JP6874945B2 - Traveling device - Google Patents

Description

The present invention relates to a traveling device of a cargo handling device such as a quay crane, and more specifically, a rotating body that transmits torque around an axle such as a brake device or a speed reducer directly attached to the axle is stopped. The present invention relates to a traveling device that normally operates the rotating body.

Cargo handling equipment such as quay cranes (container cranes and unloaders) is equipped with a traveling device for running the cargo handling equipment. Regarding this traveling device, torque arms are attached to each of the rotating bodies that transmit torque around the axles of adjacent gear motor housings and speed reducers, and the attached torque arms are fastened together with bolts to form the rotating body. It is known that the rotation of the torque arm is restricted by canceling each rotational reaction force (see, for example, paragraph [0004] of Patent Document 1).

Japanese Unexamined Patent Publication No. 2014-134220

By the way, in the traveling device of the quay crane, the brake device is often attached directly to the axle due to the installation space. However, if the brake device is directly attached to the axle, there is a problem that the axis of the brake device shifts due to the elastic deformation of the axle due to the wheel load. The bearing portion (bearing housing) is overloaded, which is not preferable. Further, when the brake device is a wet multi-plate disc brake, if the axis of the axle (brake shaft) is relatively displaced with respect to the housing of the brake device, the brake rotor and the brake pad are displaced with respect to the brake rotor. The brake pad is not pressed normally. Therefore, conventionally, like the torque arm attached to the housing of the gear motor described in Patent Document 1, the torque arm is attached to the brake device to eliminate the deviation of the axis of the brake device.

However, since an excessive load is applied to the torque arm due to the elastic deformation of the axle, in order to reduce the load applied to the torque arm due to the elastic deformation of the axle, the torque arm or the joint portion between the torque arm and the rotating body has a certain degree of load. It is necessary to provide play (a looseness or a gap in which the torque arm can move extra in the axial direction of the axle). Therefore, in the drive device described in Patent Document 1, a certain amount of play is provided by loosely fitting both the first arm member and the second arm member to the bracket (see, for example, FIG. 2 of Patent Document 1). .. However, this backlash causes fretting wear, which has been a factor in reducing durability.

The present invention has been made in view of the above circumstances, and an object of the present invention is to prevent a rotating body directly attached to an axle from rotating while improving durability even when the wheel load is heavy. An object of the present invention is to provide a traveling device capable of operating the rotating body normally.

The traveling device of the present invention for achieving the above object includes a plurality of wheels arranged side by side in the traveling direction and rotating in the same direction with each other, and one end portion from the wheels in a state of being inserted through the respective wheels. A plurality of axles with protrusions and a plurality of rotating bodies connected to one end of each of the axles are provided, and the rotating body imparts at least one of a driving force and a braking force to the axle. In the constructed traveling device, the connecting member is provided with a plate whose plane vertical direction faces the axial direction of the axle, and the connecting member is the axial direction of the axle of each of the plurality of rotating bodies. The plurality of rotating bodies are joined to one end of both ends to connect the plurality of rotating bodies, and the region between the plurality of rotating bodies of the connecting member is the plurality of rotating bodies due to the displacement of the plurality of axles. It is characterized in that it can be freely deformed according to each displacement of. The rotating body is a device that applies at least one of a driving force and a braking force to the axle, and the rotating body includes a braking device, a driving device composed of a speed reducer and a motor, a braking device, a speed reducer, and a rotating body. An example is a drive device with a brake composed of a motor.

