Rotary drive device

Abstract

A rotary drive device capable of easily connecting a pair of wheel frames. The rotary drive device (DV) has a pair of drive force transmission members (110), a pair of reduction portions (15), a pair of wheel frames (13), and at least one coupling member (14). The pair of drive force transmission members (110) is provided with a plurality of drive rollers (120). The plurality of drive rollers (120) transmits a drive force to a main wheel (5). The main wheel (5) has a plurality of driven rollers (51). The pair of drive force transmission members (110) is rotatable about a rotation axis (AX). The pair of wheel frames (13) houses at least a portion of the reduction portion (15). The pair of wheel frames (13) faces each other in an axial direction (AD) along the rotation axis (AX). The pair of wheel frames (13) has a first wheel frame (13A) and a second wheel frame (13B). The first wheel frame (13A) and the second wheel frame (13B) are coupled directly or indirectly by the at least one coupling member (14).

Description

Technical Field

[0001] This invention relates to a rotary drive device. Background Technology

[0002] Conventional friction drive devices are incorporated as travel units into inverted oscillator-type moving bodies (e.g., Patent Document 1). The inverted oscillator-type moving body has a lower frame and an upper frame connected to each other. The friction drive device is supported by the lower frame of the inverted oscillator-type moving body. The lower frame has a left side wall and a right side wall that are spaced apart and opposite each other in the left-right direction.

[0003] The friction drive mechanism has cylindrical left and right mounting components. The friction drive mechanism is positioned between the left and right walls of the lower frame. The left and right mounting components are fixed to the inner sides of the left and right walls respectively by mounting bolts. That is, the left and right mounting components are concentrically fixed to the lower frame with respect to the central axis.

[0004] The left and right mounting components support the left and right annular drive discs on the outer periphery of the cylindrical portion of the mounting component via cross roller bearings, allowing them to rotate freely. Each drive disc has an outer annular portion with a diameter larger than the cylindrical portion of the drive disc. The left and right drive rollers are mounted on the outer annular portions in a manner that allows them to rotate via roller shafts.

[0005] Left and right electric motors are arranged inside the cylindrical portions of the left and right drive discs. The output rotation of the left and right electric motors is reduced in speed by left and right planetary gear units and transmitted to the left and right drive discs respectively. The left and right planetary gear units fix the sun gear as the input component to the rotor shaft of the left and right electric motors, fix the gear ring as the output component to the left and right drive discs, and fix the pinion carrier as the reaction force component to the mounting component, thus forming a speed reduction device.

[0006] Patent Document 1: Japanese Patent Application Publication No. 2011-63209

[0007] However, in the friction drive device described in Patent Document 1, it is not easy to connect a pair of wheel frames. Summary of the Invention

[0008] The present invention was made in view of the above-mentioned problems, and its object is to provide a rotary drive device that can easily connect a pair of wheel frames.

[0009] The rotary drive device exemplified by the present invention includes a pair of drive force transmission components, a pair of reduction gears, a pair of wheel carriers, and at least one connecting component. The pair of drive force transmission components are configured with a plurality of drive rollers. The plurality of drive rollers transmit drive force to a main wheel. The main wheel has a plurality of driven rollers. The pair of drive force transmission components are rotatable about a rotational axis. The pair of reduction gears reduce the rotational speed of the input shaft and cause the drive force transmission components to rotate at the reduced rotational speed. The pair of wheel carriers houses at least a portion of the reduction gears. The pair of wheel carriers are axially opposed to each other along the rotational axis. The pair of wheel carriers has a first wheel carrier and a second wheel carrier. The first wheel carrier and the second wheel carrier are directly or indirectly connected by the at least one connecting component.

[0010] According to the illustrative invention, a rotary drive device capable of easily connecting a pair of wheel frames can be provided. Attached Figure Description

[0011] Figure 1 This is a 3D view showing the transport vehicle.

[0012] Figure 2 This is a side view showing the transport vehicle.

[0013] Figure 3 This is a bottom view showing the transport vehicle.

[0014] Figure 4 This is a perspective view showing the rotary drive device.

