JP5182496B2 - Traveling vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling vehicle having a link mechanism for reducing interference with other members, requiring a small space, and capable of improving turning ability while securing a space below a loading part. <P>SOLUTION: A traveling vehicle includes a vehicle body 2, a loading part 3 supported by the vehicle body 2, and rotatable wheel parts 5 supporting the vehicle body 2 and the loading part 3 so as to be invertible. The vehicle includes a link mechanism 4 coupling the vehicle body 2 and the wheel parts 5, a rotary motor 8 for generating a driving force, a shaft 11 for outputting power from the rotary motor 8, and a link power transmission mechanism T for transmitting power from the shaft 11 to the link mechanism L. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a traveling vehicle in which a vehicle body supported by wheel portions and a mounting portion travel in an inverted posture.

2. Description of the Related Art Conventionally, there has been a vehicle that is configured as a single-seater two-wheeled vehicle with a downsized vehicle, in which the vehicle body is tilted by a link mechanism when the vehicle is turning, the turning performance is improved, and the vehicle can turn stably. (See Patent Document 1).
International Publication No. 2007/052676

  However, in the invention described in Patent Document 1, since a telescopic actuator is used as the link mechanism, a wide space is required and there is a case where it interferes with other members.

  The present invention solves the above-mentioned problem, has a link mechanism that reduces interference with other members in a small space, and can improve the turning performance while ensuring a space below the mounting portion. An object is to provide a traveling vehicle.

To this end, the present invention provides a traveling vehicle comprising a vehicle body, a mounting portion supported by the vehicle body, and a rotatable wheel portion that supports the vehicle body and the mounting portion so as to be inverted. A link mechanism that couples the sections, a rotary motor that generates a driving force, a shaft that outputs power from the rotary motor, and a link power transmission mechanism that transmits power from the shaft to the link mechanism. The link power transmission mechanism has a shaft holder fixed to the link mechanism, a key provided on one of the shaft or the shaft holder, and a key groove provided on the other of the shaft or the shaft holder. The rotary motor is a hollow motor including the shaft that penetrates the motor and outputs power, and the shaft holder is the hollow motor. Sandwiching a first shaft holder and a second shaft holder, the key sandwiching the hollow motor, the first key and a second key, and the keyway sandwiching the hollow motor; A first keyway and a second keyway are provided.

  In addition, at least one of the first key and the first key groove or the second key and the second key groove has an interval in the circumferential direction of the shaft.

  Further, the distance between the first key and the first key groove in the shaft circumferential direction is different from the distance between the second key and the second key groove in the shaft circumferential direction.

  In addition, an interval between the first key and the first key groove in the shaft circumferential direction is smaller than an interval between the second key and the second key groove in the shaft circumferential direction. The other interval in the shaft circumferential direction of the first key groove is larger than the other interval in the shaft circumferential direction of the second key groove and the second key groove.

According to the invention of claim 1, in a traveling vehicle comprising a vehicle body, a mounting portion supported by the vehicle body, and a rotatable wheel portion that supports the vehicle body and the mounting portion so as to be inverted, A link mechanism that connects a vehicle body and the wheel portion, a rotary motor that generates a driving force, a shaft that outputs power from the rotary motor, and a link power transmission mechanism that transmits power from the shaft to the link mechanism The link power transmission mechanism includes a shaft holder fixed to the link mechanism, a key provided on one of the shaft or the shaft holder, and a key groove provided on the other of the shaft or the shaft holder. And the rotary motor is a hollow motor including the shaft that penetrates the motor and outputs power, and the shaft holder The motor has a first shaft holder and a second shaft holder, the key has the first key and the second key, and the keyway sandwiches the hollow motor. Since it has the first key groove and the second key groove, it has a link mechanism that reduces interference with other members in a small space, and can improve the turning performance while securing the space below the mounting portion. it can. Moreover, power transmission can be improved.

  According to the invention of claim 2, the link power transmission mechanism includes a shaft holder fixed to the link mechanism, a key provided on one of the shaft or the shaft holder, the shaft or the shaft holder. And the keyway provided on the other of the two, the power transmission can be improved.

  According to a third aspect of the present invention, the rotary motor is a hollow motor including the shaft that passes through the motor and outputs power, and the shaft holder sandwiches the hollow motor, A first shaft holder and a second shaft holder, the key having a first key and a second key sandwiching the hollow motor, and the key groove having a first key groove sandwiching the hollow motor. And the second keyway, the power transmission can be further improved.

