JP6907084B2 - Mobile - Google Patents

Description

The present invention relates to a moving body with wheels.

Conventionally, a mobile body disclosed in Patent Document 1 is known.
The moving body disclosed in Patent Document 1 includes two front wheels, one rear wheel, a floor provided between the two front wheels and supporting the two front wheels, and around a horizontal axis supported by the floor. It includes one arm having one end rotatably attached and a handlebar fixed to the other end of the arm. A hook is provided below the handlebar and in front of the arm.

Japanese Unexamined Patent Publication No. 2014-520021

According to the above-mentioned moving body, the container can be fixed to the hook, but the container cannot be stably supported by one arm. Therefore, in order to support the container in a stable state, the container is placed on the floor. Must be placed. Therefore, a floor having a size capable of mounting a container is required, and it is difficult to miniaturize the moving body.
The present invention has been made in view of such problems of the prior art, and an object of the present invention is to provide a moving body capable of supporting a working portion for performing work in a stable state and being able to be miniaturized. And.

The moving body according to one aspect of the present invention swings the first support mechanism for supporting the first wheel, the second support mechanism for supporting the second wheel, and the first support mechanism with respect to the second support mechanism. A support shaft that movably supports, a drive unit that drives at least one of the first wheel and the second wheel, and a handle that is provided on the second support mechanism and commands the operation of the drive unit. The first wheel includes one wheel provided on one side in a width direction different from the arrangement direction of the first wheel and the second wheel, and the other wheel provided on the other side in the width direction. wherein the first support mechanism, with one support mechanism for supporting the one wheel, and a other supporting mechanism for supporting the other wheel, the other hand supporting mechanism and the other support mechanism, for working The second support mechanism has a mounting portion to which a working portion can be mounted , and the second support mechanism is swingable with respect to the wheel support portion provided with the second wheel and the wheel support portion and the handle. The handle support portion can be changed to a handle front posture in which the handle is located in front of the first wheel and the second wheel, and the object is placed in the handle front posture. It has a mounting part that allows mounting .

According to the above-mentioned moving body, since the one support mechanism and the other support mechanism have a mounting portion to which a working portion for performing work can be attached, the working portion can be attached by attaching the working portion to the mounting portion. It can be stably supported by a moving body. Further, since a separate member for supporting the working portion is not required, the moving body can be miniaturized.

It is a front perspective view of a moving body. It is a side view of a moving body (first posture). It is a front view of a moving body. It is a rear perspective view of a moving body. It is a figure which shows the mode that the wheel support part is moved (swings) by passing between one support mechanism and the other support mechanism. It is a side view of a moving body (second posture). It is a figure which shows the mode that the wheel support part is arranged at the position sandwiched between one support mechanism and the other support mechanism. It is a figure which shows the state which the moving body is in a folded posture. It is a figure which shows the state which the height of a saddle is changed by changing the posture of the 1st support mechanism with respect to the 2nd support mechanism. It is a figure which shows the state in which a user holds a grip and pulls a moving body in a folded posture. It is a block diagram which shows the structure of the control system of a moving body. It is a figure which shows the state which the posture of a moving body is maintained substantially horizontal on the inclined surface which the height of the left part and the right part is different. It is a figure which shows the state which the posture of a moving body is maintained substantially horizontal on the slope of a downhill. It is a figure which shows an example which made the moving body the posture corresponding to the support shaft rear posture, the saddle rear posture, and the steering wheel rear posture. It is a figure which shows another example which made the moving body the posture corresponding to the support shaft rear posture, the saddle rear posture, and the steering wheel rear posture. It is a figure which shows an example which made the moving body the posture corresponding to the support shaft intermediate posture, the saddle intermediate posture, and the handle front posture. It is a figure which shows the state which made the moving body use the sitting position. It is a figure which shows the state which made the moving body a 1st standing use form. It is a figure which shows the state which made the moving body a 2nd standing use form. It is a figure which shows the state which made the moving body a 1st walking use form. It is a figure which shows the state which made the moving body a 2nd walking use form. It is a figure which shows the state which the moving body is used in the work mode, and the loading platform (first working part) is attached to the attachment part, and the user is moving while pushing the moving body. It is a figure which shows the state which the moving body is used in the work mode, and the loading platform (first working part) is attached to the attachment part, and the user is moving on the moving body. It is a figure which shows the state which the moving body is used in the work mode, and the object is put on the bucket (the first work part) attached to the attachment part, and is carried. It is a figure which shows the state which the moving body is used in the work mode, and the object is discharged from the bucket (the first work part) attached to the attachment part. It is a figure which shows the state which the 1st wheel (one wheel and the other wheel) are separated from a 1st support part and a 2nd support part. It is a figure which shows the state which the cultivator (the second working part) is attached to the attachment part. It is a figure which shows the state which the snow blower (the second working part) is attached to the attachment part. It is a figure which shows the state which the lawn mower (second working part) is attached to the attachment part. It is a figure which shows the use state which attached the cultivator (second working part) to the attachment part. It is a figure which shows the use state which attached the snow blower (second working part) to the attachment part. It is a figure which shows the use state which attached the lawn mower (second working part) to the attachment part.

An embodiment of the mobile body 1 according to the present invention will be described with reference to the drawings.
1 is a front perspective view of the moving body 1, FIG. 2 is a side view of the moving body 1, FIG. 3 is a front view of the moving body 1, and FIG. 4 is a rear perspective view of the moving body 1.
Hereinafter, for convenience of explanation, the front side (direction of arrow A in FIGS. 1 to 3) of the user (passenger) in the state of being on the moving body 1 is forward, and the rear side of the passenger (direction of arrow B) is rearward. The left side of the passenger (direction of arrow C) will be described as the left side, and the right side of the passenger (direction of arrow D) will be described as the right side. Further, the horizontal direction, which is a direction orthogonal to the front-rear direction X (see FIGS. 1 and 2), will be described as a width direction Y (see FIGS. 2 and 3). The direction from the central part of the moving body 1 to the right part or the left part is called the outer side. In other words, the outer direction is the width direction, which is the direction away from the central portion of the moving body 1. The direction opposite to the outside is called the inside. In other words, the inward direction is the width direction, which is the direction approaching the central portion of the moving body 1.

As shown in FIGS. 1 to 4, the moving body 1 includes a first support mechanism 2, a second support mechanism 3, and a support shaft 4. The first support mechanism 2 supports the first wheel 5. The second support mechanism 3 supports the second wheel 6. The first wheel 5 and the second wheel 6 are arranged side by side in the front-rear direction X. The support shaft 4 swingably supports the first support mechanism 2 with respect to the second support mechanism 3.
The first wheel 5 includes one wheel 5L and the other wheel 5R. On the other hand, the wheel 5L is provided on one side of the width direction Y different from the alignment direction (front-rear direction X) of the first wheel 5 and the second wheel 6. The other wheel 5R is provided on the other side in the width direction Y, which is different from the alignment direction of the first wheel 5 and the second wheel 6. In the case of the present embodiment, the one wheel 5L is the left wheel provided on the left side, and the other wheel 5R is the right wheel provided on the right side. That is, the one wheel 5L and the other wheel 5R are provided side by side in the width direction Y (left-right direction) which is the direction intersecting the front-rear direction X which is the arrangement direction of the first wheel 5 and the second wheel 6.

The first support mechanism 2 includes one support mechanism 2L that supports one wheel 5L and the other support mechanism 2R that supports the other wheel 5R. On the other hand, the support mechanism 2L is provided on the left side. On the other hand, the support mechanism 2R is provided on the right side. However, the positional relationship between the one support mechanism 2L and the other support mechanism 2R may be reversed. That is, one support mechanism 2L may be provided on the right side, and the other support mechanism 2R may be provided on the left side. As shown in FIG. 3, the one-side support mechanism 2L and the other support mechanism 2R are provided side by side at intervals in the axial direction (width direction Y) of the support shaft 4.

On the other hand, in the support mechanism 2L, the base end side is pivotally supported by the support shaft 4, and the tip end side rotatably supports the one wheel 5L. On the other hand, the support mechanism 2L has a first arm 7L and a first cover 8L. The first arm 7L has a first pivotal support portion 9 pivotally supported by a support shaft 4 on the proximal end side, and a first cover 8L is attached to the distal end side. The first arm 7L extends in a direction away from the support shaft 4 from the proximal end side toward the distal end side. The first arm 7L supports one wheel 5L via the first cover 8L.

The base end side of the first cover 8L is attached to the outer side (left side) of the first arm 7L. The tip end side of the first cover 8L projects from the tip end of the first arm 7L. On the tip end side of the first cover 8L, a first support portion 10 that rotatably supports the axle of one wheel 5L is provided. The first support portion 10 rotatably supports one wheel 5L by a bearing or the like. Further, the first support portion 10 detachably supports one wheel 5L. As a result, when the wheel 5L is not used, it can be separated (removed) from the first support portion 10.

In the case of the present embodiment, the first arm 7L and the first cover 8L are formed of separate members, but may be formed of an integral member. When the first arm 7L and the first cover 8L are formed from separate members, the first cover 8L can be attached to and detached from the first arm 7L. Further, it is also possible to adopt a configuration in which the first cover 8L can swing with respect to the first arm 7L.

In the other support mechanism 2R, the base end side is pivotally supported by the support shaft 4, and the tip end side rotatably supports the other wheel 5R. On the other hand, the support mechanism 2R has a second arm 7R and a second cover 8R. The second arm 7R has a second pivotal support portion 11 pivotally supported by a support shaft 4 on the proximal end side, and a second cover 8R is attached to the distal end side. The second arm 7R extends in a direction away from the support shaft 4 from the proximal end side toward the distal end side. The second arm 7R supports the other wheel 5R via the second cover 8R.

