US20100230186A1 - Car - Google Patents
Car Download PDFInfo
- Publication number
- US20100230186A1 US20100230186A1 US12/708,553 US70855310A US2010230186A1 US 20100230186 A1 US20100230186 A1 US 20100230186A1 US 70855310 A US70855310 A US 70855310A US 2010230186 A1 US2010230186 A1 US 2010230186A1
- Authority
- US
- United States
- Prior art keywords
- wheels
- wheel
- state
- passenger car
- bottom portion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D47/00—Motor vehicles or trailers predominantly for carrying passengers
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G25/00—Autocar-like self-drivers; Runways therefor
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
- A63H17/262—Chassis; Wheel mountings; Wheels; Axles; Suspensions; Fitting body portions to chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B37/00—Wheel-axle combinations, e.g. wheel sets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/14—Independent suspensions with lateral arms
- B60G2200/144—Independent suspensions with lateral arms with two lateral arms forming a parallelogram
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/44—Indexing codes relating to the wheels in the suspensions steerable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/07—Off-road vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/37—Vehicles having steerable wheels mounted on a vertically moving column
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/40—Variable track or wheelbase vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/11—Passenger cars; Automobiles
Definitions
- FIG. 1A is a top view showing an example of a configuration of a passenger car 2
- FIG. 1B is a bottom view showing an example of the configuration of the passenger car 2
- FIG. 1C is a front view showing an example of the configuration of the passenger car 2
- FIG. 1D is a side view showing an example of the configuration of the passenger car 2
- FIG. 1E is a back view showing an example of the configuration of the passenger car 2 ;
- FIG. 3 is a perspective view showing a wheel 8 and a supporting member 10 ;
- FIG. 4A is a front view showing the wheel 8 and the supporting member 10
- FIG. 4B is a rear view showing the wheel 8 and the supporting member 10
- FIG. 4C is a right side view showing the wheel 8 and the supporting member 10
- FIG. 4D is a top view showing the wheel 8 and the supporting member 10
- FIG. 4E is a left side view showing the wheel 8 and the supporting member 10
- FIG. 4F is a bottom view showing the wheel 8 and the supporting member 10 ;
- FIG. 7 is an explanatory view for explaining the position of eight sub-computers 12 and a main computer 14 ;
- FIGS. 9A to 9G are state transition diagrams showing a manner in which the passenger car 2 performs a forward run and a horizontal movement continuously;
- FIGS. 10A to 10I are state transition diagrams showing a manner in which the passenger car 2 walks;
- FIGS. 12A to 12I are state transition diagrams showing a manner in which the passenger car 2 runs forward by avoiding contact with a curb.
- a car including:
- a car body having a bottom portion
- first driving section, the second driving section, the third driving section, and the fourth driving section are provided for every wheel.
- the at least eight wheels are selectively made to contact the ground, according to an output of the detecting section.
- FIG. 3 is a perspective view showing the wheel 8 and the supporting member 10 .
- FIGS. 4A to 4F are six views showing the wheel 8 and the supporting member 10 .
- FIG. 5 is a view corresponding to the left side view of FIG. 4E , and is a schematic view showing a position of a motor provided in the supporting member 10 .
- FIGS. 6A to 6C are explanatory views for explaining movements of the wheel 8 and the supporting portion 10 .
- the passenger car 2 includes eight pairs of the wheel 8 and the supporting member 10 , but these structures are the same, and one of these structures will be focused on and described below.
- the second supporting portion 54 supports the first supporting portion 52 so that the direction of the wheel 8 supported by the first supporting portion 52 can change. That is, the first supporting portion 52 is connected to the second supporting portion 54 via a joint 70 , and when the first supporting portion 52 rotatingly moves integrally with the wheel 8 with the joint 70 as the center, the angle between the first supporting portion 52 and the second supporting portion 54 is changed. Then, as shown in the left figure FIG. 6A , by this movement, the direction of the wheel 8 supported by the first supporting portion 52 is changed. Further, as shown in FIG. 5 , the second motor 62 is contained in the second supporting portion 54 . The second motor 62 rotates the first supporting portion 52 by its driving force, so as to change the direction of the wheel 8 . Note that, the second supporting portion 54 is also provided with a known driving force transfer section (not shown), such as a gear or a belt, for transferring the driving force of the second motor 62 .
- a known driving force transfer section not shown
- the turning portion 56 is provided to the bottom portion 6 , and the turning portion 56 supports the second supporting portion 54 so that the distance between the wheel 8 and the bottom portion 6 can be changed. That is, the turning portion 56 is connected to the second supporting portion 54 via the parallel link mechanism 58 that is put across the second supporting portion 54 and the turning portion 56 , and when the parallel link mechanism 58 is operated, as shown in FIG. 6B , the second supporting portion 54 moves up and down integrally with the first supporting portion 52 and the wheel 8 . Then, by this movement, the distance between the wheel 8 and the bottom portion 6 is changed (the wheel 8 moves closer to or away from the bottom portion 6 ). Further, as shown in FIG.
- the turning portion 56 is configured so that it can rotate about a rotation axis A that has its axial direction along a direction intersecting the bottom portion 6 , and the turning portion 56 supports the second supporting portion 54 so that the position of the wheel 8 can be moved in a state that the distance between the wheel 8 and the bottom portion 6 is maintained by the rotation of the turning portion 56 . That is, when the turning portion 56 rotates, as shown in FIG. 6C , the wheel 8 that is supported by the turning portion 56 via the first supporting portion 52 and the second supporting portion 54 moves so as to draw an arc. At this time, if the above described third motor 64 is not driven, in a state that the distance between the wheel 8 and the bottom portion 6 is maintained, the position of the wheel 8 is moved. Further, as shown in FIG.
- the passenger car 2 rests by making the rotation of the wheels 8 a , 8 d , 8 e , and 8 h that are contacting the ground stop (from state A 3 to state A 4 ). Then, in the rest state, the passenger car 2 switches the wheels that contact the ground from the wheels 8 a , 8 d , 8 e , and 8 h to the wheels 8 b , 8 c , 8 f , and 8 g (from state A 4 to state A 5 to state A 6 ). This switch is realized by performing operation C in respect, to each of the eight wheels.
- the passenger car 2 moves the wheels 8 a and 8 h upwards for the amount of the height of the step (state D 1 to state D 2 ). That is, the running state of the passenger car 2 is switched from the forward running by eight wheels to forward running by six wheels.
- the passenger car 2 moves the wheels 8 c and 8 f upwards (state F 3 to state F 4 ).
