Abstract: A speed reducer, a power system, a straddle-type rail train, and a rail transport system are disclosed. The speed reducer includes: a box body; a speed-reducing mechanism, disposed in the box body; and a support shaft, a first end of the support shaft being supported on the box body, and a second end of the support shaft being connected to a high-speed end of the speed-reducing mechanism. The speed reducer according to the present disclosure achieves a more stable connection between a drive shaft and a speed-reducing mechanism and a more stable power transmission.

Abstract: A two-wheeled vehicle is provided. The two-wheeled vehicle includes a chassis having a height, a length and a width, in a first wheel rotatably connected to the chassis, the first wheel having a perimeter, a diameter and a geometric center, and the diameter of the first wheel being at least 75% of the height of the chassis, a motor for providing a drive energy to the first wheel, an axle rotated by the motor, a drive gear connected with the axle such that the drive gear rotates with a rotation of the axle, and a plurality of teeth disposed about the first wheel and mechanically engaged with the drive gear at a location closer to the perimeter of the first wheel than to the geometric center of the first wheel.

Abstract: Powered wheel assemblies and methods of manufacturing and operating such assemblies are provided.

Abstract: An exercise machine with a movable frame seat and pedal to change the level of the user's heart in relation to the pedal.

Abstract: A manual movable body with wheels 10 which can be moved by manually rotating the wheels, comprising an upper body frame 12 supporting a heavy goods, a pair of travelling wheels 18, each of which is provided on the corresponding side of a lower body frame 14 which is not in contact with upper body frame 12, and is rotationally supported by a first horizontal rotation shaft 16 extending in the widthwise direction of the lower body frame 14, and a pair of abutting rollers, each of which is mounted on upper body frame 12, and is rotationally supported by a second horizontal rotation shaft extending in the widthwise direction of the upper body frame 12.

Abstract: The invention relates to a gear train unit, comprising a plurality of planetary gear train stages, which are connected one after the other and which each comprise a ring gear, a sun gear, and a plurality of planet gears supported on a planet carrier, wherein the sun gear of each following planetary gear train stage is formed by the planet carrier of the preceding planetary gear train stage. The gear train unit comprises a driving element, which forms the sun gear of the first planetary gear train stage, and an output element, which forms the planet carrier of the last of the gear planetary gear train stages connected one after the other.

Abstract: An apparatus comprising a platform; a plurality of trucks coupled to the platform; and a roller assembly coupled to the platform, wherein the roller assembly is configured for an omnidirectional rotation, wherein the roller assembly is configured for an elastic biasing, wherein the roller assembly is driven by a motor.

Abstract: A drive device for driving and rotating a wheel includes an axle shaft, a hub to which rotation of the axle shaft is conveyed, a plurality of fasteners for securing the wheel to the hub, a wet brake, a housing, an oil seal, and a cover. The wet brake is configured to restrain the rotation of the axle shaft. The housing accommodates the axle shaft and the wet brake. The oil seal is disposed between the housing and a part of the hub that is disposed inward of the fasteners in a radial direction of the hub. The cover has an annular shape. The cover is disposed in a space formed between the hub and the housing, and is secured to the housing. The cover is configured to cover the plurality of fasteners.

Abstract: A torque stick apparatus for driving a personal transporter across a transport surface by positioning the torque stick apparatus against a drive surface is described. The torque stick apparatus includes a tubular housing, throttle control, battery pack, motor coupled to a wheel, and motor controller. The motor controller is coupled to the motor, the battery pack, and the throttle control. The motor controller determines whether to select regenerative braking mode based at least in part on the position of the throttle control. The motor controller supplies power from the battery pack to the motor in accordance with the throttle control when regenerative braking mode is not selected. The motor controller provides power from the motor to the battery pack when regenerative braking is selected. The battery pack and the motor controller are contained within the housing.

Abstract: The invention is directed to a portal axle for low-slung vehicles, comprising a portal housing 1, 1? into the interior 2 of which is guided proceeding from an axle bracket side a drive shaft 17 on which a drive wheel 3 is arranged so as to be fixed with respect to rotation relative to it, with intermediate wheels 4 which are rotatably mounted on bearing pins 12 in the portal housing 1, 1? and which can be rotatably driven by the drive wheel 3 and by means of which an output wheel 5 which is arranged in the portal housing 1, 1? on an output shaft so as to be fixed with respect to rotation relative to it can be rotatably driven, this output wheel 5 projecting into a hub carrier 6 which can be fixedly connected to the portal housing 1, 1?. The drive shaft 17 and the output shaft extend so as to be axially offset, and a brake caliper of a disk brake is arranged radially adjacent to the portal housing 1, 1?.

