JP2022006593A - Moving device and load distribution support device for moving device - Google Patents

Abstract

To provide a moving device and a load distribution support device for a moving device that allow for downsizing of a wheel and a wheel drive device by allowing a vehicle load acting on the wheel to be reduced.SOLUTION: A moving device includes a vehicle body 2, a wheel drive device 4, and a load distribution support device 10. The wheel drive device 4 is attached to the vehicle body 2 to drive a driving wheel 3. The load distribution support device 10 is attached to the vehicle body 2 to distribute and support a portion of a load vehicle acting on the wheel 3.SELECTED DRAWING: Figure 3

Description

The present invention relates to a moving device used for transporting articles and the like, and a load distribution support device for the moving device.

As a moving device used for transporting articles in a work facility, there is a moving device in which a plurality of wheel driving devices are attached to a vehicle body in order to individually drive wheels for traveling (see, for example, Patent Document 1).

In this type of moving device, the traveling direction and traveling speed of the vehicle body can be freely changed by changing the rotation direction and rotation speed of the corresponding wheel by each wheel driving device.

Japanese Unexamined Patent Publication No. 2019-8359

When a heavy-weight article is transported by the above-mentioned transport device, it is necessary to increase the size of the wheel and the wheel drive device so as to be able to withstand the vehicle load including the heavy-weight article. However, when the wheel and the wheel drive device are increased in size, the vehicle height of the moving device becomes high, and the convenience in the work facility decreases.

The present invention provides a moving device capable of reducing the size of a wheel and a wheel driving device by reducing the vehicle load acting on the wheel, and a load distribution support device for the moving device.

The moving device according to one aspect of the present invention distributes and supports a vehicle body, a wheel drive device attached to the vehicle body to drive a traveling wheel, and a part of a vehicle load attached to the vehicle body and acting on the wheel. It is equipped with a load distribution support device.

The moving device according to another aspect of the present invention includes a vehicle body, four wheel drive devices attached to the vehicle body to drive a traveling wheel, and the wheels attached to the vehicle body and driven by each of the wheel drive devices. It is equipped with four load distribution support devices that distribute and support a part of the vehicle load acting on the wheel.

The four wheels may be arranged in the vicinity of the four corners of the vehicle body having a substantially rectangular top view, and the four load distribution support devices may be arranged in positions close to each of the wheels.

The moving device controls a support load adjusting device that adjusts the supporting load distributed and supported by each of the load distribution supporting devices, and the supporting load adjusting device so that the vehicle load supported by each of the wheels is within a predetermined load range. It may be configured to further include a control device for the operation.

The load distribution support device may be configured by a non-contact type load support device that blows high-pressure gas onto the road surface to exert buoyancy on the vehicle body.

The non-contact type load-bearing device has a diaphragm that displaces the high-pressure gas ejection part in the direction of the road surface by the high-pressure gas introduced inside and forms a gas flow path between the high-pressure gas and the road surface at a position close to the road surface. It may be provided as a configuration.

The load distribution support device supports a driven roller that touches the road surface and a rotating shaft of the driven roller, and supports the rollers that are rotatably and vertically rotatably and vertically supported by the vehicle body. The unit may be configured to include an elastic member arranged between the vehicle body and the roller support unit.

The rotation axis of the driven roller may be arranged at a position laterally displaced from the axis along the substantially vertical direction.

The rotation axis of the driven roller may be arranged at a position intersecting the axis along a substantially vertical direction.

The moving device may include a direction adjusting device that adjusts the rotation of the roller support unit around the axis so as to follow the traveling direction of the vehicle body.

The load distribution support device supports a driven roller that touches the road surface and a rotating shaft of the driven roller, and supports the rollers that are rotatably and vertically rotatably and vertically supported by the vehicle body. Each of the four roller support units of the four load distribution support devices is interlocked with each other so as to include a unit and an elastic member arranged between the vehicle body and the roller support unit. You can do it.

The wheel drive device may include a fixed flange fixed to the vehicle body, and the fixed flange may be provided with a support bracket for supporting the load distribution support device.