[0015] Figure 5 This is a perspective view showing the main wheel and the second drive unit.

[0016] Figure 6A This is a perspective view showing the drive roller.

[0017] Figure 6B This is a top view showing the drive roller.

[0018] Figure 7 It is along Figure 4 A cross-sectional view of the rotary drive device along line VII-VII.

[0019] Figure 8 It is along Figure 4 A cross-sectional view of the rotary drive unit of line VIII-VIII.

[0020] Figure 9A This is a three-dimensional view showing the wheel frame.

[0021] Figure 9B This is a three-dimensional view showing the wheel frame.

[0022] Figure 10A This is a side view showing the wheel frame.

[0023] Figure 10B This is a side view showing the wheel frame.

[0024] Figure 11 This is a front view showing the wheel frame.

[0025] Figure 12 An exploded perspective view of the area near the first and second wheel frames of the rotary drive mechanism is shown.

[0026] Figure 13A This is a three-dimensional view showing the centering component.

[0027] Figure 13B This is a cross-sectional view showing the centering component.

[0028] Figure 14A This is a cross-sectional view of the vicinity of the centering component.

[0029] Figure 14B This is a cross-sectional view of the vicinity of the centering component.

[0030] Figure 15A This is a three-dimensional view showing the centering component.

[0031] Figure 15B This is a cross-sectional view showing the centering component.

[0032] Figure 16A This is a cross-sectional view of the vicinity of the centering component.

[0033] Figure 16B This is a cross-sectional view of the vicinity of the centering component.

[0034] Figure 17A This is a three-dimensional view showing the centering component.

[0035] Figure 17B This is a cross-sectional view showing the centering component.

[0036] Figure 18A This is a cross-sectional view of the vicinity of the centering component.

[0037] Figure 18B This is a cross-sectional view of the vicinity of the centering component.

[0038] Figure 19 This is a cross-sectional view of the vicinity of the centering component.

[0039] Label Explanation

[0040] 5: Main wheel; 13: Wheel frame; 13A: First wheel frame; 13B: Second wheel frame; 14, 14A, 14B: Connecting parts; 15: Reduction section; 21: Centering part; 23: Adjusting part; 25: Sealing part; 51: Driven roller; 110: Drive force transmission part; 120: Drive roller; 123: Shaft; 132, 132a, 132b, 132c: Through holes; 134A: First protrusion; 1 34B: Second protrusion; 135A: First main body; 135B: Second main body; 136, 136a, 136b, 136c: Threaded holes; 156A: First bearing component; 156B: Second bearing component; 171: Rotating shaft; 212: Inner circumferential surface; 214: Outer circumferential surface; 1562: Inner circumferential portion; 1564: Outer circumferential portion; AD: Axial direction; AX: Rotation axis; DV: Rotation drive device. Detailed Implementation

[0041] Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings. Furthermore, in the drawings, the same or equivalent parts are labeled with the same reference numerals and will not be described again. Additionally, in the drawings, for ease of understanding, the X-axis, Y-axis, and Z-axis of the three-dimensional orthogonal coordinate system are appropriately shown.

[0042] In this specification, the rotation axis AX of the rotary drive device (e.g., Figure 3 The direction parallel to the axis of rotation is denoted as "axial AD". That is, the direction along the axis of rotation is denoted as "axial AD". The direction perpendicular to the axis of rotation AX is denoted as "radial RD". "Radial RD" is an example of "radial relative to the axis of rotation". The direction along the arc centered on the axis of rotation AX is denoted as "circumferential CD". "Circumferential CD" is an example of "circumferential about the axis of rotation". Furthermore, "parallel direction" includes roughly parallel directions, and "perpendicular direction" includes roughly perpendicular directions. Additionally, "left and right" refers to the left and right orientation of the object when viewed from radial RD.

[0043] Reference Figures 1 to 19 The transport vehicle 1, rotary drive device DV, first drive force transmission device 11A, second drive force transmission device 11B, first drive force transmission component 110A, and second drive force transmission component 110B according to embodiments of the present invention will be described. First, referring to... Figures 1-3 The following describes the transport vehicle 1.