According to the present invention, a connecting member can be formed by connecting one end portions of each of a plurality of rotating bodies in the axial direction of the axle by a connecting member composed of plates whose plane perpendicular direction faces the axial direction of the axle. In a state of non-contact with the structure of the cargo handling equipment other than the rotating body, the loads in the rotational direction of the axle transmitted from the plurality of rotating bodies to the connecting member are transmitted in opposite directions in the region between the plurality of rotating bodies of the connecting member. Can be acted upon to cancel each other out. Therefore, each rotating body can be prevented from rotating by the connecting member, and each rotating body can be operated normally. Further, since the region between the plurality of rotating bodies of the connecting member can be deformed according to the displacement of each of the plurality of rotating bodies due to the displacement of the plurality of axles, a plurality of regions can be formed by the connecting member without providing play. It is possible to absorb the displacement of each of a plurality of rotating bodies due to the displacement of the axle (elastic deformation, etc.). As a result, it is possible to avoid the occurrence of fretting wear due to the provision of backlash and improve the durability of the traveling device.

It is explanatory drawing which schematically exemplifies the embodiment of the traveling device of this invention in the side view. It is a view of arrow A of FIG. It is a B arrow view of FIG. It is explanatory drawing which schematically exemplifies the state which the connecting member is deformed with elastic deformation of the axle of the traveling device of FIG. 1 in the front view. It is explanatory drawing which schematically exemplifies the state which the connecting member is deformed with elastic deformation of the axle of the traveling device of FIG. 1 in a plan view. It is explanatory drawing which schematically exemplifies the load (moment) in the rotation direction of the axle transmitted from the two rotating bodies of the traveling device of FIG. 1 to the connecting member. It is the C arrow view of FIG. It is explanatory drawing which schematically exemplifies another embodiment of the traveling device of this invention in a plan view. It is explanatory drawing which schematically exemplifies the load in the rotation direction which the connecting member connecting three rotating bodies receives.

Hereinafter, the traveling device of the present invention will be described based on the embodiment shown in the figure.

As shown in FIG. 1, the traveling device 1 of the present invention is mounted on the cargo handling device 20. In the drawing of the present application, the X direction indicates the traveling direction of the cargo handling device 20, the Y direction indicates the axial direction of the axle 3 orthogonal to the X direction in the horizontal direction, and the Z direction indicates the vertical direction (vertical direction).

An example of the cargo handling device 20 is a rail-mounted crane, and an example is a device in which the traveling device 1 is installed at the lower end of the cargo handling device 20 and the wheels 2 are rolled on the rail R to run the cargo handling device 20. Will be done. The traveling device 1 on the left side of FIG. 1 is composed of a driving type traveling device 1 provided with a driving device 5, and the traveling device 1 on the right side of FIG. 1 is composed of a driven traveling device 1 having no driving device 5. Has been done. Hereinafter, the drive type traveling device 1 will be described first, and then the driven traveling device 1 will be described.

As shown in FIGS. 2 and 3, the traveling device 1 of the embodiment according to the present invention includes a wheel 2, an axle 3, a driving device 5, and a braking device 8 as a rotating body. It has multiple. The rotating body is a device that applies at least one of a driving force and a braking force to the axle 2, and the rotating body includes a brake device 8, a drive device composed of a speed reducer and a motor, a brake device, and a speed reducer. , And a drive device with a brake composed of a motor is exemplified. In this embodiment, the case where the rotating body is the brake device 8 is illustrated.

The wheels 2 are arranged side by side in the X direction of the cargo handling device 20 and rotate in the same direction as each other. The wheel 2 of this embodiment is composed of metal wheels traveling on the rail R, but the wheels 2 may also be composed of rubber tires or the like traveling on the ground.

Both ends of the axle 3 project from the wheel 2 in a state of being inserted into the wheel 2 in the Y direction. Both ends of the axle 3 are pivotally supported by the bearing portion 4 (bearing housing) of the bogie 24 whose both ends are rotatably connected to the equalizer 22 via the bogie pin 23, and both ends thereof are connected in the Y direction from the bearing portion 4. It is protruding. A drive device 5 is connected to one end of both ends protruding from the bearing portion 4 of the axle 3, and a brake device 8 is connected to the other end.

The drive device 5 includes a motor 6 and a speed reducer 7 that transmits the rotation of the motor 6 to the axle 3. The drive device 5 is fixed to the structure 21 via a fixing member (torque arm) 13 so as not to rotate around the axle 3.

