| 摘要 |
PURPOSE:To obtain a self-travelling truck prevented from the generation of wheel slip and the degradation of its dynamic characteristic without using complex mechanism by using three wheels, provided at their peripheries with plural rows of rollers having their axes in the peripheral direction, as driving wheels. CONSTITUTION:The frame 1 of a self-travelling truck is fitted with three sets of motors 2a-2c, speed reducers 3a-3c and wheels 4a-4c, and the wheels 4a-4c are formed into such a structure as to have plural rollers 5a-5c, with their rotation axes in the wheel peripheral direction, disposed in plural lines at the wheel peripheries. Regardless of the turning angles of the wheels 4a-4c, either of the rollers 5a-5c is grounded, and this enables the movement at a right angle to the rotating direction of the wheels 4a-4c. The rectilinear and lateral rotation can be thereby realized simultaneously in optional allocation by combining wheel rotation. Furthermore, this three-wheel structure prevents the wheels from floating due to the irregularity of the road surface even without providing suspension mechanism. |