[0044] Figure 1 This is a perspective view of the transport vehicle 1. Figure 2 This is a side view showing the transport vehicle 1. Figure 3 This is a bottom view showing the transport vehicle 1. Figure 3 In the middle, view the transport vehicle 1 from one side of the floor or ground.

[0045] Figure 1 and Figure 2 The transport vehicle 1 shown travels on a floor or ground surface. In this embodiment, the transport vehicle 1 is an Automated Guided Vehicle (AGV). The transport vehicle 1 is an example of a "mobile body".

[0046] like Figure 1 As shown, the transport vehicle 1 has a body 3. Figure 1 and Figure 2 In the example, the vehicle body 3 has a roughly rectangular shape. However, the shape of the vehicle body 3 is not particularly limited.

[0047] like Figure 2 and Figure 3 As shown, the transport vehicle 1 also has multiple rotary drive units DV and multiple wheels 7. In this embodiment, the transport vehicle 1 has a pair of rotary drive units DV and four wheels 7. The four wheels 7 are respectively disposed at the four corners of the bottom 3a of the vehicle body 3. Each wheel 7 rotates as the vehicle body 3 moves. The pair of rotary drive units DV rotate independently of each other, thereby moving the vehicle body 3. The pair of rotary drive units DV are disposed at the bottom 3a of the vehicle body 3 such that the rotation axis AX of one of the rotary drive units DV is aligned with the rotation axis AX of the other rotary drive unit DV.

[0048] The structures of the pair of rotary drive units DV are identical. Therefore, the rotary drive unit DV of one of the pair will be described below.

[0049] like Figure 3 As shown, the rotary drive device DV has a main wheel 5, a first drive unit DA, and a second drive unit DB. The first drive unit DA and the second drive unit DB drive the main wheel 5. As a result, the main wheel 5 rotates about the rotation axis AX. Therefore, the rotation axis AX is also the rotation axis of the main wheel 5. The first drive unit DA contacts the main wheel 5 from one side along the axis AD and drives the main wheel 5. The second drive unit DB contacts the main wheel 5 from the other side along the axis AD and drives the main wheel 5.

[0050] The first drive unit DA includes a first drive force transmission device 11A, a first motor 17A, and a first motor housing 18A. The first motor 17A has a first rotating shaft 171A.

[0051] The second drive unit DB includes a second drive force transmission device 11B, a second motor 17B, and a second motor housing 18B. The second motor 17B has a second rotating shaft 171B. The structure of the second motor 17B is the same as that of the first motor 17A of the first drive unit DA, so its description is omitted. In addition, the second drive force transmission device 11B has a structure obtained by reversing the left and right sides of the first drive force transmission device 11A of the first drive unit DA, so its description is appropriately omitted.

[0052] Next, refer to Figure 4 The rotary drive device DV is described. Figure 4 This is a perspective view showing the rotary drive device (DV). (As shown) Figure 4 As shown, in the rotary drive device DV, the first drive force transmission device 11A of the first drive unit DA has a generally disc-shaped design. The first drive force transmission device 11A is disposed on one side of the main wheel 5 along the axial direction AD. The first drive force transmission device 11A is supported to be rotatable. The first drive force transmission device 11A is driven by the first motor 17A to rotate about the rotation axis AX. Therefore, the rotation axis AX is also the rotation axis of the first drive force transmission device 11A. Furthermore, the first drive force transmission device 11A contacts the main wheel 5 from one side along the axial direction AD and drives the main wheel 5.

[0053] The first drive force transmission device 11A rotates about the rotation axis AX. As a result, the first drive force transmission device 11A transmits the rotational drive force to the main wheel 5. That is, the first drive force transmission device 11A transmits the drive force of the first motor 17A to the main wheel 5.

[0054] Furthermore, the second drive force transmission device 11B of the second drive unit DB has a generally disc-shaped design. The second drive force transmission device 11B is disposed on the other side of the main wheel 5 along the axial direction AD. The second drive force transmission device 11B is supported to be rotatable. The second drive force transmission device 11B is driven by the second motor 17B to rotate about the rotation axis AX. Therefore, the rotation axis AX is also the rotation axis of the second drive force transmission device 11B. Moreover, the second drive force transmission device 11B contacts the main wheel 5 from the other side of the main wheel 5 along the axial direction AD and drives the main wheel 5.