The base end side of the second cover 8R is attached to the outer side (right side) of the second arm 7R. The tip end side of the second cover 8R protrudes from the tip end of the second arm 7R. A second support portion 12 that rotatably supports the axle of the other wheel 5R is provided on the tip end side of the second cover 8R. The second support portion 12 rotatably supports the other wheel 5R by a bearing or the like. Further, the second support portion 12 detachably supports the other wheel 5R. Thereby, when the other wheel 5R is not used, it can be separated (removed) from the second support portion 12.

In the case of the present embodiment, the second arm 7R and the second cover 8R are formed of separate members, but may be formed of an integral member. When the second arm 7R and the second cover 8R are formed of separate members, the second cover 8R can be attached to and detached from the second arm 7R. Further, it is also possible to adopt a configuration in which the second arm 7R can swing with respect to the second cover 8R.

As shown in FIGS. 1 and 3, the first arm 7L of the one support mechanism 2L and the second arm 7R of the other support mechanism 2R can be arranged side by side in the width direction Y. As shown in FIG. 3, the first arm 7L of the one support mechanism 2L and the second arm 7R of the other support mechanism 2R are symmetrical with respect to the center line CL in the width direction Y in a state of being arranged side by side in the width direction Y. It is formed so as to have a symmetrical shape. The first arm 7L and the second arm 7R are curved so that the distance (interval) between them gradually increases in the width direction Y as the distance from the support shaft 4 increases.

Further, as shown in FIGS. 1 and 2, the first arm 7L and the second arm 7R are curved from the base end side (support shaft 4 side) toward the tip end side (first wheel 5 side). Specifically, the first arm 7L and the second arm 7R are in a posture in which the first wheel 5 is arranged in front of the second wheel 6 and the first wheel 5 and the second wheel 6 are in contact with each other (corresponding to the ground G). In the contacted posture), it is curved so as to move downward as it goes forward.

Further, as shown in FIGS. 1 and 3, the widths (lengths in the width direction Y) of the first arm 7L and the second arm 7R are such that the base end side (support shaft 4 side) is the tip side (first wheel 5). It is formed so as to be larger than the side).
The first support mechanism 2 can independently change the postures of the one support mechanism 2L and the other support mechanism 2R. In other words, only one support mechanism 2L can swing with the support shaft 4 as a fulcrum, or only the other support mechanism 2R can swing with the support shaft 4 as a fulcrum. A configuration for independently changing (swinging) the postures of the support mechanism 2L on the one hand and the support mechanism 2R on the other side will be described later.

The moving body 1 includes a drive unit 13 that drives at least one or more of the first wheel 5 and the second wheel 6. As shown in FIGS. 2 and 3, the drive unit 13 includes a first drive unit 13L and a second drive unit 13R. The first drive unit 13L and the second drive unit 13R can operate independently of each other.
The first drive unit 13L is provided on the one-side support mechanism 2L and drives the one-wheel 5L. The first drive unit 13L is housed inside the support mechanism 2L. Specifically, the first drive unit 13L is housed in a space provided inside the first arm 7L. The first drive unit 13L has a first electric motor 14L and a first battery 15L. The first electric motor 14L is driven by the electric power supplied from the first battery 15L.

The second drive unit 13R is provided on the other support mechanism 2R and drives the other wheel 5R. The second drive unit 13R is housed inside the other support mechanism 2R. Specifically, the second drive unit 13R is housed in a space provided inside the second arm 7R. The second drive unit 13R has a second electric motor 14R and a second battery 15R. The second electric motor 14R is driven by the electric power supplied from the second battery 15R.

As shown in FIG. 2, a drive sprocket 16 is connected to the rotating shaft of the first electric motor 14L, while a driven sprocket 17 is connected to the axle of the wheel 5L. A chain 18 is hung on the drive sprocket 16 and the driven sprocket 17. As a result, the power generated by driving the first electric motor 14L is transmitted to one wheel 5L via the driving sprocket 16, the chain 18, and the driven sprocket 17, and the one wheel 5L rotates.

Although not shown, a drive sprocket is connected to the rotating shaft of the second electric motor 14R, while a driven sprocket is connected to the axle of the wheel 5R. A chain is hung on these drive sprockets and driven sprockets. As a result, the power generated by driving the second electric motor 14R is transmitted to the other wheel 5R via the driving sprocket, the chain, and the driven sprocket, and the other wheel 5R rotates.

The power transmission mechanism from the first electric motor 14L to the one wheel 5L and the power transmission mechanism from the second electric motor 14R to the other wheel 5R are not limited to the above-mentioned mechanisms. For example, a drive pulley, a driven pulley, and a belt may be used instead of the drive sprocket, the driven sprocket, and the chain. Further, another power transmission mechanism such as a gear transmission mechanism may be used.
As shown in FIG. 3, the second support mechanism 3 is arranged between the one support mechanism 2L and the other support mechanism 2R in the width direction Y. As shown in FIGS. 1 to 4, the second support mechanism 3 has a wheel support portion 19 and a handle support portion 20.

The base end side of the wheel support portion 19 is pivotally supported by the support shaft 4, and the tip end side rotatably supports the second wheel 6. The length of the wheel support portion 19 (distance from the base end portion to the tip end portion) is formed shorter than the length of the first support mechanism 2 (distance from the base end portion to the tip end portion).
The wheel support portion 19 has a third arm 21 and a third cover 22.
The third arm 21 has a third pivot portion 23 whose base end side is pivotally supported by a support shaft 4, and a third cover 22 is attached to the tip end side. The third arm 21 extends from the proximal end side toward the distal end side in a direction away from the support shaft 4. The width of the third arm 21 (length in the width direction Y) is set to be equal to or less than the distance between the first arm 7L and the second arm 7R (distance in the width direction Y). More specifically, the width of the third arm 21 is set to be smaller than the distance between the first arm 7L and the second arm 7R.

As shown in FIGS. 1, 2, and 4, the third arm 21 is curved from the base end side (support shaft 4 side) toward the tip end side (second wheel 6 side). Specifically, the third arm 21 moves downward as it goes backward in a posture in which the first wheel 5 is arranged in front of the second wheel 6 and the first wheel 5 and the second wheel 6 are in contact with the ground. It is curved like. Therefore, in a posture in which the first wheel 5 is arranged in front of the second wheel 6 and the first wheel 5 and the second wheel 6 are in contact with the ground, the first arm 7L, the second arm 7R, and the third arm 21 are separated from each other. It gradually approaches downward (the distance in the front-rear direction X becomes smaller).

As shown in FIG. 3, the base end side of the third cover 22 is attached to the left side and the right side (one side and the other side in the width direction Y) of the third arm 21, respectively. The tip end side of the third cover 22 projects from the tip end of the wheel support portion 19. As shown in FIGS. 2 to 4, a third support portion 24 that rotatably supports the axle of the second wheel 6 is provided on the tip end side of the third cover 22.
The second wheel 6 is in a movable state capable of swinging around the vertical axis (the axis extending in the vertical direction when the second wheel 6 is in contact with the ground) with respect to the wheel support portion 19, and around the vertical axis with respect to the wheel support portion 19. It is preferable that it can be switched to a fixed state in which it cannot swing. When the second wheel 6 is in a movable state, the second wheel 6 can be swung to the right or left. While the moving body 1 is traveling, swinging the second wheel 6 to the right allows the moving body 1 to make a right turn, and swinging it to the left allows the moving body 1 to make a left turn. The configuration for switching between the movable state and the fixed state of the second wheel 6 is not particularly limited. For example, a movable stopper is provided on the wheel support portion 19, and the stopper is brought into contact with or separated from the second wheel 6. Can be adopted. When the second wheel 6 is in the movable state, the swing of the second wheel 6 can be performed by, for example, the operation unit 29 of the handle 28, which will be described later.

In the case of the present embodiment, the first wheel 5 (one wheel 5L, the other wheel 5R) is a drive wheel driven by a drive unit 13 (first drive unit 13L, second drive unit 13R), and the second wheel 6 is a drive wheel. It is a driving wheel. That is, the drive unit 13 drives two wheels (one wheel 5L, the other wheel 5R) that make up the first wheel 5 out of the three wheels that make up the first wheel 5 and the second wheel 6. However, the drive unit 13 may drive at least one or more of the first wheel 5 and the second wheel 6. For example, the drive unit 13 may drive all three wheels constituting the first wheel 5 and the second wheel 6, or only one of them (for example, only the second wheel 6). It may be driven.

Of the first wheel 5 and the second wheel 6, it is preferable to use an airless tire for at least the first wheel 5, which is a driving wheel. By using airless tires, punctures can be prevented, high grip and quietness on the pavement can be achieved. It is also possible to use airless tires for both the first wheel 5 and the second wheel 6.
The diameters of the first wheel 5 and the second wheel 6 may all be the same, but any one or more of them may be different. In the case of the present embodiment, the diameters of the two wheels (one wheel 5L and the other wheel 5R) constituting the first wheel 5 are the same, and the diameter of the second wheel 6 is smaller than the diameter of the first wheel 5. Further, the widths of the first wheel 5 and the second wheel 6 may all be the same, but any one or more of them may be different. In the case of the present embodiment, the widths of the two wheels (one wheel 5L and the other wheel 5R) constituting the first wheel 5 are the same, and the width of the second wheel 6 is smaller than the width of the first wheel 5.

In the case of the present embodiment, the number of the second wheels 6 is one, but two second wheels 6 may be provided. When two second wheels 6 are provided, the two wheel support portions 19 can be provided side by side in the width direction Y, and each of the two wheel support portions 19 can be configured to support the second wheel 6. The two wheel support portions 19 can be arranged between the one support mechanism 2L and the other support mechanism 2R in the width direction Y. In this case, the distance between the one support mechanism 2L and the other support mechanism 2R is widened as compared with the case where the second wheel 6 is one, and the two wheel support portions 19 swing to cause the one support mechanism 2L and the other support mechanism 2R. It is preferable to configure it so that it can pass between the 2R and the 2R. The two wheel support portions 19 can swing integrally or independently with the support shaft 4 as a fulcrum.