In this embodiment, one drive device 5 is provided for each axle 3, but a plurality of axles 3 may be rotationally driven by a common drive device 5. The drive device 5 may rotate the axle 3 by applying a driving force to the axle 3. As the drive device 5, the motor 6 may be composed of an engine, and the speed reducer 7 may be composed of a transmission.

The brake device 8 of this embodiment is composed of a wet multi-plate disc brake. It suffices that the brake device 8 can apply a braking force to the axle 3 to stop the rotation of the axle 3. As the brake device 8, for example, a dry disc brake, a band brake, a ferrofluid brake (MR fluid brake), or the like can also be adopted.

The brake device 8 has a disc-shaped brake rotor joined to one end (brake shaft 9) of the axle 3, a brake pad pressed against the brake rotor, and a brake caliper pressing the brake pad against the brake rotor. It is configured.

In the traveling device 1 of this embodiment, two sets of units having wheels 2, axles 3, bearings 4, driving devices 5, and braking devices 8 are installed on one bogie 24 so as to be separated from each other in the X direction. ing. Then, one end portion of each of the two brake devices 8 adjacent to each other in the X direction in the Y direction, which is provided in the same bogie 24, is connected by one connecting member 11.

The connecting member 11 is composed of a plate whose surface vertical direction (direction perpendicular to the plate surface) faces the Y direction. The connecting member 11 is joined to one end of each of the plurality of brake devices 8 (rotating bodies) in the Y direction to connect the plurality of brake devices 8. One end of each brake device 8 and the connecting member 11 are joined in a state of being in contact with each other by, for example, a plurality of removable joining members 12. Examples of the joining member 12 include bolts and nuts, screws, screws and the like.

In this embodiment, the connecting member 11 is joined to the opposite end faces of the wheels 2 of the two braking devices 8. The connecting member 11 is not joined to the structure 21 of the cargo handling device 20 (the housing of the equalizer 22, the housing 24a of the bogie 24, etc.) other than the brake device 8 in a non-contact state except for the brake device 8. In this traveling device 1, a plurality of brake devices 8 are connected to each other by a connecting member 11, so that rotation of each brake device 8 with respect to the structure 21 (housing 24a) is prevented.

As illustrated in FIG. 1, the connecting member 11 of this embodiment has a shape in which each of the plurality of brake devices 8 is accommodated inside the outer edge when viewed in the Y direction. That is, when viewed in the Y direction, each of the plurality of axles 3 (brake shafts 9) is also contained inside the outer edge of the connecting member 11. Further, the region between the plurality of brake devices 8 of the connecting member 11 is configured to be deformable according to the respective displacements of the respective brake devices 8 due to the displacement of the respective axles 3.

As illustrated in FIG. 4, the configuration that can be deformed according to the displacement of the brake device 8 of the connecting member 11 is a configuration in which the axle 3 is convexly warped upward in the Z direction when viewed in the X direction. The connecting member 11 can be tilted freely in accordance with the tilt of the brake device 8 due to the warp of the axle 3. Specifically, in the connecting member 11, the portion joined to one end of the brake device 8 on the outer side in the Y direction is inclined with respect to the Z direction. The warp of the axle 3 occurs when the intermediate position of the axle 3 in the Y direction is distorted upward in the Z direction by the wheels 2 that receive the weight of the cargo handling device 20 with respect to both ends in the Y direction.

Further, in the configuration that can be deformed according to the displacement of the brake device 8 of the connecting member 11, as illustrated in FIG. 5, the magnitudes of the above-mentioned warpages of the plurality of axles 3 are relative to each other when viewed in the Z direction. In different cases, the portion (region) between the brake devices 8 of the connecting member 11 is in the Y direction or the twist direction according to the relative displacement of the brake devices 8 in the Y direction due to the warp of the axle 3. It has a flexible or bendable structure. Specifically, the connecting member 11 is bent at a midway position in the Y direction, and is joined to a portion joined to a brake device 8 joined to an axle 3 having a small warp and a brake device 8 joined to an axle 3 having a large warp. The joined portion is displaced in the Y direction.