[0055] The first drive force transmission device 11A and the second drive force transmission device 11B clamp the main wheel 5 from the axial direction AD. Furthermore, the first drive force transmission device 11A and the second drive force transmission device 11B are arranged symmetrically about the main wheel 5. The first drive force transmission device 11A and the second drive force transmission device 11B support the main wheel 5 so that it can rotate about the rotation axis AX.

[0056] The main wheel 5 has a plurality of driven rollers 51 and a core 53. The core 53 extends circumferentially CD about the axis of rotation AX. The core 53 has a generally annular shape. The plurality of driven rollers 51 each have a generally cylindrical shape. The plurality of driven rollers 51 are supported by the core 53 and are rotatable. Specifically, the plurality of driven rollers 51 are rotatable about an axis tangential to the core 53 at their own position. Hereinafter, the rotation of the driven rollers 51 about an axis tangential to the core 53 at their own position is sometimes referred to as "rotation". The plurality of driven rollers 51 are arranged at intervals along the circumferential direction CD on the core 53.

[0057] When the main wheel 5 rotates about the rotation axis AX, the multiple driven rollers 51 rotate and move circumferentially along the CD direction. Hereinafter, the circumferential position of the driven roller 51 when it rotates along the CD direction is sometimes referred to as the "rotational movement position". The multiple driven rollers 51 contact the floor surface or ground according to their rotational movement positions. Hereinafter, the contact between the driven roller 51 and the floor surface or ground is sometimes referred to as "grounding". The roller body of the driven roller 51 is, for example, made of rubber.

[0058] Next, refer to Figure 4 and Figure 5 The details of the first driving force transmission device 11A are described below. Figure 4 As shown, the rotary drive device DV has a pair of drive force transmission components 110. The pair of drive force transmission components 110 includes a first drive force transmission component 110A and a second drive force transmission component 110B. More specifically, in this embodiment, the rotary drive device DV has a first drive section DA, the first drive section DA has a first drive force transmission device 11A, and the first drive force transmission device 11A has a drive force transmission component 110. Similarly, in this embodiment, the rotary drive device DV has a second drive section DB, the second drive section DB has a second drive force transmission device 11B, and the second drive force transmission device 11B has a drive force transmission component 110. Hereinafter, "first drive force transmission component 110A" and "second drive force transmission component 110B" will sometimes be collectively referred to, but simply as "drive force transmission component 110". The drive force transmission component 110 has a generally disc-shaped form. The drive force transmission component 110 is made of, for example, a high-rigidity material such as metal or hard plastic.

[0059] The drive force transmission component 110 is rotatable about the rotation axis AX. Specifically, when the first rotation shaft 171A of the first motor 17A rotates, the drive force transmission component 110 rotates about the rotation axis AX. Therefore, the rotation axis AX is also the rotation axis of the drive force transmission component 110.

[0060] Figure 5This is a perspective view showing the main wheel 5 and the second drive unit DB. Figure 5 From Figure 4 The configuration includes a first drive unit DA, a main wheel 5 on one side, and a second drive unit DB. Additionally, in... Figure 5 For ease of understanding, the illustration of the first drive unit DA has been omitted. Furthermore, in... Figure 5 In the attached diagram, the main wheel 5 is represented by a double-dotted line for easy viewing.

[0061] like Figure 4 and Figure 5 As shown, the first drive force transmission device 11A has a plurality of drive rollers 120. The plurality of drive rollers 120 are disposed on the drive force transmission member 110. When the drive force transmission member 110 rotates about the rotation axis AX, the plurality of drive rollers 120 rotate and move along the circumferential direction CD respectively. Hereinafter, the circumferential position CD of the drive rollers 120 when they rotate and move along the circumferential direction CD is sometimes referred to as the "rotational movement position".