As shown in FIGS. 1 to 4, the first support mechanism 2 and the second support mechanism 3 are provided with footrest portions 25, 26, and 27. The footrest portions 25, 26, and 27 are portions for the user (passenger) who rides on the moving body 1 to put his / her feet. In the present embodiment, the footrests 25, 26, and 27 are plate-like members having a substantially flat surface suitable for the occupant to place their feet. Hereinafter, for convenience, the footrest portion provided on one support mechanism L of the first support mechanism 2 is used as the first footrest portion 25, and the footrest portion provided on the other support mechanism 2R of the first support mechanism 2 is used as the second foot. The foot rest portion provided on the rest portion 26 and the second support mechanism 3 is referred to as a third foot rest portion 27.

The first footrest portion 25 is provided at the lower part of the support mechanism 2L. Specifically, the first footrest portion 25 is attached to the lower part of the rear surface of the first arm 7L, and extends rearward from the lower part of the rear surface. The upper surface of the first footrest portion 25 is substantially horizontal (substantially parallel to the ground) in a state of extending rearward from the lower part of the rear surface of the first arm 7L. In this state, the occupant can place one foot (left foot) on the upper surface of the first foot rest portion 25. As shown by arrows E and virtual lines in FIG. 2, the first footrest portion 25 is upward (first) with a rotation shaft (not shown) provided at the front portion of the first footrest portion 25 as a fulcrum. It can rotate toward the rear surface of the arm 7L). Therefore, when the first footrest portion 25 is not used (when the foot is not placed), the first footrest portion 25 can be rotated upward and folded.

The second footrest portion 26 is provided below the other support mechanism 2R. Specifically, the second footrest portion 26 is attached to the lower part of the rear surface of the second arm 7R, and extends rearward from the lower part of the rear surface. The upper surface of the second footrest portion 26 is substantially horizontal (substantially parallel to the ground) in a state of extending rearward from the lower part of the rear surface of the second arm 7R. In this state, the occupant can place the other foot (right foot) on the upper surface of the second foot rest portion 26. Although not shown, the second footrest portion 26 can also rotate upward (in the direction approaching the rear surface of the second arm 7R) like the first footrest portion 25. Therefore, when the second footrest portion 26 is not used, the second footrest portion 26 can be rotated upward and folded.

The third footrest portion 27 is provided below the wheel support portion 19 of the second support mechanism 3. Specifically, the third footrest portion 27 is attached to the side surface (left surface) of the third cover 22 on the left side and the side surface (right surface) of the third cover 22 on the right side, respectively, from the side surface toward the outside of the moving body. It is extending. The upper surface of the third footrest portion 27 is substantially horizontal (substantially parallel to the ground) in a state of extending outward from the side surface of the third cover 22. In this state, the occupant can place one foot (left foot) and the other foot (right foot) on the upper surfaces of the third foot rest 27 on the left side and the right side, respectively. As shown by arrows F and virtual lines in FIG. 3, the third footrest portion 27 is upward with a rotation shaft (not shown) provided on the third cover 22 side of the third footrest portion 27 as a fulcrum. It can rotate toward (the direction approaching the side surface of the third cover). Therefore, when the third footrest portion 27 is not used (when the foot is not placed), the third footrest portion 27 can be rotated upward and folded.

The first footrest portion 25 may be attached to the first cover 8L instead of being attached to the first arm 7L. The second footrest portion 26 may be attached to the second cover 8R instead of being attached to the second arm 7R. The third footrest portion 27 may be attached to the wheel support portion 19 instead of being attached to the third cover 22.
It is preferable that all of the first foot rest portion 25, the second foot rest portion 26, and the third foot rest portion 27 are provided, but one or more may be omitted. For example, the first foot rest portion 25 and the second foot rest portion 26 may be provided, and the third foot rest portion 27 may be omitted. Further, the third foot rest portion 27 may be provided, and the first foot rest portion 25 and the second foot rest portion 26 may be omitted.

The handle support portion 20 of the second support mechanism 3 supports the handle 28. In other words, the handle 28 is attached to the handle support portion 20 of the second support mechanism 3.
As shown in FIGS. 1, 3 and 4, the handle support portion 20 is arranged between the one support mechanism 2L and the other support mechanism 2R in the width direction Y. The base end side of the handle support portion 20 is pivotally supported by the support shaft 4, and the tip end side supports the handle 28. The length of the handle support portion 20 (distance from the base end portion to the tip end portion) is formed to be shorter than the length of the first support mechanism 2 (distance from the base end portion to the tip end portion).

The handle support portion 20 has a fourth arm 30 and a fourth cover 31.
The fourth arm 30 has a pivot portion 32 (hereinafter, referred to as “fourth pivot portion 32”) pivotally supported by a support shaft 4 on the proximal end side, and a fourth cover 31 is attached to the distal end side. There is. The fourth arm 30 extends in a direction away from the support shaft 4 from the proximal end side toward the distal end side. The width of the fourth arm 30 (length in the width direction Y) is set to be equal to or less than the distance between the first arm 7L and the second arm 7R (distance in the width direction Y). More specifically, the width of the fourth arm 30 is set to be smaller than the distance between the first arm 7L and the second arm 7R.

As shown in FIGS. 3 and 4, the fourth pivot portion 32 on the proximal end side of the fourth arm 30 is bifurcated in the axial direction (width direction Y) of the support shaft 4, and the second bifurcation is between the bifurcations. The third pivot 23 of the three arms 21 is arranged. The third pivot branch 23 and the fourth pivot branch 32 are arranged between the first pivot branch 9 and the second pivot branch 11 in the axial direction (width direction Y) of the support shaft 4.
A handle 28 is attached to the tip end side of the fourth arm 30. The handle 28 projects outward (right and left) from the outer surface (left and right) of the fourth arm 30. The handle 28 is a portion gripped by both hands by a user who moves with the moving body 1. The user includes a person (passenger) who rides on the moving body 1 and moves with the moving body 1 (passenger) and a person who moves with the moving body 1 without riding on the moving body 1 (pedestrian). That is, the handle 28 can be gripped when the user (passenger) rides on the moving body 1 and moves together with the moving body 1, or the user (pedestrian) does not get on the moving body 1 and moves with the moving body 1. It can also be gripped when walking and moving with 1.

The shape of the handle 28 is linear in the present embodiment, but is not particularly limited. The shape of the handle 28 may be, for example, U-shaped or annular. Further, the handle 28 may be configured to be foldable toward the fourth arm 30 side.
As shown in FIGS. 1 and 2, the fourth arm 30 is curved from the base end side (support shaft 4 side) toward the tip end side (handle 28 side). Specifically, in the fourth arm 30, the first wheel 5 is arranged in front of the second wheel 6, the first wheel 5 and the second wheel 6 are grounded, and the handle 28 is above and in front of the support shaft 4. In the posture arranged diagonally upward and forward, it is curved so as to move backward as it goes upward.

The handle 28 can command the operation of the first drive unit 13L and the operation of the second drive unit 13R. This command is executed by operating the operation unit 29 (described later) provided on the handle 28.
The fourth cover 31 is attached to the left side surface and the right side surface (outer side) of the fourth arm 30, respectively. The fourth cover 31 attached to the left side of the fourth arm 30 contains an electric cord connected to the first battery 15L. This electric cord extends through the internal space provided in the fourth arm 30 and is connected to the first battery 15L arranged in the internal space of the first arm 7L. The fourth cover 31 attached to the right side of the fourth arm 30 houses an electric cord connected to the second battery 15R. This electric cord extends through the internal space provided in the fourth arm 30 and is connected to the second battery 15R arranged in the internal space of the second arm 7R. The first battery 15L and the second battery 15R can be charged by taking out the electric cord from the fourth cover 31 and inserting the plug of the electric cord into the plug receiver (outlet).

As shown in FIG. 3, the support shaft 4 extends in the width direction Y. The support shaft 4 independently and swingably supports the one-side support mechanism 2L and the other support mechanism 2R. As a result, only one support mechanism 2L can swing with respect to the second support mechanism 3 with the support shaft 4 as a fulcrum. Further, only the other support mechanism 2R can swing with respect to the second support mechanism 3 with the support shaft 4 as a fulcrum. Further, the support shaft 4 swingably supports the wheel support portion 19 with respect to the handle support portion 20.

In other words, the support shaft 4 independently swings and supports the four arms. Specifically, the support shaft 4 is independent of the first arm 7L of the one support mechanism 2L, the second arm 7R of the other support mechanism 2R, the third arm 21 of the wheel support portion 19, and the fourth arm 40 of the handle support portion 20. It is supported so that it can swing. However, the support shaft 4 may independently and swingably support at least three arms.

As shown in FIG. 3, the support shaft 4 includes a first support shaft 4L and a second support shaft 4R. The first support shaft 4L and the second support shaft 4R are arranged side by side in the width direction Y and on the same axis. The first support shaft 4L is arranged on one side (left side) of the width direction Y. The first support shaft 4L oscillatingly supports the one-side support mechanism 2L. The first support shaft 4L is rotated in the axial direction by the first drive source 33. As the first support shaft 4L rotates in the axial direction, the support mechanism 2L swings. The second support shaft 4R is arranged on the other side (right side) in the width direction Y. The second support shaft 4R supports the other support mechanism 2R so as to be swingable. The second support shaft 4R is rotated in the axial direction by the second drive source 34. As the second support shaft 4R rotates in the axial direction, the other support mechanism 2R swings.

The first support shaft 4L includes a first outer shaft 4La and a first inner shaft 4Lb. The first outer shaft 4La and the first inner shaft 4Lb are driven by a first two-axis coaxial motor (hereinafter, referred to as "first coaxial motor 33") which is a first drive source 33. The first outer shaft 4La projects to the left (outward) from the first coaxial motor 33. The first inward shaft 4Lb projects to the right (inward) from the first coaxial motor 33.

