JP6678145B2 - Urging body - Google Patents

Description

  The present invention relates to a biasing body for biasing a traveling body.

  2. Description of the Related Art In order to transport a traveling body such as a vacuum cleaner traveling on a road surface by wheels, various urging bodies such as a bogie and a wheelbarrow for urging the traveling body have been considered.

Patent Document 1 discloses a trolley having a trolley unit and a suction port attached to a front end of the trolley unit so as to have a gap between the trolley unit and a floor surface, wherein a cleaner body is installed on the trolley unit. There is disclosed a vacuum cleaner cart for connecting a vacuum cleaner body to a suction port.
Patent Literature 2 discloses a road cleaning vehicle that has a traveling vehicle that can travel along a track and a cleaning mechanism mounted on the traveling vehicle and that cleans a road surface of the track.
Patent Literature 3 discloses a bogie in which two pairs of connecting jigs are connected to each other in an X-shape and provided with traction connecting portions before and after the carrier.

JP 2014-97227 A JP 2005-76174 A JP 2012-245882 A

In the technique described in Patent Literature 1, since the cleaner body as a traveling body is installed on the carriage, the cleaner body is separated from the floor by the thickness of the carriage. Therefore, in the truck described in Patent Literature 1, it is necessary to provide a suction port for the cleaner truck separately from the suction port of the cleaner body, and connect these suction ports with pipes or the like.
On the other hand, in the technology described in Patent Literature 2, the towing vehicle pulls the first transporting vehicle and the second transporting vehicle, but all of these traveling bodies travel along the track, and the road, floor, and the like are used. However, the vehicle does not travel freely on a flat road surface.
Further, the technique described in Patent Document 3 is a device related to a connection portion of a bogie towed by a tow vehicle, but since the wheels provided on the tow vehicle and the bogie are separated in the traveling direction, the technology is not suitable for use on a road surface. The towing vehicle affects the turning performance of the bogie (traveling body).

  An object of the present invention is to urge a traveling body without impairing the turning performance of the traveling body.

  The biasing body according to claim 1 of the present invention is a biasing body that is detachably connected to a traveling body that travels on a road surface by wheels and biases the traveling body. An extended portion extending to one side and sandwiching both side surfaces of the traveling body, and a self-propelled wheel provided on the extended portion, wherein a contact position with the road surface is provided in a region sandwiched by the extended portion. A self-propelled wheel at a position substantially the same as a contact position of a wheel of the traveling body with the road surface and a traveling direction, provided on a side on which the extending portion of the urging body is provided, and And a connecting portion for connecting the running body and the running body in a tandem positional relationship.

  In the biasing body according to claim 2 of the present invention, in the aspect described in claim 1, the extending portion has a telescopic mechanism that can expand and contract in a traveling direction, and determines a contact position of the self-propelled wheel with the road surface. An urging body characterized in that it can be adjusted.

  According to a third aspect of the present invention, in the biasing body according to the first aspect, the connecting portion has a telescopic mechanism capable of expanding and contracting in a traveling direction, and a contact position of wheels of the traveling body with the road surface. Is adjustable.

  In the biasing body according to claim 4 of the present invention, in the aspect according to any one of claims 1 to 3, the connecting portion is configured to move the traveling body so that the wheels of the traveling body do not contact the road surface. An urging body having a lifting mechanism for lifting the body.

According to a fifth aspect of the present invention, in the biasing body according to any one of the first to fourth aspects, the self-propelled wheels rotate in a direction orthogonal to a traveling direction of the self-propelled wheels. A biasing body characterized in that a plurality of driving wheels are arranged in the circumferential direction of the self-propelled wheel .

  A biasing body according to a sixth aspect of the present invention is the biasing body according to any one of the first to fifth aspects, further comprising a boarding section on which a rider rides.

  The biasing body according to claim 7 of the present invention, in the aspect according to any one of claims 1 to 6, wherein the extending portion has a moving mechanism that can move in a direction sandwiching the traveling body, An urging body characterized in that a contact position of a self-propelled wheel with the road surface can be adjusted.