- how much the wheels 8 c and 8 f are moved upwards depends on the degree of the inclination, and the passenger car 2 moves the wheels 8 c and 8 f so that a difference between a distance between the wheels 8 c , 8 f and the bottom portion 6 and a distance between the wheels 8 d , 8 e and the bottom portion 6 is made to be always the same as a difference between a height of a ground that the wheels 8 c , 8 f are contacting and a height of a ground that the wheels 8 d , 8 e are contacting.
- the back surface of the bottom portion 6 is to be provided with the recess 6 a for preventing the wheel 8 and the supporting member 10 from contacting the bottom portion 6 , at the time the distance between the wheel 8 and the bottom portion 6 is changed and the wheel 8 comes near to the bottom portion 6 , however, this is not a limitation.
- the recess portion does not have to be provided in the back surface of the bottom portion.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A car includes a car body having a bottom portion, a wheel that is rotatable, and a supporting member for supporting the wheel, the supporting member being provided to the bottom portion. At least eight pairs of the wheel and the supporting member are provided. The supporting member has a first supporting portion for supporting the wheel rotatably, a second supporting portion for supporting the first supporting portion so that a direction of the wheel supported by the first supporting portion can be changed, and a turning portion that is rotatable about a rotation axis with its axial direction along a direction orthogonal to the bottom portion, the turning portion being provided to the bottom portion. The turning portion supports the second supporting portion so that a distance between the wheel and the bottom portion can be changed, and a position of the wheel can be moved by a rotation of the turning portion in a state that the distance is maintained.
Description
- Japanese Patent Application No. 2003-392081 filed on Nov. 21, 2003 is incorporated by reference.
- 1. Technical Field
- The present invention relates to cars.
- 2. Related Art
- Cars are well-known. The car includes a car body having a bottom portion, a rotatable wheel, and a supporting member for supporting the wheel provided at the bottom portion, and the car runs in a predetermined traveling direction by the rotation of the wheel (refer to JP-A-2002-227883).
- By the way, a typical well-known car has four wheels, and some or all of the four wheels are driven, so that the car runs in a predetermined traveling direction. Although, the car can turn by changing the direction of the wheels or back up by rotating the wheels in a reverse direction, the variety of movements is such that it is limited.
- An advantage of some aspects of the present invention is that it is possible to realize a car that can perform various movements.
- An aspect of the invention is a car including: a car body having a bottom portion; a wheel that is rotatable; and a supporting member for supporting the wheel, the supporting member being provided to the bottom portion, wherein at least eight pairs of the wheel and the supporting member are provided, wherein the supporting member has a first supporting portion for supporting the wheel rotatably, a second supporting portion for supporting the first supporting portion so that a direction of the wheel supported by the first supporting portion can be changed, and a turning portion that is rotatable about a rotation axis with its axial direction along a direction orthogonal to the bottom portion, the turning portion being provided to the bottom portion, and wherein the turning portion supports the second supporting portion so that a distance between the wheel and the bottom portion can be changed, and a position of the wheel can be moved by a rotation of the turning portion in a state the distance is maintained.
- Other features of the present invention will be made clear through the present specification with reference to the accompanying drawings.
- For a more complete understanding of the present invention and the advantages thereof, reference is now made to the following description taken in conjunction with the accompanying drawings wherein:
-
FIG. 1A is a top view showing an example of a configuration of apassenger car 2,FIG. 1B is a bottom view showing an example of the configuration of thepassenger car 2,FIG. 1C is a front view showing an example of the configuration of thepassenger car 2,FIG. 1D is a side view showing an example of the configuration of thepassenger car 2, andFIG. 1E is a back view showing an example of the configuration of thepassenger car 2; -
FIG. 2 is a diagram showing a back surface of abottom portion 6 provided to thepassenger car 2; -
FIG. 3 is a perspective view showing awheel 8 and a supportingmember 10; -
FIG. 4A is a front view showing thewheel 8 and the supportingmember 10,FIG. 4B is a rear view showing thewheel 8 and the supportingmember 10,FIG. 4C is a right side view showing thewheel 8 and the supportingmember 10,FIG. 4D is a top view showing thewheel 8 and the supportingmember 10,FIG. 4E is a left side view showing thewheel 8 and the supportingmember 10, andFIG. 4F is a bottom view showing thewheel 8 and the supportingmember 10; -
FIG. 5 is a schematic view showing a position of a motor provided in the supportingmember 10; -
FIG. 6 is an explanatory view for explaining a movement of thewheel 8 and the supportingmember 10; -
FIG. 7 is an explanatory view for explaining the position of eightsub-computers 12 and amain computer 14; -
FIGS. 8A to 8H are state transition diagrams showing a manner in which thepassenger car 2 performs a forward run and a rotational movement continuously; -
FIGS. 9A to 9G are state transition diagrams showing a manner in which thepassenger car 2 performs a forward run and a horizontal movement continuously; -
FIGS. 10A to 10I are state transition diagrams showing a manner in which thepassenger car 2 walks; -
FIGS. 11A to 11I are state transition diagrams showing a manner in which thepassenger car 2 climbs up a step in the forward run; -
FIGS. 12A to 12I are state transition diagrams showing a manner in which thepassenger car 2 runs forward by avoiding contact with a curb; and -
FIGS. 13A to 13E are state transition diagrams showing a manner in which thepassenger car 2 goes up an inclination. - At least the following matters will become clear through the description of the present specification and the accompanying drawings.
- A car including:
- a car body having a bottom portion;
- a wheel that is rotatable; and
- a supporting member for supporting the wheel, the supporting member being provided to the bottom portion,
- wherein at least eight pairs of the wheel and the supporting member are provided,
- wherein the supporting member has
-
- a first supporting portion for supporting the wheel rotatably,
- a second supporting portion for supporting the first supporting portion so that a direction of the wheel supported by the first supporting portion can be changed, and
- a turning portion that is rotatable about a rotation axis with its axial direction along a direction orthogonal to the bottom portion, the turning portion being provided to the bottom portion, and
- wherein the turning portion supports the second supporting portion so that a distance between the wheel and the bottom portion can be changed, and a position of the wheel can be moved by a rotation of the turning portion in a state that the distance is maintained.
- Thus, it is possible to achieve a car that can perform a variety of movements.
- Further, it is possible that the turning portion supports the second supporting portion via a parallel link mechanism.
- Thus, supporting the second supporting portion by the turning portion can be realized with a simple structure.