The second support shaft 4R includes a second outer shaft 4Ra and a second inner shaft 4Rb. The second outer shaft 4Ra and the second inner shaft 4Rb are driven by a second two-axis coaxial motor (hereinafter, referred to as “second coaxial motor 34”) which is a second drive source 34. The second outer shaft 4Ra projects to the right (outward) from the second coaxial motor 34. The second inward shaft 4Rb projects to the left (inward) from the second coaxial motor 34.

The first coaxial motor 33 and the second coaxial motor 34 are arranged side by side in the width direction Y. The first coaxial motor 33 is housed on one side (left side) of the fork of the fourth pivot branch 32. The second coaxial motor 34 is housed on the other side (right side) of the bifurcation of the fourth pivot branch 32. Electric power can be supplied to the first coaxial motor 33 from the first battery 15L. Electric power can be supplied to the second coaxial motor 34 from the second battery 15R.

The base end portion of the first arm 7L of the one-side support mechanism 2L is supported by the first outer shaft 4La. The second outer shaft 4Ra supports the base end portion of the second arm 7R of the other support mechanism 2R. The base end portion of the third arm 21 of the second support mechanism 3 is supported by the first inner shaft 4Lb and the second inner shaft 4Rb.
The first coaxial motor 33 can rotate the first outer shaft 4La and the first inner shaft 4Lb independently. The first coaxial motor 33 can rotate the first outer shaft 4La and the first inner shaft 4Lb in the same direction or in opposite directions to each other. The second coaxial motor 34 can rotate the second outer shaft 4Ra and the second inner shaft 4Rb independently. The second coaxial motor 34 can rotate the second outer shaft 4Ra and the second inner shaft 4Rb in the same direction or in opposite directions to each other. Further, the first coaxial motor 33 and the second coaxial motor 34 can be driven independently. As a result, the first outer shaft 4La, the first inner shaft 4Lb, the second outer shaft 4Ra, and the second inner shaft 4Rb can be independently rotated in one or the other in the axial direction.

When the first coaxial motor 33 is driven to rotate the first outer shaft 4La, the support mechanism 2L swings in the axial direction of the support shaft (first outer shaft 4La). Here, by not rotating the first inner shaft 4Lb, the one support mechanism 2L swings relative to the other support mechanism 2R and the second support mechanism 3.
When the second coaxial motor 34 is driven to rotate the second outer shaft 4Ra, the other support mechanism 2R swings in the axial direction of the support shaft (second outer shaft 4Ra). Here, by not rotating the second inner shaft 4Rb, the other support mechanism 2R swings relative to the one support mechanism 2L and the second support mechanism 3.

When the first coaxial motor 33 is driven to rotate the first inner shaft 4Lb, or the second coaxial motor 34 is driven to rotate the second inner shaft 4Rb, the wheel support portion of the second support mechanism 3 is rotated. 19 swings in the axial direction of the support shaft (first inner shaft 4Lb, second inner shaft 4Rb). As a result, the wheel support portion 19 swings relative to the handle support portion 20. Further, by not rotating the first outer shaft 4La and the second outer shaft 4Ra, the wheel support portion 19 swings relative to the one support mechanism 2L and the other support mechanism 2R.

Here, the first outer shaft 4La, the first inner shaft 4Lb, the second outer shaft 4Ra, and the second inner shaft 4Rb can be rotated independently. Therefore, the one support mechanism 2L, the other support mechanism 2R, and the wheel support portion 19 can be independently swung with respect to the handle support portion 20.
For example, when the first coaxial motor 33 and the second coaxial motor 34 are driven to rotate only the first outer shaft 4La and the second outer shaft 4Ra, the first support mechanism 2 (one support mechanism 2L and the other support) is supported. The mechanism 2R) swings relative to the second support mechanism 3 (wheel support portion 19 and handle support portion 20). Therefore, as shown in FIG. 2, the first support mechanism 2 is in the direction in which the first wheel 5 approaches or separates from the second wheel 6 (arrow F direction) or away from the second wheel 6 (arrow H direction) with the support shaft 4 as a fulcrum. Can be rocked.

As described above, the first coaxial motor 33 and the second coaxial motor 34 are for swinging the one support mechanism 2L, the other support mechanism 2R, and the wheel support portion 19 independently with respect to the handle support portion 20. It constitutes a mechanism (hereinafter referred to as "independent swing mechanism"). By configuring the independent swing mechanism with the two coaxial motors in this way, it is possible to configure the independent swing mechanism compactly and with high accuracy. However, the independent swing mechanism may be another mechanism that does not use a coaxial motor (for example, a mechanism that combines a motor other than the coaxial motor and a gear transmission mechanism). Further, the one support mechanism 2L, the other support mechanism 2R, and the wheel support portion 19 may be independently swingable with respect to the handle support portion 20 without using a drive source such as a motor. When manual swinging is possible, a mechanism capable of fixing the one support mechanism 2L, the other support mechanism 2R, the wheel support portion 19, and the handle support portion 20 at an arbitrary swing position can be provided.

As shown in FIG. 3, the wheel support portion 19 of the second support mechanism 3 is arranged between the one support mechanism 2L and the other support mechanism 2R constituting the first support mechanism 2 in the width direction Y. Therefore, as shown by arrows J and imaginary lines in FIG. 5, the wheel support portion 19 of the second support mechanism 3 is moved together with the third wheel 3 by passing between the one support mechanism 2L and the other support mechanism 2R. Can be (oscillated).

As a result, the first support mechanism 2 has a first posture (1st posture) in which the first wheel 5 is separated from the second wheel 6 supported by the wheel support portion 19 of the second support mechanism 3 in the first direction (forward). The posture can be changed between (see FIG. 2) and a second posture (see FIG. 6) in which the first wheel 5 is separated in the second direction (rear) opposite to the first direction. In other words, the position of the first wheel 5 and the position of the second wheel 6 can be exchanged in the front-rear direction X.

As shown in FIG. 2, in the first posture, the first wheel 5 is arranged in the front and the second wheel 6 is arranged in the rear. As shown in FIG. 6, in the second posture, the second wheel 6 is arranged in the front and the first wheel 5 is arranged in the rear. Further, in the first posture, the first support mechanism 2 extends downward and forward (obliquely downward and forward) from the support shaft 4, and the second support mechanism 3 extends downward and backward (diagonally downward and rearward) from the support shaft 4. In the second posture, the first support mechanism 2 extends downward and rearward (obliquely downward and rearward) from the support shaft 4, and the second support mechanism 3 extends downward and forward (diagonally downward and forward) from the support shaft 4.

Further, as shown by the arrow K in FIG. 7, the wheel support portion 19 of the second support mechanism 3 is swung with respect to the first support mechanism 2, so that the wheel support portion 19 is moved as shown by a virtual line. , In the width direction, it can be arranged at a position sandwiched between the one support mechanism 2L and the other support mechanism 2R. At this time, in the width direction Y, the second wheel 3 is arranged between the one wheel 5L and the other wheel 5R, and the third arm 21 is arranged between the first arm 7L and the second arm 7R.

Further, as shown in FIG. 3, the handle support portion 20 of the second support mechanism 3 is arranged between the one support mechanism 2L and the other support mechanism 2R in the width direction Y. Therefore, as shown by arrows L and M in FIG. 2, the handle support portion 20 and the wheel support portion are swung relative to the wheel support portion 19 around the support shaft 4. It can be brought close to (folded) with 19. As a result, as shown in FIG. 8, in addition to the wheel support portion 19, the handle support portion 20 can also be arranged at a position sandwiched between the one support mechanism 2L and the other support mechanism 2R.

The moving body 1 has a posture in which the wheel support portion 19 and the handle support portion 20 are separated from between the one support mechanism 2L and the other support mechanism 2R (hereinafter referred to as “basic posture”) (see FIG. 1 and the like), and the wheel support portion. The posture 19 and the handle support portion 20 can be changed to a posture (hereinafter referred to as “folding posture”) (see FIG. 8) in which the one support mechanism 2L and the other support mechanism 2R are located.
The moving body 1 is in a basic posture when it is used, and in a folded posture when it is not used. Since the moving body 1 is made compact by being in the folded posture, it is easy to carry. For example, the moving body 1 in the folded posture can be stored in the trunk of an automobile or brought in when getting on a train.

As described above, in the case of the present embodiment, the wheel support portion 19 and the handle support portion 20 are relatively swingable (foldable) with the support shaft 4 as a fulcrum, so that the moving body 1 is in a folded posture. be able to. However, as another embodiment, the wheel support portion 19 and the handle support portion 20 are integrated, and the wheel support portion 19 and the handle support portion 20 swing (rotate) integrally with the support shaft 4 as a fulcrum. It can also be configured as follows.

As shown in FIGS. 1 to 4 and the like, the moving body 1 includes a saddle 35 for the user to sit on. The saddle 35 is attached to the second support mechanism 3. Specifically, the saddle 35 is attached to the support shaft 4 at the third pivot branch 23 of the second support mechanism 3.
The saddle 35 has a seating portion 35a, a rotating portion 35b, and a connecting portion 35c.
The seating portion 35a is a portion on which a user (passenger) who rides on the moving body 1 and moves is seated. The seating portion 35a has a shape in which the width of the front portion (the side closer to the support shaft 4) is narrower than the width of the rear portion (the side far from the support shaft 4), which is generally used in bicycles, for example. Can be used. Further, as shown in FIG. 4, a recess 35d cut out toward the front can be provided at the rear portion of the seating portion 35a. The width of the recess 35d is set to be larger than the width of the third arm 21.

The rotating portion 35b is a portion that is rotatably attached to the support shaft 4 in the axial direction of the support shaft 4. As shown in FIGS. 2 and 3, the rotating portion 35b is composed of a cylindrical boss (hereinafter, referred to as “boss 35b”). As shown in FIG. 3, the boss 35b is arranged at the base end portion (third pivot portion 23) of the third arm 21 of the wheel support portion 19. A support shaft 4 (first inner shaft 4Lb, second inner shaft 4Rb) is arranged inside the boss 35b. The central axis of the boss 35b and the central axis of the support shaft 4 are arranged on the same straight line. The boss 35b can rotate around the axis of the support shaft 4.

