JP7188697B2 - truck - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transport vehicle, such as a forklift, which travels with wheels arranged at respective corners of a rectangular frame in a plan view. In particular, it is a four-wheel drive, four-wheel steering system, including forward and backward movement in the straight direction (X direction) and movement in the direction (Y direction) perpendicular to the straight direction (X direction). It relates to a carrier capable of moving in all directions.

Conventionally, transport vehicles, such as forklifts, which travel with wheels arranged at the bottom of the four corners of a rectangular truck, have changed the direction of travel by steering the front wheels or the rear wheels. Therefore, the trajectory of running when changing the running direction is along a large radius.

On the other hand, various trucks have been proposed that can change the traveling direction in the straight direction (X direction) and in the direction (Y direction) perpendicular to the straight direction (X direction). For example, Patent Documents 1 and 2.

The applicant of the present application is capable of changing the running direction along a large radius, and can change the running direction in the straight direction (X direction) and in the direction (Y direction) perpendicular to the straight direction (X direction). We have proposed a transport vehicle that can change its travel and is suitable for use in places where the travelable area is narrow (Patent Document 3).

JP-A-10-119764 JP-A-2002-36809 JP 2009-184537 A

The present invention is a transport vehicle that runs with wheels arranged at each corner of a rectangular frame body in a plan view, which is a four-wheel drive, four-wheel steering system and capable of moving in all directions. The purpose is to suggest a car.

It is a truck that runs with wheels arranged at each corner of a rectangular frame in a plan view, and is a truck that can move in all directions with a four-wheel drive and four-wheel steering system.

The four wheels each have a vertically extending steering shaft and a horizontally extending drive shaft for rotating the wheels. It has two steering motors for rotating the steering shaft about its axis and two drive motors for rotating the drive shaft about its axis. One of the two drive motors drives the drive shafts of two wheels located forward and rearward on the right side of the frame, and the other drives the two wheels located forward and rearward on the left side of the frame. drive the drive shaft of the wheels of the One of the two steering motors drives the steering shafts of the two wheels arranged at the right front and left rear of the frame, and the other is arranged at the left front and right rear of the frame. drive the steering axles of the two wheels in the vehicle. Rotational driving force is transmitted through a motor drive shaft of the steering motor and the drive motor, a plurality of gear mechanisms provided between the steering shaft and the drive shaft, and a plurality of linearly extending shafts.

It is a shaft drive type all-wheel drive/steering type omnidirectional movement mechanism.

[1]
A right front wheel, a left front wheel, a right rear wheel, and a left rear wheel are provided at each corner of a rectangular frame in plan view,
The right front wheel includes a vertically extending right front wheel steering shaft and a horizontally extending right front wheel drive shaft. rotate about its axis,
The left front wheel has a vertically extending left front wheel steering shaft and a horizontally extending left front wheel drive shaft. rotate about its axis,
The right rear wheel includes a vertically extending right rear wheel steering shaft and a horizontally extending right rear wheel drive shaft. Rotate around the rear wheel drive shaft,
The left rear wheel includes a vertically extending left rear wheel steering shaft and a horizontally extending left rear wheel drive shaft. A truck that rotates about a rear wheel drive shaft,
a first drive motor that synchronously rotates the right front wheel drive shaft and the right rear wheel drive shaft;
a second drive motor that synchronously rotates the left front wheel drive shaft and the left rear wheel drive shaft;
a first steering motor that synchronously rotates the right front wheel steering shaft and the left rear wheel steering shaft;
a second steering motor that synchronously rotates the left front wheel steering shaft and the right rear wheel steering shaft;
a control mechanism for controlling synchronized driving of the first driving motor and the second driving motor, and controlling synchronized driving of the first steering motor and the second steering motor; hand,
a first shaft extending between the right front wheel drive shaft and the right rear wheel drive shaft; transmitted to the shaft and the right rear wheel drive shaft,
a second shaft extending between the left front wheel drive shaft and the left rear wheel drive shaft; transmitted to the shaft and the left rear wheel drive shaft,
A driving force from the first steering motor is applied to the right front wheel steering through a third shaft extending between the right front wheel steering shaft and the left rear wheel steering shaft, and a plurality of third gear mechanisms. transmitted to the shaft and the left rear wheel steering shaft,
A fourth shaft extending between the left front wheel steering shaft and the right rear wheel steering shaft and a driving force from the second steering motor via a plurality of fourth gear mechanisms are used to drive the left front wheel steering. A carriage that is transmitted to the shaft and the right rear wheel steering shaft.