- Further, it is possible that there is included:
- a first driving section for rotating the wheel;
- a second driving section for changing a direction of the wheel;
- a third driving section for changing a distance between the wheel and the bottom portion; and
- a fourth driving section for rotating the turning portion,
- wherein the first driving section, the second driving section, the third driving section, and the fourth driving section are provided for every wheel.
- In this case, one wheel, a corresponding supporting member, and a corresponding driving means can be made into one module. Therefore, by attaching the module to the car body or by detaching it from the car body, a number of the wheels can be easily increased or decreased.
- Further, it is possible that the first driving section, the second driving section, the third driving section, and the fourth driving section are provided in the supporting member, and
- wherein the supporting member and the wheel are positioned lower than a front surface of the bottom portion.
- In this case, the front surface of the bottom portion can be easily made even (flat). Further, in the case where the front surface of the bottom portion is flat, it is possible to flexibly design an internal structure of the car body.
- Further, it is possible that there is included a controlling section for controlling the first driving section, the second driving section, the third driving section, and the fourth driving section,
- wherein the controlling section is provided for every wheel.
- In this case, one wheel, a corresponding supporting member, a corresponding driving section described above, and a corresponding controlling section can be made into one module. Therefore, by attaching the module to the car body, or detaching it from the car body, the number of the wheels can be increased or decreased more easily.
- Further, it is possible that the controlling section is positioned lower than the front surface of the bottom portion.
- In this case, the front surface of the bottom portion can be made even (flat) more easily. Then, in the case where the front surface of the bottom portion is even, it is possible to flexibly design the internal structure of the car body.
- Further, it is possible that a convex portion for containing the controlling section is provided on a back surface of the bottom portion.
- In this case, even in the case where the size of the controlling section is large, the front surface of the bottom portion can be easily made even (flat).
- Further, it is possible that a recess portion is provided in the back surface of the bottom portion,
-
- the recess portion being for preventing the wheel and the supporting portion from contacting the bottom portion at the time a distance between the wheel and the bottom portion is changed and the wheel comes close to the bottom portion.
- In this case, it is possible to operate the car in a state that the front surface of the bottom portion and the wheel are close. Further, in the case where there is a projection such as a step or a curb in the ground, even if the height of the projection is high, it is possible to realize a desired movement (for example, a movement of climbing up a step or a movement of going over a curb).
- Further, it is possible to include a main controlling section that can communicate with each controlling section.
- Further, it is possible that some of the wheels of the at least eight wheels provided to the car, that are in a state not contacting a ground, move.
- In this case, it is possible to perform preparation for the next movement by moving the wheels not contacting the ground while moving using the wheels contacting the ground.
- Further, it is possible that the car moves in a state that the bottom portion is maintained horizontal even in the case where there are projections and depressions in the ground, by selectively contacting to the ground the at least eight wheels provided to the car.
- Further, it is possible that there is included a detecting section for detecting the projections and the depressions,
- wherein the at least eight wheels are selectively made to contact the ground, according to an output of the detecting section.
- In this case, even if information regarding the position or height of the projections and depressions is not provided in advance, a desired movement (for example, a movement of climbing up a step or a movement of going over a curb) can be performed.
- Further, it is possible that the car moves in a state that the bottom portion is maintained horizontal even in the case where there is an inclination in the ground, by changing the distance between the wheel and the bottom portion according to the inclination of the ground.
- Further, it is possible that there is included a detecting section for detecting the inclination,
- wherein the distance between the wheel and the bottom portion is changed according to an output of the detecting section.
- In this case, even if information regarding the position or the height of the inclination is not provided in advance, it is possible to perform a movement of moving in a state that the bottom portion is maintained horizontal.
- Further, it is possible that the car moves by
-
- making some of the wheels of the at least eight wheels provided to the car contact the ground, and
- making the bottom portion move relatively in respect to the ground, by driving the second driving section and the fourth driving section, that correspond to the wheel, in a state that a rotation of the wheel contacting the ground is stopped.
- Further, it is possible that the car is a passenger car that a person can ride in.
- In this case, a passenger car that is convenient to use can be realized.
- Further, it is possible that the car is a toy car.
- In this case, a toy car that is attractive to a buyer can be realized.
- Further, it is possible that the car is a truck for conveying goods.
- In this case, a truck that can perform carrying in various ways can be realized.
- ===An Example of a Configuration of a
Passenger Car 2=== - First, by using
FIGS. 1A to 7 , an outline of an example of a configuration of a car according to the present embodiment is explained. Note that, in this embodiment, as an example of a car, apassenger car 2 that a person can ride in is described. FIGS. 1A to 1E are six views showing an example of a configuration of thepassenger car 2.FIG. 2 is a diagram corresponding to a bottom view ofFIG. 1B , that is, a view showing a back surface of abottom portion 6 provided to thepassenger car 2, and in order to more easily understand the positions ofrecess portions 6 a described later, for the sake of convenience, thewheels 8 and the supportingmembers 10 are omitted here.FIG. 7 is an explanatory diagram for explaining positions of eightsub-computers 12 and amain computer 14.FIGS. 3 to 6C are described later. Note that, inFIGS. 1A to 1E , for example, thecar body 4 is arranged above thewheels 8. - The
passenger car 2 has thecar body 4, eightwheels 8, and eight of the supportingmember 10 for supporting thewheel 8, that is provided for everywheel 8. - The
car body 4 is a body of thepassenger car 2, and similar to a well-known passenger car, has a roof portion, a door portion, a front glass portion or the like. Thecar body 4 is provided with a space in which a person can ride in, and the person riding thepassenger car 2 can operate thepassenger car 2 in order to make thepassenger car 2 perform a variety of movements that will be described later. - The