[0062] Multiple drive rollers 120 contact any one of the multiple driven rollers 51 according to their rotational position. Specifically, at least the drive roller 120 contacts the lowest driven roller 51 that is grounded. In this case, the outer peripheral surface of the drive roller 120 contacts the outer peripheral surface of the driven roller 51. As a result, through friction between the drive roller 120 and the driven roller 51, the driving force based on the rotation of the driving force transmission member 110 is transmitted from the drive roller 120 to the driven roller 51. In other words, the multiple drive rollers 120 transmit driving force to the main wheel 5. Further, in other words, the multiple drive rollers 120 transmit propulsion force to the main wheel 5.

[0063] Specifically, the plurality of drive rollers 120 are configured to rotate about a central axis (hereinafter referred to as "central axis CT"), which extends in a direction that is neither perpendicular nor parallel to the direction of rotation of the main wheel 5 about the axis of rotation AX. That is, the central axis CT of the plurality of drive rollers 120 is inclined relative to the direction of rotation of the main wheel 5 about the axis of rotation AX and has a torsional relationship with respect to the axis of rotation AX.

[0064] The rotary drive unit DV also has a pair of wheel frames 13, a pair of reduction gears, and at least one connecting component.

[0065] In this specification, the wheel frame 13 of the first drive unit DA is sometimes referred to as "first wheel frame 13A", and the wheel frame 13 of the second drive unit DB is referred to as "second wheel frame 13B". A pair of wheel frames 13 have a first wheel frame 13A and a second wheel frame 13B.

[0066] The second drive unit DB also includes a second wheel frame 13B, at least one coupling member 14B, and a reduction gear. In this embodiment, the second drive unit DB has three coupling members 14B. The coupling members 14B are, for example, bolts.

[0067] The first drive unit DA also includes a first wheel frame 13A, at least one connecting member 14A, and a reduction gear. In this embodiment, the first drive unit DA has three connecting members 14A.

[0068] The first wheel frame 13A and the second wheel frame 13B are connected via at least one connecting member 14A and at least one connecting member 14B. Therefore, the first drive unit DA and the second drive unit DB are connected via at least one connecting member 14A and at least one connecting member 14B.

[0069] Next, refer to Figure 4 and Figure 5 The control of the movement direction of the main wheel 5 is explained. For example... Figure 4 As shown, the driving force transmission component 110 of the first driving force transmission device 11A is sometimes referred to as "first driving force transmission component 110A", and the driving force transmission component 110 of the second driving force transmission device 11B is referred to as "second driving force transmission component 110B".

[0070] like Figure 4 As shown, the rotation direction and speed of the first driving force transmission component 110A and the rotation direction and speed of the second driving force transmission component 110B are independently controlled by the first motor 17A and the second motor 17B, thereby controlling the movement direction of the main wheel 5.

[0071] Specifically, when the first motor 17A and the second motor 17B are driven in the same direction and at the same speed, the first driving force transmission component 110A and the second driving force transmission component 110B rotate at the same speed in the same direction, thereby causing the main wheel 5 to rotate around the rotation axis AX. In this case, there is no speed difference between the first driving force transmission component 110A and the second driving force transmission component 110B, so the driven roller 51 of the main wheel 5 does not rotate, and the main wheel 5 moves forward or backward in a straight line.

[0072] On the other hand, when the first motor 17A and the second motor 17B are driven in different directions of rotation and / or at different speeds, a speed difference will occur between the first driving force transmission component 110A and the second driving force transmission component 110B.

[0073] In this case, the component of the rotational force of the first driving force transmission component 110A perpendicular to the circumferential force acts on the drive roller 120 of the first driving force transmission component 110A. Figure 5The contact surface between the drive roller 120 of the second drive force transmission component 110B and the driven roller 51 of the main wheel 5. In addition, the component of the rotational force of the second drive force transmission component 110B perpendicular to the circumferential direction acts on the contact surface between the drive roller 120 of the second drive force transmission component 110B and the driven roller 51 of the main wheel 5.

[0074] Therefore, the driven roller 51 rotates while the main wheel 5 does not rotate around the rotation axis AX, or the main wheel 5 rotates around the rotation axis AX and the driven roller 51 rotates. As a result, the main wheel 5 moves in the left-right direction or the tilting direction.