  According to the invention of claim 4, at least one of the first key and the first key groove or the second key and the second key groove has an interval in the shaft circumferential direction. Normally, power is transmitted only through the abutting key and key groove or a key with a small interval (or inserted with no interval) and a key groove, and the abutting key and key groove or a key with a small interval are damaged. Since the power is transmitted only through the key and the key groove having a large interval only, the power can be transmitted even when one of the keys is damaged. In addition, since the operation is delayed when power is transmitted through the key and the keyway having a large interval, it is possible to easily recognize the breakage of the key having a small interval.

  According to the fifth aspect of the present invention, the distance between the first key and the first key groove in the shaft circumferential direction and the distance between the second key and the second key groove in the shaft circumferential direction are: Because the distance is different, usually the power is transmitted only through the key and the key groove with a small interval, and the power is transmitted through the key and the key groove with a large interval only when the key with a small interval is broken. The service life can be extended. In addition, since the operation is delayed when power is transmitted through the key and the keyway having a large interval, it is possible to easily recognize the breakage of the key having a small interval.

  According to the sixth aspect of the present invention, the distance between the first key and the first key groove in the shaft circumferential direction is one of the second key and the second key groove in the shaft circumferential direction. And the other distance in the circumferential direction of the shaft between the first key and the first key groove is larger than the other distance in the circumferential direction of the shaft between the second key and the second key groove. The power is transmitted only through the first key when the motor is operated on one side, and the power is transmitted only through the second key when the shaft is operated on the other side, so that backlash can be reduced. . Further, when the shaft is operated to one side when the first key is broken, power is transmitted through the second key. When the shaft is operated to the other side when the second key is broken, the first key is transmitted. Since power is transmitted via the, fail safe is possible. Furthermore, when power is transmitted when either the first key or the second key is damaged, the operation is delayed, so that the damage of either the first key or the second key can be easily recognized. .

  Hereinafter, an embodiment as an example of the present invention will be described with reference to the drawings. 1 and 2 are diagrams showing a traveling vehicle according to the present embodiment. FIG. 1 is a front view of the traveling vehicle, and FIG. 2 is a side view of the traveling vehicle. 3 is a cross-sectional view taken along the line AA in FIG.

  The traveling vehicle 1 has a seat 3 as an example of a mounting portion mounted on the vehicle body 2, and controls the driving means such as the left and right wheel motors 9 by operating a joystick (not shown), and the posture of the vehicle body 2 and the seat 3. While maintaining the (inclination angle) in an inverted state, the vehicle is driven by driving the wheel portion 5. The vehicle body 2 is mounted with a seat 3 on which an occupant sits at an upper portion and is connected to a link member 4 at a lower portion. The link member 4 is connected to the wheel portion 5. The wheel unit 5 includes a tire 5a and a wheel 5b.

  The seat 3 includes a seat portion 3 a on which an occupant is mounted, a seat back 3 b that serves as a back of the occupant, and a seat support member 3 c that supports the seat 3. The seat 3 is supported so as to be relatively movable in the front-rear direction with respect to the vehicle body 2 via a guide member 6 serving as guide means having a guide rail 6a and a slider 6b. The left and right wheel portions 5 are rotatably supported with respect to the vehicle body 2 via a driving means such as a wheel motor 9 on a common axis, and can control the front-rear driving force independently. The seat support member 3c may be a separate member from the seat portion 3a and the seat bag 3b.

  The vehicle body 2 includes an upper frame 21 and a lower frame 22.

  The upper frame 21 includes a first upper frame 21a, a second upper frame 21b, and a third upper frame 21c. The first upper frame 21a extends in the left-right direction, is disposed in parallel in the front-rear direction, and is connected to the second upper frame 21b at the left and right first upper intersections 21ab. The second upper frame 21b extends in the front-rear direction and is arranged parallel to the left and right, and is connected to the first upper frame 21a at the left and right first upper intersections 21ab. The third upper frame 21c extends forward and backward slightly below the line connecting the left and right second upper frames 21b, is arranged in parallel with the second upper frame 21b, and is connected to the first upper frame 21a at a second upper intersection 21ac. . The first upper frame 21a may not be parallel to the front and rear.