  According to the present invention, the traveling body can be biased without impairing the turning performance of the traveling body.

The side view of the urging | biasing body 1 which concerns on one Embodiment of this invention. FIG. 1 is a plan view of an urging body 1 according to an embodiment of the present invention. The side view of the traveling body 2 which concerns on one Embodiment of this invention. FIG. 1 is a plan view of a traveling body 2 according to an embodiment of the present invention. The figure explaining the position where the front wheel 103 and the wheel 201 contact a road surface. The figure which shows the example of operation | movement of the urging | biasing body different from this invention. The figure which shows the example of operation | movement of the urging | biasing body 1 of this invention. The figure explaining extension part 101 which has a telescopic mechanism which can be expanded and contracted in the running direction. The figure explaining the connection part 104 which has an expansion-contraction mechanism which can expand and contract upward. FIG. 4 is a diagram illustrating an extension unit 101 having a movement mechanism that can move in the width direction.

<Embodiment>
The configuration of the biasing body 1 according to one embodiment of the present invention will be described with reference to the drawings.
(Structure of biasing body)
FIG. 1 is a side view of a biasing body 1 according to one embodiment of the present invention. FIG. 2 is a plan view of the biasing body 1 according to one embodiment of the present invention. Hereinafter, in the drawing, description will be made using an xyz right-handed coordinate space in which the rightward direction of the urging element 1 is + x, the forward direction is + y, and the upward direction is + z. Among the coordinate symbols shown in the following figures, a symbol in which a black circle is drawn inside a white circle represents an arrow pointing from the back side to the front side of the paper. In the space, the direction in which the x component increases is called + x direction, and the direction in which the x component decreases is called -x direction. Similarly, for the y and z components, a + y direction, a −y direction, a + z direction, and a −z direction are defined.

  The deck 100 is a boarding unit on which the passenger U boards. The feet of the passenger U are placed on the deck 100 shown in FIG.

  A rear strut 112 extends upward behind the deck 100 (−y direction), and a seat 113 on which the occupant U sits is provided at an upper end of the rear strut 112. The seat 113 is a seat configured with a cushion or the like that supports the buttocks and thighs of the passenger U.

  A fork 105 is provided at the lower end of the rear support 112, and a rear wheel bearing 106 to which a rear wheel 107 is attached is provided at the tip of the fork 105. The rear wheel bearing 106 is a bearing that supports the shaft of the rear wheel 107.

  The fork 105, the rear wheel bearing 106, and the rear wheel 107 may be provided one each on the left and right. For example, the fork 105L shown in FIG. 2 is the fork 105 provided on the left side (−x direction) of the deck 100, and the rear wheel 107R is the rear wheel 107 provided on the right side (+ x direction) of the deck 100.

  A front support 108 extends upward (+ z direction) in front of the deck 100 (+ y direction), and a knee pad 111 serving as a cushion for protecting the passenger U's knee is provided in the −y direction of the front support 108. Have been.

  An operation panel 109 is provided at an upper end of the front support 108, and a joystick 110 is provided on the operation panel 109. The passenger U operates the joystick 110 to operate the urging body 1. The joystick 110 transmits a control signal according to the received operation to a control unit (not shown), and the control unit controls each unit of the urging element 1 according to the transmitted control signal. In other words, by operating the joystick 110, the urging body 1 can perform an arbitrary movement such as forward movement, backward movement, turning right and left, and the like.

  Further, two extending portions 101 are provided in front of the deck 100. The two extension portions 101 have base ends attached to the left and right sides of the deck 100, respectively, and each extend forward. A front wheel bearing 102 is provided at a tip of the extension portion 101. The front wheel bearing 102 is a bearing that supports the shaft of the front wheel 103. The distal end of each extension 101 provided with the front wheel bearings 102 projects forward from the front end E1 of the deck 100. As shown in FIG. 2, the front end E1 of the deck 100 and the center axis O1 of the pair of front wheel bearings 102 are separated by a distance L1 along the y-axis direction.