car body 4 is further provided with thebottom portion 6. A surface (front surface) of a front side of thebottom portion 6 has a function of a floor portion of thepassenger car 2, and on the surface of the front side there are provided seats for a person riding the car to sit on. Further, on a surface (back surface) of a back side of thebottom portion 6, there are provided supportingmembers 10 for supporting thewheels 8. Note that, the front surface of thebottom portion 6 is a flat structure over the entire surface, but on the other hand, the back surface hasrecess portions 6 a (inFIG. 2 , shaded portions with slanted lines slanted towards the right bottom direction) and aconvex portion 6 b (inFIG. 2 , a shaded portion with slanted lines that are slanted towards the left bottom direction), as shown inFIG. 2 . The functions of therecess portion 6 a and theconvex portion 6 b will be described in detail later. - The eight
wheels 8 and the eight supportingmembers 10 are positioned lower than the front surface of thebottom portion 6. More specifically, the eightwheels 8 are provided on the back surface of thebottom portion 6 via the supportingmember 10 provided for everywheel 8. Here, the configuration of thewheel 8 and the supportingmember 10 is described usingFIGS. 3 to 6C .FIG. 3 is a perspective view showing thewheel 8 and the supportingmember 10.FIGS. 4A to 4F are six views showing thewheel 8 and the supportingmember 10.FIG. 5 is a view corresponding to the left side view ofFIG. 4E , and is a schematic view showing a position of a motor provided in the supportingmember 10.FIGS. 6A to 6C are explanatory views for explaining movements of thewheel 8 and the supportingportion 10. Note that, as described above, thepassenger car 2 includes eight pairs of thewheel 8 and the supportingmember 10, but these structures are the same, and one of these structures will be focused on and described below. - The supporting
member 10 includes a first supportingportion 52 for supporting thewheel 8, a second supportingportion 54 for supporting the first supportingportion 52, a turningportion 56 rotatable about a rotation axis, that is provided on thebottom portion 6, and aparallel link mechanisms 58 that is put across a second supportingportion 54 and the turningportion 56. Further, the supportingmember 10 has afirst motor 60 as an example of a first driving section for making thewheel 8 rotate, asecond motor 62 as an example of a second driving section for changing the direction of the wheel, athird motor 64 as an example of a third driving section for changing the distance between thewheel 8 and thebottom portion 6, and afourth motor 66 as an example of a fourth driving section for rotating the turningportion 56. - The
wheel 8 is configured to be able to rotate in respect to the supportingmember 10. The rotating direction of the wheel is bidirectional. - The first supporting
portion 52 supports thewheel 8 rotatably. As shown inFIG. 5 , thefirst motor 60 is contained in the first supportingportion 52, and thefirst motor 60 rotates thewheel 8 by its driving force. Note that, the first supportingmember 52 is also provided with a known driving force transfer section (not shown), such as a gear or a belt, for transferring a driving force of thefirst motor 60. - The second supporting
portion 54 supports the first supportingportion 52 so that the direction of thewheel 8 supported by the first supportingportion 52 can change. That is, the first supportingportion 52 is connected to the second supportingportion 54 via a joint 70, and when the first supportingportion 52 rotatingly moves integrally with thewheel 8 with the joint 70 as the center, the angle between the first supportingportion 52 and the second supportingportion 54 is changed. Then, as shown in the left figureFIG. 6A , by this movement, the direction of thewheel 8 supported by the first supportingportion 52 is changed. Further, as shown inFIG. 5 , thesecond motor 62 is contained in the second supportingportion 54. Thesecond motor 62 rotates the first supportingportion 52 by its driving force, so as to change the direction of thewheel 8. Note that, the second supportingportion 54 is also provided with a known driving force transfer section (not shown), such as a gear or a belt, for transferring the driving force of thesecond motor 62. - The turning
portion 56 is provided to thebottom portion 6, and the turningportion 56 supports the second supportingportion 54 so that the distance between thewheel 8 and thebottom portion 6 can be changed. That is, the turningportion 56 is connected to the second supportingportion 54 via theparallel link mechanism 58 that is put across the second supportingportion 54 and the turningportion 56, and when theparallel link mechanism 58 is operated, as shown inFIG. 6B , the second supportingportion 54 moves up and down integrally with the first supportingportion 52 and thewheel 8. Then, by this movement, the distance between thewheel 8 and thebottom portion 6 is changed (thewheel 8 moves closer to or away from the bottom portion 6). Further, as shown inFIG. 5 , thethird motor 64 is contained in the turningportion 56, and thethird motor 64, by its driving force, makes theparallel link mechanism 58 operate. More specifically, theparallel link mechanism 58 includes a pair offirst links 58 a and a pair ofsecond links 58 b positioned further to thebottom portion 6 side than thefirst links 58 a. Thethird motor 64, by its driving force, rotates thefirst links 58 a about an axis B. Thus, thefirst links 58 a operate, and with this movement, thesecond links 58 b also operate while maintaining the parallel state in respect to thefirst links 58 a. Note that, the turningportion 56 is also provided with a known driving force transfer section (not shown), such as a gear or a belt, for transferring the driving force of thethird motor 64. Further, as described above, the back surface of thebottom portion 6 is provided with therecess portions 6 a. Therecess portion 6 a has a function of preventing thewheel 8 and the supportingmember 10 from contacting thebottom portion 6, at the time the distance between thewheel 8 and thebottom portion 6 is changed and thewheel 8 comes close to thebottom portion 6. - Further, the turning
portion 56 is configured so that it can rotate about a rotation axis A that has its axial direction along a direction intersecting thebottom portion 6, and the turningportion 56 supports the second supportingportion 54 so that the position of thewheel 8 can be moved in a state that the distance between thewheel 8 and thebottom portion 6 is maintained by the rotation of the turningportion 56. That is, when the turningportion 56 rotates, as shown inFIG. 6C , thewheel 8 that is supported by the turningportion 56 via the first supportingportion 52 and the second supportingportion 54 moves so as to draw an arc. At this time, if the above describedthird motor 64 is not driven, in a state that the distance between thewheel 8 and thebottom portion 6 is maintained, the position of thewheel 8 is moved. Further, as shown inFIG. 5 , afourth motor 66 is contained in the turningportion 56. Thefourth motor 66 rotates the turningportion 56 by its driving force, in order to move the position of thewheel 8. Note that, the turningportion 56 is provided with a known driving force transfer section (not shown), such as a gear or a belt, for transferring the driving force of thefourth motor 66. - Further, the
passenger car 2 includes a sub-computer 12 as an example of a controlling section for controlling thefirst motor 60, thesecond motor 62, thethird motor 64, and thefourth motor 66. Eight sub-computer 12 are provided, one for every wheel, and the eightsub-computers 12 are positioned lower than the front surface of thebottom portion 6. More specifically, as shown inFIG. 7 , the eightsub-computers 12 are contained in theconvex portion 6 b described above provided on the back surface of thebottom portion 6. Each sub-computer 12 includes a CPU, a ROM, a RAM or the like, and the sub-computer 12 controls thefirst motor 60, thesecond motor 62, thethird motor 64, and thefourth motor 66 that are for realizing the above described movements of thewheel 8 corresponding to the sub-computer 12. - Further, the
