 is configured to be rotatably supported by both ends.

  The second pulley box 52 is arranged in the side frame 4 from the side of the side frame 4 when the second drive unit 30 is attached to the side frame 4.

  The opening 53 of the first pulley box 51 and the second pulley box 52 is formed larger than the outer diameter of the first pulley 41 or the second pulley, respectively, as shown in FIGS.

  A cutout portion 54 through which the endless belt 43 can pass is formed at the end portions of the side surfaces of the first pulley box 51 and the second pulley box 52.

  As shown in FIGS. 1 and 2, the first drive unit 20 and the second drive unit 30 are provided so as to be detachable integrally with each other from the outside with respect to the same side frames 4 </ b> R and 4 </ b> L.

  As shown in FIGS. 1 and 2, a protective cover (cover portion) 80 for covering the endless belt 43 disposed inside the side frames 4R and 4L is provided on the outer side surfaces of the side frames 4R and 4L. ing.

  The protective cover 80 is provided so as to cover the space between the first drive unit 20 and the second drive unit 30 of the side frames 4R, 4L.

  Since it comprised as mentioned above, according to 1st Embodiment, in the vehicle body structure 1 of an autonomous vehicle, side frame 4R, 4L, the drive motor 5, the reduction gear 6, the drive shaft 7, the 1st pulley 41, and the 1st pulley 41 A first drive unit 20 in which one pulley box 51 is unitized; a second drive unit 30 in which an axle 8, a second pulley 42, and a second pulley box 52 are unitized; and a first pulley. 41 and an endless belt 43 that couples the second pulley 42, the first drive unit 20 and the second drive unit 30 are detachably provided on the same side frames 4R and 4L, respectively. 7 and the axle 8 are rotatably supported at two locations along the axis, and are opened on the side surfaces in the axial direction of the drive shaft 7 or the axle 8 of the first pulley box 51 and the second pulley box 52. 53, and a bearing cover 60 that covers the opening 53 is provided, and the bearing cover 60 includes a bearing 72 that rotatably supports the drive shaft 7 or the axle 8, thereby stably supporting the wheel 3. The endless belt 43 can be easily attached to and detached from the first pulley box 51 and the second pulley box 52 by removing the bearing cover 60. Thereby, maintenance such as replacement of the endless belt 43 and replacement of the bearing 72 can be easily performed without removing the first drive unit 20 and the second drive unit 30 from the chassis 2. The vehicle body structure of the traveling vehicle can be realized.

  In the first embodiment, the protective cover 80 is provided on the outer side surfaces of the side frames 4R and 4L, so that mud and the like enter the side frames 4R and 4L to protect the endless belt 43. can do.

  In the first embodiment, since the cutout portion 54 connected to the opening 53 is formed in the first pulley box 51 and the second pulley box 52, the endless belt 43 can be attached and detached more easily.

  The endless belt 43 can be attached and detached by merely providing the opening 53 without providing the notch 54 in the first pulley box 51 and the second pulley box 52. For example, the shape of the opening 53 By making the diameter larger than the outer diameter of the first pulley 41 or the second pulley 42, the endless belt 43 can be easily attached and detached.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to the drawings.
FIG. 14 is an explanatory view showing a configuration of a pulley box and a bearing cover mounting portion constituting a vehicle body structure of an autonomous traveling vehicle according to a second embodiment of the present invention.

  In addition, about the vehicle body structure of the autonomous traveling vehicle in 2nd Embodiment, the thing of the structure similar to the structure of the vehicle body structure 1 of autonomous traveling vehicle of 1st Embodiment attaches | subjects the same code | symbol, and abbreviate | omits description.

  As shown in FIG. 14, the vehicle body structure 200 of the autonomous traveling vehicle according to the second embodiment has a tapered shape as the shape of the first pulley box 251, the second pulley box 252 and the bearing cover 260. It is a feature.