More specifically, the connecting member 11 of this embodiment is composed of one metal plate. As illustrated in FIG. 1, the connecting member 11 is formed in a rectangular shape with rounded corners, which is a combination of a rectangle and two semicircles when viewed in the Y direction. One end (end face) of each brake device 8 and the connecting member 11 are frictionally joined by a plurality of bolts 12a and nuts 12b.

The plurality of joining members 12 (bolts 12a and nuts 12b) are arranged at equal intervals on a circle centered on the axis of each axle 3 when viewed in the Y direction. That is, the joint positions (tightening positions of the bolts 12a) between the connecting member 11 by the joining member 12 and the brake device 8 are arranged at equal intervals in the circumferential direction of one end of the brake device 8.

The shape and size of the connecting member 11 are not particularly limited and can be appropriately determined according to the shape and size of the brake device 8, but as in this embodiment, the connecting member 11 has a convex polygonal shape when viewed in the Y direction. Alternatively, a configuration having an oval shape is desirable. In the present specification, the oval shape means a shape such as an egg shape, an oval shape, an elliptical shape, a rounded rectangle, etc., which has no dents formed from the outside to the inside on the outer edge. Further, the convex polygonal shape includes a shape having rounded corners.

The connecting member 11 can be formed of various materials such as resin as well as metal, but it is desirable that the connecting member 11 is formed of a metal having both flexibility and durability such as stainless steel and steel. The thickness of the connecting member 11 can be appropriately determined, but the region between the plurality of brake devices 8 is set to a deformable thickness.

Although the connecting member 11 can be formed by combining a plurality of plates, it is preferable to use one plate in consideration of manufacturing cost and durability. When the connecting member 11 is formed of a plurality of plates, it is preferable to join the plates with metal fittings, an adhesive, welding, or the like in a state where a part of the adjacent plates is laminated in the Y direction. The method of joining the connecting member 11 and the brake device 8 is not limited to the joining by the joining member 12, and the connecting member 11 and the brake device 8 can be joined by an adhesive, welding, or the like.

As described above, according to the traveling device 1 of the present invention, one end of each of the plurality of brake devices 8 (rotating bodies) in the Y direction is provided by the connecting member 11 formed of plates whose plane-vertical direction faces the Y direction. By connecting the two, the connecting member 11 is transmitted from the plurality of braking devices 8 to the connecting member 11 as illustrated in FIG. 6 in a state where the connecting member 11 is not in contact with the structure 21 of the cargo handling device 20 excluding the brake device 8. The loads M in the rotational direction of the axles 3 can be canceled by acting in opposite directions in the region between the plurality of brake devices 8 of the connecting member 11. Therefore, each brake device 8 can be stopped by the connecting member 11 to operate each brake device 8 normally. The load M in the rotational direction of the axle 3 transmitted from each brake device 8 to the connecting member 11 is acted in the opposite direction in the region between the braking devices 8 of the connecting member 11 to cancel each other out. Does not put a heavy load on the brakes.

Further, in the present invention, the region between the plurality of brake devices 8 of the connecting member 11 can be deformed according to the displacement of each of the plurality of brake devices 8 due to the displacement of the plurality of axles 3, thereby causing play. Without the provision, the connecting member 11 can absorb the displacement of each of the plurality of brake devices 8 due to the displacement (elastic deformation, etc.) of the plurality of axles 3. As a result, it is possible to avoid the occurrence of fretting wear due to the provision of backlash and improve the durability of the traveling device 1.