passenger car 2 includes amain computer 14 as an example of a main controlling section that can communicate with each of the eightsub-computers 12. As shown inFIG. 7 , themain computer 14 is provided at an end portion of thebottom portion 6 on the back surface of thebottom portion 6, and in this embodiment themain computer 14 is connected to the eightsub-computers 12 viacables 16 andhubs 18. Themain computer 14 includes a CPU, a ROM, and a RAM or the like, and has a function of being in charge of the eightsub-computers 12. - As described above, the
passenger car 2 according to this embodiment has eightwheels 8, and each of the wheels can perform the above four types of independent motions (the wheel rotates, the direction of the wheel is changed, the distance between the wheel and the bottom portion is changed, the position of the wheel is moved). Further, the movements of eachwheel 8 are combined, and thepassenger car 2 performs a variety of movements. - Hereinbelow, an example of the variety of movements is described using
FIGS. 8A to 13E . -
FIGS. 8A to 8H are state transition diagrams showing a manner where thepassenger car 2 performs a forward run and a rotating movement continuously.FIGS. 9A to 9G are state transition diagrams showing a manner where thepassenger car 2 performs a forward run and a horizontal movement continuously.FIGS. 10A to 10I are state transition diagrams showing a manner where thepassenger car 2 walks.FIGS. 11A to 11I are state transition diagrams showing a manner where thepassenger car 2 climbs up a step during the forward run.FIGS. 12A to 12I are state transition diagrams showing a manner where thepassenger car 2 runs forward by avoiding contact with a curb.FIGS. 13A to 13E are state transition diagrams showing a manner where thepassenger car 2 is moving up an inclination. Note that, inFIGS. 8A to 10I , the wheel that is shaded represents a wheel that is not contacting the ground, and the wheel that is not shaded represents the wheel that is contacting the ground. - Note that, hereinbelow are described as examples of the variety of movements, a movement of performing the forward run and the rotating movement continuously, a movement of performing the forward run and the horizontal movement continuously, a walking movement, a movement in the case where there are projections and depressions on the ground, and a movement in the case where there is an inclination on the ground. But the
passenger car 2 can also perform other movements, for example, a move in a diagonal direction or a move in a jigzag move or the like. - First, a case that the
passenger car 2 performs a forward run and a rotating movement continuously is explained usingFIGS. 8A to 8H . Note that, in the following explanation, for the sake of convenience, an operation for rotating thewheel 8 by controlling thefirst motor 60 is called operation A, an operation to change a direction of thewheel 8 by controlling thesecond motor 62 is called operation B, an operation to change a distance between thewheel 8 and the bottom portion 6 (to move thewheel 8 up or down) by controlling thethird motor 64 is called operation C, and an operation to move the position of thewheel 8 by controlling thefourth motor 66 is called operation D. - In the first state A1, it is assumed that the
passenger car 2 is running forward in a direction of the arrow. In this case, all of the wheels are rotating in a state contacting the ground, and the forward run by the eight wheels is being performed. - Next, the running state of the
passenger car 2 is switched from the forward run by eight wheels to a forward run by four wheels (from state A1 to A2). This switching is realized by performing the operation C to each of thewheels wheel wheels - Next, the
passenger car 2 performs preparation for the next operation (that is, a rotating movement) while performing the forward run by four wheels (state A2 to state A3). That is, each of thewheels wheels FIG. 8 . This preparation is realized by performing operation B and operation D to each of thewheels - Next, the
passenger car 2 rests by making the rotation of thewheels passenger car 2 switches the wheels that contact the ground from thewheels wheels - Then, operation A is performed in respect to each of the
wheels passenger car 2 rotatingly moves in a state with each of thewheels FIG. 8 , (state A6 to state A7 to state A8). - Note that, as described above, the rotating motion movement is performed in a state that the four
wheels - Next, using
FIG. 9 , there is described a case that thepassenger car 2 performs a forward run and a horizontal movement continuously. Note that, here, an operation of rotating thewheel 8 by controlling thefirst motor 60 is referred to as an operation A, an operation of changing a direction of thewheel 8 by controlling thesecond motor 62 is referred to as an operation B, an operation of changing a distance between thewheel 8 and thebottom portion 6 by controlling the third motor 64 (making thewheel 8 move up and down) is referred to as an operation C, and an operation of moving a position of thewheel 8 by controlling thefourth motor 66 is referred to as an operation D. - In the first state B1, it is assumed that the
passenger car 2 is running forward in a direction of the arrow. In this case, all the wheels are rotating in a state that they are contacting the ground, and the forward run by eight wheels is being performed. - Next, the running state of the
passenger car 2 is changed from the forward run by eight wheels to the forward run by four wheels (state B1 to state B2). This change is realized by performing operation C to each of thewheels wheels wheels - Next, the
passenger car 2 performs preparations for the next operation (that is, a horizontal movement), while performing the forward run by four wheels (state B2 to state B3). That is, thewheels wheels FIG. 9 ). This preparation is realized by performing the operation B in respect to each of thewheels - Next, the
passenger car 2 rests by making the rotation of thewheels passenger car 2 switches the wheels contacting the ground from thewheels wheels - Then, the operation A is performed in respect to each of the
wheels passenger car 2 moves horizontally in a direction shown by the arrow in state B7 inFIG. 9G (state B6 to state B7). - Next, a case in which the
passenger car 2 walks is described usingFIGS. 10A to 10I . Here, “walking” of thepassenger car 2 refers to moving of thepassenger car 2 in a state that the rotation of the wheels that are contacting the ground are stopped. More specifically, some of thewheels 8 of the eightwheels 8 provided to thepassenger car 2 are made to contact the ground, and in a state that the rotation of thewheels 8 contacting the ground are stopped, thepassenger car 2 moves by driving thesecond motor 62 and thefourth motor 66 that correspond to thewheels 8, so that thebottom portion 6 is made to relatively move in respect to the ground. Note that, here, an operation of changing the direction of thewheel 8 by controlling thesecond motor 62 is called an operation B, an operation of changing the distance between thewheel 8 and the bottom portion 6 (moving thewheel 8 up and down) by controlling thethird motor 64 is called an operation C, and an operation of moving the position of thewheel 8 by controlling thefourth motor 66 is called an operation D. - In the first state C1, it is assumed that the
passenger car 2 is at rest. In this situation, the rotation of all the wheels, that are in a state contacting the ground, are stopped. - Next, the
wheels passenger car 2 are made to be in a state not contacting the ground (state C1 to state C2). The change of this situation is realized by performing the operation C in respect to each of thewheels - Next, the