  In the second embodiment, the attachment portion 261a of the bearing cover 260 is formed in a tapered shape. The attachment portion 251a (252a) of the first pulley box 251 (or the second pulley box 252) corresponding to the attachment portion 261a is formed to have a tapered shape.

  Since it comprised in this way, according to 2nd Embodiment, the attachment or detachment operation | work of the bearing cover 260 can be made easy with respect to the 1st pulley box 251 and the 2nd pulley box 252.

(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to the drawings.
FIG. 15 is an explanatory view showing a configuration of a pulley box and a bearing cover mounting portion constituting a vehicle body structure of an autonomous traveling vehicle according to a third embodiment of the present invention.

  In addition, about the vehicle body structure of the autonomous traveling vehicle in 3rd Embodiment, the thing of the structure similar to the structure of the vehicle body structure 1 of autonomous traveling vehicle of 1st Embodiment attaches | subjects the same code | symbol, and abbreviate | omits description.

  As shown in FIG. 15, the vehicle body structure 300 of the autonomous traveling vehicle according to the third embodiment has a tapered shape as a mounting portion of the first pulley box 351 and the second pulley box 352 and the bearing cover 360. A conical bearing is employed for the bearing 372 on the bearing cover 360 side.

  In the third embodiment, the attachment portion 361a of the bearing cover 260 is formed in a tapered shape. An attachment portion 351a (352a) of the first pulley box 351 (or the second pulley box 352) corresponding to the attachment portion 361a is formed to have a tapered shape.

  Further, in the third embodiment, the bearing 372 has an inner ring 372 a attached to the drive shaft 7 or the axle 8 and an outer ring 372 b attached to the bearing cover 360.

  Since it comprised in this way, according to 3rd Embodiment, while attaching and detaching work of the bearing cover 360 with respect to the 1st pulley box 351 and the 2nd pulley box 352 is easy, the axis line of the drive shaft 7 and the axle shaft 8 is made. Positioning can be facilitated.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described with reference to the drawings.
FIG. 16 is an explanatory view showing the structure of the bearing cover of the pulley box and the protective cover of the side frame constituting the vehicle body structure of the autonomous traveling vehicle according to the fourth embodiment of the present invention.

  In addition, about the vehicle body structure of the autonomous traveling vehicle in 4th Embodiment, the thing of the structure similar to the structure of the vehicle body structure 1 of the autonomous traveling vehicle of 1st Embodiment attaches | subjects the same code | symbol, and abbreviate | omits description.

  As shown in FIG. 16, a vehicle body structure 400 for an autonomous vehicle according to the fourth embodiment includes a protective cover 460 that integrally forms a protective cover for protecting an endless belt and a bearing cover. It is.

  In the fourth embodiment, the side cover 4R of the autonomously traveling vehicle includes the protective cover 460 in which the bearing cover of the first pulley box 51 and the protective covers of the side frames 4R and 4L are integrated, and the bearing cover 60 of the second pulley box 52. , 4L is constructed. Reference numeral 62 denotes a fastening member.

  Since it comprised in this way, according to 4th Embodiment, the attachment or detachment operation | work of the protective cover 460 can be easily performed on the basis of the drive shaft 7 of the 1st pulley box 51. FIG.

(Fifth embodiment)
Next, a fifth embodiment of the present invention will be described with reference to the drawings.
FIG. 17 is an explanatory view from a side view showing an attachment state of wheels to a drive unit of a vehicle body structure of an autonomous traveling vehicle according to a fifth embodiment of the present invention.

  In addition, about the vehicle body structure of the autonomous traveling vehicle in 5th Embodiment, the thing of the structure similar to the structure of the vehicle body structure 1 of the autonomous traveling vehicle of 1st Embodiment attaches | subjects the same code | symbol, and abbreviate | omits description.