The load distribution support device for a moving device according to one aspect of the present invention is used for a moving device including a vehicle body and a wheel driving device attached to the vehicle body to drive a traveling wheel, and is attached to the vehicle body. A part of the vehicle load acting on the wheel is distributed and supported.

The load distribution support device for the moving device supports the driven roller that touches the road surface and the rotation axis of the driven roller, and is supported by the vehicle body so as to be rotatable around an axis along a substantially vertical direction and that can be raised and lowered. It may be configured to include a roller support unit and an elastic member arranged between the vehicle body and the roller support unit.

In the above-mentioned moving device, since the load distribution support device for distributing and supporting a part of the vehicle load acting on the traveling wheels is attached to the vehicle body, the vehicle load acting on each wheel can be reduced. Therefore, when the above-mentioned moving device is adopted, the wheel for traveling and the wheel driving device for driving the wheel can be miniaturized.

The perspective view of the moving device of 1st Embodiment. The plan view of the moving device of 1st Embodiment. FIG. 2 is a cross-sectional view taken along the line III-III of FIG. 2 of the mobile device of the first embodiment. The plan view of the moving apparatus of 2nd Embodiment. FIG. 4 is a cross-sectional view taken along the line VV of FIG. 4 of the moving device of the second embodiment. FIG. 5 is a cross-sectional view similar to FIG. 5 of the moving device of the third embodiment. The schematic perspective view of the moving device of 4th Embodiment. FIG. 5 is a cross-sectional view of a part of the moving device of the fifth embodiment cut along the vehicle width direction.

Next, each embodiment of the present invention will be described with reference to the drawings. In each of the embodiments described below, the same reference numerals are given to common portions, and duplicate description will be omitted.

(First Embodiment)
FIG. 1 is a perspective view of the moving device 1 of the present embodiment, and FIG. 2 is a plan view of the moving device 1 of the present embodiment.
In the moving device 1, an article placing portion 2a for placing an article is arranged on an upper portion of a vehicle body 2 having a substantially rectangular top view. A total of four running wheels 3 are arranged in the vicinity of the four corners of the vehicle body 2 (the left and right sides on the front side of the vehicle body 2 and the left and right sides on the rear side). Four wheel drive devices 4 for driving each wheel 3 are attached to the vehicle body 2. Each wheel 3 is independently driven by the corresponding wheel drive device 4. Each wheel drive device 4 includes a motor 5 which is a drive source, and a speed reducer 6 which reduces the rotation of the motor 5 and transmits the rotation to the wheel 3.

The wheel 3 adopted in this embodiment is a Mecanum wheel. That is, the wheel 3 includes a plurality of barrels 7 that are barrel-shaped ground rotating bodies, and a short-axis cylindrical barrel holder 8 that rotatably supports the plurality of barrels 7 on the outer circumference. The plurality of barrels 7 are held on the outer periphery of the barrel holder 8 in a state of being inclined by a predetermined angle with respect to the rotation center axis of the barrel holder 8. The wheels 3 arranged on the left front side and the right side rear side of the moving device 1 and the wheels 3 arranged on the right side front side and the left side rear side have the barrel 7 held on the outer periphery of the barrel holder 8 in the opposite directions. It is set.

The motor 5 of each wheel drive device 4 is controlled by a control device 9 mounted on the vehicle body 2 and a motor driver (not shown). The moving device 1 can freely move the vehicle body 2 in various directions by controlling the rotation direction (rotation direction of the wheel 3) and the rotation speed of each motor 5 by the control device 9.
In the present embodiment, the above-mentioned Mecanum wheel is adopted as the traveling wheel 3, but the wheel 3 controls the rotation direction and the number of rotations of each wheel 3 to control the traveling direction and speed of the vehicle body 2. For example, an omni wheel or the like may be used as long as it can control.