Abstract: Traction/braking device (50) for electric wheel motor comprising a stator assembly (2), a rotor (3), a braking system (4) with brake disc (45) rotating as one with the rotor, the stator assembly comprising a stub axle support (1), a stator body (21) and a cover (22) delimiting a stator cooling chamber (5), the stub axle support comprising a securing base (12) intended for connecting the traction/braking device (50) to the vehicle, the stub axle support (1) comprising three axial passages for two fluid pipes (14, 15) and one for the passage of cables (16), these three passages opening into a central zone (11) of the securing base.

Abstract: The present disclosure may relate to a wheelchair that includes a first centerless wheel assembly including a drive roller guide assembly and three other roller guides, and a first drive mechanism coupled to the first drive roller guide assembly to drive the first centerless wheel assembly. The wheelchair may also include a second centerless wheel assembly including a drive roller guide assembly and three additional roller guides, and a second drive mechanism coupled to the second drive roller guide assembly to drive the second centerless wheel assembly.

Abstract: The wheel assembly includes an arm 51, a wheel 55, a power supply port 60, an electric motor 56 coupled to the wheel 55, and a motor controller 62 for controlling rotation of the electric motor 56. The method of controlling the motion of a motorized object includes defining a target position, sensing a current position of the motorized object and using an output from a processor to control the electric motors to drive the object toward the target position. The golf club storage and transport device 70 includes a body 71 for storing golf clubs and a pair of releasable wheels 75. The device 70 has an assembled configuration and a disassembled configuration.

Abstract: A three-wheeled vehicle includes a chassis, a first wheel rotatably connected to the chassis, the first wheel having a first perimeter, a first diameter and a first geometric center, a second wheel rotatably connected to the chassis, the second wheel having a second perimeter, a second diameter and a second geometric center, a first motor and a second motor, a first drive and a second drive gear, a first plurality of teeth disposed about the first wheel and mechanically engaged with the first drive gear at a location closer to the first perimeter than to the first geometric center, a second plurality of teeth disposed about the second wheel and mechanically engaged with the second drive gear at a location closer to the second perimeter than to the second geometric center, a mount rotatably connected to the chassis and a third wheel rotatably connected to the mount.

Abstract: An insulated container configured to store cold consumables is disclosed. The container has a body having a curved track wrapping around the body and upon which the body is able to be rolled. The body has an insulated wall encompassing a cavity configured to hold at least ice and consumables.

Abstract: A two-wheeled vehicle is provided. The two-wheeled vehicle includes a chassis having a height, a length and a width, a first wheel rotatably connected to the chassis, the first wheel having a perimeter, a diameter and a geometric center, and the diameter of the first wheel being at least 75% of the height of the chassis, a motor for providing a drive energy to the first wheel, an axle rotated by the motor, a drive gear connected with the axle such that the drive gear rotates with a rotation of the axle, and a plurality of teeth disposed about the first wheel and mechanically engaged with the drive gear at a location closer to the perimeter of the first wheel than to the geometric center of the first wheel.

Abstract: A drive assembly includes a drive housing, a bearing-mounted wheel mount configured to rotate about a rotation axis with respect to the drive housing, and a shift assembly coupled between an input shaft and the wheel mount to selectably cause rotation of the wheel mount various rotational speeds. The shift assembly includes a gear set and a brake arrangement. The gear set has a first gear and a second gear, each being rotatable by the input shaft independent of the other. The brake arrangement has a first brake component and a second brake component. During rotation of the wheel mount at a first rotational speed, the first brake component brakes the first gear with respect to the drive housing. During rotation of the wheel mount at a second rotational speed, the second brake component brakes the second gear with respect to the drive housing.

Abstract: A two-wheeled vehicle is provided. The two-wheeled vehicle includes a chassis having a height, a length, a width, a front and a back, a first wheel rotatably connected to the chassis, the first wheel having a perimeter, a diameter and a geometric center, and the diameter of the first wheel being at least 75% of the height of the chassis, a second wheel rotatably connected to the chassis, the second wheel having a perimeter, a diameter and a geometric center, and the diameter of the second wheel being at least 75% of the height of the chassis, and a counterweight coupled to the chassis such that the counterweight can adjust an orientation of the chassis in response to a change in pitch of the chassis about an axis passing through the geometric centers of the first and second wheels.