  As shown in FIG. 17, a vehicle body structure 500 of an autonomous traveling vehicle according to the fifth embodiment includes a wheel on which a tire 531 is mounted as a configuration of a wheel 503 mounted on the first drive unit 20 and the second drive unit 30. In 532, a plurality of openings 533 are formed at positions facing the fastening member 62 to which the bearing cover 60 mounted on the first drive unit 20 and the second drive unit 30 is attached.

  As shown in FIG. 17, the opening 533 is formed so that the fastening member 62 can be attached and detached from the outside at a predetermined position in a state where the wheels 503 are attached to the first drive unit 20 and the second drive unit 30. Has been.

  Since it comprised as mentioned above, according to 5th Embodiment, in the wheel 532 of the wheel 503 in the vehicle body structure 500 of an autonomous vehicle, the bearing cover 60 with which the 1st drive unit 20 and the 2nd drive unit 30 were mounted | worn. By forming a plurality of openings 533 at positions facing the fastening member 62 to be attached, the fastening member 62 can be attached and detached from the opening 533, so the bearing cover 60 is removed without removing the wheels 503, The endless belt 43 can be attached and detached from the opening 53.

(Sixth embodiment)
Next, a sixth embodiment of the present invention will be described with reference to the drawings.
In the vehicle body structure of an autonomous vehicle, the sixth embodiment specifically shows that the maintenance work is performed from the side of the vehicle.

  FIG. 18 is a side view illustrating the configuration of the vehicle body structure of the autonomous traveling vehicle according to the sixth embodiment of the present invention, and FIG. 19 is the side view illustrating the configuration of the vehicle body structure in a state where the wheels are removed from the autonomous traveling vehicle. FIG. 20 is a side view illustrating a state where a protective cover is removed from the vehicle body structure, FIG. 21 is a side view illustrating a state where a bearing cover is removed from the vehicle body structure, and FIG. FIG. 23 is an explanatory view showing a state in which the endless belt is removed from the structure, and FIG. 23 is an explanatory view showing the structure of the moving means for moving the second drive unit in order to attach and detach the endless belt in the vehicle body structure.

  In addition, about the vehicle body structure of the autonomous traveling vehicle in 6th Embodiment, the thing of the structure similar to the structure of the vehicle body structure 1 of autonomous traveling vehicle of 1st Embodiment attaches | subjects the same code | symbol, and abbreviate | omits description.

  In the sixth embodiment, a maintenance operation will be described with reference to the drawings, taking as an example a case where the endless belt 43 is replaced in the vehicle body structure 600 of an autonomous traveling vehicle.

  As shown in FIG. 18, when performing maintenance of the vehicle body structure 1 of the autonomous traveling vehicle whose side is covered with the protective cover 80, first, as shown in FIG. Then, the second drive unit 30 and the protective cover 80 are exposed to make the vehicle body structure 1 easier to work from the side.

  Then, when maintaining the components inside the side frame 4, as shown in FIG. 20, the protective cover 80 is removed, and the inside of the side frame 4 is opened to expose the endless belt 43 and the like. .

  Then, when removing the endless belt 43 arranged inside the side frame 4, the bearing cover 60 is removed from the first drive unit 20 and the second drive unit 30 as shown in FIG. The part 54 is opened.

  Then, as shown in FIG. 22, for example, the mounting state of the second drive unit 30 is loosened, and the endless belt 43 is loosened by bringing the second drive unit 30 closer to the first drive unit 20 side (arrow direction). Then, both end portions of the endless belt 43 can be removed from the first pulley 41 and the second pulley 42 and taken out from the first drive unit 20 and the second drive unit 30 through the opening 53 and the cutout portion 54.

  As a moving mechanism for moving the second drive unit 30 forward and backward with respect to the first drive unit 20, for example, as shown in FIG. 23, an attachment position adjusting screw 90 is provided at the end of the side frame 4, A screw hole corresponding to the mounting position adjusting screw 90 is provided in the second driving unit 30, and the second driving unit 30 is configured to move forward and backward along the side frame 4 by turning the mounting position adjusting screw 90. It may be.

