| 摘要 |
PURPOSE:To arrange devices concerned with running driving and steering control in low positions by attaching devices concerned with running driving to a frame supporting a steering and running wheel and providing devices such as a motor, a rotating body, or the like concerned with steering control between a movable frame and a car body frame. CONSTITUTION:Following-up sensors 6 are attached to center parts in the breadthwise direction of the car in both of front and rear side parts of a car body frame 1, and a mechansim 7 which performs the steering control of a steering and running wheel 2 on the basis of detection results of sensors 6 and a motor 8 for running which drives and rotates the steering and running wheel 2 are provided. In the constitution of this mechanism 7, a steering frame 9 supporting the running wheel 2 is constituted freely steerably and turnably, and a movable frame 10 which is shaked together with the running wheel 2 as one body is projected forward from the frame 9. The mechanism 7 is constituted of the frame 10, a motor 11, a rotating body 13, and an arc-shaped rack gear 15. Further, control devices for the motor 11 which can be rotated forward and backward and be stopped on the basis of detection results of sensors 6 are provided on the frame 10 so that they are placed within the steering shake range of the frame 10 in the side part of the frame 10. |