passenger car 2 performs preparations for the walking movement (state C2 to state C3). That is, thepassenger car 2 moves each of thewheels FIG. 10 ) of thepassenger car 2. This movement is realized by performing the operation D in respect to each of thewheels passenger car 2 changes the direction of thewheels wheels passenger car 2 walks (a direction from left to right in state C3 inFIG. 100 ). This change is realized by performing operation B in respect to each of thewheels - Next, the
passenger car 2 switches the wheels contacting the ground from thewheels wheels - Then, the
passenger car 2 performs the operation B and the operation D in respect to thewheels wheels bottom portion 6 of thepassenger car 2 relatively moves in respect to the ground, and the walking movement of thepassenger car 2 in the direction of the arrow is realized (state C5 to state C6). Then, thepassenger car 2 performs preparation for the next walking movement, in parallel with the walking movement (state C5 to state C6). That is, thepassenger car 2 moves each of thewheels FIG. 10F ). This movement is realized by performing the operation D in respect to each of thewheels passenger car 2 changes the direction of thewheels wheels passenger car 2 walks (a direction from the left to the right in state C6 inFIG. 10F ). This change is realized by performing the operation B to each of thewheels - Next, the
passenger car 2 switches the wheels contacting the ground, from thewheels wheels - Then, the
passenger car 2 performs the operation B and the operation D in respect to thewheels wheels bottom portion 6 of thepassenger car 2 relatively moves in respect to the ground, and the walking movement of thepassenger car 2 in the arrow direction is realized (state C8 to state C9). - Hereinbelow, by repeating the above described movements, the walking of the
passenger car 2 is continued. - <<<Movement of the
Passenger Car 2 in the Case Where there are Projections and Depressions on the Ground>>> - Next, a movement of the
passenger car 2 in the case where there are projections and depressions on the ground is described. Thepassenger car 2 according to this embodiment can move in a state that thebottom portion 6 is maintained horizontal even in the case there are projections and depressions on the ground by making eightwheels 8 provided to thepassenger car 2 to selectively contact the ground. Hereinbelow, as examples of movements of thepassenger car 2 in the case there are projections and depressions on the ground, there are described a movement of thepassenger car 2 in the case where there is a step on the ground, and a movement of thepassenger car 2 in the case there is a curb on the ground. - First, the movement of the
passenger car 2 in the case where there is a step on the ground is described usingFIG. 11 . Note that, thepassenger car 2 according to this embodiment has information regarding a position or a height of the step in advance. - In the first state D1, it is assumed that the
passenger car 2 is running forward in the direction of the arrow. In this case, all the wheels are rotating in a state contacting the ground, and the forward running by eight wheels is performed. - Next, when the distance between the step and the
wheels passenger car 2 moves thewheels passenger car 2 is switched from the forward running by eight wheels to forward running by six wheels. - Then, at the time the
wheels wheels passenger car 2 returns to the forward running by eight wheels from the forward running by six wheels. - Next, when the distance between the step and the
wheels passenger car 2 moves thewheels passenger car 2 changes again to the forward running by six wheels from the forward running by eight wheels. - Then, at the time the
wheels wheels passenger car 2 again returns to the forward running by eight wheels from the forward running by six wheels. - Hereinbelow, similar movements are performed in regards to the
wheels wheels passenger car 2 is to run forward on the step in a state that all the wheels are contacting the ground (state D9). - Thus, the
passenger car 2 can climb up the step in a state that thebottom portion 6 is maintained horizontal at all times (from state D1 to state D9) by making eightwheels 8 to selectively contact the ground. - Note that, in the above, the movement of the
passenger car 2 climbing up the step is described, but if the movement is continued, thepassenger car 2 can also climb up stairs. Further, thepassenger car 2 can perform a movement of climbing down a step, and by continuing the movement can also climb down stairs. - Next, the movement of the
passenger car 2 in the case where there is a curb on the ground is described usingFIG. 12 . Note that, thepassenger car 2 according to this embodiment is assumed to have information according to a position or a height of the curb in advance. - In the first state E1, it is assumed that the
passenger car 2 is running forward in a direction of the arrow. In this case, all the wheels are rotating in a state contacting the ground, and the forward running by eight wheels is performed. - Next, when a distance between the curb and the
wheels passenger car 2 moves thewheels passenger car 2 changes to the forward running by six wheels from the forward running by eight wheels. Note that, how much thewheels wheels wheels wheels wheels wheels - Next, when the
wheels passenger car 2 moves thewheels passenger car 2 returns to the forward run by eight wheels from the forward run by six wheels. - Next, when the distance between the curb and the
wheels passenger car 2 moves thewheels passenger car 2 again changes from the forward running by eight wheels to the forward running by six wheels. Then, at the time thewheels wheels - Next, when the
wheels passenger car 2 moves thewheels passenger car 2 is again returned to the forward running by eight wheels from the forward running by six wheels. - Hereinbelow, similar movements are performed in regards to the
wheels wheels passenger car 2 passes the curb so that all the wheels do not contact the curb (state E9). - Thus, by making eight
wheels 8 to selectively contact the ground, thepassenger car 2 can run forward while avoiding contact to the curb in a state that thebottom portion 6 is maintained horizontal at all times (from state E1 to state E9). - Note that, the movement of the
passenger car 2 in the case there is a projection (curb) on the ground is described above. But, by making eightwheels 8 to selectively contact the ground, thepassenger car 2 can run forward while avoiding contact with a depression, in a state that thebottom portion 6 is maintained horizontal even in the case there is a depression such as a dip or a hole in the ground. - Further, an example of the
passenger car 2 traveling in a straight line is described above, but thepassenger car 2 can make a turn or move rotatingly in a state that thebottom portion 6 is maintained horizontal even in the case where there is a step or a curb in the ground. - Further, the
passenger car 2, described above, is assumed to have information regarding the position or the height of the projections and depressions such as the step or the curb in advance, and that eightwheels 8 are made to selectively contact the ground based on the information, but this is not a limitation. For example, the eight wheels may be made to selectively contact the ground in accordance with an output of a detecting means for detecting the projections and depressions. - <<<Movement of the
Passenger Car 2 in the Case there is an Inclination In the Ground>>> - A movement of the
