JP6672090B2 - Autonomous vehicle body structure - Google Patents

Description

  The present invention relates to a vehicle body structure of an autonomous traveling vehicle, and more particularly to a vehicle body structure of an autonomous traveling vehicle that runs by arranging wheels on a chassis.

  2. Description of the Related Art A conventional autonomous traveling vehicle has two wheels on one side in a longitudinal direction of the vehicle, and the two wheels are connected to each other by a drive transmission means to be driven.

  In such a drive system of an autonomous traveling vehicle, when an endless belt is used as a drive transmission means, when exchanging the endless belt, it is necessary to remove the drive unit from the chassis, disassemble and remove the endless belt, Work such as attaching and detaching the drive unit and disassembling and assembling the drive unit became complicated, and maintenance was extremely difficult.

  Therefore, as a conventional technique, in a crawler-type moving mechanism provided with a crawler for transmitting driving in the longitudinal direction of the vehicle as in the case of the endless belt, the crawler is configured to be detachable from the vehicle body housing, thereby improving the maintainability. This is disclosed (see Patent Document 1).

JP 2013-244896 A

  However, in recent years, when using an autonomous vehicle, a small vehicle that is easy to act has been desired in order to be able to efficiently operate even in a narrow area.

  In view of the above, a skid steer that can be steered or fixedly rotated by a difference in the number of rotations of the left and right wheels without requiring a space for steering and a small vehicle as compared with the one employing the crawler type moving mechanism described in Patent Document 1. Many autonomous four-wheeled vehicles using the method are employed.

  However, in such an autonomous traveling vehicle, when the endless belt for driving the wheels is configured to be detachable from the side of the chassis, the rotation shaft of the wheels is in a cantilever state, and the support of the wheels is unstable. Problem arises.

  The present invention has been made in view of the above-mentioned conventional problems, and provides a vehicle body structure of an autonomous vehicle that is excellent in maintainability without unstable support of wheels in the autonomous 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 of an autonomous vehicle in which a first wheel and a second wheel are arranged on a chassis, a side frame extending in a chassis front-rear direction on both sides in a chassis width direction, and the first wheel. , A drive shaft for driving the first wheel, 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 A first drive body including a first drive transmission member accommodating section for accommodating the first drive transmission member, an axle supporting the second wheel, and a second drive transmission member (for example, a second pulley) transmitting drive to the axle. A second drive body including a second drive transmission member accommodating portion that accommodates the second drive transmission member, and a third drive transmission member that connects the first drive transmission member and the second drive transmission member (for example, , An endless belt), the first driving body and the A drive body is provided on the same side frame, and the first drive transmission member housing portion and the second drive transmission member housing portion each have an opening formed on an axial side surface of the drive shaft or the axle, A cover for covering the opening, a bearing for rotatably supporting the drive shaft or the axle is provided on the cover, and the first drive transmission member accommodating portion or the first wherein the side edge portions of the side surface of the second drive transmission member accommodating portion third drive transmission member is characterized in Rukoto includes a notched portion can pass.

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

  In addition, according to the present invention, it is preferable that an attachment structure in which an attachment portion between the opening of the first drive transmission member housing portion and the second drive transmission member accommodation portion and the cover portion is formed in a tapered shape.

  Further, in the present invention, it is preferable to adopt a conical bearing as the bearing provided in the cover.

Further, 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.
Further, the present invention is a vehicle body structure of an autonomous traveling vehicle in which a first wheel and a second wheel are arranged on a chassis, and a side frame extending in a chassis longitudinal direction on both sides in a chassis width direction; Drive means for driving the first wheel, a drive shaft for driving the first wheel, a first drive transmission member to which drive is transmitted from the drive shaft, and a first drive housing for accommodating the first drive transmission member. A first drive body including a drive transmission member housing portion, an axle supporting the second wheel, a second drive transmission member transmitting power to the axle, and a second housing housing the second drive transmission member. A second drive body including a drive transmission member accommodating portion; and a third drive transmission member that couples the first drive transmission member and the second drive transmission member to transmit drive, and wherein the first drive Body and the second driving body are provided on the same side frame, The 1st drive transmission member accommodating section and the 2nd drive transmission member accommodating section are provided with an opening on the axial side surface of the drive shaft or the axle, and are provided with a cover section for covering the opening section. A bearing portion rotatably supporting the drive shaft or the axle, and being detachably attached to the first drive transmission member housing portion and the second drive transmission member housing portion by a fastening member, The wheel and the second wheel are provided with a tire member and a wheel member that supports the tire member, and the wheel member has a position opposite to the fastening member for attaching the cover portion, An attachment / detachment opening which allows the attachment / detachment operation of the fastening member from outside is formed.