Further, the connecting member 11 is deformed while maintaining the connection with the respective braking device 8, and absorbs the displacement of each braking device 8, so that the plurality of braking devices 8 connected by the connecting member 11 are respectively. It is possible to displace following the displacement of the axle 3. Therefore, even when the axle 3 is elastically deformed due to the wheel load, the load applied to the brake device 8 and the bearing 10 can be reduced, which is advantageous in suppressing the deviation of the axis center of the brake device 8. Further, in the present invention, since the structure of the traveling device 1 can be simplified, there is an advantage that the degree of freedom in designing the cargo handling device 20 is increased.

Further, in the present invention, by forming the connecting member 11 with a plate whose plane vertical direction faces the Y direction, the connecting member 11 has high rigidity in the rotation direction (YZ plane) of the load M transmitted from the braking device 8. , The rigidity is low in the Y direction. As a result, the displacement of the brake device 8 can be effectively absorbed by the connecting member 11 being flexibly deformed in the Y direction and the twisting direction while stably connecting the brake devices 8 to each other.

In the cargo handling equipment 20, in many cases, in order to reduce the friction between the axle 3 and the bearing portion 4, lubricating oil (grease) is periodically lubricated between the axle 3 and the bearing portion 4, but the present invention In the traveling device 1 of the above, by connecting the brake device 8 to one end of the axle 3, the brake device 8 is less likely to be affected by the lubricating oil. Therefore, the brake device 8 has an advantageous structure for stably braking the axle 3. When the brake device 8 is composed of a closed type brake device as in the wet multi-plate disc brake, the brake device 8 is not affected by the lubricating oil, which is more advantageous for stable braking of the axle 3. Become.

When the connecting member 11 is composed of one metal plate as in this embodiment, the connecting member 11 having excellent flexibility and durability can be manufactured at low cost with a small number of man-hours, so that the equipment cost of the traveling device 1 can be reduced. Will be advantageous to. In the large-sized cargo handling device 20, there is a certain manufacturing error in the distance between the axles 3 and the like, but if the connecting member 11 is composed of one metal plate, the connecting member 11 can be easily manufactured in a short period of time. Therefore, for example, it is possible to manufacture the connecting member 11 according to the actual size after assembling the constituent members (axle 3, brake device 8, etc.) of the traveling device 1 other than the connecting member 11 to the cargo handling device 20. Become.

When the connecting member 11 is shaped so that each of the plurality of axles 3 fits inside the outer edge of the connecting member 11 when viewed in the Y direction, the load M in the rotational direction of each of the axles 3 of the plurality of braking devices 8 is applied. The load M generated in the brake device 8 can be effectively and well-balancedly transmitted to the connecting member 11 and canceled out in the connecting member 11 in a well-balanced manner. Therefore, it is advantageous to reduce the load applied to the brake device 8.

Further, when the connecting member 11 is shaped so that each of the plurality of braking devices 8 fits inside the outer edge when viewed in the Y direction, the rotation direction of the axle 3 transmitted from the plurality of braking devices 8 to the connecting member 11 Since the load M can be received in the entire rotation direction, the load M in the rotation direction of each axle 3 of the plurality of brake devices 8 is effectively and balancedly transmitted by the connecting member 11, and the connecting member 11 is more effective. It can be canceled out in a well-balanced manner. Therefore, it becomes more and more advantageous to reduce the load applied to the brake device 8.

If the connecting member 11 has a shape in which the outer edge is recessed from the outside to the inside when viewed in the Y direction, the load M transmitted from the brake device 8 may be concentrated on the recessed portion. On the other hand, if the connecting member 11 has a convex polygonal shape or an oval shape when viewed in the Y direction as in this embodiment, such concentration of the load M can be avoided. Therefore, it is advantageous to avoid buckling or breakage of the connecting member 11.

When the connecting member 11 and the plurality of braking devices 8 are joined by a plurality of detachable joining members 12, the connecting member 11 can be easily attached to and detached from the braking device 8, so that the maintainability of the braking device 8 and the connecting member 11 is improved. It will be advantageous.