  The lower frame 22 includes a first lower frame 22a, a second lower frame 22b, and a third lower frame 22c. The first lower frame 22a extends downward from the first upper intersection 21ab and is connected at the lower end 22abc with the second lower frame 22b and the third lower frame 22c at the lower end. The second lower frame 22b extends downward from the second upper intersection 21ac and is connected at the lower intersection 22abc at the lower end. As shown in FIG. 3, the third lower frame 22c is connected at the front and rear lower intersections 22abc.

  Two link members 4 are arranged in parallel in the front and rear directions, and are rotatably connected to the wheel motor bracket 9a of the wheel motor 9 at the wheel portion connection points 41 at the upper and lower ends of both ends. A link mechanism L is constituted by the wheel motor bracket 9 a of the motor 9. The first link member 4a disposed above is rotatably connected to the second lower frame 22b and the first connection point 22b4, and the second link member 4b disposed below is disposed on the first lower portion at the lower intersection 22abc. The frame 22a, the second lower frame 22b, and the third lower frame 22c are rotatably connected.

  Guide members 6 arranged in parallel to each other are attached to the left and right second upper frames 21b of the upper frame 21, respectively. The guide member 6 includes a guide rail 6a fixed to the seat 3 and a slider 6b fixed to the vehicle body 2 and moving along the guide rail 6a. The seat 3 is supported so as to be relatively movable along the guide member 6 with respect to the vehicle body 2. Thereby, while ensuring high rigidity, it can move smoothly with a small driving force. The guide rail 6a may be provided on either the seat 3 or the vehicle body 2, and the slider 6b may be provided on the other side of the seat 3 or the vehicle body 2.

  A slide actuator 7 as a moving means is attached to the third upper frame 21c of the upper frame 21. The slide actuator 7 includes a guide portion 7a as a first member, a moving portion 7b as a second member, a drive portion 7c, and the like. The guide portion 7a is attached to the third upper frame 21c. The moving portion 7b is attached and fixed to the slider 6b of the guide member 6 via the flexible plate 10 as an example of an elastic member, is driven by the driving portion 7c, and relatively moves along the guide portion 7a.

  In addition, in this embodiment, although the seat 3 and the flexible plate 10 are comprised as a mounting part, the moving part 7b as a 2nd member may be directly attached to the seat 3 and fixed. A plurality of moving parts 7b may be provided.

  Furthermore, it is good also as a structure which fixes the guide part 7a to the seat 3 side as a 1st member, and fixes the moving part 7b to the upper frame 21 side of the vehicle body 2 as a 2nd member. In that case, it is preferable that the moving part 7b is configured to be longer in the longitudinal direction of the vehicle body 2 than the guide part 7a.

  The flexible plate 10 is a member that connects the moving portion 7b of the slide actuator 7 and the slider 6b of the guide member 6 connected to the mounting portion 3, and is a load from the seat 3, a load due to deformation during traveling, or a dimensional tolerance. It is a plate-like elastic body that reduces the action on the slide actuator 7 by supporting a load generated during assembly by the like. Thereby, since the output of an actuator can be suppressed compared with the vehicle which is not provided with this elastic member, size reduction and energy saving of the slide actuator 7 can be achieved.

  In the present embodiment, the flexible plate 10 is provided so as to be elastically connected between the moving portion 7b and the vehicle body 2 side. However, the flexible plate 10 is elastically provided between the guide portion 7a and the seat 3 side. You may provide so that it may connect. Moreover, although the flexible plate 10 was used as an elastic member, you may employ | adopt and connect other elastic members, such as a spring and rubber | gum. Furthermore, an elastic member such as the flexible plate 10 is not necessarily provided.

  As shown in FIG. 3, the hollow motor 8 is disposed in the vehicle body 2 at a position connecting the front and rear first connection points 22b4 via a flange 8a supported by the third upper frame 21c. The hollow motor 8 has a shaft 11 that penetrates the hollow motor 8 at the center of rotation, and can output in both the front and rear directions. The shaft 11 is coupled to the first link member 4a of the link member 4 via the shaft holder 12 and the bolt 13 at both ends. The motor is not necessarily the hollow motor 8.