[2]
The first shaft comprises a plurality of shafts extending linearly, and the plurality of first gear mechanisms comprise a drive shaft of the first drive motor, the right front wheel drive shaft and the right rear wheel drive shaft. consists of multiple bevel gears existing between
The second shaft is composed of a plurality of shafts extending linearly, and the plurality of second gear mechanisms are connected to the drive shaft of the second drive motor, the left front wheel drive shaft and the left rear wheel drive shaft. consists of multiple bevel gears existing between
The third shaft comprises a plurality of shafts extending linearly, and the plurality of third gear mechanisms are arranged from a spur gear arranged on one of the plurality of shafts to the other shaft. a gear mechanism in which rotational motion is transmitted to the spur gears connected at least two points; a drive shaft of the first steering motor; and the right front wheel steering shaft and the left rear wheel steering shaft. consists of multiple bevel gears
The fourth shaft is composed of a plurality of shafts extending linearly, and the plurality of fourth gear mechanisms are arranged from a spur gear arranged on one of the plurality of shafts to the other shaft. a gear mechanism in which rotational motion is transmitted to the spur gears connected at least two points; the drive shaft of the second steering motor; and the left front wheel steering shaft and the right rear wheel steering shaft. The carrier of [1] comprising a plurality of bevel gears.

According to the present invention, a transport vehicle that runs with wheels arranged at each corner of a rectangular frame in a plan view, and is capable of moving in all directions with a four-wheel drive and four-wheel steering system. We can propose a suitable transport vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS The top view which abbreviate|omitted one part explaining the structure outline|summary of the truck of this invention. (a) A partially omitted conceptual diagram explaining the outline of the configuration of the front wheel side of the transport vehicle of the present invention, (b) The partially omitted conceptual diagram explaining the outline of the rear wheel side of the transport vehicle of the present invention. , FIG. 2 is a partially omitted conceptual diagram illustrating the transmission of driving force from the drive motor to the front and rear wheels in the transport vehicle of the present invention; FIG. FIG. 2B is a diagram for explaining transmission, and FIG. 4B is a diagram for explaining driving force transmission from a drive motor to the right front and rear wheels; (a) A partially omitted conceptual diagram for explaining an example of rotary motion transmission from the steering motor to the steering shaft of the right rear wheel and the steering shaft of the left front wheel in the truck of the present invention, (b) the present invention. 1 is a partially omitted conceptual diagram for explaining an example of rotary motion transmission from a steering motor to a steering shaft of a left rear wheel and a steering shaft of a right front wheel in a transport vehicle of FIG. (a) A partially omitted conceptual diagram for explaining an example of rotary motion transmission from the steering motor to the steering shaft of the right rear wheel and the steering shaft of the left front wheel in the truck of the present invention, (b) the present invention. 1 is a partially omitted conceptual diagram for explaining an example of rotary motion transmission from a steering motor to a steering shaft of a left rear wheel and a steering shaft of a right front wheel in a transport vehicle of FIG. FIG. 2 is a partially omitted conceptual perspective view illustrating an example of the arrangement configuration of two steering motors, two drive motors, a right front wheel, a left front wheel, and a left rear wheel in the transport vehicle of the present invention illustrated in FIG. 1 ; 7 is a partially omitted conceptual perspective view illustrating an example of a mechanism for transmitting driving force from two drive motors in FIG. 6 to the right front wheel and right rear wheel and driving force transmission to the left front wheel and left rear wheel; FIG. FIG. 7 is a partially omitted conceptual perspective view illustrating an example of a mechanism for transmitting driving force from two steering motors in FIG. 6 to the right front wheel and left rear wheel and driving force transmission to the left front wheel and right rear wheel.