[0075] In addition, the first driving force transmission device 11A and the second driving force transmission device 11B support the main wheel 5 so that it can rotate about the rotation axis AX by clamping the main wheel 5 by the multiple driving rollers 120 of the first driving force transmission component 110A and the multiple driving rollers 120 of the second driving force transmission component 110B.

[0076] Next, refer to Figure 6A and Figure 6B The drive roller 120 will be described. Figure 6A This is a perspective view showing the drive roller 120. Figure 6B This is a top view showing the drive roller 120. (As shown) Figure 6A and Figure 6B As shown, the drive roller 120 has a roller body 121 and a shaft 123. The roller body 121 has a generally circular plate shape. The roller body 121 is made of a high-rigidity material, such as metal or hard plastic. The shaft 123 is disposed on a central axis CT. That is, the shaft 123 extends along the central axis CT. The shaft 123 has a generally cylindrical shape. The shaft 123 passes through the roller body 121 and is fixed to the roller body 121. The shaft 123 is made of a high-rigidity material, such as metal or hard plastic.

[0077] Here, the driving force transmission device 11 ( Figure 5 Each drive roller 120 has a pair of bushings BH and a pair of pads 125. The first drive force transmission device 11A has multiple bushings BH and multiple pads 125 because it has multiple drive rollers 120.

[0078] A pair of bushings BH support the drive roller 120 so that it can rotate about the central axis CT. Specifically, one bushing BH supports one end of the shaft 123 so that it can rotate, and the other bushing BH supports the other end of the shaft 123 so that it can rotate. The bushings BH are made of high-rigidity materials such as metal and rigid plastic.

[0079] Each pair of pads 125 is made of an elastic component such as rubber. Furthermore, one of the pads 125 is held between one side 121a of the roller body 121 and the bushing BH, while the other pad 125 is held between the other side 121a of the roller body 121 and the bushing BH. As a result, the generation of noise caused by the drive roller 120 when the drive force transmission component 110 rotates about the rotation axis AX can be suppressed.

[0080] Reference Figure 7 The rotary drive device DV will be further explained. Figure 7 It is along Figure 4 A cross-sectional view of the rotary drive device DV of line VII-VII.

[0081] like Figure 7 As shown, the rotary drive device DV has a pair of drive force transmission components (first drive force transmission component 110A and second drive force transmission component 110B), a pair of reduction units 15 (first reduction unit 15A and second reduction unit 15B), a pair of wheel frames 13 (first wheel frame 13A and second wheel frame 13B) and at least one connecting component (connecting component 14A and connecting component 14B).

[0082] The first drive unit DA includes a first drive force transmission device 11A, a first wheel frame 13A, a first reduction unit 15A, a first motor 17A, and a first motor housing 18A. The first motor 17A is housed in the first motor housing 18A.

[0083] The second drive unit DB includes a second drive force transmission device 11B, a second wheel frame 13B, a second reduction unit 15B, a second motor 17B, and a second motor housing 18B. The second motor 17B is housed in the second motor housing 18B. The second drive unit DB has the same structure as the first drive unit DA, therefore, descriptions are appropriately omitted.

[0084] The first motor 17A has a first rotating shaft 171A. The second motor 17B has a second rotating shaft 171B. The first rotating shaft 171A and the second rotating shaft 171B are examples of "input shafts".

[0085] The first reduction gear 15A includes a first sun gear 151A, a plurality of first planetary gears 153A, and a first internal gear 155A. Specifically, the first reduction gear 15A has two first planetary gears 153A. Alternatively, the first reduction gear 15A may have three or more first planetary gears 153A.

[0086] Similarly, the second reduction unit 15B includes a second sun gear 151B, a plurality of second planetary gears 153B, and a second internal gear 155B. Specifically, the second reduction unit 15B has two second planetary gears 153B. Alternatively, the second reduction unit 15B may have three or more second planetary gears 153B. Hereinafter, "first sun gear 151A" and "second sun gear 151B" are sometimes collectively referred to as "sun gear 151". Similarly, "first planetary gear 153A" and "second planetary gear 153B" are sometimes collectively referred to as "planetary gear 153". Furthermore, "first internal gear 155A" and "second internal gear 155B" are sometimes collectively referred to as "internal gear 155".

