| 摘要 |
PROBLEM TO BE SOLVED: To provide a traveling device using a general-purpose traveling device in widespread use to reduce a device cost, allowing realization of various steering modes, capable of smoothly and stably traveling according to a state of a travel road even in every travel such as a straight travel, an oblique travel or a turn travel, dispensing with complicated link mechanism to realize a small and compact device, and hardly allowing failure of a steering system to improve a maintenance property. SOLUTION: This traveling device with axles installed to a vehicle body side frame has truck units each swingably supporting the plural axles. The plural truck units are swingably supported by the vehicle body side frame. The truck unit has a first support member and a second support member supporting the respective axles swingably around a first support pin and a second support pin. A steering angle is controlled by feedback control by use of a detection value of the steering angle of each the axle and a steering angle target value corresponding to a steering state command signal from a steering means. |