1 and 6, the truck 1 of this embodiment has a right front wheel 3, a left front wheel 4, a right rear wheel 5, a right front wheel 3, a left front wheel 4, and a right rear wheel 5 at each corner of a rectangular frame in plan view. A left rear wheel 6 is provided. The transport vehicle 1 is a four-wheel drive, four-wheel steering system in which wheels are arranged at each corner of a rectangular frame in a plan view to run on the floor surface, and can move in all directions. It is.

In the embodiment shown in FIGS. 1 and 6, the frame body 2 includes a base portion 101 and a right-hand side from the base portion 101, parallel to the floor surface, horizontally forward (lower side on the left side in FIG. 1). It has a support portion 102 extending toward and a support portion 103 parallel to the floor surface and extending horizontally forward (lower side on the right side in FIG. 1) on the left hand side from the base portion 101, and as a whole, It is rectangular in plan view.

In the illustrated embodiment, a first drive motor 7 , a second drive motor 8 , a first steering motor 10 and a second steering motor 9 are arranged above the base 101 .

The right front wheel 3 includes a vertically extending right front wheel steering shaft 13 and a horizontally extending right front wheel drive shaft 11 (FIG. 2(a)). The right front wheel 3 rotates about the axis of the right front wheel steering shaft 13 and rotates about the axis of the right front wheel drive shaft 11 .

The left front wheel 4 includes a vertically extending left front wheel steering shaft 14 and a horizontally extending left front wheel drive shaft 12 (FIG. 2(a)). The left front wheel 4 rotates around the axis of the left front wheel steering shaft 14 and rotates around the axis of the left front wheel drive shaft 12 .

The right rear wheel 5 includes a vertically extending right rear wheel steering shaft 17 and a horizontally extending right rear wheel drive shaft 15 (FIG. 2(b)). The right rear wheel 5 rotates about the axis of the right rear wheel steering shaft 17 and about the axis of the right rear wheel drive shaft 15 .

The left rear wheel 6 includes a vertically extending left rear wheel steering shaft 18 and a horizontally extending left rear wheel drive shaft 16 (FIG. 2(b)). The left rear wheel 6 rotates about the axis of the left rear wheel steering shaft 18 and about the axis of the left rear wheel drive shaft 16 .

The first drive motor 7 synchronously rotates the right front wheel drive shaft 11 and the right rear wheel drive shaft 5 .

The second drive motor 8 synchronously rotates the left front wheel drive shaft 12 and the left rear wheel drive shaft 16 .

The first steering motor 10 synchronously rotates the right front wheel steering shaft 13 and the left rear wheel steering shaft 18 .

The second steering motor 9 synchronously rotates the left front wheel steering shaft 14 and the right rear wheel steering shaft 17 .

A control mechanism 100 is connected to the carriage 1 by radio or by wire. The control mechanism 100 controls the synchronized driving of the first driving motor 7 and the second driving motor 8, and also controls the first steering. A synchronized drive of the motor 10 and the second steering motor 9 is controlled.

Transmission of driving force from the first drive motor 7 to the right front wheel drive shaft 11 and the right rear wheel drive shaft 15 is via a first shaft extending between the right front wheel drive shaft 11 and the right rear wheel drive shaft 15. and through a plurality of first gear mechanisms.

In the illustrated embodiment, a first shaft extending between the right front wheel drive shaft 11 and the right rear wheel drive shaft 15 is rotatably supported by the frame 2, and a linearly extending shaft 31 is provided. , 33 (FIG. 3(b)).

In the above, the first gear mechanism is composed of a plurality of bevel gears existing between the motor motor drive shaft 39 of the first drive motor 7 and the right front wheel drive shaft 11 and the right rear wheel drive shaft 15. It is

In the illustrated embodiment, the bevel gear 41 arranged at the lower end of the motor drive shaft 39 of the first drive motor 7 meshes with the bevel gears 35, 37 on the motor drive shaft 39 side of the shafts 31, 33. ing. The shaft 31 has a bevel gear 27 on the other side which meshes with a bevel gear 19 provided at the end of the right front wheel drive shaft 11 . The shaft 33 has a bevel gear 29 on the other side which meshes with a bevel gear 22 provided at the end of the right rear wheel drive shaft 15 .