  As shown in FIG. 2, a front wheel 103 </ b> L is supported on a left end of the extension portion 101 </ b> L by a front wheel bearing 102 (not shown in FIG. 2) at a distal end of the extension portion 101 </ b> L provided on the left side of the deck 100. A front wheel 103R supports a front wheel 103R on the right end of the extended portion 101R at a tip end of an extended portion 101R provided on the right side of the deck 100 by a front wheel bearing 102.

  Thereby, the extension part 101L and the extension part 101R are separated by the distance W1 along the x-axis direction.

  Each extension 101 is provided with a power transmission mechanism such as a chain or a gear. The front wheel 103 supported by the front wheel bearing 102 is provided with a speed change mechanism such as a planetary gear.

  For example, a pair of front wheels 103 is rotated by transmitting the power of a motor (not shown) from the power transmission mechanism of the extension portion 101 to the axle of the front wheels 103 and the like. In addition, the transmission mechanisms incorporated in the front wheels 103 are controlled by control units (not shown), so that the pair of front wheels 103 rotates at independent rotation speeds. By rotating the pair of front wheels 103 provided on the left and right at different rotational speeds, the urging body 1 turns right or left.

  The motor (not shown) is disposed behind the front end E1 of the deck 100, for example, at the base end of the seat 113 or the rear support 112. Power of a motor or the like may be incorporated in each of the two front wheels 103.

  The pair of front wheels 103 are self-propelled self-propelled wheels, and when the front wheels 103 move independently and move the deck 100 on which the occupant U rides, the urging body 1 is configured as an electric wheelchair. You.

  And, since the pair of front wheels 103 respectively run independently, there is no need to connect the axles to each other. For this reason, the axle connecting the pair of front wheels 103 does not pass through the space between the above-described extending portion 101L and the extending portion 101R, so that the traveling body 2 described later can be accommodated.

  The connecting portion 104 is a member for detachably connecting the traveling body 2 and the urging body 1 described later, and includes a clamp, a hook, a bolt, a nut, a belt, and the like. The connecting portion 104 shown in FIG. 1 is provided on the side on which the extending portion 101 of the biasing body 1 is provided, and connects the biasing body 1 and the traveling body 2 in a tandem positional relationship. Further, the connecting portion 104 may be a connecting portion that connects the traveling body 2 to the front or rear of the urging body 1.

  The connecting portion 104 connects the traveling body 2 and the urging body 1 and rotates the pair of front wheels 103, so that the urging body 1 biases the traveling body 2 in a direction associated with its own forward, backward, and turning directions. Let it. Here, the term "biasing" refers to applying a force to the target to move the target, and includes pushing from behind in the running direction and pulling from the front.

(Configuration of traveling body)
FIG. 3 is a side view of the traveling body 2 according to one embodiment of the present invention. FIG. 4 is a plan view of the traveling body 2 according to one embodiment of the present invention. In this example, the traveling body 2 is a cleaner that travels on a road surface with wheels, and rotates a brush (not shown) to agitate dust and the like on the road surface and take it into the air. Road surfaces are cleaned by inhaling air.

  The frame 200 is a main body of the traveling body 2, and is used to guide the air sucked from the above-described suction port and the above-described suction port to the discharge port in addition to the above-described suction port and brush, and discharge the air. And a separation mechanism for separating air and dust, such as a cylindrical swirling flow path and a filter.

  The wheels 201 are wheels that cause the traveling body 2 to travel on a road surface, and are provided one each on the left and right behind the frame 200. One auxiliary wheel 202 is provided in front of the frame 200, and supports the frame 200 together with a pair of wheels 201. The handle 203 is a rod-shaped member extending upward from the frame 200, and is used by a user to move the traveling body 2 by grasping the same. Also, when the handle 203 is urged by the urging body 1, the traveling body 2 is connected to the urging body 1 by being gripped by the connecting portion 104. The wheel 201 shown in FIGS. 3 and 4 has a radius R2.