The connecting portion 35c connects the rotating portion (boss) 35b and the seating portion 35a. One end of the connecting portion 35c is fixed to the outer peripheral surface of the boss 35b, and extends outward from the outer peripheral surface in the radial direction of the boss 35b. The other end of the connecting portion 35c is fixed to the front portion of the seating portion 35a.
When the boss 35b is rotated around the axis of the support shaft 4, the connecting portion 35c and the seating portion 35a also rotate around the axis of the support shaft 4. That is, as shown by the arrow N in FIG. 5, the saddle 35 can swing upward or downward (around the axis of the support shaft 4) with the support shaft 4 as a fulcrum.

In FIG. 5, the position where the saddle 35 swings upward with the support shaft 4 as a fulcrum (hereinafter referred to as “upper position”) is shown by a solid line, and the position where the saddle 35 swings downward (hereinafter referred to as “lower position”) is virtual. It is shown by a line. When the saddle 35 is in the upper position, it is in a position suitable for the user to sit on. Therefore, when the user moves while sitting on the saddle 35, the saddle 35 is set to the upper position. The saddle 35 is set so that the seating surface of the seating portion 35a is substantially horizontal at the upper position. On the other hand, when the user moves without sitting on the saddle 35, or when the moving body 1 is not used, the saddle 35 is set to the lower position. As a result, the seating portion 35a is in a position closer to the third arm 21 than in the case where the saddle 35 is in the upper position.
You can avoid the problem that the saddle 35 gets in the way. Further, when the saddle 35 is set to the lower position, if the third arm 21 is fitted into the recess 35d provided in the seating portion 35a, the problem that the saddle 35 becomes an obstacle can be more reliably avoided.

As shown in FIG. 9, the height of the saddle 35 changes due to a change in the posture of the first support mechanism 2 with respect to the second support mechanism 3. Specifically, the saddle 35 is in the first height position when the first wheel 5 and the second wheel 6 are in a close posture (approaching posture) (see the virtual line). On the other hand, when the first wheel 5 and the second wheel 6 are in a separated posture (separated posture), the saddle 35 is in a second height position lower than the first height position (see the solid line). The angle between the first support mechanism 2 and the second support mechanism 3 in the approaching posture is smaller than the angle between the first support mechanism 2 and the second support mechanism 3 in the separated posture.

By changing the height of the saddle 35 in this way, the height of the saddle 35 can be adjusted according to the physique of the user. Specifically, when the user is tall (long inseam), the saddle 35 is set as the first height position, and when the user is short (short inseam), the saddle 35 is set as the second height. Can be a position. Further, when the user gets on and off the moving body 1, the height of the saddle 35 is lowered so that the user can easily get on and off the moving body 1. The posture for adjusting the height of the saddle 35 (change between the approaching posture and the separating posture) can be manually performed, but the first drive source 33 and the second drive source 34 are driven, and the second support mechanism 3 is used. This can be done by swinging the first support mechanism 2 with respect to the above. Therefore, the height of the saddle 35 can be easily adjusted.

As shown in FIG. 1, a grip 36 for the user to grip can be provided at the rear portion of the seating portion 35a. In other words, the saddle 35 can have the grip 36 on the side opposite to the side attached to the support shaft 4. The grip 36 projects rearward (in the direction away from the support shaft 4) from the rear portion of the seating portion 35a. In the case of the present embodiment, the grip 36 is composed of a substantially U-shaped metal fitting, and the user can easily grip the grip 36 by inserting a finger between the grip 36 and the seating portion 35a. Can be done.

As shown in FIG. 8, by providing the grip 36 at the rear portion of the seating portion 35a, when the moving body 1 is in the folded posture, the grip 36 is sandwiched between the support shaft 4 and the first support mechanism 2 and the second. It can be arranged on the side opposite to the support mechanism 3, the wheel support portion 19, and the handle support portion 20. Therefore, as shown in FIG. 10, the user U can move the moving body 1 in the folded posture while gripping and pulling the grip 36. The shape and position of the grip 36 can be appropriately changed in consideration of ease of gripping by the user and the like. Further, the grip 36 can be made to be infestable or foldable with respect to the saddle 35. In this case, when the grip 36 is not used, it can be immersed or folded.

As shown in FIG. 11, the moving body 1 includes an operation unit 29, a detection unit 37, and a control unit 38.
The operation unit 29 is a device used by the user to operate the moving body 1. The operation unit 29 is composed of, for example, an input interface such as an operation button, an operation lever, and an operation panel (touch panel or the like). The operation unit 29 is provided outside the moving body 1 that is easy for the user to operate. The operation unit 29 is preferably provided on the handle 28, but may be provided on a portion other than the handle 28 (for example, the handle support portion 20 or the like).

The operation unit 29 includes a plurality of input units that can be selected and operated by the user. The plurality of input units are, for example, a plurality of buttons, a plurality of images (icons, etc.) displayed on the operation panel, and the like. One or more operations can be selected from a plurality of operation menus by a plurality of input units. The operation menus that can be selected are, for example, "forward", "backward", "left turn", "right turn", "stop", "saddle up", "saddle down", "fold" and the like. The plurality of operation menus may be selected by operating, for example, a plurality of operation buttons or operation levers, or touch any of a plurality of images (icons, etc.) displayed on the operation panel. It may be selected by doing so. The input signal input by operating the operation unit 29 is input to the control unit 38 as an operation signal.

The detection unit 37 detects the posture (tilt, etc.) of the moving body 1. The detection unit 37 includes, for example, a posture sensor such as a gyro sensor or an acceleration sensor. Information about the posture of the moving body 1 detected by the detection unit 37 is input to the control unit 38 as a detection signal.
The control unit 38 is composed of a computer including a calculation unit 38a such as a CPU and a storage unit 38b such as a RAM or ROM. The control unit 38 is provided, for example, inside the moving body 1 (inside the handle support unit 20, etc.). A predetermined program for executing the operation of the control unit 38 is stored in the storage unit 38b. The calculation unit 38a reads out the program stored in the storage unit 38b based on the input signal (operation signal) from the operation unit 29 or the input signal (detection signal) from the detection unit 37, and executes the first program. It controls the operations of the electric motor 14L, the second electric motor 14R, the first coaxial motor 33, and the second coaxial motor 34.

Specifically, for example, when "forward" or "reverse" is input from the operation unit 29, the control unit 38 drives the first electric motor 14L and the second electric motor 14R, one wheel 5L and the other. Rotate the wheel 5R forward or backward at the same speed. As a result, the moving body 1 can be moved forward or backward.
Further, for example, when an input of "left turn" or "right turn" is made from the operation unit 29, the control unit 38 drives the first electric motor 14L and the second electric motor 14R, and one wheel 5L and the other wheel 5R. Rotate in the same direction at different speeds. As a result, the moving body 1 can be turned left or right.

Further, for example, when the operation unit 29 inputs "stop", the control unit 38 stops the first electric motor 14L and the second electric motor 14R, and stops one wheel 5L and the other wheel 5R. As a result, the moving body 1 can be stopped.
Further, for example, when the operation unit 29 inputs "saddle up" or "saddle down", the control unit 38 drives the first coaxial motor 33 and the second coaxial motor 34 to drive the first outer shaft 4La. And the second outer shaft 4Ra are rotated in the same direction. As a result, as shown in FIG. 2, the first support mechanism 2 moves in the direction of approaching (arrow F direction) or away from the wheel support portion 19 of the second support mechanism 3 (arrow H direction). As a result, the height of the saddle 35 is adjusted as shown in FIG.

Further, for example, when the moving body 1 is in the basic posture and the operation unit 29 inputs "folding", the control unit 38 drives the first coaxial motor 33 and the second coaxial motor 34 to obtain a second coaxial motor 33. 1 The outer shaft 4La and the second outer shaft 4Ra and the first inner shaft 4Lb and the second inner shaft 4Rb are rotated in opposite directions to each other. As a result, the first support mechanism 2 approaches the wheel support portion 19 of the second support mechanism 3, and the wheel support portion 19 and the handle support portion 20 further approach each other. Therefore, as shown in FIG. 8, the moving body 1 is in a folded posture in which the wheel support portion 19 and the handle support portion 20 are located between the one support mechanism 2L and the other support mechanism 2R.

Further, the control unit 38 can independently control the positions of the three wheels (one wheel 5L, the other wheel 5R, and the second wheel 6) based on the detection signal from the detection unit 37. Specifically, the control unit 38 drives the first coaxial motor 33 or the second coaxial motor 34 based on the detection signal regarding the posture of the moving body 1 detected by the detection unit 37, and the one-side support mechanism 2L or the other support mechanism By swinging the 2R, the positions of the three wheels (one wheel 5L, the other wheel 5R, and the second wheel 6) can be adjusted independently.

For example, when the detection unit 37 detects that the moving body 1 is tilted to the left (the left part is lower than the right part), the control unit 38 outputs a detection signal indicating that the moving body 1 is in the left leaning posture. Send to. The control unit 38 receives the detection signal from the detection unit 37 and drives the first coaxial motor 33 or the second coaxial motor 34 to rotate the first outer shaft 4La or the second outer shaft 4Ra, while supporting the first coaxial motor 33 or the second coaxial motor 34. By swinging the mechanism 2L or the other support mechanism 2R, the one wheel 5L is set to be in a lower position than the other wheel 5R. Specifically, the one wheel 5L is arranged behind the other wheel 5R. As a result, as shown in FIG. 12, the posture of the moving body 1 is maintained substantially horizontally (the seat surface of the saddle 35, the handle 28, etc. are substantially horizontal) even on the inclined surface S1 whose left portion is lower than that of the right portion. Can run.