passenger car 2 in the case where there is an inclination in the ground is described next. Thepassenger car 2 according to this embodiment can move in a state that thebottom portion 6 is maintained horizontal even in the case there is an inclination in the ground by changing the distance between thewheel 8 and thebottom portion 6 according to the inclination of the ground. Hereinbelow, the movement of thepassenger car 2 in the case where there is an inclination in the ground is described usingFIG. 13 . Note that, thepassenger car 2 according to this embodiment is assumed to have information regarding the position or the height of the inclination in advance. Further, in this embodiment, the inclination angle of the inclination of the ground is assumed to always be constant. - In a first state F1, it is assumed that the
passenger car 2 is running forward in a direction of the arrow. In this case, all the wheels are rotating in a state contacting the ground, and the forward run by eight wheels is performed. - Next, when the
wheels passenger car 2 moves thewheels wheels wheels wheels bottom portion 6 and a distance between thewheels bottom portion 6 is made to be always the same as a difference between a height of a ground that thewheels wheels - Next, when the
wheels passenger car 2 moves thewheels wheels passenger car 2 moves thewheels wheels bottom portion 6 and a distance between thewheels bottom portion 6 is made to be always the same as a difference between a height of a ground that thewheels wheels passenger car 2 moves thewheels wheels bottom portion 6 and a distance between thewheels bottom portion 6 is made to be always the same as a difference between a height of a ground that thewheels wheels - Next, when the
wheel passenger car 2 moves thewheels wheels passenger car 2 moves thewheels wheels bottom portion 6 and a distance between thewheels bottom portion 6 is made to be always the same as a difference between a height of a ground that thewheels wheels - Further, in between state F3 and state F4, the
passenger car 2 moves thewheels wheels bottom portion 6 and a distance between thewheels bottom portion 6 is made to be always the same as a difference between a height of a ground that thewheels wheels wheels wheels bottom portion 6 and a distance between thewheels bottom portion 6 is made to be always the same as a difference between a height of a ground that thewheel wheels - Then, when the
wheels wheels passenger car 2 runs forward on the inclination (state F4 to state F5). - Thus, the
passenger car 2 can move in a state that thebottom portion 6 is maintained horizontal at all times (from state F1 to state F5) even in the case where there is an inclination in the ground, by making the distance between thewheel 8 and thebottom portion 6 change in accordance with the inclination of the ground. - Note that, the movement of the
passenger car 2 going up the inclination is described above, but if thewheels 8 are to be moved downwards according to the inclination of the ground, thepassenger car 2 can also go down the inclination. - Further, an example of the
passenger car 2 traveling in a straight line is described above, but thepassenger car 2 can make a turn or move rotatingly in a state that thebottom portion 6 is maintained horizontal even in the case where the ground has an inclination. - Further, in the above that the
passenger car 2 has information regarding the position or the height of the inclination in advance, and the distance of thewheels 8 from thebottom portion 6 is to be changed based on the information, but this is not a limitation. For example, the distance of the wheels from the bottom portion can be changed according to an output of a detecting section for detecting the inclination. - As described in the paragraph of the Related Art, a typical conventional car has four wheels, and some or all of the four wheels are driven, so that the car travels in a predetermined traveling direction. This car can make a turn by changing the direction of the wheels or can reverse by rotating the wheels in an opposite direction, but the variety of the movements is limited.
- On the other hand, the car according to this embodiment is provided with at least 8 pairs of the
wheel 8 and the supportingmember 10, and further, the supportingmember 10 has a first supportingportion 52 for supporting thewheel 8 rotatably, a second supportingportion 54 for supporting the first supportingportion 52 so that the direction of thewheel 8 supported by the first supportingportion 52 can be changed, and a turningportion 56 that is provided to thebottom portion 6 and that can rotate about a rotation axis with its axial direction along a direction orthogonal to thebottom portion 6. The turningportion 56 supports the second supportingportion 54 so that the distance between thewheel 8 and thebottom portion 6 can be changed, and that the position of thewheel 8 can be moved in a state that the distance is maintained by the rotation of the turningportion 56. Thus, the above described variety of movements can be realized. - As described above, a car according to the present invention based on the above embodiment is described, but the above embodiment of this invention is to facilitate the understanding of this invention, and is not to limit this invention. This invention can be changed or altered within the scope of this invention, and it is needless to say that this invention includes its equivalents.
- Note that, the above embodiment describes a
passenger car 2 that a person can ride in, as an example of a car, but as long as it is a car it can be applied to any kind of car. For example, the car can be a toy car or a truck for conveying things. - In the case the car according to this invention is a passenger car, a toy car, or a truck, there are the below merits. That is, if the car according to this invention is a passenger car, the passenger car can perform a variety of movements, thus a passenger car that is very convenient can be realized. Further, if the car according to this invention is a toy car, since the toy car can perform a variety of movements, there can be realized a toy car that is attractive to a buyer. Further, if the car according to this invention is a truck, since the truck can perform a variety of movements, a truck that can convey in diverse ways can be realized.
- Further, in the above embodiment, the turning
portion 56 is to support the second supportingportion 54 via aparallel link mechanism 58, but this is not a limitation. For example, the turning portion can support the second supporting portion via a mechanism other than the parallel link mechanism. - But, this embodiment is more preferable in that support of the second supporting
portion 54 by the turningportion 56 is realized by a simple structure. - Further, in the above embodiment, the
first motor 60, thesecond motor 62, thethird motor 64, and thefourth motor 66 are to be provided for eachwheel 8, but this is not a limitation. For example, any of the above motors may be configured so as to drive a plurality of the wheels. - In the case where there are provided the
first motor 60, thesecond motor 62, thethird motor 64, and thefourth motor 66 for everywheel 8, onewheel 8, a corresponding supportingmember 10, and the corresponding motor can be made into one module. Therefore, by attaching the module to thecar body 4, and detaching the module from thecar body 4, the number of thewheels 8 can be easily increased or decreased. Regarding this point, the above embodiment is more preferable. - Further, in the above embodiment, the
first motor 60, thesecond motor 62, thethird motor 64, and thefourth motor 66, are provided in the supportingmember 10, and the supportingmember 10 and thewheel 8 are positioned lower than the front surface of thebottom portion 6, but this is not a limitation. For example, the supporting member and the wheel can be positioned above the front surface of the bottom portion. - In the case the