Further, a load distribution support device 10 for dispersing and supporting a part of the vehicle load acting on the wheel 3 (including the load of the article mounted on the article placing portion 2a) is attached to the vehicle body 2. There is. In the present embodiment, a total of four load distribution support devices 10 are provided so as to have a one-to-one correspondence with each wheel drive device 4. Each load distribution support device 10 is arranged at a position close to the inside of the wheel 3 driven by the corresponding wheel drive device 4 in the vehicle width direction.

FIG. 3 is a cross-sectional view taken along the line III-III of the mobile device 1 of FIG.
The load distribution support device 10 of the present embodiment is configured by a non-contact type load support device that blows high-pressure air (high-pressure gas) onto the road surface 50 to exert buoyancy on the vehicle body 2. The load distribution support device 10 has a high pressure in a holder 11 having a circular top view fixed to the lower surface of the vehicle body 2, a diaphragm 12 attached to the holder 11, and an air introduction chamber 13 surrounded by the holder 11 and the diaphragm 12. An air pipe 14 for introducing air and an air supply unit 15 for supplying high-pressure air to the air pipe 14 are provided.

The holder 11 has a bottom wall 11a fixed to the lower surface of the vehicle body 2 and a peripheral wall 11b extending downward from the outer peripheral end portion of the bottom wall 11a. The bottom wall 11a and the peripheral wall 11b form a concave portion that opens toward the lower side of the vehicle body (road surface 50 side).

The diaphragm 12 is formed of a deformable membrane such as a rubber film, and when high-pressure air is introduced into the air introduction chamber 13, the diaphragm 12 swells in a predetermined shape toward the lower side of the vehicle body due to the air pressure of the high-pressure air. At this time, a part of the diaphragm 12 is displaced to a position close to the road surface 50. A plurality of air ejection holes 16 (spouting portions) are formed in a portion of the diaphragm 12 that is displaced to a position close to the road surface 50 when high-pressure air is introduced. The diaphragm 12 forms a gas flow path 17 through which high-pressure air flows between the diaphragm 12 and the road surface 50 in a state of being displaced to a position close to the road surface 50.

The air supply unit 15 is composed of, for example, an air compressor and an air storage tank (not shown). The air storage tank stores the high-pressure air generated by the air compressor, and supplies the stored high-pressure air to the air introduction chamber 13 of each load distribution support device 10 through the air pipe 14.

The four air pipes 14 connected to each air introduction chamber 13 are interposed with a pressure regulating valve 18 for adjusting the pressure of the high pressure air supplied to the air introduction chamber 13. The pressure regulating valve 18 is composed of, for example, an electromagnetic pressure control valve or the like, and adjusts the pressure of high-pressure air flowing through the air pipe 14 under the control of the control device 9. The pressure regulating valve 18 constitutes a support load adjusting device that adjusts the support load distributed and supported by the load distribution support device 10.

A load sensor (not shown) that detects the vehicle load acting on each wheel 3 at the four corners of the vehicle body is connected to the input side of the control device 9. The control device 9 determines whether or not the vehicle load supported by each wheel 3 is within a predetermined load range based on the detection signal input from each load sensor, and the vehicle load supported by the wheel 3 is predetermined. If it is not in the load range of, the pressure regulating valve 18 is controlled so as to be in a predetermined load range.

In the load distribution support device 10 of the present embodiment, when high-pressure air is ejected from the air ejection hole 16 of the diaphragm 12 toward the road surface, buoyancy acts on the vehicle body 2 through the diaphragm 12 and the holder 11 as the reaction force. At this time, a part of the vehicle load acting on the adjacent wheels 3 is distributed and supported by the load distribution support device 10.
In the present embodiment, the load distribution support device 10 is composed of a load support device that injects high-pressure air onto the road surface 50, but the load distribution support device 10 is a load that injects high-pressure gas other than air onto the road surface 50. It may be a support device.

As described above, in the moving device 1 of the present embodiment, the load distribution support device 10 that distributes and supports a part of the vehicle load acting on the traveling wheel 3 is attached to the vehicle body 2. Therefore, the vehicle load is not only supported by the traveling wheel 3 but also distributedly supported by the load distribution support device 10. As a result, the vehicle load directly acting on each wheel 3 is reduced.