[0087] The reduction unit 15 transmits power by rotating the sun gear 151 and the plurality of planetary gears 153 while they are in contact with each other. That is, the reduction unit 15 is a so-called planetary gear type reducer. More specifically, the reduction unit 15 is a planetary gear type reducer with a star-shaped structure. Specifically, the external teeth of each of the plurality of planetary gears 153 mesh with the internal teeth of the internal gear 155. The internal gear 155 forms part of the drive force transmission member 110. Therefore, when the plurality of planetary gears 153 rotate, the drive force transmission member 110 rotates.

[0088] The deceleration unit 15 converts the rotational motion at speed N1 into rotational motion at speed N2, which is lower than speed N1. Speeds N1 and N2 represent the rotational speeds per unit time. In this embodiment, the deceleration unit 15 reduces the rotational speed of the rotating shaft 171 and causes the drive force transmission component to rotate at the reduced speed.

[0089] A pair of wheel carriers 13 house at least a portion of the reduction gear 15. Specifically, the first wheel carrier 13A houses at least a portion of the first reduction gear 15A. In this embodiment, the first wheel carrier 13A houses a portion of the first rotating shaft 171A, the first sun gear 151A, and a plurality of first planetary gears 153A. Similarly, the second wheel carrier 13B houses a portion of the second rotating shaft 171B, the second sun gear 151B, and a plurality of second planetary gears 153B. The pair of wheel carriers 13 are positioned opposite each other along the axial direction AD. Specifically, the first wheel carrier 13A and the second wheel carrier 13B are positioned opposite each other along the axial direction AD.

[0090] The first rotating shaft 171A is the input shaft of the first reduction gear 15A. The first rotating shaft 171A is disposed on the rotation axis AX and extends along the axial direction AD. The first rotating shaft 171A is generally cylindrical. "Cylindrical" is, for example, "round". The first rotating shaft 171A is connected to a first motor 17A, which serves as a drive source. When the first motor 17A is driven, the first rotating shaft 171A rotates at a speed N1 about the rotation axis AX.

[0091] The sun gear 151 is disposed radially inside the drive force transmission component 110. The sun gear 151 rotates about the rotation axis AX. The sun gear 151 is generally cylindrical. The sun gear 151 extends axially AD. The sun gear 151 is coupled to the first rotation shaft 171A along the axial direction AD. Therefore, when the first rotation shaft 171A rotates at a rotational speed N1, the sun gear 151 rotates at a rotational speed N1. In this embodiment, the rotation shaft 171 and the sun gear 151 are a single component. Alternatively, the first rotation shaft 171A and the sun gear 151 can also be separate components.

[0092] Multiple planetary gears 153 are arranged around the sun gear 151 along the Y-axis. That is, in this embodiment, the multiple planetary gears 153 are arranged around the sun gear 151 in a horizontal direction. In this embodiment, the multiple planetary gears 153 are arranged at equal intervals around the sun gear 151 along the circumferential direction CD. The external teeth of each of the multiple planetary gears 153 mesh with the external teeth of the sun gear 151. Therefore, when the sun gear 151 rotates, the multiple planetary gears 153 rotate respectively.

[0093] Multiple planetary gears 153 are disposed on the radially inner side of the drive force transmission component 110. The external teeth of each of the multiple planetary gears 153 contact the internal gear 155. The internal gear 155 forms part of the drive force transmission component 110. Therefore, when the multiple planetary gears 153 rotate, the drive force transmission component 110 rotates.

[0094] The first wheel carrier 13A supports multiple first planetary gears 153A so that they can rotate on their own.

[0095] Specifically, the first wheel frame 13A has a plurality of wheel frame pins 159A. In this embodiment, the first wheel frame 13A has two wheel frame pins 159A.