first motor 60, thesecond motor 62, thethird motor 64, and thefourth motor 66, are provided in the supportingmember 10, and the supportingmember 10 and thewheel 8 are positioned lower than the front surface of thebottom portion 6, then the front surface of thebottom portion 6 can easily be made even (flat). Then, in the case where the front surface of thebottom portion 6 is even, it is possible to flexibly design an internal structure of the car body 4 (especially in the periphery of the front surface of the bottom portion 6). In this regard, the above embodiment is more preferable. - Further, in the above embodiment, a sub-computer 12 for controlling the
first motor 60, thesecond motor 62, thethird motor 64, and thefourth motor 66, is to be provided for everywheel 8, but this is not a limitation. For example, the sub-computer can be configured to control a plurality of the wheels. - In the case the sub-computer 12 is provided for every wheel, one
wheel 8, the corresponding supportingmember 10, the corresponding above motor, and the correspondingsub-computer 12 can be made into one module. Therefore, by attaching the module to thecar body 4, or by detaching the module from thecar body 4, it is possible to increase or decrease the number ofwheels 8 more easily. In this regard, the above embodiment is more preferable. - Further, in the above embodiment, the sub-computer 12 is positioned lower than the front surface of the
bottom portion 6, but this is not a limitation. For example, the sub-computer can be positioned above the front surface of the bottom portion. - In the case the sub-computer 12 is positioned lower than the front surface of the
bottom portion 6, the front surface of thebottom portion 6 can be made even (flat) more easily. Then, in the case the front surface of thebottom portion 6 is even, it is possible to flexibly design an internal structure (especially, in the periphery of the front surface of the bottom portion 6) of thecar body 4. In this regard, the above embodiment is more preferable. - Further, in the above embodiment, the back surface of the
bottom portion 6 is provided with theconvex portion 6 b for containing the sub-computer 12, but this is not a limitation. For example, the convex portion does not have to be formed on the back surface of the bottom portion. - But, even in the case where the size of the sub-computer 12 is large, in regard that the front surface of the
bottom portion 6 can be made even (flat) easily, the above embodiment is more preferable. - Further, in the above embodiment, the back surface of the
bottom portion 6 is to be provided with therecess 6 a for preventing thewheel 8 and the supportingmember 10 from contacting thebottom portion 6, at the time the distance between thewheel 8 and thebottom portion 6 is changed and thewheel 8 comes near to thebottom portion 6, however, this is not a limitation. For example, the recess portion does not have to be provided in the back surface of the bottom portion. - In the case where the
recess 6 a having the above function is provided on the back surface of thebottom portion 6, the car can be moved in a state that the front surface of thebottom portion 6 and thewheel 8 are close to each other. In other words, the car can move in a state that the vehicle's height is made low. Further, in the case where there is a projection such as a step or a curb on the ground, even if the height of the projection is high, it is possible to realize a desired movement (for example, a movement of climbing up a step or a movement of climbing over a curb). Further, in the case there is an inclination in the ground, even in the case where the inclination angle of the inclination is large, it is possible to realize a movement of moving in a state that the bottom portion is maintained horizontal. From this regard, this embodiment is more preferable. - Further, in this embodiment, it is assumed that there are provided a
main computer 14 that can communicate with each of the sub-computers 12, but this is not a limitation. For example, there does not have to be provided the main computer.
Claims (4)
1-16. (canceled)
17. A car comprising:
a car body having a bottom portion;
a wheel that is rotatable; and
a supporting member for supporting the wheel, the supporting member being provided to the bottom portion,
wherein at least eight pairs of the wheel and the supporting member are provided,
wherein the supporting member has
a first supporting portion for supporting the wheel rotatably,
a second supporting portion for supporting the first supporting portion so that a direction of the wheel supported by the first supporting portion can be changed, and
a turning portion that is rotatable about a rotation axis with its axial direction along a direction orthogonal to the bottom portion, the turning portion being provided to the bottom portion,
wherein the turning portion supports the second supporting portion so that a distance between the wheel and the bottom portion can be changed, and a position of the wheel can be moved by a rotation of the turning portion in a state that the distance is maintained, and
the car is a toy car.
18. (canceled)
19. (canceled)
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US20090178876A1 (en) * | 2005-04-28 | 2009-07-16 | Kabushikikaisha Equos Research | Controlling apparatus and vehicle provided therewith |
JP5157305B2 (en) * | 2006-09-22 | 2013-03-06 | 日産自動車株式会社 | Wheel position variable vehicle |
JP5105528B2 (en) * | 2008-01-23 | 2012-12-26 | 学校法人千葉工業大学 | car |
WO2010150286A1 (en) * | 2009-06-24 | 2010-12-29 | Ingolfur Hardarson | City car |
JP6477856B1 (en) * | 2017-12-26 | 2019-03-06 | トヨタ自動車株式会社 | Automobile |
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US3110352A (en) * | 1961-09-15 | 1963-11-12 | Roscoe B Mcclarnon | Wheeled vehicle steering device |
US4237990A (en) * | 1979-01-02 | 1980-12-09 | Hau T | Omnidirectional vehicle |
US4657104A (en) * | 1983-07-23 | 1987-04-14 | Cybermation, Inc. | Concentric shaft mobile base for robots and the like |
US4715460A (en) * | 1984-11-20 | 1987-12-29 | International Texas Industries, Inc. | Omnidirectional vehicle base |
US5213176A (en) * | 1989-12-08 | 1993-05-25 | Hitachi, Ltd. | Self-propelled vehicle |
US6112843A (en) * | 1996-11-07 | 2000-09-05 | California Institute Of Technology | High mobility vehicle |
US6212731B1 (en) * | 1998-04-24 | 2001-04-10 | Diversey Lever, Inc. | Apparatus for cleaning floors |
US6123600A (en) * | 1999-01-05 | 2000-09-26 | Yuen; Po Man | Motor driven surface engaging multi-directional and surface translating amusement device |
US6293579B1 (en) * | 1999-03-08 | 2001-09-25 | Karl Schaeff Gmbh & Co Maschinenfabrik | Mobile rig on wheels with transverse motion |
US6564955B2 (en) * | 2000-02-23 | 2003-05-20 | Gottwald Port Technology Gmbh | Mobile harbor crane for the combined handling of containers and bulk materials |
US6206126B1 (en) * | 2000-04-13 | 2001-03-27 | Thiermann Industries, Inc. | Carrier for lifting devices having variable width track |
US20020077026A1 (en) * | 2000-12-14 | 2002-06-20 | Wing Cheong Li | Toy vehicle having side to side bouncing motion |
US6726524B2 (en) * | 2001-08-24 | 2004-04-27 | Kyosho Corporation | Traveling structure |
US6926581B2 (en) * | 2002-11-01 | 2005-08-09 | The Obb, L.L.C. | Toy vehicle with movable chassis components |
US6793555B1 (en) * | 2003-03-17 | 2004-09-21 | Neil Tilbor | Toy vehicle with dynamic transformation capability |
US7261615B2 (en) * | 2003-10-31 | 2007-08-28 | Bang Zoom Design Ltd., Llc | Drifting remotely controlled toy vehicle |
Also Published As
Publication number | Publication date |
---|---|
JP2005153602A (en) | 2005-06-16 |
JP4314385B2 (en) | 2009-08-12 |
US7690448B2 (en) | 2010-04-06 |
US20070035109A1 (en) | 2007-02-15 |
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