  Wheel 201L shown in FIG. 4 is wheel 201 provided on the left side behind frame 200, and wheel 201R is wheel 201 provided on the right side behind frame 200. As shown in FIG. 4, the rear end E2 of the frame 200 and the center axis O2 of the pair of wheels 201 are separated by a distance L2 along the y-axis direction. Further, as shown in FIG. 4, a portion of the frame 200 where the pair of wheels 201 is provided has a width W2.

  As shown in FIG. 4, the distance L2 is shorter than the distance L1 (L2 <L1). Therefore, the connecting portion 104 connects the urging body 1 and the traveling body 2 so that the center axis O1 of the pair of front wheel bearings 102 and the center axis O2 of the pair of wheels 201 coincide with each other in the y-axis direction. However, since the rear end E2 of the frame 200 is in the + y direction relative to the front end E1 of the deck 100, the deck 100 and the frame 200 do not contact each other.

  Further, as shown in FIG. 4, the width W2 is shorter than the distance W1 (W2 <W1). Therefore, the connecting portion 104 connects the urging body 1 and the traveling body 2 so that the center axis O1 of the pair of front wheel bearings 102 and the center axis O2 of the pair of wheels 201 coincide with each other in the y-axis direction. Also, the frame 200 is sandwiched between the pair of extension portions 101 on both sides, and the traveling body 2 does not protrude from the space between the pair of extension portions 101.

(Operation of the urging body)
FIG. 5 is a diagram illustrating positions where the front wheel 103 and the wheel 201 come into contact with the road surface. As shown in FIG. 5, a front wheel 103L provided on the left side of the urging body 1 contacts the road surface at a contact position P11, and a front wheel 103R provided on the right side of the urging body 1 contacts the road surface at a contact position P12. I do. The wheel 203L provided on the left side of the traveling body 2 contacts the road surface at a contact position P21, and the wheel 203R provided on the right side of the traveling body 2 contacts the road surface at a contact position P22.

  The above-described center axis O1 is an axis connecting the centers of the pair of front wheel bearings 102, and overlaps with a line connecting the contact position P11 and the contact position P12 when viewed on the xy plane along the z-axis. The above-mentioned central axis O2 is an axis connecting the centers of the pair of wheels 201, and overlaps with a line connecting the contact position P21 and the contact position P22 when viewed on the xy plane along the z-axis.

  Therefore, when the connecting portion 104 connects the urging body 1 and the traveling body 2 so that the center axis O1 and the center axis O2 coincide with each other in the y-axis direction, a line connecting the contact position P11 and the contact position P12 is formed. And the line segment connecting the contact position P21 and the contact position P22 overlaps, and the contact position P11, the contact position P12, the contact position P21, and the contact position P22 are arranged in a straight line on the road surface.

  That is, the front wheel 103 provided on the biasing body 1 has a contact position with the road surface which is different from the contact position with the road surface of the wheel 201 of the traveling body 2 provided in the region sandwiched by the extending portions 101 and the traveling direction. At about the same position.

  FIG. 6 is a diagram showing an example of the operation of the urging member different from the present invention. The urging body illustrated in FIG. 6 is a vehicle that urges the traveling body 2 from rear to front with a pair of front wheels. As shown in FIG. 6A, the pair of front wheels of this biasing body is connected by the shaft S6, so that the traveling body 2 cannot be accommodated between the pair of front wheels.

  Therefore, the center axis O6 of the shaft S6 does not coincide with the above-described center axis O2 when viewed from the z-axis direction, and the contact position P61 where the left front wheel of the biasing body contacts the road surface and the right front wheel contacts the road surface. The line segment connecting the contact positions P62 is apart from the contact positions P21 and P22 when viewed along the z-axis direction.

