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公开(公告)号：US10675960B2
公开(公告)日：2020-06-09
申请号：US16130032
申请日：2018-09-13
发明人： Atsushi Higuchi , Tetsushi Itoh , Kyosuke Taka , Yoshitaka Okahashi , Kosuke Tanaka , Kiyotaka Hirata
摘要： The present invention provides a traveling device including: a framework member of a vehicle body; at least one rail member being supported by the framework member and extending substantially horizontally; a battery supporting member that is mounted to be insertable into the vehicle body and extractable from the vehicle body by the rail member for supporting a battery; and at least one damper member being disposed between the rail member and the battery supporting member, wherein the damper member is attached above or below the rail member.
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公开(公告)号：US10279782B2
公开(公告)日：2019-05-07
申请号：US15055667
申请日：2016-02-29
发明人： Kiyotaka Hirata , Kyosuke Taka , Tetsushi Ito , Masatoshi Tomomasa , Atsushi Higuchi , Kosuke Tanaka
摘要： A wheel cleaning system for an autonomous driving apparatus includes the autonomous driving apparatus with wheels, capable of driving autonomously based on peripheral information, and a cleaning area for cleaning the wheels. The cleaning area has a cleaning mat for cleaning the wheels as the wheels turn to rub against the mat. The autonomous driving apparatus has a controller for controlling an operation of the autonomous driving apparatus so as to perform a cleaning process of the wheels in the cleaning area.
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公开(公告)号：US10466699B2
公开(公告)日：2019-11-05
申请号：US15543592
申请日：2016-02-01
发明人： Kiyotaka Hirata , Atsushi Higuchi
摘要： An autonomous travel device is provided with wheels, a device main body, a power source that is provided on one end portion of the device main body within the device main body and causes the device main body to travel autonomously by driving the wheels, a battery for supplying power to the power source, and an accommodation unit for accommodating the battery from the other end portion of the device main body to a central portion of the device main body within the device main body. With this configuration, it is possible to easily perform replacement of the battery, and therefore, it is possible to perform autonomous travel that is stabilized due to disposition of the battery in consideration of the center of gravity of the device main body.
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公开(公告)号：US10112471B2
公开(公告)日：2018-10-30
申请号：US15596386
申请日：2017-05-16
发明人： Atsushi Higuchi , Tetsushi Itoh , Kyosuke Taka , Yoshitaka Okahashi , Kosuke Tanaka , Kiyotaka Hirata
摘要： The present invention provides a battery-driven traveling device including: a framework section disposed on at least a bottom part of a vehicle body for ensuring strength of the vehicle body; two slide rails being composed of a left slide rail and a right slide rail and being supported by the framework section and extending substantially horizontally; a battery supporting member that is mounted to be insertable into the vehicle body and extractable from the vehicle body by using the two slide rails; and a plurality of dampers disposed on a path through which vibration of the vehicle body is transmitted from each of the slide rails to the battery supporting member for relaxing the vibration transmitted from the vehicle body to the battery while the device travels, wherein the left slide rail is disposed on left side of the battery supporting member and the right slide rail is disposed on right side of the battery supporting member, and each of the dampers is disposed above or below the left slide rail or the right slide rail.
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公开(公告)号：US10399598B2
公开(公告)日：2019-09-03
申请号：US15697128
申请日：2017-09-06
IPC分类号： B62D11/04 , B25J5/00 , B60K7/00 , G05D1/02 , B25J9/16 , B60K17/04 , B60K17/36 , F16F7/14 , B60K1/04 , B60K17/342
摘要： A moving vehicle includes a skid-steer electric motor vehicle chassis that is capable of traveling and an optical sensor provided on the electric motor vehicle chassis. The electric motor vehicle chassis includes a chassis body, a plurality of wheels that are provided as pairs of right and left wheels at the front and rear of the chassis body, and a driving unit that individually rotation-drives the pairs of right and left wheels. The optical sensor is disposed, in planar view, at a position nearby an axle line of a pair of right and left wheels on one side of the front and rear. A pair of right and left wheels on the other side of the front and rear is configured of wheels with rollers each having a wheel body and a plurality of rollers provided on an outer circumferential portion of the wheel body.
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公开(公告)号：US10065500B2
公开(公告)日：2018-09-04
申请号：US15236668
申请日：2016-08-15
发明人： Atsushi Higuchi
IPC分类号： B60K17/354 , B60K17/04 , B60K17/24 , B60K17/342 , B60K17/356 , B60K7/00 , B62D21/02
摘要： To provide a vehicle body structure for an autonomous traveling vehicle equipped with wheels arranged to a chassis thereof, including; side frames arranged on both sides in a width direction of the chassis and each extended in a longitudinal direction of the chassis; a first drive unit having a drive motor, a drive shaft, a first pulley and a first pulley box; a second drive unit having an axle for supporting the wheel and a second pulley and a second pulley box; and an endless belt. The first pulley box has a first opening formed on a side surface, with respect to an axial direction of the drive shaft while the second pulley box has a second opening formed on a side surface with respect to an axial direction of the axle. The vehicle body structure includes bearing covers for covering the first and second openings.
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公开(公告)号：US10442462B2
公开(公告)日：2019-10-15
申请号：US15544534
申请日：2016-02-26
发明人： Atsushi Higuchi , Kyosuke Taka , Tetsushi Ito , Kiyotaka Hirata , Kosuke Tanaka
IPC分类号： B62D11/04 , B61B13/00 , B60K1/02 , B60K7/00 , B60K17/04 , F16H7/12 , F16H37/02 , B60K17/14 , B60K17/342 , B62D21/14
摘要： To provide a vehicle body structure for an autonomously traveling vehicle that is distinguished for maintainability.A vehicle body structure (1) for an autonomously traveling vehicle that travels on wheels (3) provided on a chassis (2) includes side frames (4R), (4L) that extend in a chassis longitudinal direction on both sides of the chassis with respect to a chassis width direction, first drive units (20) in each of which a drive motor (5) that is for driving the wheel (3), a reduction gear (6), and a drive shaft (7) that drives the wheel (3) are integrally configured, and second drive units (30) which each rotatably hold a drive shaft (7) that drives the wheel (3). The vehicle body structure (1) is characterized in that the first drive units (20) and the second drive units (30) are each provided so as to be integrally mountable in and dismountable from the same side frames.
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公开(公告)号：US09845015B2
公开(公告)日：2017-12-19
申请号：US15171255
申请日：2016-06-02
发明人： Atsushi Higuchi , Kyosuke Taka , Tetsushi Ito , Masatoshi Tomomasa , Kosuke Tanaka , Kiyotaka Hirata
CPC分类号： B60L11/18 , B60L2220/46 , B60L2260/32 , B62D21/02
摘要： A vehicle body structure of an autonomous vehicle includes: a first driver integrally configured of a drive portion for a first wheel, a drive shaft for the first wheel and a first shaft support for the drive shaft; a second driver integrally configured of an axle for a second wheel and a second shaft support for the axle; and, a pair of side frames arranged on each side in a width direction of the chassis and each extended in a front-to-rear direction of the chassis to support the first driver and the second driver. The first shaft support and the second shaft support each have an attachment part to be fixed to a flank of the side frame from an outside. Each of the first and second drivers is integrally attached to, and detached from, the side frame, by access from the flank of the side frame.
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