Abstract: The Rollback Ball or Ballmerang is a ball toy consisting of a ball shell and a mechanical tracking device tracking the ball shell by using friction force or magnetic force converting the moving ball kinetic energy to potential energy, and then releasing the potential energy rolling the ball back at the same straight line path to the same launching destination when rolling the ball in any direction on a flat floor.

Abstract: A wheel fastening system for a wheeled mobile robot includes a chassis, a motor, a wheel, and a thrust bearing. The motor is disposed in the chassis, and the motor turns a shaft connected to the wheel. The thrust bearing is an interference fit between the wheel and the chassis and provides axial support for the wheel to hold the position of the wheel. The wheeled mobile robot does not deviate from a chosen path during movement.

Abstract: A drive assembly receives rotational power from an input shaft rotatable about a rotation axis. The drive assembly includes a drive housing to which is mounted a wheel bearing support of a wheel mount that is configured to rotate about the rotation axis on a wheel bearing assembly. A planetary set is coupled between the input shaft and the wheel mount to selectably cause rotation of the wheel mount. The planetary set substantially fits within axial borders of the wheel bearing support and within an inner radial dimension of the wheel bearing support.

Abstract: The present disclosure includes a transmission comprising a first wheel assembly including a first wheel, a first drive gear coupled to the first wheel such that driving the first drive gear causes a corresponding rotation of the first wheel, and a first motor coupled to the first drive gear to drive the first drive gear. The transmission also includes a second wheel assembly that includes, a second wheel, a second drive gear coupled to the second wheel such that driving the second drive gear causes a corresponding rotation of the second wheel, and a second motor coupled to the second drive gear to drive the second drive gear.

Abstract: Powered wheel assemblies and methods of manufacturing and operating such assemblies are provided.

Abstract: A method of operating a personal transporter includes mounting the personal transporter. A torque stick apparatus having a rotating wheel is provided. The wheel of the torque stick apparatus is positioned against a drive surface to drive the personal transporter across a transport surface.

Abstract: An axle assembly having a planetary gear set and an internal brake assembly. The brake assembly may have a piston that may be disposed between a disc pack and the planetary gear set. Rotation of a sun gear of the planetary gear set may be inhibited when the piston urges the disc pack against a flange of an axle housing.

Abstract: A drive unit includes a housing, a main shaft, an output shaft, an electric motor, a first planetary gear set, and a second planetary gear set. The main shaft is rotatably disposed in the housing, and with the housing cooperatively defines an axis of rotation. The output shaft is disposed at least in part in the housing and is rotatable about the axis. The electric motor is disposed in the housing and has a rotor centered on and rotatable about the axis. The first planetary gear set is centered on the axis and provides a first speed reduction ratio between the rotor and a second planetary gear set. The second planetary gear set provides a second speed reduction ratio between the first planetary gear set and the output shaft.

Abstract: Structural arrangements of wheel drive components facilitate the use of robust main roller bearings that are widely spaced apart from one another. This wide spacing minimizes the torque borne by the bearings for a given external load, because at least one bearing is placed closer to the expected load application point (e.g., the center of gravity of the wheel attached to the wheel hub of the drive unit). The present wheel drive bearings can support a heavy external load without expanding the overall size and configuration of a given wheel drive application.

Abstract: The present invention discloses a single-wheel electric balancing scooter, comprising a wheel, a driving motor located within the wheel, a battery pack serving as a power supply of the driving motor, a self-balancing control system, and a balance signal sensor. A saddle is provided above the wheel; the saddle is mounted on a rack which is connected and fixed to a fixed shaft of the wheel; a handle is provided on a front side of the wheel, with a lower end of the handle being connected to the rack; and a front end of the rack is connected with an auxiliary wheel rack and an auxiliary wheel is provided at a lower end of the auxiliary wheel rack. The present invention has the following advantages that it is easier for driving and better to control the balance of the scooter body; the scooter body may be dragged on the ground; and the scooter body may be kept upright when not in use.