  4 is a cross-sectional view taken along the line BB in FIG. 1, and FIG. 5 is a cross-sectional view taken along the line CC in FIG. The output of the hollow motor 8 is transmitted to the shaft 11 that passes through the hollow motor 8 and is output forward and backward. Since the front and rear powers are transmitted in the same manner, the front output transmission will be described here.

  The power transmitted to the shaft 11 is transmitted to the shaft holder 12 via the key 14. Since the shaft holder 12 is fixed to the first link member 4a with bolts 13, the power is transmitted to the first link member 4a, and the link mechanism L operates. The shaft 11 is connected to the second lower frame 22c via a bearing 15 by a bolt 16 and a washer 17 or the like. The shaft holder 12 and the key 14 constitute a link power transmission mechanism T.

  FIG. 6 is a diagram illustrating a state of the traveling vehicle 1 in which the hollow motor 8 is operated. When the hollow motor 8 is operated and the shaft 11 shown in FIG. 4 rotates, power is transmitted from the key 14 and the shaft holder 12 rotates. The rotation of the shaft holder 12 is transmitted to the first link member 4a, the link mechanism L is activated, and the vehicle body 2, the seat 3, and the wheel portion 5 are inclined as shown in FIG.

  As the wheel portion 5 is tilted, the vehicle body 2 and the seat 3 are tilted inward of the turn. Therefore, since the center of gravity can be moved in the direction opposite to the centrifugal force at the time of turning using the weight of the driver riding on the seat 3, the turning performance is greatly improved. This is more effective when applied to a small vehicle having a small tread width.

  Next, the structure near the key 14 of the first embodiment will be described. In the first embodiment, the key 14 has a first key 14 a and a second key 14 b with the hollow motor 8 interposed therebetween, and the shaft holder 12 has the first shaft holder 12 a and the second key sandwiched with the hollow motor 8. It has a shaft holder 12b.

  7 and 8 are views showing the structure in the vicinity of the key 14 of the first embodiment, FIG. 7 is a view showing the structure in the vicinity of the key 14 in the DD section of FIG. 3, and FIG. It is a figure which shows the structure of the key 14 vicinity of the EE cross section. In the first embodiment, power is transmitted only by the first key 14a, and when the first key 14b is damaged, the power is transmitted by the second key 14b.

  As shown in FIG. 7, the front key 14 a as the first key is press-fitted and provided in the front recess 11 a as the first recess of the shaft 11. Further, the front key 14a as the first key is fitted into the front key groove 12a1 as the first key groove of the front shaft holder 12a as the first shaft holder.

  On the other hand, as shown in FIG. 8, the rear key 14 b as the second key is press-fitted into the rear concave portion 11 b as the second concave portion of the shaft 11. The rear key 14b is fitted in the rear key groove 12b1 as the second key groove of the rear shaft holder 12b as the second shaft holder. However, the circumferential distance of the shaft 11 between the rear key 14b and the rear key groove 12b1 of the rear shaft holder 12b is the circumferential distance of the shaft 11 between the front key 14a and the front key groove 12a1 of the front shaft holder 12a. Is set larger than.

  9 and 10 are views showing the structure near the key 14 when the hollow motor 8 according to the first embodiment is in operation, FIG. 9 is a view similar to FIG. 7 in the operation state, and FIG. 10 is a view of the operation state. 8 is a diagram similar to FIG.

  When the hollow motor 8 operates, the shaft 11 rotates as shown in FIG. Subsequently, power is transmitted from the front recess 11a of the shaft 11 to the front key 14a. Next, power is transmitted from the front key 14a to the front keyway 12a1 of the front shaft holder 12a, and the front shaft holder 12a rotates.

  When the hollow motor 8 is activated, the shaft 11 and the front shaft holder 12a rotate via the front key 14a. However, as shown in FIG. 10, the rear key 14b does not contact the rear shaft holder 12b. Since power is not transmitted, the rear key 14b has a structure in which no load is applied.

  FIG. 11 is a diagram illustrating a state in which the front key 14a is damaged, and FIG. 12 is a diagram illustrating a state of the rear key 14b when the front key 14a is damaged.

  As shown in FIG. 11, when the front key 14a cannot be transmitted from the shaft 11 to the front shaft holder 12a due to damage or the like, the rear key 14b fitted in the rear recess 11b of the shaft 11 as shown in FIG. However, it comes into contact with the rear key groove 12b1 of the rear shaft holder 12b, which was initially separated, and power can be transmitted through the rear key 14b.