ADVANTAGE OF THE INVENTION According to the vehicle body structure of the autonomous traveling vehicle of this invention, it is a vehicle body structure of the autonomous traveling vehicle which arrange | positioned the 1st wheel and the 2nd wheel on the chassis, and is extended in the chassis front-back direction on both sides of the chassis width direction. and the side frame, and a driving means for driving the first wheel, a drive shaft for driving the first wheel, a first drive transmitting member driven from the drive shaft is transmitted, the first driving A first drive body including a first drive transmission member accommodating portion that accommodates a transmission member, an axle that supports the second wheel, a second drive transmission member that transmits drive to the axle, and the second drive A second drive body including a second drive transmission member accommodating portion for accommodating a transmission member; and a third drive transmission member connecting the first drive transmission member and the second drive transmission member. The first driver and the second driver are mounted on the same side frame. The first drive transmission member housing portion and the second drive transmission member housing portion each include an opening formed on an axial side surface of the drive shaft or the axle, and a cover that covers the opening. A bearing portion for rotatably supporting the drive shaft or the axle is provided in the cover portion, and a side end of a side surface of the first drive transmission member housing portion or the second drive transmission member housing portion is provided in the opening. in Rukoto with said third drive transmission member notches can pass from parts, the first wheel and the second wheel can be stably supported, by removing the cover portion, Since the third drive transmission member can be easily attached to and detached from the first drive transmission member accommodating portion and the second drive body drive transmission member accommodating portion, it is possible to realize a vehicle body structure of an autonomous traveling vehicle excellent in maintenance. .
Further, according to the vehicle body structure of the autonomous traveling vehicle of the present invention, the attachment / detachment that enables the attachment / detachment operation of the fastening member for attaching the cover portion from the outside of the wheel member to the wheel member constituting the first wheel and the second wheel. By forming the opening for use, the cover can be easily attached and detached, so that a vehicle body structure of an autonomous vehicle with excellent maintainability can be realized.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory plan view illustrating an entire configuration of a vehicle body structure of an autonomous traveling vehicle according to a first embodiment of the present invention. FIG. 2 is an explanatory view showing the overall configuration of the vehicle body structure of the autonomous traveling vehicle as viewed from a side. FIG. 4 is an explanatory diagram showing a state in which wheels are attached to a first drive unit constituting the autonomous traveling device. FIG. 3 is a side sectional view showing a configuration of the first drive unit and wheels. FIG. 3 is a front view illustrating a configuration of a bearing cover and a protection cover of the first drive unit. FIG. 3 is a side sectional view showing a configuration of the bearing cover. It is a front view showing the composition of the 1st pulley box of the 1st drive unit. It is a side sectional view showing the composition of the 1st pulley box. It is a front view showing the composition of the bearing cover of the 2nd drive unit which constitutes the autonomous traveling device. FIG. 3 is a side sectional view showing a configuration of the bearing cover. It is a front view showing the composition of the 2nd pulley box of the 2nd drive unit. It is a side sectional view showing the composition of the 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 the bearing cover which comprise the vehicle body structure of the autonomous traveling vehicle which concerns on 2nd Embodiment of this invention. It is explanatory drawing which shows the structure of the attachment part of the pulley box and the bearing cover which comprise the vehicle body structure of the autonomous traveling 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 and the protective cover of a side frame which comprise the vehicle body structure of the autonomous traveling vehicle which concerns on 4th Embodiment of this invention. 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 traveling vehicle which concerns on 5th Embodiment of this invention. It is explanatory drawing by side view which shows the structure of the vehicle body structure of the autonomous traveling 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 traveling 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. FIG. 5 is an explanatory diagram showing a configuration of a moving unit that moves a second drive unit to attach and detach an endless belt in the vehicle body structure.

(1st Embodiment)
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 of the present invention, and is an explanatory view in plan view showing the overall configuration of a vehicle body structure of an autonomous vehicle according to a first embodiment of the present invention. FIG. FIG. 3 is a side view illustrating the entire structure of the structure, FIG. 3 is a diagram illustrating a state where wheels are mounted on a first drive unit constituting the autonomous traveling device, and FIG. 4 is a configuration of the first drive unit and wheels. FIG. 5 is a front view showing the configuration of a bearing cover and a 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 a 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 a bearing cover of a second drive unit constituting the autonomous traveling device. FIG. 10 shows the bearing cover. FIG. 11 is a front view showing the configuration of a 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.

