| 摘要 |
PURPOSE:To prevent the damage of the floor surface by the steer without driving under the stop condition of a vehicle by interlockingly steering front wheels and rear wheels in opposite directions and deviating the steering shaft of each wheel from the wheel center in a vehicle using two wheels at diagonal positions as driving wheels, such as a floor sweeping vehicle. CONSTITUTION:When this invention is applied for the steering device of a self-advancing floor sweeping robot, traveling DC motors 12 are integrally assembled to two wheels 10A, 10C at diagonal positions among four wheels 10 (10A-10D) having the same diameter, and these wheels 10A, 10C are made to function as driving wheels. Individual wheels 10 are rotatably provided around the vertical steering shafts 16 (16A-16D). In this case, the steering shafts 16 of individual wheels 10 are set at positions deviated to the inside of a vehicle body on the wheel shafts from the wheel centers A-D. The left and right front wheels 10A, 10B and rear wheels 10C, 10D are interlocked so as to be integrally steered by gear trains respectively, and the steering angles are controlled by motors 20, 22. |
