JPH08337168A - Brake structure of moving car - Google Patents

Abstract

PURPOSE: To save the space around a driving wheel by the reasonable brake arrangement. CONSTITUTION: In a constitution in which a pair of driving wheels 2a, 2b which are continuously arranged in the direction of the axis P1 of rotation, and directly-coupled motors 4a, 4b to the driving wheels 2a, 2b are fitted to a supporting frame 5, and the supporting frame 5 is fitted to a vehicle body in a turnable manner around the longitudinal axis P3 located at a center part between the driving wheels 2a, 2b, bodies 7a, 7b of revolution to be revolved in an interlocking manner with the driving wheels 2a, 2b and brakes 8a, 8b to brake the bodies 7a, 7b are provided for each of the driving wheels 2a, 2b. The set of the bodies 7a, 7b of revolution and the brakes 8a, 8b is arranged in a radially adjacent position to the set of the corresponding driving wheels 2a, 2b and motors 4a, 4b in the plan view, and fitted to the supporting frame 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a brake structure for a mobile vehicle, and more specifically, a pair of drive wheels arranged in parallel in the direction of the axis of rotation, and separate direct-connecting motors for these drive wheels mounted on a support frame, The present invention relates to a brake structure for a moving vehicle in which the support frame is mounted on a vehicle body so as to be rotatable about a longitudinal axis located in a central portion between the drive wheels.

[0002]

2. Description of the Related Art Conventionally, in a mobile vehicle as described above, in order to equip a pair of drive wheels 2a and 2b with separate brakes 8A and 8B, as shown in FIG. 8, the brakes 8A and 8B are rotated by motors 4a and 4b. A structure in which it is arranged concentrically with the axis P1 and directly attached to each of the motors 4a and 4b (that is, the motors directly connected to the drive wheels 2a and 2b) has been considered.

In the figure, P3 is the turning axis (vertical axis) of the support frame 5 to which the drive wheels 2a, 2b and the motors 4a, 4b are attached, and gives a difference in rotational speed between the drive wheels 2a, 2b. As a result, the pair of drive wheels 2a and 2b are connected to the motors 4a and 4b and the support frame 5 around the pivot axis P3.
At the same time, the body is steered by changing the direction integrally.

[0004]

However, in the above-mentioned conventional structure, the dimensions of the wheel drive portion as a revolving structure including the drive wheels 2a and 2b, the motors 4a and 4b, the support frame 5, and the brakes 8A and 8B are measured. When seen, the motor 4a,
Due to the direct installation of the brakes 8A, 8B on the 4b, the dimensions of the two brakes 8A, 8B directly lead to an increase in the dimensions of the wheel drive in the direction of the drive wheels 2a, 2b and the rotational axes P1 of the motors 4a, 4b. Since the turning locus of the wheel drive unit is greatly enlarged and the required turning space of the wheel drive unit becomes large, the space that can be used for other purposes in the mobile vehicle is greatly limited. There is a problem that it needs to be converted.

In view of such a problem, a main object of the present invention is to reduce the turning locus diameter of the wheel drive section as much as possible by adopting a rational brake equipment structure.

[0006]

The first characteristic configuration of the present invention (the characteristic configuration of the invention according to claim 1) is a pair of drive wheels arranged in parallel in the direction of the axis of rotation, and a separate configuration for each of these drive wheels. In the constitution in which the direct coupling motor is attached to the support frame and the support frame is attached to the vehicle body so as to be rotatable about the vertical axis located in the central portion between the drive wheels, a rotating body that rotates in conjunction with the drive wheels, and , A brake for braking the rotation of the rotating body is provided for each of the drive wheels, and the set of the rotating body and the brake is viewed in plan view in the radial direction with respect to the corresponding set of the drive wheel and the motor. It has been installed in the above-mentioned support frame by arranging it in adjacent positions.

A second characteristic configuration of the present invention (a characteristic configuration of the invention according to claim 2) is the same as the first characteristic configuration, wherein the rotating body is brought into contact with the drive wheels by the outer peripheral surfaces thereof. It is configured to rotate in conjunction with.

A third characteristic configuration of the present invention (a characteristic configuration of the invention according to claim 3) is the urging means for urging the rotating body against the outer peripheral surface of the drive wheel in the second characteristic configuration. Has been established.

A fourth characteristic configuration of the present invention (a characteristic configuration of the invention according to claim 4) is that in the second or third characteristic configuration, the rotating body and the brake are axially connected. .