  By adopting such a structure, power is transmitted only through the front key 14a at the beginning, and power is transmitted through the rear key 14b only when the front key 14a is damaged. Become. Further, when the rear key 14b transmits power, the operation is delayed by the gap between the rear key 14b and the rear shaft holder 12b, so that it is easy to recognize the breakage of the front key 14a.

  In the first embodiment, the circumferential distance of the shaft 11 between the rear key 14b and the rear key groove 12b1 of the rear shaft holder 12b is the shaft 11 between the front key 14a and the front key groove 12a1 of the front shaft holder 12a. However, the front and rear are interchanged, and the circumferential distance of the shaft 11 between the front key 14a and the front key groove 12a1 of the front shaft holder 12a is changed to the rear. You may set larger than the space | interval of the circumferential direction of the shaft 11 of the key 14b and the back keyway 12b1 of the back shaft holder 12b. The smaller one of the circumferential intervals between the keys 14a and 14b and the key grooves 12a1 and 12b1 may be in contact.

  Next, the structure near the key 14 of the second embodiment will be described. In the second embodiment, the key 14 has the first key 14a and the second key 14b with the hollow motor 8 interposed therebetween, and the shaft holder 12 has the first shaft holder 12a and the second key 14b with the hollow motor 8 interposed therebetween. A two-shaft holder 12b is provided.

  FIGS. 13 and 14 are views showing the structure near the key 14 of the second embodiment, FIG. 13 is a view showing the structure near the key 14 in the DD section of FIG. 3, and FIG. It is a figure which shows the structure of the key 14 vicinity of the EE cross section. In the second embodiment, in the case of counterclockwise power as the first direction, power is transmitted only by the first key 14a, and in the case of clockwise power as the second direction, the second key 14b is used. It is structured to transmit power.

  As shown in FIG. 13, the front key 14 a as the first key is press-fitted into the front recess 11 a as the first recess of the shaft 11. The front key 14a is fitted into the front key groove 12a1 as the first key groove of the front shaft holder 12a as the first shaft holder. The center line in the left-right direction of the front key 14a is shifted from the left-right direction center line of the front key groove 12a1 to one left side when viewed from the front of the traveling vehicle. The front key 14a and the front key groove 12a1 are configured to contact each other when the shaft 11 rotates counterclockwise.

  On the other hand, as shown in FIG. 14, the rear key 14 b as the second key is press-fitted into the rear concave portion 11 b as the second concave portion of the shaft 11. The rear key 14b is fitted in the rear key groove 12b1 as the second key groove of the rear shaft holder 12b as the second shaft holder. However, the center line in the left-right direction of the rear key 14b is shifted from the center line in the left-right direction of the rear key groove 12b1 to the other right side as viewed from the front of the traveling vehicle. The rear key 14b and the rear key groove 12b1 are configured to contact each other when the shaft 11 rotates clockwise.

  FIG. 15 is a diagram showing a state in which the hollow motor 8 is operated in the reverse direction from the state in which the shaft 11 is rotated in the clockwise direction and starts rotating in the counterclockwise direction. When the hollow motor 8 is actuated, the front key 14a is arranged so as to be shifted counterclockwise as viewed from the front of the traveling vehicle with respect to the lateral center line of the front key groove 12a1, so that the front shaft holder 12a and the front key 14a are Contact quickly, power is transmitted quickly.

  FIG. 16 is a diagram showing a state in which the hollow motor 8 is operated in the reverse direction from the state in which the shaft 11 is rotated in the counterclockwise direction and starts rotating in the clockwise direction. When the hollow motor 8 is actuated, the rear key 14b is arranged so as to be shifted in the clockwise direction when viewed from the front of the traveling vehicle with respect to the lateral center line of the rear key groove 12b1, so that the rear shaft holder 12b and the rear key 14b are quickly moved. Power is transmitted quickly.

  That is, the space | interval of the counterclockwise direction as a 1st direction among the circumferential directions of the shaft 11 or the front shaft holder 12a which inserted the front key 14a and the front key 14a is the shaft 11 which inserted the back key 14b and the back key 14b. Or, it is smaller than the counterclockwise interval of the rear shaft holder 12b, and the clockwise interval as the second direction in the circumferential direction of the shaft 11 or the front shaft holder 12a in which the front key 14a and the front key 14a are fitted is The shaft 11 or the rear shaft holder 12b into which the key 14b and the rear key 14b are fitted is configured to be larger than the clockwise interval.