The moving device 1 of the present embodiment moves the vehicle body 2 to a desired position without enlarging the wheel 3 and the wheel driving device 4 even when a heavy article is placed on the article placing portion 2a. Can be done. Therefore, in the moving device 1 of the present embodiment, the traveling wheel 3 and the wheel driving device 4 can be miniaturized to reduce the height of the article placing portion 2a. Therefore, when the moving device 1 of the present embodiment is adopted, it is possible to enhance the convenience at the time of loading and unloading the articles.

Further, in the moving device 1 of the present embodiment, the wheels 3 are arranged near the four corners of the vehicle body 2, and the load distribution support device 10 is located close to each wheel 3 so as to have a one-to-one correspondence with each wheel 3. Have been placed. Therefore, the vehicle load can be supported in a well-balanced manner by the pair of the wheel 3 arranged near the four corners of the vehicle body 2 and the load distribution support device 10. In particular, in the moving device 1 of the present embodiment, the load distribution support device 10 is arranged inside each wheel 3 arranged on the left and right sides of the vehicle body 2 in the vehicle width direction, and the pair of the wheel 3 and the load distribution support device 10 is arranged. They are arranged so as to be symmetrical on the left and right sides of the vehicle body 2. Therefore, when the moving device 1 of the present embodiment is adopted, the vehicle balance can be kept good.
In the present embodiment, four wheel drive devices 4 are attached to the vehicle body 2, but the number of wheel drive devices 4 mounted on the mobile device 1 is not limited to four, and two or more are used. If there is, it is optional. However, in the case of a Mecanum wheel, four or more wheel drive devices 4 are required, and in the case of an omni wheel, three or more wheel drive devices 4 are required.

Further, in the moving device 1 of the present embodiment, the pressure adjusting valve 18 (supporting load adjusting device) for adjusting the supporting load distributed and supported by each load distribution support device 10 and the vehicle load supported by each wheel 3 are predetermined. A control device 9 for controlling each pressure regulating valve 18 so as to be within a load range is provided. Therefore, in the moving device 1 of the present embodiment, the ground contact load in the predetermined load range acts on each of the four wheels 3 without bias. Therefore, when the moving device 1 of the present embodiment is adopted, the grounding of each wheel 3 is stable, and the moving device 1 can be driven as desired.

Further, the moving device 1 of the present embodiment employs a non-contact type load supporting device that ejects high pressure air (high pressure gas) onto the road surface 50 as the load distribution supporting device 10. Therefore, the vehicle load can be distributed and supported by the load distribution support device 10 without generating a large resistance with the road surface 50 during traveling. Therefore, when the moving device 1 of the present embodiment is adopted, the power loss during traveling can be reduced and the behavior of the moving device 1 can be stabilized.

Further, in the present embodiment, the non-contact type load support device constituting the load distribution support device 10 includes the diaphragm 12. Then, the diaphragm 12 displaces the air ejection hole 16 (spouting portion) in the direction of the road surface 50 by the high-pressure air (high-pressure gas) introduced inside, and the gas flow between the diaphragm 12 and the road surface 50 at a position close to the road surface 50. Form the road 17. Therefore, the buoyancy can be efficiently applied to the vehicle body 2 by the high pressure air (high pressure gas). Therefore, when the mobile device 1 of the present embodiment is adopted, it is possible to suppress the discharge (consumption) of the high-pressure air (high-pressure gas) more than necessary.

(Second Embodiment)
FIG. 4 is a plan view of the moving device 101 of the second embodiment, and FIG. 5 is a cross-sectional view taken along the line VV of the moving device 101 of FIG. The arrow FR in FIG. 5 indicates the traveling direction of the vehicle body 2.
In the moving device 101 of the present embodiment, as in the first embodiment, the four wheel drive devices 4 and the four load distribution support devices 110 corresponding to each wheel drive device 4 on a one-to-one basis are located near the four corners of the vehicle body 2. It is attached to. Each load distribution support device 110 is arranged at a position close to the inside of the wheel 3 supported by the corresponding wheel drive device 4 in the vehicle width direction. The mobile device 101 of the present embodiment has substantially the same basic configuration as that of the first embodiment, but the specific configuration of the load distribution support device 110 is different from that of the first embodiment.