As shown in FIG. 3B, when the motor drive shaft 39 of the first drive motor 7 rotates about its axis, the bevel gear 41 rotates about the axis of the motor drive shaft 39 . As a result, the bevel gears 35 and 37 rotate about the axes of the shafts 31 and 33, respectively. When the bevel gears 35 and 37 rotate about the axes of the shafts 31 and 33, respectively, the shafts 31 and 33 rotate about their respective axes, and the bevel gear 27 rotates about the axis of the shaft 31. The bevel gears 29 each rotate around the axis of the shaft 33 . As a result, the bevel gear 19 rotates about the axis of the right front wheel drive shaft 11 , and the bevel gear 22 rotates about the axis of the right rear wheel drive shaft 15 .

As a result, the right front wheel drive shaft 11 and the right rear wheel drive shaft 5 are synchronously rotated by the first drive motor 7, and are in contact with the floor surface on which the truck 1 is placed. The front wheel 3 and the right rear wheel 5 rotate synchronously.

Transmission of drive power from the second drive motor 8 to the left front wheel drive shaft 12 and the left rear wheel drive shaft 16 is via a second shaft extending between the left front wheel drive shaft 12 and the left rear wheel drive shaft 16. and through a plurality of second gear mechanisms.

In the illustrated embodiment, the second shaft extending between the left front wheel drive shaft 12 and the left rear wheel drive shaft 16 is rotatably supported by the frame 2 and has a linearly extending shaft 32. , 34.

In the above, the second gear mechanism is composed of a plurality of bevel gears existing between the motor drive shaft 40 of the second drive motor 8 and the left front wheel drive shaft 12 and the left rear wheel drive shaft 16. ing.

In the illustrated embodiment, the bevel gear 42 provided at the lower end of the motor drive shaft 40 of the second drive motor 8 meshes with the bevel gears 36, 38 of the shafts 32, 34 on the motor drive shaft 40 side. ing. The shaft 32 has a bevel gear 28 on the other side which meshes with a bevel gear 20 provided on the end of the left front wheel drive shaft 12 . The shaft 34 has a bevel gear 30 on the other side which meshes with a bevel gear 21 provided at the end of the left rear wheel drive shaft 16 .

As shown in FIG. 3( a ), when the motor drive shaft 40 of the second drive motor 8 rotates about its axis, the bevel gear 42 rotates about the axis of the motor drive shaft 40 . This causes the bevel gears 36, 38 to rotate about the axes of the shafts 32, 34, respectively. When bevel gears 36 and 38 rotate about the axes of shafts 32 and 34, respectively, shafts 32 and 34 rotate about their respective axes, and bevel gear 28 rotates about the axis of shaft 32. The bevel gears 30 each rotate about the axis of the shaft 34 . As a result, the bevel gear 20 rotates about the left front wheel drive shaft 12 and the bevel gear 21 rotates about the right rear wheel drive shaft 16 .

As a result, the left front wheel drive shaft 12 and the left rear wheel drive shaft 16 are synchronously rotated by the second drive motor 8, and are in contact with the floor surface on which the truck 1 is placed. The front wheel 4 and the left rear wheel 6 rotate synchronously.

Driving force is transmitted from the first steering motor 10 to the right front wheel steering shaft 13 and the left rear wheel steering shaft 18 through a third shaft extending between the right front wheel steering shaft 13 and the left rear wheel steering shaft 18. and through a plurality of third gear mechanisms.

In the illustrated embodiment, the third shaft consists of straight shafts 61, 64, 68, 71, 77 (FIGS. 4(b) and 5(b)).

In the above, the plurality of third gear mechanisms perform rotational motion transmission from a spur gear arranged on one of the plurality of shafts to a spur gear arranged on the other shaft at least two locations. and a plurality of bevel gears present between the motor drive shaft 44 of the first steering motor 10 and the right front wheel steering shaft 13 and the left rear wheel steering shaft 18 .

A bevel gear 46 is provided at the tip of a motor drive shaft 44 of the first steering motor 10, and linear shafts 61 and 64 rotatably supported on the bevel gear 46 are formed at the tips of the shafts 61 and 64. The bevel gears 63 and 65 are engaged with each other (FIG. 4(b)).

A bevel gear 62 formed at the other end of the shaft 61 meshes with a bevel gear 26 formed at the tip of the left rear wheel steering shaft 18 (FIG. 4(b)).