A fifth characteristic configuration of the present invention (a characteristic configuration of the invention according to claim 5) is characterized in that, in the first, second, third or fourth characteristic configuration, at least a part of the brake is provided in the drive wheel. It is located in a recess formed by the side surface and the outer peripheral surface of the motor.

The sixth characterizing feature of the present invention (the characterizing feature of the invention according to claim 6) is the first, second, third, fourth or fifth.
In the characteristic configuration, the support frame has a connecting portion for each of the one set of the drive wheel and the motor and one set of the other side, and one side set and the other side set of the drive wheel and the motor. And a structure on one side of the rotating body and the brake, and
The other set is attached.

[0012]

In the first characteristic configuration of the present invention (see FIG. 3), the rotating bodies 7a and 7b are the drive wheels 2a and 2b of the drive wheels 2a and 2b.
While rotating in conjunction with a and 2b, this rotating body 7a,
By braking the rotation of 7b by the brakes 8a and 8b, the rotation of the drive wheels 2a and 2b is braked in a form in which the rotating bodies 7a and 7b serve as relay bodies for the braking force. Then, the set of the rotating bodies 7a, 7b and the brakes 8a, 8b is connected to the drive wheels 2a,
2b and the motors 4a, 4b are attached to the support frame 5 by rotating bodies 7a, 7b and the brake 8
The set of a and 8b corresponds to the corresponding drive wheel 2 in plan view.
a, 2b and the motors 4a, 4b are arranged at positions adjacent to each other in the radial direction and attached to the support frame 5, so that the drive wheels 2a, 2b and the motors 4a, 4b can be seen in a plan view. The space on the lateral side in the radial direction of the pair of is originally a dead space in the integrated turning operation around the vertical axis p3 of the drive wheels 2a, 2b and the motors 4a, 4b (in other words, the drive wheels 2a, 2b and the motors). 4a, 4b
However, the dead space is effectively used as a space for disposing the pair of rotating bodies 7a, 7b and brakes 8a, 8b.

In the second characteristic configuration of the present invention (see FIG. 3), the drive wheels 2a and 2b are respectively related to the drive wheels 2a and 2b.
While the rotating bodies 7a and 7b rotate due to the contact between the outer peripheral surfaces of the rotating bodies 7a and 7b, the rotation of the rotating bodies 7a and 7b is braked by the brakes 8a and 8b.
Rotational resistance is applied to the outer peripheral surfaces of the drive wheels 2a and 2b in the form of contact resistance with respect to, thereby braking the rotation of the drive wheels 2a and 2b.

In the third characteristic configuration of the present invention (see FIG. 3), the rotating bodies 7a, 7b are pressed and urged against the outer peripheral surfaces of the drive wheels 2a, 2b, so that the rotating bodies 7a, 7b are pressed during braking.
7b and the driving wheels 2a, 2b are prevented from slipping between the outer circumferential surfaces thereof, so that a rotation resistance as a contact resistance with respect to the rotating bodies 7a, 7b is surely given to the outer circumferential surfaces of the driving wheels 2a, 2b. Drive wheels 2a, 2 due to wear or decrease in air pressure
Even if the diameter of b is reduced, the rotors 7a and 7b and the drive wheels 2a,
The contact state with 2b is kept good.

In the fourth characteristic configuration of the present invention (see FIG. 3), the brakes 8a, 8b are axially connected to the rotating bodies 7a, 7b for bringing the drive wheels 2a, 2b into contact with the outer peripheral surfaces. , The rotating bodies 7a and 7b and the brake 8
The driving wheels 2a and 2b and the motor 4 are arranged in the direction in which they are aligned with a and 8b.
A configuration is provided along the direction in which the a and 4b are arranged, so that the set of the rotating bodies 7a and 7b and the brakes 8a and 8b can be connected to the drive wheel 2
It is possible to compactly arrange the pair of a and 2b and the motors 4a and 4b adjacent to each other in the radial direction.

In the fifth characteristic configuration of the present invention (see FIG. 3), since the driving wheels 2a and 2b have a larger diameter than the motor diameter, the side surfaces of the driving wheels 2a and 2b and the outer peripheral surfaces of the motors 4a and 4b are formed. The brake 8a,
By inserting and arranging at least a part of 8b,
The radius of the set of the drive wheels 2a, 2b and the motors 4a, 4b in a state where the set of the rotating bodies 7a, 7b and the brakes 8a, 8b are brought as close as possible to the set of the drive wheels 2a, 2b and the motors 4a, 4b. Allows compact placement in adjacent directions.