The load distribution support device 110 is a roller support unit that is rotatably supported by a driven roller 20 whose outer peripheral surface is in contact with the road surface 50 and rotates, and a lower wall of the vehicle body 2 that rotatably supports the driven roller 20 on the lower end side. A 21 and a coil spring 22 which is an elastic member arranged between the vehicle body 2 and the roller support unit 21 are provided. The roller support unit 21 includes a support shaft 23 extending along the vertical direction, and a support cover 25 that covers substantially the upper half of the driven roller 20 and supports the rotating shaft 24 of the driven roller 20. The support cover 25 is integrally fixed to the lower end of the support shaft 23. The support shaft 23 is rotatably supported by the lower wall of the vehicle body. The rotating shaft 24 of the driven roller 20 supported by the support cover 25 is arranged at a position that does not intersect with the axis o1 of the support shaft 23. That is, the rotating shaft 24 is arranged at a position deviated by a predetermined distance d in the horizontal direction from the axis o1 of the support shaft 23.

The upper end of the support shaft 23 of the roller support unit 21 penetrates the lower wall of the vehicle body 2 upward. In the roller support unit 21, the support shaft 23 is supported by the vehicle body 2 so as to be able to move up and down. The upper end of the support shaft 23 is interlocked with the shaft of the drive motor 27 via a gear mechanism 26 such as a worm gear. The motor 27 and the gear mechanism 26 constitute a direction adjusting device 28 that adjusts the rotation of the roller support unit 21 around the axis o1. The drive motor 27 rotates the roller support unit 21 (rotating shaft 24 of the driven roller 20) around the axis o1 so as to follow the traveling direction of the vehicle body 2, for example, under the control of the control device 9.

In the four load distribution support devices 110, when the moving device 101 is arranged on the road surface 50, each driven roller 20 receives the elastic force of the coil spring 22 and comes into contact with the road surface 50. When each wheel drive device 4 is controlled in this state and the vehicle body 2 travels in a predetermined direction, the direction of the roller support unit 21 of each load distribution support device 110 is directed to the direction adjusting device 28 so as to follow the traveling direction of the vehicle body 2. Manipulated by. As a result, the driven roller 20 of each load distribution support device 110 rotates along the traveling direction of the vehicle body 2. At this time, each load distribution support device 110 distributes and supports a part of the vehicle load acting on each wheel 3.
In the present embodiment, the coil spring 22 is adopted as the elastic member arranged between the vehicle body 2 and the roller support unit 21, but the elastic member arranged between the vehicle body 2 and the roller support unit 21 is a coil. It is not limited to the spring 22, and may be, for example, a leaf spring, an air spring, a rubber member, or the like.

As described above, the moving device 101 of the present embodiment has a different basic configuration of the load distribution support device 110, but other basic configurations are the same as those of the first embodiment. Therefore, the mobile device 101 of the present embodiment can obtain the same basic effects as those of the first embodiment described above.

The moving device 101 of the present embodiment is configured such that the load distribution support device 110 includes a driven roller 20, a roller support unit 21, and a coil spring 22 which is an elastic member. Then, the load distribution support device 110 constantly and stably grounds the driven roller 20 on the road surface 50 by the elastic force of the coil spring 22, and when the traveling direction of the vehicle body 2 changes, the roller support unit 21 rotates around the axis o1. By doing so, the direction of the driven roller 20 can be changed.
Therefore, when the moving device 101 of the present embodiment is adopted, a part of the vehicle load acting on the wheel 3 is distributed and supported by the load distribution support device 110, although the structure is simple and does not require a large-scale device. be able to.