On the other hand, when the detection unit 37 detects that the moving body 1 is tilted to the right (the right part is lower than the left part), the detection unit 38 outputs a detection signal indicating that the moving body 1 is in the right leaning posture. Send to. The control unit 38 receives the detection signal from the detection unit 37 and drives the first coaxial motor 33 or the second coaxial motor 34 so that the one wheel 5L is at a higher position than the other wheel 5R. Specifically, the one wheel 5L is arranged in front of the other wheel 5R. As a result, even on an inclined surface where the right portion is lower than the left portion, the posture of the moving body 1 can be maintained substantially horizontally (the seat surface of the saddle 35, the handle 28, and the like are substantially horizontal).

Further, when the detection unit 37 detects that the moving body 1 is tilted forward (the front part is lower than the rear part), the detection unit 38 outputs a detection signal indicating that the moving body 1 is in the forward leaning posture. Send to. The control unit 38 receives the detection signal from the detection unit 37 and drives the first coaxial motor 33 and the second coaxial motor 34 to drive the first outer shaft 4La, the second outer shaft 4Ra, and the first inner shaft. The shaft 4Lb and the second inner shaft 4Rb are rotated in opposite directions. As a result, the first support mechanism 2 (one support mechanism 2L and the other support mechanism 2R) and the wheel support portion 19 of the second support mechanism 3 swing in opposite directions to each other, and the first wheel 5 (one wheel 5L and the other support mechanism 2R) On the other hand, the wheel 5R) is lowered and the second wheel 6 is raised. As a result, as shown in FIG. 13, the moving body 1 can travel while maintaining the posture of the moving body 1 substantially horizontally even on the downhill inclined surface S2.

On the other hand, when the detection unit 37 detects that the moving body 1 is tilted backward (the rear part is lower than the front part), the detection unit 37 sends a detection signal indicating that the moving body 1 is in the backward leaning posture to the control unit 38. Send. Upon receiving the detection signal from the detection unit 37, the control unit 38 drives the first coaxial motor 33 and the second coaxial motor 34 to raise the first wheel 5 (one wheel 5L and the other wheel 5R), and the first wheel 5 (one wheel 5L and the other wheel 5R) is raised. 2 Wheel 6 is lowered. As a result, the moving body 1 can be driven while maintaining the posture of the moving body 1 substantially horizontally even on an uphill slope.

As described above, in the moving body 1, the first support mechanism 2, the second support mechanism 3, the wheel support portion 19, and the handle support portion 20 can swing independently with the support shaft 4 as a fulcrum. Further, the moving body 1 is operated by the operation unit 29 to swing the first support mechanism 2, the second support mechanism 3, the wheel support portion 19, and the handle support portion 20, respectively, and then stop the moving body 1 at a desired position. You can also do it. Therefore, the moving body 1 can be changed to various postures.

Hereinafter, the posture in which the moving body 1 can be changed will be described.
The posture in which the moving body 1 can be changed can be roughly divided into a folding posture and a basic posture.
The folding posture is a posture in which the wheel support portion 19 and the handle support portion 20 are located between the first support mechanism 2 and the second support mechanism 3 (see FIG. 8). The basic posture is a posture in which the wheel support portion 19 and the handle support portion 20 are separated from between the first support mechanism 2 and the second support mechanism 3 (see FIG. 1 and the like).

The basic posture can be roughly divided into two postures based on the relative positions of the first wheel 5 and the second wheel 6.
The two postures based on the relative positions of the first wheel 5 and the second wheel 6 are the first posture (see FIG. 2) and the second posture (see FIG. 6) described above. In the first posture, the first wheel 5 is arranged in the front and the second wheel 6 is arranged in the rear. In the second posture, the second wheel 6 is arranged in the front and the first wheel 5 is arranged in the rear.

Further, the basic posture can be roughly divided into two postures based on the support shaft 4.
The two postures with reference to the support shaft 4 are the support shaft intermediate posture and the support shaft rear posture. The support shaft intermediate posture is a posture in which the first wheel 5 (one wheel 5L and the other wheel 5R) is located in front of the support shaft 4 and the second wheel 6 is located behind the support shaft 4 (FIGS. 1 and 1). See 2nd class). The support shaft rear posture is a posture in which the support shaft 4 is located behind the first wheel 5 (one wheel 5L and the other wheel 5R) and the second wheel 6 (see FIGS. 14 and 15). That is, the first support mechanism 2 and the second support mechanism 3 can be changed to a support shaft intermediate posture and a support shaft rear posture by swinging the support shaft 4 as a fulcrum. In the support shaft intermediate posture, the first wheel 5 and the second wheel 6 come into contact with the ground. In the rear posture of the support shaft, only the second wheel 6 touches the ground, the first wheel 5 is located above the second wheel 6 (see FIG. 14), and the first wheel 5 and the second wheel 6 touch the ground. Posture (see FIG. 15) is included. The postures shown in FIGS. 14 and 15 are mainly used in the work modes described later. The positional relationship between the support shaft 4 and the wheels (first wheel 5, second wheel 6) is a positional relationship with reference to the center of the support shaft 4 and the center of the wheel.

The basic posture can be roughly divided into two postures based on the saddle 35.
The two postures based on the saddle 35 are the saddle intermediate posture and the saddle rear posture. The saddle intermediate posture is a posture in which the first wheel 5 (one wheel 5L and the other wheel 5R) is located in front of the saddle 35 and the second wheel 6 is located behind the saddle 35 (see FIGS. 1, 2, etc.). ). The saddle rear posture is a posture in which the saddle 35 is located behind the first wheel 5 (one wheel 5L and the other wheel 5R) and the second wheel 6 (see FIGS. 14 and 15). That is, the first support mechanism 2 and the second support mechanism 3 can be changed to a saddle intermediate posture and a saddle rear posture by swinging the support shaft 4 as a fulcrum. In the saddle intermediate posture, the first wheel 5 and the second wheel 6 come into contact with the ground. In the rear posture of the saddle, only the second wheel 6 touches the ground and the first wheel 5 is located above the second wheel 6 (see FIG. 14), and the first wheel 5 and the second wheel 6 touch the ground. (See FIG. 15) and. The positional relationship between the saddle 35 and the wheels (first wheel 5, second wheel 6) is a positional relationship based on the front end of the seating portion 35a of the saddle 35 and the center of the wheel.

Further, the basic posture can be roughly divided into three postures based on the handle 28.
The three postures based on the handle 28 are the handle intermediate posture, the handle rear posture, and the handle front posture. The steering wheel intermediate posture is a posture in which the first wheel 5 (one wheel 5L and the other wheel 5R) is located in front of the steering wheel 28 and the second wheel 6 is located behind the steering wheel 28 (see FIGS. 1, 2, etc.). ). The steering wheel rear posture is a posture in which the steering wheel 28 is located behind the first wheel 5 (one wheel 5L and the other wheel 5R) and the second wheel 6 (see FIGS. 14 and 15). The steering wheel forward posture is a posture in which the steering wheel 28 is located in front of the first wheel 5 (one wheel 5L and the other wheel 5R) and the second wheel 6 (see FIG. 16). The positional relationship between the handle 28 and the wheels (first wheel 5, second wheel 6) is based on the positional relationship between the base end portion of the handle 28 (the portion supported by the handle support portion 20) and the center of the wheel. Is.

In the steering wheel intermediate posture, the first wheel 5 and the second wheel 6 come into contact with the ground. In the rear posture of the steering wheel, only the second wheel 6 touches the ground, the first wheel 5 is located above the second wheel 6 (see FIG. 14), and the first wheel 5 and the second wheel 6 touch the ground. (See FIG. 15) and.
As shown in FIG. 16, in the handle forward posture, the object O can be placed on the handle support portion 20. In other words, the handle support portion 20 has a mounting portion 20a on which the object O can be mounted in the front posture of the handle. Specifically, the rear surface of the handle support portion 20 (the surface facing the saddle 35 side when the handle 28 is arranged above the support shaft 4) constitutes the mounting portion 20a. Since the rear surface of the handle support portion 20 faces upward in a state where the handle support portion 20 is tilted toward the front of the support shaft 4, the object O can be mounted with the rear surface as the mounting portion 20a. Since the handle 28 is located in front of the mounting portion 20a, the object O can be mounted straddling the mounting portion 20a and the handle 28. In FIG. 16, the container is shown as the object O, but the type of the object O mounted on the mounting portion 20a is not limited. When the object O is a device operated by electric power (for example, a lighting device, an electric heater, etc.), the device is mounted on the mounting unit 20a, and the electric power stored in the first battery 15L or the second battery 15R is used. Can be operated.

The mobile body 1 can be used mainly in two types of modes (uses). The first mode is a movement mode used for the purpose of moving by the user. The second mode is a work mode used by the user for the purpose of working. Here, the movement mode will be described first.
In the movement mode, the user can select two usage modes for the moving body 1. The first usage pattern is a usage pattern in which the user rides on the moving body 1 and moves together with the moving body 1 (hereinafter, referred to as "riding usage pattern"). This is a usage mode in which the mobile body 1 walks and moves without riding on the vehicle (hereinafter referred to as “walking usage mode”).

The riding usage pattern includes a sitting position usage mode in which the user rides in a sitting posture and a standing usage mode in which the user rides in a standing posture.
FIG. 17 shows a sitting position usage pattern among the riding usage patterns. In the sitting position usage mode, the moving body 1 is in a posture corresponding to a support shaft intermediate posture, a saddle intermediate posture, and a handle intermediate posture. In the sitting position, the user sits on the saddle 35 fixed in the upper position, puts the left foot on the first foot rest 25, puts the right foot on the second foot rest 26, and grasps the handle 28 with both hands. do. The handle support portion 20 is arranged at a position where a passenger seated on the saddle 35 can grip the handle 28. Specifically, the handle support portion 20 is arranged at a position where the handle 28 is in front of and above the support shaft 4 (obliquely upward and forward). The user (passenger) U drives the first wheel 5 by operating the operation unit 29 provided on the steering wheel 28 to command the operation of the first drive unit 13L and the second drive unit 13R. can do.