  A vehicle body structure 1 of an autonomous traveling vehicle according to a first embodiment is a vehicle body structure of an autonomous traveling vehicle that runs by arranging wheels 3 on a chassis 2 as shown in FIG. Vehicle body structure is adopted.

  Here, the autonomous traveling vehicle is a device that travels autonomously by a machine or a program without human intervention, and for example, an autonomous industrial transport vehicle that transports an object in a factory is known. I have.

  The vehicle body structure 1 of the autonomous vehicle according to the first embodiment mainly includes a chassis 2, wheels 3, side frames 4 (4R, 4L), and a drive motor (drive unit) 5 for driving the wheels 3. , A reduction gear (drive transmission means) 6, a drive shaft 7 for driving the wheels 3, and an axle 8 for supporting the wheels 3.

  Hereinafter, a characteristic configuration of the vehicle body structure 1 of the autonomous vehicle according to the first embodiment will be described with reference to the drawings.

An undercarriage 2 constituting the body structure 1 of the autonomous traveling vehicle is formed in a rectangular shape that is long in the front-rear direction, and side frames 4R and 4L are extended on both sides in the width direction in the longitudinal direction of the undercarriage.
The configuration of the side frames 4R and 4L may be configured by, for example, 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 integrally integrated, and an axle 8 are rotatable. A second drive unit (second drive body) 30 having a unitary support structure is formed. 1 and 2, the wheels 3 are mounted on the first drive unit 20 and the second drive unit 30.

  The first drive unit 20 and the second drive unit 30 are connected by an endless belt (third drive transmission member) 43 so as to transmit the drive.

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

  The axle 8 of the second drive unit 30 is provided with a second pulley (second endless member driving body) 42 to which the drive is transmitted from the endless belt 43 to drive the axle 8.

  As shown in FIG. 3, the first drive unit 20 supports the drive shaft 7 and includes a first pulley box (first drive transmission member housing) 51 that houses 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 and from the side surface of the drive shaft 7 on the side of the wheel 3 in the axial direction. Are formed, and a bearing cover (cover member cover) 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 41 is accommodated in the first pulley box 51, 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 (inside the side frame). It is configured to be rotatably supported by both ends by the bearing 72 provided.

  The first pulley box 51 has the speed reducer 6 integrally mounted inside the side frame 4. The outer shape in the vertical direction of the speed reducer 6 is configured to be 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 supports the axle 8 and includes a second pulley box (second drive transmission member housing) 52 that houses 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 of the axle 8 on the side of the wheel 3 in the axial direction. A bearing cover 60 is formed and covers the opening 53. As shown in FIG. 8, the axle 8 is provided with a bearing 72 for rotatably supporting the axle 8. When the bearing cover 60 is mounted on the opening 53, a hole in the center of the bearing cover 60 is provided. By fitting the bearing 72 into the portion, the bearing cover 60 supports the bearing 72 and positions it.
Further, 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 one in which a bearing member such as a sliding bearing is integrally formed to function as a bearing. .

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

  When the second drive unit 30 is mounted on the side frame 4, the second pulley box 52 is arranged in the side frame 4 from the side of the side frame 4.

  The openings 53 of the first pulley box 51 and the second pulley box 52 are formed larger than the outer diameters of the first pulley 41 and the second pulley, respectively, as shown in FIGS.

  A cutout portion 54 through which the endless belt 43 can pass is formed at an end of the side surface 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 integrally detachably mounted on the same side frames 4R, 4L from outside.

  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, 4L is provided on the outer side surfaces of the side frames 4R, 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.

  As described above, according to the first embodiment, according to the first embodiment, in the vehicle body structure 1 of the autonomous vehicle, the side frames 4R and 4L, the drive motor 5, the speed reducer 6, the drive shaft 7, the first pulley 41, A first drive unit 20 in which a single pulley box 51 is integrated as a unit; a second drive unit 30 in which an axle 8, a second pulley 42, and a second pulley box 52 are integrated as a unit; And an endless belt 43 for connecting the first drive unit 20 and the second pulley 42. The first drive unit 20 and the second drive unit 30 are integrally and detachably provided on the same side frames 4R and 4L, respectively. 7 and the axle 8 are rotatably supported at two points along the axis, and the first pulley box 51 and the second pulley box 52 have openings on the axial side surfaces of the drive shaft 7 or the axle 8. A bearing cover 60 is formed to cover the opening 53, and the bearing cover 60 is provided with a bearing 72 for rotatably supporting 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, so that autonomous operation having excellent maintainability can be performed. 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 surface of the side frames 4R and 4L, thereby preventing the mud and the like from entering the inside of the side frames 4R and 4L to protect the endless belt 43. can do.