Further, when the plurality of joining members 12 are arranged at equal intervals on a circle centered on the axis of each axle 3 when viewed in the Y direction, the rotation direction of the axle 3 transmitted from the axle 3 to the brake device 8 The load M can be transmitted to the connecting member 11 in a well-balanced manner. Therefore, it is possible to prevent the load M transmitted from the brake device 8 from concentrating locally on the connecting member 11, which is advantageous in avoiding buckling or breakage of the connecting member 11.

When the connecting member 11 and the plurality of braking devices 8 are frictionally joined by the bolts 12a and the nuts 12b as in this embodiment, the friction surface on which the load M in the rotational direction of the axle 3 is transmitted from the braking device 8 to the connecting member 11 is provided. Since it can be secured widely, the load M in the rotation direction by the brake device 8 can be effectively transmitted to the connecting member 11 in a well-balanced manner. Therefore, it becomes more and more advantageous to prevent the load M in the rotational direction by the brake device 8 from being concentrated locally on the connecting member 11.

When the connecting member 11 is joined to the surface of the plurality of braking devices 8 facing the opposite side of each wheel 2, it is not necessary to provide the connecting member 11 with a through hole through which the axle 3 and the braking device 8 are inserted. A wide joint area between the 8 and the connecting member 11 can be secured. Therefore, it is more advantageous to prevent the rotation of the brake device 8 from being more reliably prevented by the connecting member 11 and to prevent the load M transmitted to the connecting member 11 from being concentrated locally on the connecting member 11. Further, by arranging the connecting member 11 to the brake device 8 on the outside of the cargo handling device 20, the connecting member 11 can be easily attached to and detached from the brake device 8, so that the brake device 8 and the connecting member 11 can be easily maintained. Will also be advantageous. Since the end surface of the brake device 8 facing the opposite side of the wheel 2 is covered with the connecting member 11, even if a stone or the like collides with the traveling device 1 from the lateral direction, the connecting member 11 causes the braking device 8 to be covered. Can be protected.

In the present invention, the traveling device 1 may be configured not to have the driving device 5, as in the dependent traveling device 1 illustrated in FIG. 7. In this subordinate traveling device 1, the driving device 5 is not connected to one end of the axle 3, and the fixing member 13 is not provided. Other configurations are the same as those of the traveling device 1 of the embodiment shown in FIGS. 1 to 6.

When the cargo handling device 20 travels by the drive-type traveling device 1 exemplified above, the wheels 2 and the axle 3 of the subordinate traveling device 1 are in a free rotation state. When a braking force is applied to the axle 8 by the braking device 8, the rotation of the axle 3 in the free rotation state is braked. The traveling device 1 can also have the same effect as the traveling device 1 of the embodiment shown above.

FIG. 8 shows a traveling device 1 according to still another embodiment of the present invention. In the traveling device 1 of this embodiment, the connecting member 11 is joined to the end faces of the plurality of braking devices (rotating bodies) 8 facing the wheels 2. Further, in the traveling device 1, the driving device 5 is not provided with the fixing member 13, and instead, two speed reducers 7 (rotating bodies) adjacent to each other in the X direction are connected by one connecting member 11. There is. Other configurations are the same as those of the traveling device 1 of the embodiment shown in FIGS. 1 to 6.

In this embodiment, the connecting member 11 that connects the brake devices 8 to each other is provided with a through hole through which each axle 3 is inserted. It is preferable that the through hole is formed larger than the diameter of the axle 3 and the inner peripheral surface of the through hole formed in the connecting member 11 is not brought into contact with the axle 3 and is arranged with a certain gap. When the connecting member 11 is joined to the end faces of the plurality of brake devices 8 facing the wheel 2 side in this way, the brake device 8 is exposed on the opposite side of the wheel 2, so that the brake device 8 is inspected. And maintenance will be easier.

