| 摘要 |
PURPOSE:To provide a vehicle which can go up and down stairs easily by allowing a small wheel of a multi-wheel type drive wheel to move in accordance with the depth of the step and the height of the rise. CONSTITUTION:A multi-wheel type running vehicle 50 includes a body 51 and a multi-wheel type driving wheel 20. This multi-wheel type driving wheel 20 is equipped with two oppositely arranged stellate arms having three legs 20a protruding at 120 deg. intervals, and a small wheel 21 is supported slidably near the end of each arm. Each stellate arm is equipped in its center with an actuator 23 for moving the small wheel and a bevel gear 23a coupled with the output shaft of the actuator, wherein the bevel gear 23a meshes with another bevel gear 24a at the end of a feed screw 24 in screw fitting in a feed nut 22a installed on a slider 22. The depth and height of the stairs are determined from the measurements by the distance measuring system installed at the ends of the vehicle body, and thereupon the position of the small wheels is adjusted to enable traveling up and down the stairs. |