In the sixth characteristic configuration of the present invention (see FIG. 3), when the pair of drive wheels 2a and 2b are arranged side by side in the direction of the axis of rotation P1, the drive wheels 2a and 2b are considered from the viewpoint of vehicle body stability and the like.
As opposed to arranging them apart from each other to some extent, the structure of the support frame 5 is such that the drive wheels 2a and 2b and the motor 4 are
The connecting portion 5a for the pair (2a, 4a) on the one side with a, 4b and the pair (2b, 4b) on the other side has a pair of the driving wheels 2a, 2b and one side of the motors 4a, 4b ( Two
a, 4a), (2b, 4b) and the structure on the other side, the structure on one side of the rotating bodies 7a, 7b and the brakes 8a, 8b with respect to the connecting portion 5a. By mounting the pair (7a, 8a) and the pair (7b, 8b) on the other side, the above-mentioned separation gap between the drive wheels 2a, 2b is set to the drive wheel 2 for both the one side and the other side.
a, 2b and the motors 4a, 4b, and the rotating bodies 7a, 7b and the brake 8 for both one side and the other side.
The shape is effectively utilized as a space for supporting each of the groups a and 8b.

[0018]

According to the first characteristic configuration of the present invention, the dead space existing on the lateral side in the radial direction of the set of the drive wheel and the motor in plan view is effectively used, and the rotating body as a braking force relay body is used. As described above with reference to FIG. 7, since the brakes are arranged in a concentric manner with the rotation axis of the motor and directly attached to each motor, the drive wheels and the motor are set. The wheel drive portion as a revolving structure including the support frame and the brake can have a small revolving path diameter and a small revolving space, and thus can be effectively used for other purposes in a moving vehicle. A large amount of space can be secured, and the entire vehicle body can be downsized.

Incidentally, in order to reduce the turning locus diameter of the wheel drive unit, it is conceivable to dispose the above-mentioned set of the rotating body and the brake above the corresponding set of the drive wheel and the motor, but in this case, In contrast to the problem that the height of the wheel drive unit increases and the vehicle height increases, according to the first characteristic configuration of the present invention, the set of the drive wheel and the motor is located laterally in the radial direction in plan view. Since the set of the rotating body and the brake is arranged, it is possible to obtain a moving vehicle having a low vehicle height without causing the above-described increase in the height of the wheel drive portion.

According to the second characteristic configuration of the present invention, the rotational resistance is applied to the outer peripheral surface of the drive wheel to minimize the torque to brake the drive wheel. In other words, the lever principle utilizing the radius of the drive wheel is used. Since the drive wheels are braked by the above, a high braking effect can be obtained, and the braking torque required for the rotating body,
Consequently, the required braking force of the brake can be reduced, the brake can be downsized, and the downsizing of the turning trajectory can be achieved more effectively by this downsizing.

According to the third characteristic configuration of the present invention, during braking, the rotation resistance is reliably ensured with respect to the outer peripheral surface of the drive wheel while suppressing slippage between the outer peripheral surfaces of the rotating body and the drive wheel. It is possible to obtain a high braking effect because it can be imparted, and it is possible to maintain a good contact state between the rotating body and the driving wheel even if the diameter of the driving wheel is reduced due to wear or decrease in air pressure, thereby achieving the above high braking effect. Can be stably maintained for a long period of time.

According to the fourth characteristic configuration of the present invention, the set of the rotating body and the brake is arranged in the direction of the drive wheel and the motor, and the set of the rotating body and the brake is set in the drive wheel and the motor. Since it can be compactly arranged at positions adjacent to each other in the radial direction, it is possible to more effectively achieve the reduction of the turning trajectory diameter.

According to the fifth characteristic configuration of the present invention, the set of the rotating body and the brake is brought close to the set of the drive wheel and the motor, and the set of the drive wheel and the motor is compactly located adjacent to each other in the radial direction. By arranging in the above-mentioned manner, it is possible to more effectively achieve the reduction of the diameter of the turning trajectory.

According to the sixth characteristic configuration of the present invention, the drive wheels are arranged with a certain distance from each other, while the separation gap between the drive wheels is effectively used as a support space so that the one side and the other side are separated from each other. By supporting the set of the drive wheel and the motor for both of the above and the set of the rotating body and the brake for both of the one side and the other side, for example, as the structure of the support frame, the drive of the one side is performed. One side connecting part for a set of wheels and a motor and a set of rotating bodies and a brake on one side, and a connecting part on the other side for a set of driving wheels and a motor on the other side and a set of rotating bodies and a brake on the other side Compared with the structure in which and are located outside each drive wheel, the wheel drive unit as a revolving structure including the drive wheel, the motor, the support frame, and the brake is further dimensioned in the rotational axis direction of the drive wheel and the motor. Turn into It can, thereby, be achieved more effectively the diameter of the aforementioned turn trajectory diameter.