  Here, for example, as shown in FIG. 6B, without moving the contact position P62 of the right front wheel with the road surface, the contact position P61 of the left front wheel is centered on the contact position P62 in the −z direction. When the rotation speeds of the left and right front wheels are controlled so as to rotate clockwise as viewed in FIG. 2, the biasing body turns right. However, the traveling body 2 urged by this urging body will slide on the road surface no matter how the left and right wheels 201 are rotated, causing an increase in traveling resistance and the traveling body 2 Or it may be a factor that damages the road surface.

  On the other hand, if the turning of the traveling body 2 by the wheels 201 is prioritized, the urging body shown in FIG. 6 must make a large turn in accordance with the traveling body 2, and the turning performance of the traveling body 2 is impaired.

  FIG. 7 is a diagram showing an example of the operation of the urging body 1 of the present invention. As shown in FIG. 7A, when the urging element 1 of the present invention is used, the contact position P11, the contact position P12, the contact position P21, and the contact position P22 are arranged in a straight line on the road surface.

  For example, as shown in FIG. 7B, without moving the contact position P12 of the right front wheel 103R with the road surface, the contact position P11 of the left front wheel 103L is centered on the contact position P12 in the −z direction. When the rotation speeds of the left and right front wheels 103 are controlled so as to rotate clockwise, the urging body 1 turns right.

  In this case, since the contact position P21 and the contact position P22 are on the line connecting the contact position P11 and the contact position P12 on the road surface, the traveling body rotates on the road surface around the contact position P12. 2 or the road surface is less likely to be damaged, and the turning performance of the traveling body 2 is hardly impaired.

<Modification>
The above is the description of the embodiment, but the content of this embodiment can be modified as follows. Further, the following modifications may be combined.

(Modification 1)
In the above-described embodiment, the two extending portions 101 extend forward from the left and right sides of the deck 100, but may be members extending from the urging body 1 to one side in the traveling direction and sandwiching both side surfaces of the traveling body. However, it is not limited to this. For example, the two extending portions 101 may extend rearward from left and right sides of the deck 100, respectively.

(Modification 2)
In the above-described embodiment, the extension unit 101 does not have the expansion and contraction mechanism that can expand and contract in the traveling direction, but may have it.

  FIG. 8 is a diagram illustrating the extension unit 101 having an extension mechanism that can extend and contract in the traveling direction. 8 includes a cylinder 1010 and a guide 1011. The cylinder 1010 is a rod-shaped member holding the front wheel bearing 102 at the tip. The guide 1011 is a groove for guiding the cylinder 1010 along the y-axis direction. When the cylinder 1010 moves in the y-axis direction along the guide 1011, the extension portion 101 can expand and contract in the traveling direction (+ y direction).

According to this configuration, since the extension portion 101 can be expanded and contracted along the traveling direction, the distance L1 between the front end E1 of the deck 100 and the central axis O1 of the front wheel 103 can be adjusted.
That is, the contact positions P11 and P12 of the front wheel 103 supported by the distal end of the extension portion 101 with the road surface in this modified example are adjusted to various traveling bodies 2 having different distances L2 from the wheel 201 to the rear end E2 of the frame 200. Is adjusted respectively.

  In addition, the above-mentioned expansion and contraction mechanism is not limited to a cylinder and a guide. The above-described telescopic mechanism may be configured by, for example, a link mechanism, a pulley, a rack and pinion, or the like.

(Modification 3)
In the above-described embodiment, the connecting portion 104 does not have the telescopic mechanism that can expand and contract in the traveling direction, but may have the telescopic mechanism.

  For example, the connecting portion 104 illustrated in FIG. 8 includes a cylinder 1040 and a guide 1041. The cylinder 1040 is a rod-shaped member extending along the y-axis direction from a portion of the traveling body 2 that grips the handle 203. The guide 1041 is a groove for guiding the cylinder 1040 along the y-axis direction. When the cylinder 1040 moves in the y-axis direction along the guide 1041, the connecting portion 104 can expand and contract in the traveling direction (+ y direction).