Abstract: A spherical modular autonomous robotic traveler (SMART) is provided for rolling along a surface from a first position to a second position. The SMART includes an outer spherical shell; an inner spherical chamber disposed within the outer shell; a plurality of weight-shifters arranged within the inner chamber; and a controller therein. The chamber maintains its orientation relative to the surface by a gyroscopically homing stabilizer. Each weight-shifter includes a mass disposed in a default position, and movable to an active position in response to activation. The controller selectively activates a weight-shifter among the plurality to shift the mass from the default position to the active position. The outer shell rolls in a direction that corresponds to the weight-shifter activated by the controller. For the spherical electromagnetically initiated traveling excursor (SEMITE), each weight-shifter includes a channel containing an armature and an electromagnet activated by the controller.

Abstract: Provided is an omni-wheel including an annular core member for rotatively supporting a plurality of free roller that is light, economical and strong. The omni-wheel comprises an annular core member having at least one junction defined by mutually circumferentially opposing ends thereof, a plurality of sleeve members defining an inner bore and passed onto the core member and a free roller rotatably supported on an outer surface of each sleeve member in a coaxial relationship, wherein the mutually opposing ends of the annular core member at each junction are fitted into either end of the inner bore of the corresponding sleeve member.

Abstract: A spherical weight-shifting integral free-rolling tumbler (SWIFT) is provided for rolling along a surface in a command direction. The SWIFT includes a spherical shell, a cubic box within the shell held by spars, and a controller. The box has six panels, and each panel connects to a weight-shifter. Each weight-shifter includes an actuator and a movable mass. The controller for selectively activates the weight-shifter among the panels to translate the mass from the default position to the active position. The controller operates a first switch that corresponds to panels facing away from the surface, and in combination operates a second switch that corresponds to a weight-shifter approximately facing the command direction to roll the shell accordingly.

Abstract: The present disclosure may relate to a computer readable medium containing instructions that include obtaining a first signal corresponding to an idler roller guide speed, obtaining a second signal corresponding to a tire speed, and obtaining a third signal corresponding to a motor speed. The instructions may also include comparing the idler roller guide speed to an idler threshold based on a relationship between the idler roller guide speed, the tire speed, and the motor speed and comparing the motor speed to a motor threshold based on the relationship. The instructions may additionally include, based on one or both of the idler roller guide speed exceeding the idler threshold and the motor speed exceeding the motor threshold, determining that a slippage has occurred, and in response to the slippage, initiating a corrective action.

Abstract: Steering boxes currently available on the market in order to convert the rotation of the steering wheel into the angular rotation of the wheels are not suitable to be partially built into the rim of the wheels of an electric car. In addition, existing boxes do not allow the independent rotation of the wheels or wide turning radii. These limitations are overcome using a system comprising: a body into which at least one motor is built using corresponding supports, which motor(s) actuate(s) the steering rotation axle of each steered wheel in the upper part of the body, and, in the lower part, a transmission gearbox and a stationary circular crown gear with which driving pinions mesh, said pinions rotating about the crown gear, thereby rotating the entire body and the rotation axle of the wheel built into the body together with suitable means.

Abstract: A spherical modular autonomous robotic traveler (SMART) is provided for rolling along a surface from a first position to a second position. The SMART includes an outer spherical shell; an inner spherical chamber disposed within the outer shell; a plurality of weight-shifters arranged within the inner chamber; and a controller therein. The chamber maintains its orientation relative to the surface by a gyroscopically homing stabilizer. Each weight-shifter includes a mass disposed in a default position, and movable to an active position in response to activation. The controller selectively activates a weight-shifter among the plurality to shift the mass from the default position to the active position. The outer shell rolls in a direction that corresponds to the weight-shifter activated by the controller. The weight-shifters for the SMART employ pneumatic actuation as a spherical pneumatic actuated robotic commuter (SPARC).

Abstract: The present disclosure may relate to a wheel that may include first and second exoskeleton plates. The wheel may also include first and second roller guide assemblies that each include one or more bearings, a roller guide coupled with the one or more bearings, and a shaft spanning the first and second exoskeleton plates and coupled with the roller guide such that the roller guide rotates around the shaft. The wheel may also include a tire and a centerless rim coupled with the tire. The centerless rim may be configured to have a shape that corresponds to a shape of the roller guide, and the roller guide may be configured to contact the centerless rim as the centerless rim rotates. The wheel may also include a first limiter to maintain contact between the centerless rim and the roller guide, and a second limiter.