  Further, in the first embodiment, since the notch 54 connected to the opening 53 is formed in the first pulley box 51 and the second pulley box 52, the attachment and detachment of the endless belt 43 is further facilitated.

  The endless belt 43 can be attached and detached only by providing the opening 53 without providing the notch 54 in 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 42, so that the endless belt 43 can be easily attached and detached.

(2nd Embodiment)
Next, a second embodiment of the present invention will be described with reference to the drawings.
FIG. 14 is an explanatory diagram showing a configuration of a mounting portion of a pulley box and a bearing cover constituting a vehicle body structure of an autonomous traveling vehicle according to a second embodiment of the present invention.

  Regarding the vehicle body structure of the autonomous traveling vehicle in the second embodiment, components having the same configuration as the configuration of the vehicle body structure 1 of the autonomous traveling vehicle in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

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

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

  With this configuration, according to the second embodiment, the work of attaching and detaching the bearing cover 260 to and from the first pulley box 251 and the second pulley box 252 can be facilitated.

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

  Regarding the vehicle body structure of the autonomous traveling vehicle in the third embodiment, the same components as those of the vehicle body structure 1 of the autonomous traveling vehicle in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

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

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

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

  With such a configuration, according to the third embodiment, the work of attaching and detaching the bearing cover 360 to and from the first pulley box 351 and the second pulley box 352 is facilitated, and the axis of the drive shaft 7 and the axle 8 are 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 diagram showing the configuration of the bearing cover of the pulley box and the protective cover of the side frame that constitute the body structure of the autonomous vehicle according to the fourth embodiment of the present invention.

  Regarding the vehicle body structure of the autonomous traveling vehicle in the fourth embodiment, the same components as those of the vehicle body structure 1 of the autonomous traveling vehicle in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  As shown in FIG. 16, a vehicle body structure 400 of an autonomous traveling vehicle according to a 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 frame 4R of the autonomous vehicle is formed by 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. Reference numeral 62 denotes a fastening member.

  With this configuration, according to the fourth embodiment, the work of attaching and detaching the protective cover 460 can be easily performed with reference to the drive shaft 7 of the first pulley box 51.

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

  Regarding the vehicle body structure of the autonomous vehicle in the fifth embodiment, the same components as those of the vehicle body structure 1 of the autonomous vehicle in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

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

  As shown in FIG. 17, the opening 533 is formed such that the attachment and detachment operation of the fastening member 62 can be performed from the outside at a predetermined position in a state where the wheels 503 are mounted on the first drive unit 20 and the second drive unit 30. Have been.

  With the configuration described above, according to the fifth embodiment, the bearing cover 60 attached to the first drive unit 20 and the second drive unit 30 is mounted on the wheel 532 of the wheel 503 in the vehicle body structure 500 of the autonomous vehicle. By forming a plurality of openings 533 at positions facing the fastening member 62 to be attached, the fastening member 62 can be detached from the opening 533, so that the bearing cover 60 can be removed without removing the wheel 503, The endless belt 43 can be detached from the opening 53.

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

  FIG. 18 is a side view illustrating the configuration of the vehicle body structure of the autonomous vehicle according to the sixth embodiment of the present invention, and FIG. 19 is a side view illustrating the configuration of the vehicle body structure of the autonomous vehicle with wheels removed. 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. 22 is a view illustrating the vehicle body. FIG. 23 is an explanatory view in a side view showing a state in which the endless belt is detached from the structure, and FIG. 23 is an explanatory view showing a configuration of a moving means for moving a second drive unit to attach and detach the endless belt in the vehicle body structure.

  Note that, regarding the vehicle body structure of the autonomous traveling vehicle in the sixth embodiment, components having the same configuration as the configuration of the vehicle body structure 1 of the autonomous traveling vehicle in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  In the sixth embodiment, maintenance work 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 the autonomous vehicle.

  As shown in FIG. 18, when performing maintenance on the 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 performing maintenance on the components inside the side frame 4, as shown in FIG. 20, the protective cover 80 is removed, the inside of the side frame 4 is opened, and the endless belt 43 and the like are exposed. .

  Then, when removing the endless belt 43 arranged inside the side frame 4, as shown in FIG. 21, the bearing cover 60 is removed from the first drive unit 20 and the second drive unit 30, and the opening 53 and the notch are cut out. The part 54 is opened.