According to this configuration, since the connecting portion 104 can be expanded and contracted along the traveling direction, the distance between the front end E1 of the deck 100 and the center axis O2 of the wheels 201 of the traveling body 2 can be adjusted.
That is, in this modified example, the contact positions P21 and P22 of the wheels 201 of the traveling body 2 connected to the urging body 1 with the road surface are adjusted according to various traveling bodies 2 having different distances L2.

  In addition, the above-mentioned expansion and contraction mechanism is not limited to a cylinder and a guide. The above-described telescopic mechanism may be configured by, for example, a link mechanism, a pulley, a rack and pinion, or the like.

(Modification 4)
In the above-described embodiment, the connecting portion 104 does not have the lifting mechanism for lifting the connected traveling body 2, but may have the lifting mechanism.

  FIG. 9 is a view for explaining the connecting portion 104 having a telescopic mechanism that can expand and contract in the upward direction. The connecting portion 104 has a cylinder 1042 and a guide 1043. The cylinder 1042 is a rod-shaped member that extends along the z-axis direction from a portion of the traveling body 2 that grips the handle 203. The guide 1043 is a groove for guiding the cylinder 1042 along the z-axis direction. When the cylinder 1042 moves in the z-axis direction along the guide 1043, the connecting portion 104 can expand and contract in the upward direction (+ z direction).

  According to this configuration, since the connecting portion 104 can be expanded and contracted along the upward direction, the traveling body 2 can be lifted such that the wheels 201 of the traveling body 2 do not contact the road surface. That is, the cylinder 1042 and the guide 1043 shown in FIG. 9 are a lifting mechanism of the connecting portion 104, and the traveling body 2 is lifted by the lifting mechanism so that the wheels 201 of the traveling body 2 do not contact the road surface. When the wheels 201 of the traveling body 2 move away from the road surface, the wheels 201 do not slide on the road surface when turning the traveling body 2 left or right, so that there is no increase in traveling resistance and the traveling body 2 and the road surface are not easily damaged.

  The lifting mechanism may lift the traveling body 2 only when rotating the traveling body 2. In this case, when the control unit (not shown) attempts to turn the urging body 1, the connecting unit 104 may be controlled so as to lift the traveling body 2.

  Further, the above-described expansion and contraction mechanism is not limited to the one using the cylinder and the guide. The above-described telescopic mechanism may be configured by, for example, a link mechanism, a pulley, a rack and pinion, or the like.

(Modification 5)
In the above-described embodiment, the front wheel 103 provided on the biasing body 1 is a wheel that is supported by the front wheel bearing 102 and rotates in the traveling direction. However, the driven wheel that rotates in a direction perpendicular to the traveling direction is a circumferential wheel. May be a plurality of wheels.

  A plurality of driven wheels rotating in a direction perpendicular to the traveling direction are arranged in the circumferential direction, so that the front wheel 103 comes into contact with the road surface even if it receives a force including a component perpendicular to the traveling direction. One of the driven wheels rotates according to the component, and the front wheel 103 itself rotates according to the component of the force along the traveling direction. Therefore, when turning the traveling body 2, if the front wheel 103 receives a force including a component orthogonal to the traveling direction due to friction between the road surface and the wheels 201 of the traveling body 2, the front wheel 103 moves according to this force. Therefore, the resistance of the traveling body 2 to the road surface is suppressed.

(Modification 6)
In the above-described embodiment, the biasing body 1 includes the deck 100 on which the passenger U is placed, the seat 113 on which the passenger U is seated, and the knee pad 111 for protecting the knee of the passenger U. Although the vehicle has a riding section, the vehicle may not have any of these, or may not have the riding section at all. In this case, the urging body 1 may not have the operation panel 109 and the joystick 110.

(Modification 7)
In the above-described embodiment, the extending portion 101 does not have the moving mechanism that can move in the direction sandwiching the traveling body 2, but may have the moving mechanism.