  As described above, the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims. That is, embodiments obtained by combining technical means appropriately modified within the scope of the claims are also included in the technical scope of the present invention.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope shown in the claims. That is, embodiments obtained by combining technical means appropriately changed within the scope not departing from the gist of the present invention are also included in the technical scope of the present invention.

1,200,300,400,500 Car body structure 2 Chassis 3,503 Wheel 4 Side frame 4R, 4L Side frame 5 Drive motor 7 Drive shaft 8 Axle 20 First drive unit (first drive body)
30 Second drive unit (second drive body)
41 First pulley (first drive transmission member)
42 Second pulley (second drive transmission member)
43 Endless belt (third drive transmission member)
51,251,351 First pulley box (first drive transmission member accommodating portion)
52, 252, 352 Second pulley box (second drive transmission member accommodating portion)
53 Opening 54 Notch 60, 260, 360, 460 Bearing cover (cover)
71, 72, 372 Bearing (bearing part)
80 Protective cover (cover part)
90 Mounting position adjustment screw (moving mechanism)
531 Tire 532 Wheel 533 Opening

Claims (8)

A vehicle body structure of an autonomous vehicle having wheels arranged on a chassis,
Side frames extending in the longitudinal direction of the chassis on both sides of the chassis width direction;
Drive means for driving the wheels, a drive shaft for driving the wheels, a first drive transmission member for transmitting drive from the drive shaft, and a first drive transmission member for housing the first drive transmission member A first driving body comprising a housing portion;
A second drive body comprising an axle supporting the wheels, a second drive transmission member for transmitting drive to the axle, and a second drive transmission member accommodating portion for accommodating the second drive transmission member;
A third drive transmission member for connecting the first drive transmission member and the second drive transmission member to transmit the drive;
With
The first driving body and the second driving body are provided on the same side frame,
The first drive transmission member housing portion and the second drive transmission member housing portion include a cover portion that forms an opening on a side surface in the axial direction of the drive shaft or the axle and covers the opening.
A vehicle body structure for an autonomous traveling vehicle, wherein the cover portion is provided with a bearing portion that rotatably supports the drive shaft or the axle.   The vehicle body structure for an autonomous traveling vehicle according to claim 1, wherein the opening is formed larger than an outer diameter of the first drive transmission member or the second drive transmission member.   The said opening part is provided with the notch part which can pass the said 3rd drive transmission member from the side edge part of the side surface of the said 1st drive transmission member accommodating part or the said 2nd drive transmission member accommodating part. Item 3. The body structure of the autonomous traveling vehicle according to Item 1 or 2.   The opening part of the said 1st drive transmission member accommodating part and the said 2nd drive transmission member accommodating part, and the said cover part are set as the attachment structure which formed the attachment part in the taper shape. The body structure of the autonomous traveling vehicle according to any one of the above.   The body structure of the autonomous traveling vehicle according to any one of claims 1 to 4, wherein the bearing portion provided in the cover portion employs a conical bearing. The third drive transmission member is disposed in the side frame,
The vehicle body structure for an autonomous traveling vehicle according to any one of claims 1 to 5, wherein the side frame includes a cover portion that covers the third drive transmission member. The side frame is provided with a moving mechanism for moving the second driving body forward and backward along the side frame with respect to the first driving body,
The autonomous traveling vehicle according to any one of claims 1 to 6, wherein the second drive body is moved forward and backward by the moving mechanism to perform an operation of attaching and detaching the third drive transmission member. Body structure. The wheel includes a tire member and a wheel member that supports the tire member,
The cover portion is detachably attached to the first drive transmission member housing portion and the second drive transmission member housing portion by a fastening member,
The wheel member is formed with an opening that allows the fastening member to be attached and detached from the outside of the wheel member at a position facing the fastening member to which the cover portion is attached. The vehicle body structure of the autonomous traveling vehicle according to any one of 1 to 7.

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