A spur gear 66 is fixed to the other end of the shaft 64, and the spur gear 66 meshes with a spur gear 67 fixed to a linear shaft 68 rotatably supported by the frame 101. there is A spur gear 69 is fixed to the other end of the shaft 68. The spur gear 69 meshes with a spur gear 70 fixed to a linear shaft 71 rotatably supported by the frame 101. there is A bevel gear 71a formed at the other end of the shaft 71 meshes with a bevel gear 73 formed at the tip of a rotation support shaft 72 rotatably supported by the frame 101 (Fig. 4(b)).

On the other hand, a bevel gear 79 formed at the tip of the straight shaft 77 extending between the right rear wheel 5 and the right front wheel 3 on the right rear wheel 5 side is rotatably supported by the frame 101. 5 (b). A bevel gear 78 formed at the tip of the straight shaft 77 on the right front wheel 3 side meshes with the bevel gear 23 formed at the upper end of the right front wheel steering shaft 13 .

As shown in FIG. 4B, when the motor drive shaft 44 of the first steering motor 10 rotates about its axis, the bevel gear 46 rotates about the axis of the motor drive shaft 44. As shown in FIG. As a result, the bevel gears 63 and 65 rotate about the axes of the shafts 61 and 64, respectively. When the bevel gears 63, 65 rotate about the axes of the shafts 61, 64, respectively, the shafts 61, 64 rotate about their respective axes. As the shaft 61 rotates around its axis, the bevel gear 63 rotates around the axis of the shaft 61 , thereby causing the bevel gear 26 to rotate around the left rear wheel steering shaft 18 . When the bevel gear 26 rotates about the axis of the left rear wheel steering shaft 18 , the left rear wheel steering shaft 18 rotates about its axis, and the left rear wheel 6 rotates about the axis of the left rear wheel steering shaft 18 . Rotate around the center.

On the other hand, when the shaft 64 rotates about its axis, the spur gear 66 rotates about the axis of the shaft 64 . When the spur gear 66 rotates about the axis of the shaft 64, the spur gear 67 reverses the direction of rotation and rotates about the axis of the shaft 68, and the shaft 68 rotates about the axis. When the shaft 68 rotates about its axis, the spur gear 69 rotates about the axis of the shaft 68, and the spur gear 70 rotates about the axis of the shaft 71 in the reverse direction of rotation. When the shaft 71 rotates about its axis, the bevel gear 71a rotates about the axis of the shaft 71, thereby rotating the bevel gear 73 about the axis of the rotation support shaft 72 (Fig. 4(b)). )).

When the bevel gear 73 rotates about the axis of the rotation support shaft 72, the bevel gear 73 rotates about the axis of the shaft 77 (FIG. 5(b)). When the shaft 77 rotates about its axis, the bevel gear 78 rotates about the axis of the shaft 77 . As a result, the bevel gear 23 rotates around the axis of the right front wheel steering shaft 13 . When the bevel gear 23 rotates about the axis of the right front wheel steering shaft 13, the right front wheel steering shaft 13 rotates about its axis, and the right front wheel 3 rotates about the axis of the right front wheel steering shaft 13. .

As a result, the driving force is transmitted from the first steering motor 10 to the right front wheel steering shaft 13 and the left rear wheel steering shaft 18, and the right front wheel steering shaft 13 and the left rear wheel steering shaft 18 rotate in synchronism. As a result, the right front wheel 3 and the left rear wheel 6 rotate synchronously about the axis of the right front wheel steering shaft 13 and about the axis of the left rear wheel steering shaft 18, respectively. will do.

The driving force is transmitted from the second steering motor 9 to the left front wheel steering shaft 14 and the right rear wheel steering shaft 17 through a third shaft extending between the left front wheel steering shaft 14 and the right rear wheel steering shaft 17. and through a plurality of fourth gear mechanisms.

In the illustrated embodiment, the third shaft consists of straight shafts 47, 50, 54, 57, 74 (FIGS. 4(a) and 5(a)).