Abstract: An omnidirectional wheel including a rim with at least one plate member and a means of attaching the wheel to a vehicle; a plurality of rollers comprising at least two toroidal rows of rollers disposed around the rim for mounting a tire; and a means of actuating the tire around its axis, defined, for example, by the never-ending torus axial member of the tire, whereby, when the wheel is engaging the ground, the tire rolling on the rim causes a side movement of the wheel, parallel to the wheel axis, in a plan orthogonal to the normal plan of rotation of the wheel when attached to the vehicle. A tire having a never-ending torus axial member, a helical bearing member, and a resilient toroidal shape is also provided.

Abstract: The present disclosure may relate to centerless wheel assembly that includes a centerless rim including a first center point laying in a first plane generally defined by the centerless rim. The centerless wheel assembly may also include a centerless ring gear coupled to the centerless rim such that rotation of the centerless ring gear causes a corresponding rotation of the centerless rim. The centerless ring gear may include a second center point laying in a second plane generally defined by the centerless ring gear, and the first plane may be generally parallel to the second plane. Additionally, the centerless ring gear may be shaped to interface with a drive gear that drives the centerless ring gear.

Abstract: Device for maintaining the orientation of an emblem in an automobile wheel includes maintaining the emblem in a substantially vertical orientation. Maintaining the emblem in a substantially vertical orientation comprises a detection component for detecting the orientation of the emblem. The emblem also comprises a motor provided with an output shaft. The output shaft of the motor rotates integrally with the emblem such that the motor rotates the emblem to place it in a substantially vertical orientation depending on the orientation of the emblem detected by the detecting component.

Abstract: A wheel assembly comprises a wheel, a transmission assembly mounted on the wheel, and a motor coupled to the wheel through the transmission assembly. The motor includes an axle extending in a radial direction of the wheel. The transmission assembly transmits a rotational motion of the axle to a rotational motion of the wheel.

Abstract: A one-wheeled vehicle may include electric motors, a self-balancing system, and steering mechanism, wherein the electric motors and self-balancing system are disposed within the wheel of the one-wheeled vehicle. A computational resource such as a microprocessor-based controller receives input signals indicative of operation of a twist throttle and brake, and produces signals to adjust the tilt angle relative to the acceleration and thereby reduce the need for a rider to lean forward or backwards.

Abstract: A perpetual spinning toy is described. The spinning toy includes a body component and a motor housed within the body component. A power source is housed within the body component and electrically connected with the motor. Finally, a spinning wheel is connected with the motor. Thus, when the motor is activated, the motor spins the spinning wheel, thereby causing the toy to spin. The toy also includes an impact trigger and stop mechanism, both of which are connected with the body component. The stop mechanism is also operably connected with the impact trigger. The stop mechanism includes a latch that is connected with the impact trigger and a plurality of spring-loaded wings that are pivotally connected with the body component, such that upon impacting the impact trigger, the wings are released from the catch, causing them to swing outward.

Abstract: In an inverted pendulum type vehicle no excessive load is exerted on a sub-wheel even in the case where some downward load is exerted on a sub-wheel arm. The inverted pendulum type vehicle includes a main wheel capable of moving forward, rearward, to the left and to the right with a vehicle body frame supported by the main wheel. The inverted pendulum type vehicle further includes the sub-wheel arm turnably supported on the vehicle body frame with the sub-wheel being supported by the sub-wheel arm and being grounded. The sub-wheel is supported through a deformable biasing device, and is biased into a predetermined position in relation to the sub-wheel arm. When a downward load is exerted on the sub-wheel arm, the biasing device deforms, whereby at least part of the sub-wheel arm is grounded.

Abstract: A spherical tractor operating mobile platform (STOMP) is provided for internally propelling and steering along an external surface. The STOMP includes a spherical shell having interior and exterior surfaces, an internal chassis containing an electrical power supply and a propulsion controller; a tractor drive system and an overhead wheel assembly. The tractor drive system provides propulsion and steering of the shell along the surface. The drive system includes a frame that connects to the chassis from below and contains a motor unit. The frame includes port and starboard sides that support respective wheel sets surrounded by corresponding continuous tracks. These tracks engage the shell's interior surface. Each wheel set includes a drive wheel, an idler wheel and a tension wheel for engaging a corresponding track. The overhead wheel assembly connects to the chassis from above to maintain the chassis and the drive system in compression with the shell.