  With this structure, when the shaft 11 is operated counterclockwise when viewed from the front of the traveling vehicle 1, power is transmitted only through the front key 14a, and the shaft 11 is operated clockwise. In this case, since power is transmitted only through the rear key 14b, backlash can be reduced.

  Further, when the shaft 11 operates counterclockwise when the front key 14a is damaged, power is transmitted via the rear key 14b, and when the shaft 11 operates clockwise when the rear key 14b is damaged. Since the power is transmitted through the front key 14a, fail safe is possible.

  Furthermore, when power is transmitted when either the front key 14a or the rear key 14b is damaged, the operation is delayed by the gap between the front key 14a or the rear key 14b and the shaft holder 12 that is not damaged. It becomes easy to recognize the breakage of either the key 14a or the rear key 14b.

  In addition, you may replace the front and back of 2nd Embodiment. Alternatively, the first direction and the second direction may be interchanged so that the clockwise direction is the first direction and the counterclockwise direction is the second direction. Furthermore, the smaller one of the intervals between the keys 14a and 14b and the key grooves 12a1 and 12b1 may be in contact.

  Thus, according to the first embodiment and the second embodiment, the vehicle body 2, the mounting portion 3 supported by the vehicle body 2, and the rotatable wheel portion 5 that supports the vehicle body 2 and the mounting portion 3 so as to be inverted. A link mechanism 4 that connects the vehicle body 2 and the wheel portion 5, a rotary motor 8 that generates a driving force, a shaft 11 that outputs power from the rotary motor 8, and a shaft 11 A link power transmission mechanism T that transmits power to the link mechanism L, and thus has a link mechanism 4 that reduces interference with other members in a small space, while securing a space below the mounting portion 3. , Turning performance can be improved.

  The link power transmission mechanism T includes a shaft holder 12 fixed to the link mechanism 4 and a key 14 provided on one of the shaft 11 or the shaft holder 12 and fitted on the other of the shaft 11 or the shaft holder 12. Therefore, power transmission can be improved.

  The rotary motor 8 is a hollow motor 8 that includes a shaft 11 that passes through the motor 8 and outputs power, and the shaft holder 12 sandwiches the hollow motor 8 with a front shaft holder 12a and a rear shaft holder 12b. The key 14 has a front key 14a and a rear key 14b with the hollow motor 8 interposed therebetween, and the key grooves 12a1 and 12b1 have the front key groove 12a1 and the rear key groove 12b1 sandwiched with the hollow motor 8. Therefore, power transmission can be further improved.

  Further, since at least one of the front key 14a and the front key groove 12a1 or the rear key 14b and the rear key groove 12b1 is spaced in the shaft circumferential direction, the key 14 and the key grooves 12a1, 12b1, or Power is transmitted only through the key 14 having a small interval and the key grooves 12a1, 12b1, and the key 14 having a large interval and the key only when the contacted key 14 and the key grooves 12a1, 12b1 or the key 14 having a small interval are damaged. Since the power is transmitted through the grooves 12a1 and 12b1, the life can be extended.

  Further, since the distance between the front key 14a and the front key groove 14a1 in the shaft circumferential direction is different from the distance between the rear key 14b and the rear key groove 14b1 in the shaft circumferential direction, the distance between the key 14a and the key 14a having a small distance is usually different. Power is transmitted only through the key grooves 14a1 and 14b1, and power is transmitted only through the key 14 having a large interval and the key grooves 14a1 and 14b1 only when the key 14 having a small interval is damaged. Even in this case, power can be transmitted. Further, since the operation is delayed when the key 14 with a large interval transmits power, it becomes easy to recognize the breakage of the key 14 with a small interval.

  Further, the distance between the first key and the first key groove in the circumferential direction of the shaft is smaller than the distance between the second key and the second key groove in the circumferential direction of the shaft. Since the other interval in the shaft circumferential direction of the groove 14a1 is larger than the other interval in the shaft circumferential direction of the rear key groove 14b1 and the rear key groove 14b1, when the shaft 11 operates in one direction, only the front key 14a is interposed. Therefore, when the shaft 11 is operated to the other, the power is transmitted only through the rear key 14b, so that backlash can be reduced. When the front key 14a is damaged, if the shaft is activated to one side, power is transmitted via the rear key 14b. When the rear key 14b is damaged, the shaft is activated to the other side, the front key 14a Since power is transmitted via the, fail safe is possible. Furthermore, when power is transmitted when either the front key 14a or the rear key 14b is broken, the operation is delayed, so that it becomes easy to recognize the breakage of either the front key 14a or the rear key 14b. .