In the above, in the plurality of fourth gear mechanisms, rotational motion transmission from a spur gear arranged on one shaft among the plurality of shafts to a spur gear arranged on the other shaft is performed at least two locations. and a plurality of bevel gears present between the motor drive shaft 43 of the second steering motor 9 and the left front wheel steering shaft 14 and the right rear wheel steering shaft 17 .

A bevel gear 45 is provided at the tip of a motor drive shaft 43 of the second steering motor 9 . The bevel gears 49 and 51 are engaged with each other (FIG. 4(a)).

A bevel gear 48 formed at the other end of the shaft 47 meshes with a bevel gear 25 formed at the tip of the right rear wheel steering shaft 17 .

A spur gear 52 is fixed to the other end of the shaft 50, and the spur gear 52 meshes with a spur gear 53 fixed to a linear shaft 54 rotatably supported by the frame 101. there is A spur gear 55 is fixed to the other end of the shaft 54. The spur gear 55 meshes with a spur gear 56 fixed to a linear shaft 57 rotatably supported by the frame 101. there is A bevel gear 58 formed at the other end of the shaft 57 meshes with a bevel gear 60 formed at the tip of a rotation support shaft 59 rotatably supported by the frame 101 (Fig. 4(a)).

On the other hand, a straight shaft 74 extending between the left rear wheel 6 and the left front wheel 4 has a bevel gear 76 formed at the tip of the left rear wheel 6 side, which is rotatably supported by the frame 101 . It meshes with a bevel gear 60 formed at the tip of the rotation support shaft 59 which is attached. A bevel gear 75 formed at the tip of the straight shaft 74 on the left front wheel 4 side meshes with a bevel gear 24 formed at the upper end of the left front wheel steering shaft 14 (FIG. 5A). ).

As shown in FIG. 4( a ), when the motor drive shaft 43 of the second steering motor 9 rotates about its axis, the bevel gear 45 rotates about the axis of the motor drive shaft 43 . As a result, the bevel gears 49 and 51 rotate about the axes of the shafts 47 and 50, respectively. When bevel gears 49 and 51 rotate about the axes of shafts 47 and 50, respectively, shafts 47 and 50 rotate about their respective axes. As the shaft 47 rotates about its axis, the bevel gear 48 rotates about the axis of the shaft 67 , and thereby the bevel gear 25 rotates about the right rear wheel steering shaft 17 . When the bevel gear 25 rotates about the axis of the right rear wheel steering shaft 17 , the right rear wheel steering shaft 17 rotates about its axis, and the right rear wheel 5 rotates about the axis of the right rear wheel steering shaft 17 . Rotate around the center.

On the other hand, when the shaft 50 rotates about its axis, the spur gear 52 rotates about the axis of the shaft 50 . When the spur gear 52 rotates about the axis of the shaft 50, the spur gear 53 reverses the direction of rotation and rotates about the axis of the shaft 54, which in turn rotates about the axis. When the shaft 54 rotates about its axis, the spur gear 55 rotates about the axis of the shaft 54, and the spur gear 56 rotates about the axis of the shaft 57 in the opposite direction. When the shaft 57 rotates about its axis, the bevel gear 58 rotates about the axis of the shaft 57, thereby rotating the bevel gear 60 about the axis of the rotation support shaft 59 (Fig. 4(a)). )).

When the bevel gear 60 rotates around the axis of the rotation support shaft 59, the bevel gear 76 rotates around the axis of the shaft 74 (FIG. 5(a)). As the shaft 74 rotates about its axis, the bevel gear 75 rotates about the axis of the shaft 74 . As a result, the bevel gear 75 rotates around the axis of the left front wheel steering shaft 14 . When the bevel gear 24 rotates about the axis of the left front wheel steering shaft 14, the left front wheel steering shaft 14 rotates about its axis, and the left front wheel 4 rotates about the axis of the left front wheel steering shaft 14. .

As a result, the driving force is transmitted from the second steering motor 9 to the left front wheel steering shaft 14 and the right rear wheel steering shaft 17, and the left front wheel steering shaft 14 and the right rear wheel steering shaft 17 rotate in synchronization. As a result, the left front wheel 4 and the right rear wheel 5 rotate synchronously about the axis of the left front wheel steering shaft 14 and about the axis of the right rear wheel steering shaft 17, respectively. will do.