[0025]

1 and 2 show an unmanned vehicle for carrying loads used in factories, warehouses, etc., in which the front and rear portions of a vehicle body 1 are separated from each other in the left and right central portions, respectively, and are separated from each other by rotating shaft cores. A pair of drive wheels 2a and 2b arranged side by side in the direction of P1 are provided, and driven wheels 3 that can be turned around a vertical axis P2 are provided at the left and right side edge portions in the front-rear center portion of the vehicle body 1, respectively. is there.

As shown in FIGS. 3 to 7, the pair of drive wheels 2a and 2b at the front and rear of the vehicle body are arranged outside the drive wheels 2a and 2b, respectively.
Are separately driven by motors 4a and 4b directly connected to each other, and are integrally supported on the vehicle body 1 so as to be able to integrally change the direction around a vertical axis P3 located at the center between the drive wheels 2a and 2b. The vehicle body steering is performed by giving a difference in the driving rotational speeds of the drive wheels 2a and 2b to integrally change the direction of the pair of drive wheels 2a and 2b around the vertical axis P3.

As for a concrete support structure of the drive wheels 2a and 2b, one set of the drive wheels 2a on one side and a motor 4a corresponding thereto are connected and supported, and the drive wheels of the other side are similarly connected on the other side. The drive wheels 2a, 2b are provided with a connecting frame 5a for connecting and supporting the set of the motor 2b and the motor 4b.
A pair of front and rear vertical frames 5b, 5c, which are arranged between the two, support the front end and the rear end of the connecting frame 5a so as to be rotatable about the front-rear axis P4, respectively. The annular frame 5d, which is concentrically arranged with respect to the vertical axis P3 at a height, is continuously provided below the annular frame 5d.
It is attached so that it can rotate (turn) around 3.

That is, the pair of drive wheels 2a, 2b, and
The support frame 5 for attaching the motors 4a and 4b to the drive wheels 2a and 2b is attached to each of the above frames 5a to 5d.
The support frame 5 is formed by the above-mentioned vertical axis P3.
The drive wheels 2a and 2b, the motors 4a and 4b, and the support frame 5 are integrally rotated around the vertical axis P3 by being attached to the vehicle body 1 so as to be freely rotatable around the pair of drive wheels 2.
The structure is such that a and 2b are integrally turned.

As for the braking structure for the drive wheels 2a, 2b, the rotating bodies 7a, which rotate individually in conjunction with the drive wheels 2a, 2b by contact between the outer peripheral surfaces of the drive wheels 2a, 2b, respectively.
7b and brakes 8a and 8b axially connected to these rotating bodies 7a and 7b are attached to the support frame 5, and the drive wheels 2
By braking the rotations of the rotating bodies 7a and 7b that rotate in conjunction with a and 2b with the brakes 8a and 8b, the drive wheels 2a,
Rotational resistance due to contact resistance with the rotating bodies 7a and 7b is applied to the outer peripheral surface of 2b to individually brake the rotation of the drive wheels 2a and 2b.

The set of the rotating body 7a and the brake 8a for the drive wheel 2a on one side, and the set of the rotating body 7b and the brake 8b for the drive wheel 2b on the other side are, respectively, in plan view, the rotating bodies 7a, 7b and the brake. Due to the axial connection with 8a, 8b, the arranging direction of the rotating bodies 7a, 7b and the brakes 8a, 8b is along the arranging direction of the drive wheels 2a, 2b and the motors 4a, 4b, and a part of the brakes 8a, 8b is driven. Ring 2
The corresponding drive wheels 2a, 2a, 2b, while entering into the recess formed by the side surfaces of a, 2b and the outer peripheral surfaces of the motors 4a, 4b.
2b and motors 4a, 4b are arranged at positions adjacent to each other in the radial direction thereof, and by adopting this arrangement form, drive wheels 2a, 2b, motors 4a, 4b, support frame 5, rotating body 7a, 7b and brakes 8a, 8
The wheel drive unit as a revolving structure including b is made as small as possible in its turning locus diameter so as to save space.