Abstract: Vehicles are disclosed which have a lower center of gravity than existing all-terrain, amphibious, and unmanned ground vehicles due to the location of propulsion units and other vehicle components inside the wheels of the vehicle. The vehicles can climb over large obstacles yet are also able to corner at high speeds. The vehicles can be configured for direct manual operation or operation by remote control, and can also be configured for a wide variety of missions.

Abstract: A wheel hub motor for driving a motor vehicle is provided. Aging of the rolling element bearings used to support the rotor is prevented, while at the same time minimizing the emission of electromagnetic waves, in that the wheel hub motor includes a—rotor,—a hub (1), —a wheel bearing having a first bearing ring (2) which is non-rotatably and electrically conductively connected to the hub (1), and a second bearing ring (3) which is non-rotatably and electrically conductively connected to the rotor, and—a contact element (4) for creating an electrically conductive connection between said bearing rings (2, 3), the contact element (4) being supported against the hub (1) via a spring (6) and has a pressure contact with a potential equalization element (5) that is non-rotatably and electrically conductively connected to the second bearing ring (3).

Abstract: A spherical modular autonomous robotic traveler (SMART) is provided for delivering a payload along a surface from a first position to a second position. The SMART includes an outer spherical shell for rolling along the surface, an inner spherical chamber within the outer shell to carry the payload, a plurality of weight-shifters arranged in the inner chamber, and a controller to activate a select weight-shifter among the plurality. The weight-shifters can be arranged symmetrically or asymmetrically. The outer shell rolls in a direction that corresponds to the activated weight-shifter by torque induced thereby. The inner chamber maintains its orientation relative to the surface, even while the outer shell rolls along the surface. Each weight-shifter includes a channel containing an armature and an electromagnet activated by the controller. For the symmetrical arrangement, the channel is oriented from bottom periphery to lateral radial periphery of the inner chamber.

Abstract: A spherical integrated remote-control locomotive excursor (SIRCLE) is provided for remote reconnaissance. The SIRCLE includes a spherical shell, a chassis within the shell and a set of wheels between the shell and chassis. The spherical shell has inner and outer surfaces. The chassis contains a platform, an electric motor and a power supply. The set of wheels are driven by the motor and supported by the chassis. The wheels engage the inner surface and turn in response to the motor. The shell rolls by turning the wheels to propel the SIRCLE.

Abstract: An inverted pendulum type vehicle is configured to permit a user to easily get on to the vehicle in a forward-facing posture from the rear of a vehicle body. The vehicle includes a seat for supporting a user thereon, as well as a main wheel driven by an inverted pendulum control, a vehicle body frame which rotatably supports the main wheel, and a tail wheel attached to a tail wheel arm, supported for pivotal motion on the vehicle body frame. The seat is attached to the vehicle body frame at an uppermost portion thereof. The vehicle body frame pivots rearwardly around an axle of the driving wheel together with the seat upon cancellation of the inverted pendulum control and the range of pivotal motion thereof is limited by contact thereof with the arm.

Abstract: An inverted pendulum type vehicle having a tiltable rider mounting section includes a first travel operation unit and a second travel operation unit, which are disposed with an interval provided therebetween in the longitudinal direction and which are capable of traveling in all directions, and an operation device which outputs a turn command. In the case where the turn command is output from the operation device in a situation wherein at least the first travel operation unit is traveling in the longitudinal direction or at rest, the moving velocity of the ground contact point of the first travel operation unit and the moving velocity of the ground contact point of the second travel operation unit in the lateral direction of a rider are controlled to have velocities that are different from each other.

Abstract: An inverted pendulum type vehicle includes electrical components configured and arranged efficiently to provide a compact structure. The inverted pendulum type vehicle includes a traveling unit, including a main wheel driven under inverted pendulum control. The vehicle also includes a vehicle body frame supported on, and extending upwardly from the traveling unit, as well as a driving unit, including a pair of driving motors supported on the vehicle body frame and disposed above the main wheel for driving the main wheel. An electrical control unit is supported on the vehicle body frame in front of the driving motors for controlling the driving unit. The driving unit is disposed behind a front edge of the main wheel, and the electrical control unit is disposed between a front edge of the main wheel and the front edge of the driving unit.