  Then, as shown in FIG. 22, the endless belt 43 is slackened, for example, by loosening the attachment state of the second drive unit 30 and bringing the second drive unit 30 closer to the first drive unit 20 side (in the direction of the arrow). Then, both end portions of the endless belt 43 can be detached from the first pulley 41 and the second pulley 42, and can be taken out of the first drive unit 20 and the second drive unit 30 through the opening 53 and the notch 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. 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 moved 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 embodiment, 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 of the claims are also included in the technical scope of the present invention.

  Further, the present invention is not limited to the above-described embodiment, and various modifications can be made within the scope shown in the claims. That is, embodiments obtained by combining technical means appropriately changed without departing from the spirit of the present invention are also included in the technical scope of the present invention.

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

Claims (8)

A body structure of an autonomous vehicle in which a first wheel and a second wheel are arranged on a chassis,
A side frame extending in the chassis front-rear direction on both sides in the chassis width direction,
Housing drive means for driving the first wheel, a drive shaft for driving the first wheel, a first drive transmitting member driven from the drive shaft is transmitted, the first drive transmission member A first drive body including a first drive transmission member accommodating portion;
A second drive unit including: an axle supporting the second wheel; a second drive transmission member that transmits drive to the axle; and a second drive transmission member accommodating portion that accommodates the second drive transmission member.
A third drive transmission member that couples the first drive transmission member and the second drive transmission member and transmits drive;
With
The first driver and the second driver are provided on the same side frame,
The first drive transmission member housing section and the second drive transmission member housing section each include an opening formed on an axial side surface of the drive shaft or the axle, and a cover that covers the opening.
The cover portion is provided with a bearing portion that rotatably supports the drive shaft or the axle ,
The opening, the third drive transmission member and said Rukoto includes a notched portion can pass from the side end portion of the side surface of the first drive transmitting member accommodating portion or the second drive transmitting member accommodating portion Body structure of autonomous vehicle.   The body structure of an autonomous vehicle according to claim 1, wherein the opening is formed to be larger than an outer diameter of the first drive transmission member or the second drive transmission member. Wherein the first drive transmission member housing section and the second drive transmission member housing portion of the opening portion and the cover portion, the mounting portion to claim 1 or 2, characterized in that a mounting structure formed in a tapered shape Body structure of the autonomous vehicle described. The vehicle body structure of an autonomous vehicle according to any one of claims 1 to 3 , wherein the bearing provided on the cover part employs a conical bearing. The third drive transmission member is disposed in the side frame,
The body structure of an autonomous vehicle according to any one of claims 1 to 4 , wherein the side frame includes a cover that covers the third drive transmission member. A moving mechanism is provided on the side frame to move the second driver toward and away from the first driver along the side frame,
The autonomous traveling vehicle according to any one of claims 1 to 5 , wherein the second drive body is moved forward and backward by the moving mechanism to perform an attachment / detachment operation of the third drive transmission member. Body structure. The first wheel and the second wheel include a tire member and a wheel member that supports the tire member,
The cover portion is detachably attached to the first drive transmission member receiving portion and the second drive transmission member receiving portion by a fastening member,
The wheel member is provided with a mounting / dismounting opening for enabling the mounting / removing operation of the fastening member from outside of the wheel member at a position facing the fastening member to which the cover portion is attached. The vehicle body structure of an autonomous vehicle according to any one of claims 1 to 6 .   A body structure of an autonomous vehicle in which a first wheel and a second wheel are arranged on a chassis,
  A side frame extending in the chassis front-rear direction on both sides in the chassis width direction,
  Driving means for driving the first wheel, a drive shaft for driving the first wheel, a first drive transmission member to which drive is transmitted from the drive shaft, and a housing for the first drive transmission member A first drive body including a first drive transmission member accommodating portion;
  A second drive unit including: an axle supporting the second wheel; a second drive transmission member that transmits drive to the axle; and a second drive transmission member receiving unit that receives the second drive transmission member.
  A third drive transmission member that couples the first drive transmission member and the second drive transmission member and transmits drive;
With
  The first driver and the second driver are provided on the same side frame,
  The first drive transmission member housing portion and the second drive transmission member housing portion each include an opening formed on an axial side surface of the drive shaft or the axle, and a cover that covers the opening.
  The cover portion is provided with a bearing portion that rotatably supports the drive shaft or the axle, and is detachably attached to the first drive transmission member housing portion and the second drive transmission member housing portion by a fastening member.
  The first wheel and the second wheel include a tire member and a wheel member that supports the tire member,
  The wheel member is provided with a mounting / dismounting opening for allowing the mounting / removing operation of the fastening member from outside the wheel member at a position facing the fastening member to which the cover portion is attached. Body structure of autonomous vehicle.

Images