When mounting the pair (7a, 8a) on one side and the pair (7b, 8b) on the other side of the rotating bodies 7a, 7b and the brakes 8a, 8b to the support frame 5, the drive wheels 2a, At one end of the connecting frame 5a located between the two 2b, the brake brackets 9a, 9b are provided on the one side and the other side, respectively, of the vertical axes Pa, Pb.
In each of these brake brackets 9a and 9b, which are swingably mounted around the rotating bodies 7a and 7b and the brakes 8a and 8b, the bearing pairs 10a and 10b are arranged so as to support the rotating bodies 7a and 7b on both sides. While supporting the connecting shafts 11a and 11b, the brakes 8a and 8b are mounted using the vertical plate portions of the brake brackets 9a and 9b as mounting seats.

The brake brackets 9a, 9a,
Separately from 9b, fixed brackets 12a and 12b are continuously provided below the brake brackets 9a and 9b. In these bracket structures, the brake brackets 9a and 9b are provided.
tongues 13a and 13b formed at the lower end of b and the tongue 1
Fixed shafts 14a, 14 penetrating through the holes formed in 3a, 13b and protruding from the fixing brackets 12a, 12b
The coil spring 15 that urges the brake brackets 9a and 9b toward the drive wheels 2a and 2b between the tip of the coil b and the tip of the coil b.
a and 15b are interposed.

That is, by urging the swingable brake brackets 9a, 9b by the springs 15a, 15b as described above, the rotating bodies 7a, 7b mounted on the brake brackets 9a, 9b are driven by the drive wheels 2a, 2b. The outer peripheral surfaces of the rotating bodies 7a, 7b and the drive wheels 2a, 2b at the time of braking, thereby suppressing slippage between the outer peripheral surfaces of the rotating bodies 7a, 7b and the driving wheels 2a, 2b.
Even if the diameters of the drive wheels 2a, 2b are reduced due to wear or a decrease in air pressure, the contact state between the rotating bodies 7a, 7b and the drive wheels 2a, 2b is kept good.

As the structure of the support frame 5, a pair of drive wheels 2a, 2b and motors 4a, 4b on one side (2
a, 4a) and the other side of the set (2b, 4b) to the drive wheel 2a, the connecting frame 5a as a connecting portion.
It is arranged between 2b and further, this connecting frame 5
The pair (7a, 8a) on one side and the pair (7b, 8b) on the other side of the rotating bodies 7a, 7b and the brakes 8a, 8b with respect to a.
By mounting the drive wheel 2a and the drive wheel 2b, the separation gap between the drive wheels 2a and 2b is set so that the drive wheels 2a and
a, 2b and a motor 4a, 4b set (2a, 4a),
(2b, 4b), and a set (7) of the rotating bodies 7a, 7b and the brakes 8a, 8b for both one side and the other side.
a, 8a) and (7b, 8b) are used as spaces for supporting each of them, thereby making it possible to more effectively achieve the reduction of the turning trajectory diameter of the wheel drive unit. is there.

16a and 16b are the vertical frames 5b and 5
c is a guide sensor attached to each of the c through sensor brackets 17a and 17b.
a and 16b detect the deviation with respect to the guide line L affixed to the traveling road surface of the moving vehicle, and the pair of drive wheels 2a and 2a.
Along with the change in the direction of b, the direction of the drive wheels 2a and 2b is changed around the vertical axis P3.

On the other hand, reference numeral 18 denotes a rotary encoder in which a rotary shaft is connected to the transfer frame portion 5e of the annular frame 5d in a state of being supported on the vehicle body side on the vertical axis P3. The direction change angle of the wheels 2a, 2b is detected.

That is, based on the detection information of the guide sensors 16a and 16b at the front and rear portions of the vehicle body, and while feeding back the detection information of the rotary encoder 18 at the front and rear portions of the vehicle body, the mounting control device 19 Each motor 4a, 4b and each brake 8
By controlling a and 8b, the vehicle body 1 is automatically run along the guide line L, and similarly, in response to a separately given command, the onboard controller 19 similarly controls the motors 4a and 4b and the brakes 8a and 8b. By controlling, the traveling of the vehicle body 1 and the vehicle body approach to the unloading / loading place are automatically performed.

Next, another embodiment will be listed. In the above-described embodiment, the vehicle body structure is shown in which the front and rear portions of the vehicle body are respectively provided with the pair of drive wheels 2a and 2b which can be turned around the vertical axis P3. 2a, 2
b and the rotating body 7 for these drive wheels 2a, 2b
The vehicle body may have a configuration in which the combination of a, 7b and the brakes 8a, 8b is provided only on one of the front portion and the rear portion of the vehicle body.