In this traveling device 1, by connecting a plurality of speed reducers 7 to each other with a connecting member 11, rotation of each speed reducer 7 with respect to the housing 24a is prevented. Each of the speed reducer 7 and the connecting member 11 is joined by a plurality of joining members 12 (bolts 12a and nuts 12b) as in the case of the brake device 8.

In this way, even when a plurality of speed reducers 7 are connected by the connecting member 11, the same effect as in the case where the above-described brake devices 8 are connected by the connecting member 11 can be obtained. In this traveling device 1, the connecting member 11 is joined to the end face of the speed reducer 7 facing the opposite side of each wheel 2, but the connecting member 11 is joined to the end face of the speed reducer 7 facing the wheel 2. It can also be joined to.

In the embodiment illustrated above, the case where two rotating bodies (brake device 8 and speed reducer 7) are connected by the connecting member 11 is illustrated, but for example, as illustrated in FIG. 9, three are connected by the connecting member 11. It is also possible to have a configuration in which one end of the above rotating body is connected.

Even when three or more rotating bodies are connected by the connecting member 11, the load M in the rotation direction of the axle 3 transmitted from each rotating body to the connecting member 11 is the same as when the two rotating bodies are connected. They cancel each other out. Therefore, as in the case of connecting the two rotating bodies, the rotation of each rotating body can be prevented without applying a large load to the connecting member 11.

In the embodiment illustrated above, the configuration in which the brake devices 8 are arranged at the same height position in the Z direction is illustrated, but the height positions of the brake devices 8 connected by the connecting member 11 are different. Even if they are different, the loads M cancel each other out, so that the same effect can be obtained with the same configuration. The shape and size of the brake device 8 are also not particularly limited, and for example, a brake device 8 having a polygonal prism shape or a cylindrical outer shape can be adopted.

1 Traveling device 2 Wheels 3 Axles 4 Bearings (bearing housing)
5 Drive device 6 Motor 7 Reducer (rotating body)
8 Brake device (rotating body)
9 Brake shaft 10 Bearing 11 Connecting member 12 Joining member 12a Bolt 12b Nut 13 Fixing member 20 Cargo handling equipment 21 Structure 22 Equalizer 23 Bogey pin 24 Bogey 24a (Bogie) Housing R Rail M Load (moment)

Claims (7)

A plurality of wheels arranged side by side in the traveling direction and rotating in the same direction, a plurality of axles having one end protruding from the wheel while being inserted into each wheel, and one end of each axle. In a traveling device comprising a plurality of connected rotating bodies, wherein the rotating body applies at least one of a driving force and a braking force to the axle.
A connecting member composed of a plate whose plane vertical direction faces the axial direction of the axle is provided, and the connecting member is either one of both ends of the plurality of rotating bodies in the axial direction of the axle. The plurality of rotating bodies are joined to one end portion to connect the plurality of rotating bodies, and the region between the plurality of rotating bodies of the connecting member is adjusted to the displacement of each of the plurality of rotating bodies due to the displacement of the plurality of axles. A traveling device characterized by being freely deformable. The traveling device according to claim 1, wherein the connecting member is composed of one metal plate. The traveling device according to claim 1 or 2, wherein the connecting member has a shape in which each of the plurality of axles fits inside the outer edge of the connecting member when viewed in the axial direction of the axle. One of claims 1 to 3, wherein the connecting member has a shape in which one end of each of the plurality of rotating bodies fits inside the outer edge of the connecting member when viewed in the axial direction of the axle. The traveling device described in. The traveling device according to any one of claims 1 to 4, wherein the connecting member has a convex polygonal shape or an oval shape when viewed in the axial direction of the axle. The rotating body and the connecting member are joined by a plurality of detachable joining members, and the plurality of joining members are centered on the axis of each of the axles when viewed in the axial direction of the axle. The traveling device according to any one of claims 1 to 5, which is arranged on a circle at equal intervals. The traveling device according to any one of claims 1 to 6, wherein one end thereof is an end surface of each of the plurality of rotating bodies facing the opposite side of the wheel.

Images