Travelling apparatus

Patent metadata

Field	Value
Publication number	US-10137042-B2
Application number	US-201515324362-A
Country	US
Kind code	B2
Filing date	Jul 9, 2015
Priority date	Jul 11, 2014
Publication date	Nov 27, 2018
Grant date	Nov 27, 2018

Abstract

The travelling apparatus according to exemplary embodiments includes front wheels, which are driving wheels, an upper frame, first linear motion mechanisms configured to be extendable and retractable and couple the front wheels to the upper frame, middle wheels configured to be disposed at a back of the front wheels, second linear motion mechanisms configured to be extendable and retractable and couple a riding part to the middle wheels, rear wheels configured to be disposed at a back of the middle wheels, lower links configured to couple the middle wheels to the rear wheels, respectively, rear links configured to couple the lower links to the upper frame, and a third linear motion mechanism configured to change an angle between the upper frame and the rear links.

First claim

The invention claimed is:

1. A travelling apparatus comprising:
a first wheel, the first wheel being a driving wheel;
a vehicle body;
a first linear motion actuator configured to be extendable and retractable and couple the first wheel to the vehicle body;
a second wheel configured to be disposed at a back of the first wheel;
a second linear motion actuator configured to be extendable and retractable and couple the second wheel to the vehicle body;
a third wheel configured to be disposed at a back of the second wheel;
a first link configured to couple the second wheel to the third wheel;
a second link configured to couple the first link to the vehicle body; and
an actuator configured to change an angle between the vehicle body and the second link,
wherein the second wheel and the third wheel are non-driven wheels.

2. The traveling apparatus according to claim 1 , wherein the first wheels, the second wheels, the third wheels, the first linear motion actuators, and the second linear motion actuators are arranged on right and left sides of the travelling apparatus and are driven independently on the right and left sides of the travelling apparatus.

3. The travelling apparatus according to claim 2 , wherein the actuator is shared by the right and left second links.

4. The travelling apparatus according to claim 2 , wherein the actuator includes a third linear motion actuator provided in an extendable and retractable manner between the vehicle body and the second links.

5. The travelling apparatus according to claim 1 , wherein the actuator includes a third linear motion actuator provided in an extendable and retractable manner between the vehicle body and the second link.

6. The travelling apparatus according to claim 1 , wherein the actuator includes a rotation mechanism configured to drive rotation of the second links with respect to the vehicle body.

7. The travelling apparatus according to claim 1 , wherein a riding seat on which an occupant rides is provided to the vehicle body.

8. The travelling apparatus according to claim 1 , further comprising:
a controller comprising at least one processor, the at least one processor configured to control a length of the first linear motion actuator, a length of the second linear motion actuator, and the actuator.

9. The travelling apparatus according to claim 8 , wherein the first linear motion actuator is a first arm actuator and the second linear motion actuator is a second arm actuator, and the at least one processor is configured to control an arm length of the first arm actuator and an arm length of the second arm actuator.

10. The travelling apparatus according to claim 1 , wherein the first linear motion actuator and the second linear motion actuator are configured to change a height of the vehicle body, and the second linear motion actuator and the actuator are configured to change a pitch angle of the vehicle body.

11. The travelling apparatus according to claim 1 , wherein the first link is directly connected to the second wheel and the third wheel, and the first linear motion actuator connects the first wheel to a front end of the vehicle body.

12. A travelling apparatus comprising:
a first wheel, the first wheel being a non-driven wheel;
a vehicle body;
a first linear motion actuator configured to be extendable and retractable and couple the first wheel to the vehicle body;
a second wheel configured to be disposed at a back of the first wheel, the second wheel being a driving wheel;
a second linear motion actuator configured to be extendable and retractable and couple the second wheel to the vehicle body;
a third wheel configured to be disposed at a back of the second wheel, the third wheel being a non-driven wheel;
a first link configured to couple the second wheel to the third wheel;
a second link configured to couple the first link to the vehicle body; and
an actuator configured to change an angle between the vehicle body and the second link,
wherein the actuator includes a third linear motion actuator that is connected to the second link and a front end of the vehicle body and that extends and retracts between the second link and the front end of the vehicle body.

13. The travelling apparatus according to claim 12 , further comprising:
a controller comprising at least one processor, the at least one processor configured to control a length of the first linear motion actuator, a length of the second linear motion actuator, and the actuator.

14. The travelling apparatus according to claim 13 , wherein the first linear motion actuator is a first arm actuator and the second linear motion actuator is a second arm actuator, and the at least one processor is configured to control an arm length of the first arm actuator and an arm length of the second arm actuator.

15. The travelling apparatus according to claim 12 , wherein the first linear motion actuator and the second linear motion actuator are configured to change a height of the vehicle body, and the second linear motion actuator and the actuator are configured to change a pitch angle of the vehicle body.

16. The travelling apparatus according to claim 12 , wherein the first link is directly connected to the second wheel and the third wheel, and the first linear motion actuator connects the first wheel to the front end of the vehicle body.

17. A travelling apparatus comprising:
a first wheel, the first wheel being a driving wheel;
a vehicle body;
a first linear motion actuator configured to be extendable and retractable and couple the first wheel to the vehicle body;
a second wheel configured to be disposed at a back of the first wheel;
a second linear motion actuator configured to be extendable and retractable and couple the second wheel to the vehicle body;
a third wheel configured to be disposed at a back of the second wheel;
a first link configured to couple the second wheel to the third wheel;
a second link configured to couple the first link to the vehicle body; and
an actuator configured to change an angle between the vehicle body and the second link,
wherein the actuator includes a third linear motion actuator provided in an extendable and retractable manner between the vehicle body and the second link, and
the third linear motion actuator is connected to the second link and a front end of the vehicle body and extends and retracts between the second link and the front end of the vehicle body.

Assignees

• Univ Tokyo
• Toyota Motor Co Ltd

Inventors

• Ishikawa Masaru
• Matsumoto Kiyoshi
• Takahata Tomoyuki
• Shimoyama Isao
• Izuo Takashi
• Kuroki Yoshihiro
• Takahashi Taro
• Kosaka Yusuke

Classifications

• A61G5/068

  with extensible supports pushing upwards, e.g. telescopic legs · CPC title

• A61G5/04

  motor-driven (A61G5/06 takes precedence; motor-operated rests A61G5/12; for vehicles with handlebars, equipped with three or more wheels B62K5/003, B62K5/023) · CPC title

• A61G5/061

  for climbing stairs · CPC title

• A61G5/1059

  adjusting the height of the seat · CPC title

• A61G5/042

  Front wheel drive · CPC title