By controlling the synchronized driving of the first driving motor 7 and the second driving motor 8 and the synchronized driving of the first steering motor 10 and the second steering motor 9 by the control mechanism 100, the transportation The car 1 can move in all directions on the floor as indicated by arrows 104, 105, 106, 107, 108, 109, 110 and 111 in FIG.

In the above-described embodiment, the plurality of bevel gears constituting the plurality of first gear mechanisms and the plurality of second gear mechanisms are configured such that the right front wheel drive shaft 11 and the right rear wheel drive shaft 15 are connected to the first drive motor 7 . The left front wheel drive shaft 12 and the left rear wheel drive shaft 16 are rotated synchronously by the second drive motor 8, so that the right front wheel 3 and the right rear wheel 5 are synchronized. The number of bevel gears provided is adjusted so as to allow the left front wheel 4 and the left rear wheel 6 to rotate synchronously.

Similarly, a plurality of bevel gears constituting a plurality of third gear mechanisms and a plurality of fourth gear mechanisms are arranged such that the right front wheel steering shaft 13 and the left rear wheel steering shaft 18 are synchronized by the first steering motor 10. The left front wheel steering shaft 14 and the right rear wheel steering shaft 17 are rotated synchronously by the second steering motor 9, so that the right front wheel 3 and the left rear wheel 6 are respectively rotated by the right front wheel steering shaft. 13 and the left rear wheel steering shaft 18, so that the left front wheel 4 and the right rear wheel 5 are rotated synchronously about the center of the left front wheel steering shaft 14 and the right rear wheel steering shaft 17, respectively. The number of bevel gears deployed will be adjusted so as to enable synchronous rotation about the axis of.

Also, rotation from a spur gear arranged on one shaft to a spur gear arranged on the other shaft among the plurality of shafts constituting the plurality of third gear mechanisms and the plurality of fourth gear mechanisms As for the gear mechanism in which motion is transmitted at least at two points, the right front wheel steering shaft 13 and the left rear wheel steering shaft 18 are synchronously rotated by the first steering motor 10, and the left front wheel steering shaft 14 and the right rear wheel steering shaft 14 are rotated in synchronization with each other. The wheel steering shaft 17 and the wheel steering shaft 17 are synchronously rotated by the second steering motor 9 so that the right front wheel 3 and the left rear wheel 6 are aligned with the axis of the right front wheel steering shaft 13 and the left rear wheel steering shaft 18, respectively. The left front wheel 4 and the right rear wheel 5 rotate synchronously about the axis of the left front wheel steering shaft 14 and the axis of the right rear wheel steering shaft 17, respectively. The number of spur gears deployed will be adjusted to allow for

According to this embodiment, the transport vehicle that runs with wheels arranged at each corner of a rectangular frame in a plan view is a four-wheel drive, four-wheel steering system that can move in all directions. We can provide available vehicles.

The four wheels arranged at the respective corners of a rectangular frame in a plan view are provided with a steering shaft extending vertically and a drive shaft extending horizontally for rotating the wheels.

Two steering motors rotate the steering shaft of each wheel about its axis. Two drive motors cause the drive shaft of each wheel to rotate about its axis.

One of the two drive motors drives the drive shafts of two wheels located forward and rearward on the right side of the frame, and the other drives the two wheels located forward and rearward on the left side of the frame. drive the drive shaft of the wheels of the

One of the two steering motors drives the steering shafts of the two wheels arranged at the right front and left rear of the frame, and the other is arranged at the left front and right rear of the frame. drive the steering axles of the two wheels in the vehicle.

Here, the motor drive shafts of the steering motor and the drive motor, a plurality of gear mechanisms arranged between the steering shaft and the drive shaft, and the frame 2 are rotatably supported and extend linearly. By transmitting rotational driving force through multiple shafts, it is possible to move in all directions with a simple and compact configuration, simply and reliably with four-wheel drive and four-wheel steering. It became so.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and can be variously modified within the technical scope grasped from the description of the claims.