It is a front view which shows the traveling vehicle of this embodiment. It is a side view which shows the traveling vehicle of this embodiment. It is AA sectional drawing of FIG. It is BB sectional drawing of FIG. It is CC sectional drawing of FIG. It is a figure which shows the state of the traveling vehicle 1 which act | operated the hollow motor 8. FIG. It is a figure which shows the structure of the key 14 vicinity of the DD cross section of FIG. 3 of 1st Embodiment. It is a figure which shows the structure of the key 14 vicinity of the EE cross section of FIG. 3 of 1st Embodiment. It is a figure similar to FIG. 7 of the operation state of 1st Embodiment. It is a figure similar to FIG. 8 of the operation state of 1st Embodiment. It is a figure showing the state where front key 14a of a 1st embodiment was damaged. It is a figure which shows the state of the back key 14b at the time of the front key 14a failure | damage of 1st Embodiment. It is a figure which shows the structure of the key 14 vicinity of the DD cross section of FIG. 4 of 2nd Embodiment. It is a figure which shows the structure of the key 14 vicinity of the EE cross section of FIG. 3 of 2nd Embodiment. It is a figure which shows the state which actuated the hollow motor 8 in the reverse direction from the state which the shaft 11 of 2nd Embodiment rotated clockwise, and began to rotate counterclockwise. It is a figure which shows the state which act | operated the hollow motor 8 in the reverse direction and started rotating clockwise from the state which the shaft 11 of 2nd Embodiment rotated counterclockwise.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Traveling vehicle, 2 ... Vehicle body, 3 ... Seat (mounting part), 4 ... Link member, 5 ... Wheel part, 6 ... Guide member (guide means), 7 ... Slide actuator (moving means), 8 ... Hollow motor, DESCRIPTION OF SYMBOLS 9 ... Wheel motor, 10 ... Flexible plate (elastic means), 11 ... Shaft, 12 ... Shaft holder, 12a ... Front shaft holder (first shaft holder), 12b ... Rear shaft holder (second shaft holder), 13 ... Bolt , 14 ... key, 14a ... front key (first key), 14b ... back key (second key), 15 ... bearing, 16 ... bolt, 17 ... washer, L ... link mechanism, T ... link power transmission mechanism

Claims (4)

The car body,
A mounting portion supported by the vehicle body;
A rotatable wheel portion that supports the vehicle body and the mounting portion in an inverted manner;
In a traveling vehicle equipped with
A link mechanism for connecting the vehicle body and the wheel portion;
A rotary motor that generates a driving force;
A shaft for outputting power from the rotary motor;
A link power transmission mechanism for transmitting power from the shaft to the link mechanism;
Equipped with a,
The link power transmission mechanism is
A shaft holder fixed to the link mechanism;
A key provided on one of the shaft or the shaft holder;
A key groove that meshes with the key and is provided on the other of the shaft or the shaft holder;
Have
The rotary motor is a hollow motor including the shaft that penetrates the motor and outputs power;
The shaft holder has a first shaft holder and a second shaft holder across the hollow motor,
The key has a first key and a second key across the hollow motor,
The traveling vehicle characterized in that the keyway has a first keyway and a second keyway across the hollow motor . 2. The traveling vehicle according to claim 1, wherein at least one of the first key and the first key groove or the second key and the second key groove has an interval in a shaft circumferential direction. 2. The distance between the first key and the first key groove in the circumferential direction of the shaft and the distance between the second key and the second key groove in the circumferential direction of the shaft are different from each other. Or the traveling vehicle of Claim 2. One interval in the shaft circumferential direction of the first key and the first key groove is smaller than one interval in the shaft circumferential direction of the second key and the second key groove,
The other distance in the shaft circumferential direction between the first key and the first key groove is greater than the other distance in the shaft circumferential direction between the second key and the second key groove. Or the traveling vehicle of Claim 2.

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