  FIG. 10 is a diagram illustrating the extension unit 101 having a moving mechanism that can move in a direction (also referred to as a width direction) that sandwiches the traveling body 2. The extension section 101 shown in FIG. The cylinder 1012 is a rod-shaped member that extends along the x-axis direction at the base end where the extension portion 101 is connected to the deck 100.

  The deck 100 shown in FIG. The guide 1000 is a groove that guides the cylinder 1012 along the x-axis direction. When the cylinder 1012 moves in the x-axis direction along the guide 1000, the extension portion 101 can move in the width direction (x-axis direction).

  According to this configuration, since the position of the extension portion 101 in the x-axis direction can be moved, the distance W1 between the pair of extension portions 101 can be adjusted, and the distance between the road surface of the front wheel 103 supported by the extension portion 101 and Can be adjusted. According to this configuration, the width of the space sandwiched between the extending portions 101 is adjusted in accordance with various traveling bodies 2 having various widths W2.

  Note that the above-described moving mechanism is not limited to a mechanism using a cylinder and a guide. The moving mechanism described above may be constituted by, for example, a link mechanism, a pulley, a rack and pinion, or the like.

DESCRIPTION OF SYMBOLS 1 ... biasing body, 100 ... deck, 1000 ... guide, 101 ... extension part, 101L ... extension part, 101R ... extension part, 1010 ... cylinder, 1011 ... guide, 1012 ... cylinder, 102 ... front wheel bearing, 103 ... front wheel, 103L ... front wheel, 103R ... front wheel, 104 ... connecting part, 1040 ... cylinder, 1041 ... guide, 1042 ... cylinder, 1043 ... guide, 105 ... fork, 105L ... fork, 105R ... fork, 106 ... rear wheel bearing, 107 ... rear Wheel, 107L: rear wheel, 107R: rear wheel, 108: front support, 109: operation panel, 110: joystick, 111: knee pad, 112: rear support, 113: seat, 2: traveling body, 200: frame, 201 ... wheels, 201L ... wheels, 201R ... wheels, 202 ... auxiliary wheels, 203 ... handles, 203L ... wheels, 03R: wheel, E1: front end, E2: rear end, L1: distance, L2: distance, O1: central axis, O2: central axis, O6: central axis, P11: contact position, P12: contact position, P21: contact position , P22: contact position, P61: contact position, P62: contact position, R2: radius, S6: shaft, U: passenger, W1: distance, W2: width.

Claims (7)

A biasing body that is detachably connected to a traveling body that travels on a road surface by wheels and biases the traveling body,
An extending portion extending from the urging body to one side in the traveling direction and sandwiching both side surfaces of the traveling body,
A self-propelled wheel provided on the extension portion, wherein a contact position with the road surface is in a traveling direction with a contact position with the road surface of a wheel of the traveling body provided in a region sandwiched between the extension portions. Self-propelled wheels at almost the same position,
A connecting portion that is provided on the side where the extending portion of the urging member is provided, and that connects the urging member and the traveling body in a tandem positional relationship;
An urging element, comprising:   The urging body according to claim 1, wherein the extending portion has a telescopic mechanism that can expand and contract in a traveling direction, and can adjust a contact position of the self-propelled wheel with the road surface.   The urging body according to claim 1, wherein the connecting portion has a telescopic mechanism that can expand and contract in a traveling direction, and can adjust a contact position of wheels of the traveling body with the road surface.   4. The urging body according to claim 1, wherein the connecting portion includes a lifting mechanism that lifts the traveling body so that the wheels of the traveling body do not contact the road surface. 5. The free-running wheel, a driven wheel which rotates in the direction perpendicular to the running direction of the free-run wheels, one of claims 1, characterized in that the wheel in which a plurality of circumferentially arranged in the free-run wheels 4 The biasing body according to claim 1. The urging body according to any one of claims 1 to 5, further comprising a boarding section on which a rider rides.   The said extension part has a moving mechanism which can move in the direction which pinches | interposes the said traveling body, and can adjust the contact position of the said self-propelled wheel with the said road surface, The Claim 1 characterized by the above-mentioned. The urging body of.

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