1 Cart 2 Frame 3 Right front wheel 4 Left front wheel 5 Right rear wheel 6 Left rear wheel 7 First drive motor 8 Second drive motor 9 Second steering motor 10 First steering motor 11 Right front wheel drive shaft 12 Left front wheel drive shaft 13 Right front wheel steering shaft 14 Left front wheel steering shaft 15 Right rear wheel drive shaft 16 Left rear wheel drive shaft 17 Right rear wheel steering shaft 18 Left rear wheel steering shaft 39, 40, 43, 44 Motor drive shaft 31, 32, 33, 34, 47, 50, 54 Shafts 57, 61, 64, 68, 71, 74, 77 Shafts 19, 20, 21, 22, 23, 24, 25, 26 Bevel gears 27, 28, 29, 30 , 35, 36, 37, 38 bevel gears 41, 42, 45, 46, 49, 51, 63, 65 bevel gears 71a, 73, 75, 76, 78, 79 bevel gears 59, 72 rotation support shaft 100 control mechanism 102 Base parts 102 and 103 Support part

Claims (2)

A right front wheel, a left front wheel, a right rear wheel, and a left rear wheel are provided at each corner of a rectangular frame in plan view,
The right front wheel includes a vertically extending right front wheel steering shaft and a horizontally extending right front wheel drive shaft. rotate about its axis,
The left front wheel has a vertically extending left front wheel steering shaft and a horizontally extending left front wheel drive shaft. rotate about its axis,
The right rear wheel includes a vertically extending right rear wheel steering shaft and a horizontally extending right rear wheel drive shaft. Rotate around the rear wheel drive shaft,
The left rear wheel includes a vertically extending left rear wheel steering shaft and a horizontally extending left rear wheel drive shaft. A truck that rotates about a rear wheel drive shaft,
a first drive motor that synchronously rotates the right front wheel drive shaft and the right rear wheel drive shaft;
a second drive motor that synchronously rotates the left front wheel drive shaft and the left rear wheel drive shaft;
a first steering motor that synchronously rotates the right front wheel steering shaft and the left rear wheel steering shaft;
a second steering motor that synchronously rotates the left front wheel steering shaft and the right rear wheel steering shaft;
a control mechanism for controlling synchronized driving of the first driving motor and the second driving motor, and controlling synchronized driving of the first steering motor and the second steering motor; hand,
a first shaft extending between the right front wheel drive shaft and the right rear wheel drive shaft; transmitted to the shaft and the right rear wheel drive shaft,
a second shaft extending between the left front wheel drive shaft and the left rear wheel drive shaft; transmitted to the shaft and the left rear wheel drive shaft,
A driving force from the first steering motor is applied to the right front wheel steering through a third shaft extending between the right front wheel steering shaft and the left rear wheel steering shaft, and a plurality of third gear mechanisms. transmitted to the shaft and the left rear wheel steering shaft,
A fourth shaft extending between the left front wheel steering shaft and the right rear wheel steering shaft and a driving force from the second steering motor via a plurality of fourth gear mechanisms are used to drive the left front wheel steering. A carriage that is transmitted to the shaft and the right rear wheel steering shaft. The first shaft comprises a plurality of shafts extending linearly, and the plurality of first gear mechanisms comprise a drive shaft of the first drive motor, the right front wheel drive shaft and the right rear wheel drive shaft. consists of multiple bevel gears existing between
The second shaft is composed of a plurality of shafts extending linearly, and the plurality of second gear mechanisms are connected to the drive shaft of the second drive motor, the left front wheel drive shaft and the left rear wheel drive shaft. consists of multiple bevel gears existing between
The third shaft comprises a plurality of shafts extending linearly, and the plurality of third gear mechanisms are arranged from a spur gear arranged on one of the plurality of shafts to the other shaft. a gear mechanism in which rotational motion is transmitted to the spur gears connected at least two points; a drive shaft of the first steering motor; and the right front wheel steering shaft and the left rear wheel steering shaft. consists of multiple bevel gears
The fourth shaft is composed of a plurality of shafts extending linearly, and the plurality of fourth gear mechanisms are arranged from a spur gear arranged on one of the plurality of shafts to the other shaft. a gear mechanism in which rotational motion is transmitted to the spur gears connected at least two points; the drive shaft of the second steering motor; and the left front wheel steering shaft and the right rear wheel steering shaft. 2. The vehicle of claim 1, comprising a plurality of bevel gears that are aligned with each other.

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