Further, in the moving device 101 of the present embodiment, the rotating shaft 24 of the driven roller 20 in the load distribution support device 110 is arranged at a position laterally displaced from the axis o1 of the support shaft 23. Therefore, when the traveling direction of the vehicle body 2 changes, the rotating shaft 24 of the driven roller 20 tries to turn around the axis o1 of the support shaft 23 so that the resistance between the driven roller 20 and the road surface 50 becomes small. .. Therefore, when the moving device of the present embodiment is adopted, the direction of the driven roller 20 can be smoothly changed according to the change in the traveling direction of the vehicle body 2, and the generation of unnecessary traveling resistance can be suppressed.

Further, the moving device 101 of the present embodiment includes a direction adjusting device 28 that displaces the roller support unit 21 around the axis o1 along the traveling direction of the vehicle body 2. Therefore, when the moving device 101 is traveling, the direction adjusting device 28 changes the direction of the roller support unit 21 so as to follow the traveling direction of the vehicle body 2, so that the rotation direction of each driven roller 20 is swiftly changed to the traveling direction of the vehicle body 2. Can be directed to. Therefore, when the moving device of the present embodiment is adopted, the traveling of the moving device 101 can be stabilized.
In the moving device 101 of the present embodiment, the rotating shaft 24 of the driven roller 20 is arranged at a position deviated from the axis o1 of the support shaft 23. Therefore, even if the direction adjusting device 28 is abolished, the driven roller 20 The rotation direction of the vehicle body 2 can be directed to the traveling direction of the vehicle body 2. Therefore, the moving device 101 may be configured not to have the direction adjusting device 28.

(Third Embodiment)
FIG. 6 is a cross-sectional view similar to FIG. 5 of the moving device 101A of the third embodiment.
The mobile device 101A of the present embodiment has substantially the same basic configuration as that of the second embodiment, but the specific configuration of the load distribution support device 110A is slightly different from that of the second embodiment. That is, the load distribution support device 110 of the second embodiment is arranged at a position where the rotating shaft 24 of the driven roller 20 does not intersect the axis o1 of the support shaft 23 extending in the vertical direction, whereas the load of the present embodiment is loaded. The distributed support device 110A is arranged at a position where the rotating shaft 24 of the driven roller 20 intersects the axis o1 of the support shaft 23 extending in the vertical direction. The rotation position of the support shaft 23 can be adjusted by the direction adjusting device 28 as in the case of the second embodiment.

In the moving device 101A of the present embodiment, since the rotating shaft 24 of the driven roller 20 in the load distribution support device 110A is arranged at a position where the axis line o1 of the support shaft 23 intersects, the driven roller 20 is a support shaft during traveling. It becomes difficult to receive the load in the turning direction about the axis o1 of the 23 from the road surface 50. Therefore, when the moving device 101A of the present embodiment is adopted, the straight running performance of the vehicle body is stable.

(Fourth Embodiment)
FIG. 7 is a schematic perspective view of the mobile device 201 of the fourth embodiment.
The mobile device 201 of the present embodiment has almost the same basic configuration as that of the third embodiment, but the roller support units 21 of the four load distribution support devices 110A are connected so as to be interlocked with each other via the link mechanism 30. The point is different from that of the third embodiment. In FIG. 7, the four wheel drive devices and wheels are omitted for convenience of illustration. The wheel drive device and the wheel have the same configuration as those of the first and second embodiments.

The link mechanism 30 is a substantially H-shaped connecting shaft that interlockably connects the crank shaft 31 integrally connected to the upper end of the support shaft 23 of each load distribution support device 110A and the eccentric portion 31a of each crank shaft 31. 32 and. Each eccentric portion 31a and the connecting shaft 32 are rotatably connected via a sliding bush 33 or the like. The configuration of the link mechanism 30 is not limited to that described here as long as the roller support units 21 can be interlocked with each other.