As the brakes 8a and 8b, various types such as a disc type and a drum type can be adopted.

In the practice of the present invention, the specific structure of the support frame 5 and the drive wheels 2 for the support frame 5.
The specific mounting structure of the motors a, 2b and the motors 4a, 4b can be modified in various ways, and the rotors 7a, 7b can be modified.
Also, a specific mounting structure for mounting the set of the brake and the brakes 8a and 8b on the support frame 5 by arranging the set of the corresponding drive wheels 2a and 2b and the motors 4a and 4b in the radial direction adjacent to each other in plan view Various configuration changes are possible.

Rotating bodies 7a, which rotate in conjunction with the drive wheels 2a, 2b by contact between the outer peripheral surfaces of the drive wheels 2a, 2b.
When the urging means is used to urge the outer peripheral surfaces of the drive wheels 2a and 2b by urging means, various types of springs such as coil springs, or urging means for generating urging force by fluid pressure are used for the urging means. For example, various types can be adopted.

The rotating bodies 7a, 7b that rotate in conjunction with the drive wheels 2a, 2b are not limited to the type in which they rotate by direct contact with the drive wheels 2a, 2b. You may employ | adopt the form rotated in conjunction with 2b.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

1 is a plan view of the vehicle body

[Figure 2] Side view of the vehicle body

FIG. 3 is a plan view of a main part

FIG. 4 is a front view of the main part.

FIG. 5 is a side view cross-sectional view of the main part.

FIG. 6 is an enlarged side view of a main part.

FIG. 7 is an exploded perspective view of essential parts.

FIG. 8 is a plan view showing a conventional structure.

[Explanation of symbols]

 P1 rotary shaft core 2a, 2b drive wheel 4a, 4b motor 5 support frame 5a connecting portion P3 vertical axis core 7a, 7b rotary body 8a, 8b brake 15a, 15b urging means

Claims (6)

[Claims] 1. A pair of drive wheels (2a), (2b) arranged side by side in the direction of the axis of rotation (P1), and these drive wheels (2).
a) and (2b) separate direct connection motors (4a),
(4b) is attached to a support frame (5), and the support frame (5) is turnable around a vertical axis (P3) located in the central portion between the drive wheels (2a) and (2b). ), The rotating body (7a), (7b) rotating in conjunction with the drive wheels (2a), (2b), and the rotating body (7a),
Brake (8a), (8b) for braking rotation of (7b)
Are separately provided for each of the drive wheels (2a) and (2b), and a set (7a, 8a), (7b, 8) of these rotating bodies (7a), (7b) and brakes (8a), (8b) is provided.
b) in plan view, the corresponding drive wheels (2a),
A pair (2a, 4) of (2b) and motors (4a), (4b)
a), (2b, 4b), a brake structure for a moving vehicle, which is arranged at positions adjacent to each other in the radial direction thereof and attached to the support frame (5). 2. The rotating bodies (7a), (7b) rotate in conjunction with the driving wheels (2a), (2b) by contact between the outer peripheral surfaces of the driving wheels (2a), (2b). The brake structure for a mobile vehicle according to claim 1, wherein the brake structure is configured as follows. 3. An urging means (15a), (15b) for urging the rotating bodies (7a), (7b) against the outer peripheral surfaces of the drive wheels (2a), (2b). The brake structure of the moving vehicle described in 2. 4. The rotating body (7a), (7b) and the brake (8a), (8b) are axially connected.
Alternatively, the brake structure for a moving vehicle described in 3 above. 5. At least a part of the brakes (8a), (8b) is formed by side surfaces of the drive wheels (2a), (2b) and outer peripheral surfaces of the motors (4a), (4b). 4. The recesses are arranged to be inserted in the recesses.
Alternatively, the brake structure for a moving vehicle according to 4 above. 6. The support frame (5) comprises a pair (2a, 4a) on one side of the drive wheels (2a), (2b) and the motors (4a), (4b), and a pair on the other side. Pair (2
b, 4b) has a connecting portion (5a) for the driving wheels (2a), (2b) and the motors (4a), (4b) on one side (2a, 4a) and the other side (2b, 4b). 4b) and the structure located between the connection part (5a),
The rotating bodies (7a) and (7b) and the brake (8
a) and (8b) on one side (7a, 8a), and
The pair (7b, 8b) on the other side is attached.
The brake structure for a moving vehicle according to 2, 3, 4 or 5.