# US 12,759,653 B2 · Traveling apparatus

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- Number: US 12,759,653 B2
- Document ID: US12759653B2
- Status: Granted
- Kind: B2
- Application number: 18/613,409
- Filed: 2024-03-22
- Published: 2024-10-10
- Granted: 2026-10-13
- Earliest claimed: 2023-04-06
- Assignees: Sharp Kabushiki Kaisha
- Applicants: Sharp Kabushiki Kaisha
- Inventors: Ryoji Ishimura
- Web page: https://patentgrep.com/patent/US12759653B2

## CPC

- B62D 61/10: with more than four wheels {(tractors of the low ground pressure type B62D49/002)}
- B62D 39/00: Vehicle bodies not otherwise provided for {, e.g. safety vehicles (safety equipment B60R21/00)}
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)

## Abstract

A traveling apparatus includes a first left-side wheel, a second left-side wheel, and a third left-side wheel disposed in a front-rear direction on a left side of a vehicle body, and a first right-side wheel, a second right-side wheel, and a third right-side wheel disposed in the front-rear direction on a right side of the vehicle body, on a front wheel side or a rear wheel side, the first left-side wheel is connected to a left end portion of a first link member extending in a left-right direction, the first right-side wheel is connected to a right end portion of the first link member, and a first rotation shaft disposed at an intermediate position of the first link member is attached to a frame of the vehicle body.

## Claims

### Claim 1

A traveling apparatus comprising:
a first left-side wheel, a second left-side wheel, and a third left-side wheel disposed in a front-rear direction on a left side of a vehicle body; and
a first right-side wheel, a second right-side wheel, and a third right-side wheel disposed in the front-rear direction on a right side of the vehicle body,
wherein:
on a front wheel side or a rear wheel side, the first left-side wheel is connected to a left end portion of a first link member extending in a left-right direction, the first right-side wheel is connected to a right end portion of the first link member, and a first rotation shaft disposed at an intermediate position of the first link member is attached to a frame of the vehicle body,
the second left-side wheel is connected to one end portion of a second link member extending in the front-rear direction, the third left-side wheel is connected to another end portion of the second link member, and a second rotation shaft disposed at an intermediate position of the second link member is attached to the frame,
the second right-side wheel is connected to one end portion of a third link member extending in the front-rear direction, the third right-side wheel is connected to another end portion of the third link member, and a third rotation shaft disposed at an intermediate position of the third link member is attached to the frame,
the second link member includes a second front-rear extending portion extending in the front-rear direction and a second left extending portion extending to the left side of the vehicle body from the second front-rear extending portion, the third left-side wheel is connected to the second front-rear extending portion, the second left-side wheel is connected to the second left extending portion, and the second rotation shaft is disposed in the second left extending portion and is attached to the frame, and
the third link member includes a third front-rear extending portion extending in the front-rear direction and a third right extending portion extending to the right side of the vehicle body from the third front-rear extending portion, the third right-side wheel is connected to the third front-rear extending portion, the second right-side wheel is connected to the third right extending portion, and the third rotation shaft is disposed in the third right extending portion and is attached to the frame.

### Claim 2 (depends on 1)

The traveling apparatus according to claim 1, wherein:
the second left-side wheel, disposed between the first left-side wheel and the third left-side wheel, and the second right-side wheel, disposed between the first right-side wheel and the third right-side wheel, are driving wheels, and
the first left-side wheel, the third left-side wheel, the first right-side wheel, and the third right-side wheel are driven wheels.

### Claim 3 (depends on 2)

The traveling apparatus according to claim 2, wherein:
the second left-side wheel is disposed further on the left side of the vehicle body relative to the first left-side wheel and the third left-side wheel with respect to a traveling direction, and
the second right-side wheel is disposed further on the right side of the vehicle body relative to the first right-side wheel and the third right-side wheel with respect to the traveling direction.

### Claim 4 (depends on 1)

The traveling apparatus according to claim 1,
further comprising a function of traveling along a guide member disposed on a floor surface while detecting the guide member, wherein
the first left-side wheel and the first right-side wheel are disposed with a space therebetween, such that the first left-side wheel and the first right-side wheel travel astride the guide member.