| 摘要 |
PURPOSE:To allow a self-propelled vehicle to be turned with the minimum radius and laterally traveled by constituting the three-wheeled self-propelled vehicle so that one front wheel can be normally steered and locked in the right angle direction and a pair of rear wheels can be relatively rotated. CONSTITUTION:A self-propelled vehicle 1 is traveled along a track 12 which detecting a track 12 with a track sensor 13. When the self-propelled vehicle 1 is to be reversed in direction on the track 12, a front wheel 2 is rotated by a steering motor 10 in the right angle direction against the longitudinal center line L of the self-propelled vehicle 1. Both rear wheels 3, 4 are rotated outward by motors 10a, 10b in opposite directions to each other by the same angle theta. Then, drive motors 7a, 7b are simultaneously driven, and the front wheel 2 and both rear wheels 3, 4 are rotated around the point O with rotating radii R, (r) respectively. On the other hand, if the front wheel 2 and both rear wheels 3, 4 are set laterally in parallel, the self-propelled vehicle 1 can be shifted to the other track. |