Further, any one of the four load distribution support devices 110A is provided with a direction adjusting device 28 including a gear mechanism 26 and a motor 27 and the like. The gear mechanism 26 of the direction adjusting device 28 is provided on the rotation shaft portion b of the crank shaft 31, the support shaft 23, and the like so that the support shaft 23 of one load distribution support device 110A can rotate. The motor 27 of the direction adjusting device 28 is controlled by a control device (not shown) according to the moving direction of the vehicle body 2 while the moving device 201 is traveling.

In the moving device 201 of the present embodiment, when each wheel driving device (not shown) is controlled and the vehicle body 2 travels in a predetermined direction, one crank shaft 31 is rotated by the direction adjusting device 28 according to the traveling direction of the vehicle body 2. Will be done. As a result, the roller support units 221 of the four load distribution support devices 110A rotate synchronously via the link mechanism 30. As a result, the driven rollers 20 of all the load distribution support devices 110A are driven and rotated along the traveling direction of the vehicle body 2.

In the moving device 201 of the present embodiment, the roller support units 21 of the four load distribution support devices 110A are interlocked with each other via the link mechanism 30. Therefore, the rotation directions of the driven rollers 20 of the four load distribution support devices 110A can always be matched. Therefore, when the moving device 201 of the present embodiment is adopted, the traveling of the moving device 201 can be made more stable.

Further, in the moving device 201 of the present embodiment, since each roller support unit 21 of the four load distribution support devices 110A can be interlocked via the link mechanism 30, the direction is adjusted only to one load distribution support device 110A. If the device 28 is provided, the rotation directions of the driven rollers 20 of the four load distribution support devices 110A can be changed at the same timing. Therefore, when the moving device 201 of the present embodiment is adopted, the number of the direction adjusting devices 28 mounted on the vehicle body 2 can be reduced, and the moving device 201 can be made smaller and lighter.

(Fifth Embodiment)
FIG. 8 is a cross-sectional view of a part of the moving device 301 of the fifth embodiment cut along the vehicle width direction.
The mobile device 301 of the present embodiment has substantially the same basic configuration as the second and third embodiments, but is a load distribution support device arranged in the wheel drive device 304 in the vicinity of the wheel drive device 304. It differs from the second and third embodiments in that a support portion for supporting the 110A is provided.

The wheel drive device 304 is integrally provided with a fixed flange 35 for attaching the wheel drive device 304 to the vehicle body 2 in the housing 5a of the drive motor. The fixed flange 35 is integrally provided with a substantially L-shaped support bracket 36 joined to the lower surface of the vehicle body 2. The support bracket 36 may be an integral member of the fixed flange 35 or a separate component. A through hole 37 through which the support shaft 23 of the load distribution support device 110A is inserted is formed in a portion of the support bracket 36 along the lower surface of the vehicle body 2. The support bracket 36 supports the corresponding load distribution support device 110A.

The moving device 301 of the present embodiment is configured such that the support bracket 36 is integrally provided on the fixed flange 35 of the wheel drive device 304, and the load distribution support device 110A is supported by the support bracket 36. Therefore, the load distribution support device 110A is attached to the support bracket 36, the wheel drive device 304 and the load distribution support device 110A are integrally assembled in advance, and in that state, the wheel drive device 304 and the load distribution support device 110A are mounted on the vehicle body 2. Can be attached to. Therefore, when the moving device 301 of the present embodiment is adopted, the wheel driving device 304 and the load distribution support device 110A can be efficiently assembled to the vehicle body 2.

The present invention is not limited to the above embodiment, and various design changes can be made without departing from the gist thereof.

1,101,101A, 201,301 ... Moving device, 2 ... Body, 3 ... Wheel, 4 ... Wheel drive device, 9 ... Control device, 10 ... Load distribution support device, 12 ... Diaphragm, 16 ... Air ejection hole (Ejection) Part), 17 ... Gas flow path, 18 ... Pressure regulating valve (supporting load adjusting device), 20 ... Driven roller, 21.221 ... Roller support unit, 22 ... Coil spring (elastic member), 24 ... Rotating shaft, 28 ... Direction adjusting device, 30 ... link mechanism, 35 ... fixed flange, 36 ... support bracket, o1 ... axis.