18 and 19 show a standing usage mode among the riding usage modes. In the standing position use mode, the moving body 1 is in a posture corresponding to a support shaft intermediate posture, a saddle intermediate posture, and a handle intermediate posture. In the standing position usage mode, the user (passenger) U stands up with both feet on the third footrest portion 27, and grips the handle 28 with both hands. The handle support portion 20 is arranged at a position where the passenger on the third foot rest portion 27 can grip the handle 28. The user (passenger) U drives the first wheel 5 by operating the operation unit 29 provided on the steering wheel 28 to command the operation of the first drive unit 13L and the second drive unit 13R. can do.

The standing use form includes the first standing use form shown in FIG. 18 and the second standing use form shown in FIG. In the first standing position use mode, the handle support portion 20 is arranged at a position where the handle 28 is directly above the support shaft 4. In the second standing position use mode, the handle support portion 20 is arranged at a position where the handle 28 is above and behind the support shaft 4 (obliquely above and behind). In the second standing use mode, the distance between the first wheel 5 and the second wheel 6 is longer than that in the first standing use form. In other words, in the second standing position usage mode, the angle between the first support mechanism 2 (first arm 7L and second arm 7R) and the second support mechanism 3 (third arm 21) is the first standing position. It will be larger than the usage pattern. Specifically, the angle between the first support mechanism 2 and the second support mechanism 3 in the first standing use mode is an acute angle, and the first support mechanism 2 and the second support mechanism 3 in the second standing use form are obtuse. The angle between and is an acute angle.

20 and 21 show walking usage patterns. In the walking mode, the user U stands on the ground behind the moving body 1 and grips the handle 28 with both hands. The handle support portion 20 is arranged at a position where the user U standing on the ground can grip the handle 28. Specifically, the handle support portion 20 is arranged at a position where the handle 28 is above and behind the support shaft 4 (obliquely above and behind). The user U walks while driving the first wheel 5 at a low speed by operating the operation unit 29 provided on the handle 28 to command the operation of the first drive unit 13L and the second drive unit 13R. Can be done. As a result, the walking of the user can be assisted by the running of the moving body 1.

The walking usage pattern includes the first walking usage mode shown in FIG. 20 and the second walking usage mode shown in FIG. 21. In the first walking mode, the moving body 1 is in the first posture in which the first wheel 5 is located in front of the second wheel 6. In the second walking mode, the moving body 1 is in the second posture in which the second wheel 6 is located in front of the first wheel 5. In the second walking mode, the saddle 35 is located on the user U side (rear side). In the second walking mode, the saddle 35 is located on the opposite side (front side) of the user U.

Next, the working mode will be described.
First, the configuration of the moving body 1 related to the work mode will be described.
The moving body 1 includes a mounting portion 39 to which a working portion 40 for performing work (hereinafter, referred to as “first working portion 40”) can be attached.
The mounting portion 39 and the first working portion 40 are mainly used when carrying out an object transportation work or the like. The first working unit 40 attached to the mounting unit 39 is a member that performs work without being supplied with electric power from the outside. Specifically, the first working unit 40 is a member that performs work without using the electric power supplied from the driving unit 13. Specifically, the first working unit 40 is, for example, a loading platform 40A for loading and transporting an object P, a bucket 40B for loading and unloading an object, and the like. 22 and 23 show a state in which the loading platform 40A is attached to the attachment portion 39. 24 and 25 show a state in which the bucket 40B is attached to the attachment portion 39.

The mounting portion 39 is provided on the first support mechanism 2. Specifically, the mounting portion 39 is provided on one support mechanism 2L and the other support mechanism 2R. More specifically, the mounting portion 39 is provided on the first arm 7L and the second arm 7R. As shown in FIG. 1 and the like, the one-side support mechanism 2L and the other support mechanism 2R can be arranged at opposite positions facing each other in the axial direction of the support shaft 4. Mounting part 3
In No. 9, the first working portion 40 can be attached in a state where the one support mechanism 2L and the other support mechanism 2R are in opposite positions.

The mounting portion 39 has a mounting surface 39a on which the first working portion 40 can be mounted when both or one of the first wheel 5 and the second wheel 6 is in contact with the ground. At least a part of the mounting surface 39a is flat, and is provided on one support mechanism 2L and the other support mechanism 2R, respectively. One mounting surface 39a provided on the support mechanism 2L and the other mounting surface 39a provided on the other support mechanism 2R are arranged in the same virtual plane in a state where the one support mechanism 2L and the other support mechanism 2R are in opposite positions. Will be done.

FIG. 22 shows a state in which the first working portion 40 is placed on the mounting surface 39a in a state where only the second wheel 6 is in contact with the ground. 23 and 24 show a state in which the first working portion 40 is placed on the mounting surface 39a in a state where the first wheel 5 and the second wheel 6 are in contact with the ground. The posture of the moving body 1 shown in FIG. 22 is a posture corresponding to the above-mentioned support shaft rear posture, saddle rear posture, and handle rear posture. The posture of the moving body 1 shown in FIGS. 23 and 24 is a posture corresponding to the above-mentioned support shaft intermediate posture, saddle intermediate posture, and handle intermediate posture.

As shown in FIG. 1, the mounting surface 39a is provided on each of the first arm 7L and the second arm 7R so as to face upward (or diagonally upward) in the first posture. As shown in FIGS. 22 to 25, the first working portion 40 such as the loading platform 40A and the bucket 40B is placed on the mounting surface 39a. It is preferable that the mounting portion 39 is provided with a fixing portion (not shown) for fixing the first working portion 40 mounted on the mounting surface 39a. As the fixing portion, for example, a clamp for gripping the first working portion 40 mounted on the mounting surface 39a and a hole for fixing the first working portion 40 mounted on the mounting surface 39a with bolts or pins. Alternatively, a hooking portion or the like for hooking a rope such as a rope or a chain can be provided.

Further, as shown in FIGS. 22 to 24, in a state where the first working portion 40 is placed on the mounting surface 39a, the front portion of the bottom surface of the first working portion 40 can be supported by one wheel 5L and the other wheel 5R. Is preferable. As a result, even when the first working portion 40 protrudes forward from the mounting surface 39a, the protruding portion can be supported by the one wheel 5L and the other wheel 5R. Therefore, even when the first working portion 40 is larger than the mounting surface 39a, the first working portion 40 can be prevented from falling from the mounting surface 39a.

The angle of the mounting surface 39a changes with respect to the ground in a posture in which the first wheel 5 (one wheel 5L and the other wheel 5R) approaches the second wheel 6 (approaching posture) and away from the second wheel 6 (separating posture). FIG. 24 shows a state in which the moving body 1 is in a separated posture and the first working portion 40 is placed on the mounting surface 39a in the first standing position usage mode. FIG. 25 shows a state in which the moving body 1 is in an approaching posture and the first working portion 40 is placed on the mounting surface 39a in the second standing position usage mode.

The angle of the mounting surface 39a with respect to the ground in the approaching posture shown in FIG. 25 is smaller than the angle of the mounting surface 39a with respect to the ground in the separating posture shown in FIG. 24. Therefore, as shown in FIGS. 24 and 25, by attaching the bucket 40B to the mounting portion 39 and changing the angle of the mounting surface 39a by shifting from the separated posture to the approaching posture, an object (earth and sand, etc.) with respect to the bucket 40B, etc. ) P can be loaded and unloaded (accommodated and discharged). In the transition from the separated posture to the approached posture, the user operates the operation unit 29 provided on the handle 28 while the user is on the third footrest unit 27 to operate the first drive unit (first synchronous motor) 33. This can be done by driving the second drive unit (second synchronous motor) 34. Therefore, the work of loading and unloading the object P can be performed efficiently and easily.

As shown in FIG. 26, the moving body 1 includes a mounting portion 42 to which a working portion 41 (hereinafter, referred to as “second working portion 41”) for performing work can be mounted.
The mounting portion 42 is a portion that allows the second working portion 41 to be mounted between the one support mechanism 2L and the other support mechanism 2R. The mounting portion 42 is composed of a first mounting portion 42L and a second mounting portion 42R. The first mounting portion 42L is provided on the first cover 8L of the support mechanism 2L. The second mounting portion 42R is provided on the second cover 8R of the other support mechanism 2R. In the case of the present embodiment, the first support portion 10 that supports the one wheel 5L becomes the first mounting portion 42L in a state where the one wheel 5L is detached (removed). The second support portion 1 that supports the other wheel 5R
2 becomes the second mounting portion 42R in a state where the other wheel 5R is detached (removed). That is, the first support portion 10 and the second support portion 12 constitute a mounting portion 42 to which the second working portion 41 can be mounted in a state where the one wheel 5L and the other wheel 5R are detached.

The second working unit 41 mounted on the mounting unit 42 is driven by the power supplied from the driving unit 13. More specifically, the second working unit 41 has a rotating shaft that is rotated by the power supplied from the driving unit 13. The second working unit 41 includes, for example, at least one of a cultivator 43, a snowplow 44, and a lawn mower 45. In other words, at least one of the cultivator 43, the snowplow 44, and the lawn mower 45 can be attached to the mounting portion 42 as the second working portion 41 and used.

FIG. 27 shows a state in which the cultivator 43 is mounted on the mounting portion 42. FIG. 28 shows a state in which the snowplow 44 is mounted on the mounting portion 42. FIG. 29 shows a state in which the lawn mower 45 is mounted on the mounting portion 42. However, the second working unit 41 mounted on the mounting unit 42 is not limited to the cultivator 43, the snowplow 44, and the lawn mower 45, and is used for other work such as a mower, a harvester, a sprayer, and a grass collector. It may be a machine (a device for agricultural work). Further, the device may be used for work other than agricultural work.