The load distribution support device for a moving device according to one aspect of the present invention is a load distribution support device used for a moving device including a vehicle body and a wheel driving device attached to the vehicle body to drive a traveling wheel . It has a blowout part that blows out high-pressure gas on the road surface.

The load distribution support device for a moving device according to another aspect of the present invention is a load distribution support device used for a moving device including a vehicle body and a wheel driving device attached to the vehicle body to drive a traveling wheel. A driven roller that touches the road surface, a roller support unit that supports the rotating shaft of the driven roller, and is rotatably and vertically rotatably around an axis along a substantially vertical direction, and a roller support unit that is supported by the vehicle body so as to be able to move up and down. It includes an elastic member arranged between the vehicle body and the roller support unit .

Claims (14)

With the car body
A wheel drive device that is attached to the vehicle body and drives the wheels for traveling,
A moving device including a load distribution support device that is attached to the vehicle body and distributes and supports a part of the vehicle load acting on the wheel. With the car body
The four wheel drive devices that are attached to the vehicle body and drive the wheels for running,
A moving device including four load distribution support devices that are attached to the vehicle body and that distribute and support a part of the vehicle load acting on the wheels that are driven by the wheel drive devices. The four wheels are arranged in the vicinity of the four corners of the vehicle body having a substantially rectangular top view.
The moving device according to claim 2, wherein the four load distribution support devices are arranged at positions close to each of the wheels. A support load adjusting device that adjusts the support load distributed and supported by each of the load distribution support devices,
The moving device according to claim 2 or 3, further comprising a control device for controlling the supporting load adjusting device so that the vehicle load supported by each of the wheels is within a predetermined load range. The moving device according to any one of claims 1 to 4, wherein the load distribution support device is composed of a non-contact type load support device that blows high-pressure gas onto the road surface to exert buoyancy on the vehicle body. The non-contact type load-bearing device has a diaphragm that displaces the high-pressure gas ejection part in the direction of the road surface by the high-pressure gas introduced inside and forms a gas flow path between the high-pressure gas and the road surface at a position close to the road surface. The mobile device according to claim 5. The load distribution support device is
A driven roller that touches the road surface,
A roller support unit that supports the rotation axis of the driven roller and is supported by the vehicle body so as to be rotatable and vertically rotatable around an axis along a substantially vertical direction.
The moving device according to any one of claims 1 to 3, further comprising an elastic member arranged between the vehicle body and the roller support unit. The moving device according to claim 7, wherein the rotating axis of the driven roller is arranged at a position horizontally deviated from the axis along a substantially vertical direction. The moving device according to claim 7, wherein the rotating shaft of the driven roller is arranged at a position intersecting the axis along a substantially vertical direction. The moving device according to any one of claims 7 to 9, further comprising a direction adjusting device for rotating and adjusting the roller support unit around the axis so as to follow the traveling direction of the vehicle body. The load distribution support device is
A driven roller that touches the road surface,
A roller support unit that supports the rotation axis of the driven roller and is supported by the vehicle body so as to be rotatable and vertically rotatable around an axis along a substantially vertical direction.
An elastic member arranged between the vehicle body and the roller support unit is provided.
The moving device according to claim 2 or 3, wherein each of the roller support units of the four load distribution support devices is interlocked and connected via a link mechanism. The wheel drive has a fixed flange that is fixed to the vehicle body.
The moving device according to any one of claims 7 to 11, wherein the fixed flange is provided with a support bracket for supporting the load distribution support device. It is used in a mobile device including a vehicle body and a wheel drive device attached to the vehicle body to drive a traveling wheel.
A load distribution support device for a moving device that is attached to the vehicle body and distributes and supports a part of the vehicle load acting on the wheels. A driven roller that touches the road surface,
A roller support unit that supports the rotation axis of the driven roller and is supported by the vehicle body so as to be rotatable and vertically rotatable around an axis along a substantially vertical direction.
The load distribution support device for a mobile device according to claim 13, further comprising an elastic member arranged between the vehicle body and the roller support unit.

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