The rotating shaft of the second working unit 41 rotates by the power supplied from the driving unit 13 when it is mounted on the mounting unit 42. Specifically, for example, one end of the rotating shaft of the second working portion 41 is supported by the first supporting portion 10 instead of the axle of the first wheel 5, and the second working portion is used instead of the axle of the second wheel 6. By supporting the other end of the rotating shaft of 41 to the second supporting portion 12, the rotating shaft of the second working portion 41 can be rotated by the power supplied from the driving unit 13. In this case, one or both of the power supplied from the first drive unit 13L and the power supplied from the second drive unit 13R can be used to rotate the rotation shaft of the second working unit 41.

Hereinafter, a case where the second working unit 41 mounted on the mounting unit 42 is a cultivator 43, a snowplow 44, and a lawn mower 45 will be described with reference to FIGS. 27 to 32. However, FIGS. 27 to 32 show an example of the cultivator 43, the snowplow 44, and the lawn mower 45, and do not limit the configurations of the cultivator 43, the snowplow 44, and the lawn mower 45. ..
FIG. 27 shows a case where the second working unit 41 is a cultivator 43. The cultivator 43 includes a rotating shaft 43a and a plurality of cultivating claws 43b attached to the rotating shaft. The rotating shaft 43a is mounted on the mounting portion 42. Specifically, one end of the rotating shaft 43a is mounted on the first mounting portion 42L, and the other end of the rotating shaft 43a is mounted on the second mounting portion 42R. As a result, the rotating shaft 43a (rotating shaft of the second working unit 41) is rotated using either or both of the power supplied from the first driving unit 13L and the power supplied from the second driving unit 13R. Can be made to. As a result, the soil can be cultivated by rotating the tilling claw 43b together with the rotating shaft 43a.

As shown in FIG. 30, when the second working unit 41 is a cultivator 43, the moving body 1 is used in a state where the cultivator 43 is attached to the mounting portion 42 in the first walking usage mode. At this time, the moving body 1 is in a posture corresponding to a support shaft rear posture, a saddle rear posture, and a handle rear posture. The user U stands on the ground behind the moving body 1 and grips the handle 28 with both hands. The user U operates the operation unit 29 provided on the handle 28 to command the operation of the first drive unit 13L and the second drive unit 13R, thereby rotating the rotating shaft 43a of the cultivator 43 and moving the moving body. You can perform the tilling work by walking while pressing 1.

FIG. 28 shows a case where the second working unit 41 is a snowplow 44. The snowplow 44 includes an auger 44a, a cover 44b, and a shooter 44c. The rotating shaft 44d of the auger 44a is mounted on the mounting portion 42. Specifically, one end of the rotating shaft 44d is mounted on the first mounting portion 42L, and the other end of the rotating shaft 44d is mounted on the second mounting portion 42R. As a result, the rotating shaft 44d of the auger 44a (second work) uses either one or both of the power supplied from the power supplied from the first drive unit 13L and the power supplied from the second drive unit 13R. The rotation axis of the portion 41) can be rotated. The cover 44b covers the upper side, the rear side, and the side surface (one end side and the other end side of the rotating shaft 44d) of the auger 44a. The shooter 44c is a tubular member provided on the upper part of the cover 44b. The inside of the shooter 44c is the cover 44b
It communicates with the inside of the cover 44b through a hole formed in the upper part of the cover. By rotating the rotation shaft of the auger 44a, the snow accumulated in the traveling path of the snowplow 44 is scraped into the cover 44b, passed through the shooter 44c provided on the upper part of the cover 44b, and discharged to the outside of the cover 44b. can do.

As shown in FIG. 31, when the second working unit 41 is the snowplow 44, the moving body 1 is used in a state where the snowplow 44 is attached to the attachment portion 42 in the first walking usage mode. At this time, the moving body 1 is in a posture corresponding to a support shaft intermediate posture, a saddle intermediate posture, and a handle rearward posture. In this posture, the training wheels 46 provided at the rear of the cover 44b can be grounded. The user U stands on the ground behind the moving body 1 and grips the handle 28 with both hands. The user U operates the operation unit 29 provided on the handle 28 to command the operation of the first drive unit 13L and the second drive unit 13R, thereby rotating the rotating shaft 44d of the snowplow 44 and moving the moving body. You can perform snow removal work by walking while pressing 1.

FIG. 29 shows a case where the second working unit 41 is a lawn mower 45. The lawn mower 45 has a rotating shaft 45a, a cover 45b, a grass collecting portion 45c, and a traveling wheel 45d. The rotating shaft 45a extends in the width direction, and a plurality of cutting blades for cutting grass are provided on the outer periphery thereof. The cover 45b covers the upper side and the front side of the rotating shaft 45a. The grass collecting portion 45c is provided behind the rotating shaft 45a, and collects the grass cut by the cutting blade. The traveling wheels 45d are provided on one side and the other side of the rotating shaft 45a, respectively, and can rotate independently of the rotation of the rotating shaft 45a.

The rotating shaft 45a is mounted on the mounting portion 42. Specifically, one end of the rotating shaft 45a is mounted on the first mounting portion 42L, and the other end of the rotating shaft 45a is mounted on the second mounting portion 42R. As a result, the rotating shaft 45a (the rotating shaft of the second working unit 41) is rotated by using the power supplied from the power supplied from the first driving unit 13L, and the turf is rotated by the cutting blade that rotates together with the rotating shaft 45a. Can be reaped. That is, the rotating shaft 45a provided with the cutting blade constitutes a working device (lawn mowing device) that performs work (lawn mowing) by the power supplied from the first drive unit 13L. Further, the traveling wheel 45d can be rotated by using the power supplied from the second drive unit 13R. As a result, it is possible to travel by rotating the traveling wheel 45d while cutting the lawn by rotating the cutting blade together with the rotating shaft 45a.

Instead of using the power supplied from the first drive unit 13L for the rotation of the rotating shaft 45a and using the power supplied from the second drive unit 13R for the rotation of the traveling wheel 45d, It is also possible to adopt a configuration in which the power supplied from the second drive unit 13R is used for the rotation of the rotating shaft 45a and the power supplied from the first drive unit 13L is used for the rotation of the traveling wheel 45d. Is.

As shown in FIG. 32, when the second working unit 41 is the lawn mower 45, the moving body 1 is used with the lawn mower 45 mounted on the mounting portion 42 in the sitting position usage mode. At this time, the moving body 1 is in a posture corresponding to the support shaft intermediate posture, the saddle intermediate posture, and the handle intermediate posture. The user U sits on the saddle 35, puts his left foot on the first foot rest 25, puts his right foot on the second foot rest 26, and grips the handle 28 with both hands. The user U operates the operation unit 29 provided on the handle 28 to command the operation of the first drive unit 13L and the second drive unit 13R, thereby rotating the rotation shaft 45a of the lawnmower 45. One wheel 5 can be driven to run and mow the lawn.

As described above, since the moving body 1 can mount various second working parts 41 such as a cultivator 43, a snowplow 44, and a lawn mower 45 on the mounting part 42, various operations can be performed. It can be performed. Further, the second working portion 41 is a mounting portion (first mounting portion 42L, second mounting portion 42R) provided between the one support mechanism 2L and the other support mechanism 2R oscillatingly supported by the support shaft 4. ), The position (height, etc.) of the second work unit 41 can be changed by swinging the one support mechanism 2L and the other support mechanism 2R according to the type of work, and various work can be performed. It will be possible to do it properly.

Although the present invention has been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Moving body 2 1st support mechanism 2L One support mechanism 2R Other support mechanism 3 2nd support mechanism 4 Support shaft 5 1st wheel 5L One wheel 5R Other wheel 6 2nd wheel 13 Drive part 19 Wheel support part 20 Handle support part 20a Mounting part 28 Handle 39 Mounting part 39a Mounting surface 40 Working part (1st working part)

Claims (5)

The first support mechanism that supports the first wheel and
The second support mechanism that supports the second wheel and
A support shaft that swingably supports the first support mechanism with respect to the second support mechanism,
A drive unit that drives at least one of the first wheel and the second wheel,
A handle provided on the second support mechanism and commanding the operation of the drive unit,
With
The first wheel includes one wheel provided on one side in a width direction different from the alignment direction of the first wheel and the second wheel, and the other wheel provided on the other side in the width direction.
The first support mechanism includes a one support mechanism for supporting the one wheel, and the other supporting mechanism for supporting the other wheel,
The one-sided support mechanism and the other-side support mechanism have a mounting portion to which a working portion for performing work can be attached .
The second support mechanism includes a wheel support portion provided with the second wheel and a handle support portion capable of swinging with respect to the wheel support portion and provided with the handle.
The handle support portion has a mounting portion that can be changed to a handle front posture in which the handle is located in front of the first wheel and the second wheel, and an object can be mounted in the handle front posture. and mobile are. The one support mechanism and the other support mechanism can be arranged at opposite positions facing each other in the axial direction of the support shaft.
The moving body according to claim 1, wherein the mounting portion can mount the working portion in a state where the one-side support mechanism and the other support mechanism are in the opposite positions. The support shaft oscillateably supports the first support mechanism in a direction in which the first wheel approaches and a direction in which the first wheel approaches and separates from the second wheel.
The mounting portion has a mounting surface on which the working portion can be placed when the first wheel and / or the second wheel is in contact with the ground.
The moving body according to claim 1 or 2, wherein the mounting surface changes the angle with respect to the ground when the first wheel approaches the second wheel and when the first wheel is separated from the second wheel. The first support mechanism and the second support mechanism include a handle intermediate posture in which the first wheel is located in front of the handle and the second wheel is located behind the handle, and the first wheel and the first wheel. 2. The moving body according to any one of claims 1 to 3, which can be changed to a handle rear posture in which the handle is located behind the wheels. The claim that the second wheel can be switched between a movable state capable of swinging around the vertical axis with respect to the wheel support portion and a fixed state capable of swinging around the vertical axis with respect to the wheel support portion. The moving body according to any one of 1 to 4.

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