[0096] Multiple wheel carrier pins 159A are arranged at equal intervals around the first sun gear 151A along the circumferential direction CD. The wheel carrier pins 159A are generally cylindrical. "Cylindrical" is, for example, "cylindrical". The wheel carrier pins 159A are respectively fixed to the first wheel carrier 13A.

[0097] Multiple wheel carrier pins 159A pass through the first planetary gear 153A along the axial direction AD, and support the first planetary gear 153A so that it can rotate.

[0098] Next, refer to Figure 8 The combination of the first wheel frame 13A and the second wheel frame is explained. Figure 8 It is along Figure 4 A cross-sectional view of the rotary drive unit DV of line VIII-VIII.

[0099] like Figure 8 As shown, the first wheel frame 13A and the second wheel frame 13B are directly connected by at least one connecting member (connecting member 14A and connecting member 14B). Specifically, one end of connecting member 14A is located on the first wheel frame 13A. On the other hand, one end of connecting member 14B is located on the second wheel frame 13B. Similarly, one end of connecting member 14B is located on the first wheel frame 13A. On the other hand, one end of connecting member 14B is located on the second wheel frame 13B. Therefore, the first wheel frame 13A and the second wheel frame 13B are connected via connecting member 14A and connecting member 14B. As a result, a pair of wheel frames (first wheel frame 13A and second wheel frame 13B) can be easily connected.

[0100] Reference Figures 9A to 11 The wheel frame 13 will be further explained. Figure 9A and Figure 9B This is a perspective view showing the wheel frame 13. Figure 10A and Figure 10B This is a side view showing the wheel frame 13. Figure 11 This is a front view showing the wheel frame 13. The first wheel frame 13A and the second wheel frame 13B have the same structure, so the description is appropriately omitted.

[0101] like Figure 9A and Figure 9B As shown, the first wheel frame 13A has a first main body portion 135A, a first protrusion 134A, and a shaft insertion portion 139. The first main body portion 135A has a generally cylindrical shape. The first protrusion 134A protrudes from the first main body portion 135A toward the second wheel frame 13B. A first rotating shaft 171A of the first motor 17A is inserted into the shaft insertion portion 139. Figure 7 and Figure 8 ).

[0102] Similarly, the second wheel frame 13B has a second main body 135B, a second protrusion 134B, and a shaft insertion portion 139. The second main body 135B has a generally cylindrical shape. The second protrusion 134B protrudes from the second main body 135B toward the first wheel frame 13A. A second rotating shaft 171B of the second motor 17B is inserted into the shaft insertion portion 139. Figure 7 and Figure 8 ).

[0103] like Figures 9A to 10B As shown, a plurality of through holes (through holes 132a, 132b and 132c) and a plurality of threaded holes (threaded holes 136a, 136b and 136c) are formed on the first wheel frame 13A.

[0104] In this embodiment, three through holes are formed on the first wheel frame 13A. In this specification, through holes 132a, 132b, and 132c are sometimes collectively referred to as through hole 132. Through hole 132 penetrates the first main body portion 135A. Through hole 132 allows the connecting member 14A to be inserted.

[0105] In this embodiment, three threaded holes are formed on the first wheel frame 13A. Specifically, threaded holes 136a, 136b, and 136c are formed on the first main body portion 135A. In this specification, threaded holes 136a, 136b, and 136c are sometimes collectively referred to as threaded hole 136. Threaded hole 136 is formed on the side opposite to the side where the shaft insertion portion 139 is located. That is, threaded hole 136 is formed on the side opposite to the second wheel frame 13B. Threaded hole 136 allows the connecting member 14 to be threaded into it.

[0106] Similarly, multiple through holes (through holes 132a, 132b and 132c) and multiple threaded holes (threaded holes 136a, 136b and 136c) are formed on the second wheel frame 13B.

[0107] In this embodiment, three through holes are formed on the second wheel frame 13B. In this specification, through holes 132a, 132b, and 132c are sometimes collectively referred to as through hole 132. Through hole 132 penetrates the second main body portion 135B. Through hole 132 allows the connecting member 14B to be inserted.

[0108] In this embodiment, three threaded holes are formed on the second wheel frame 13B. Specifically, threaded holes 136a, 136b, and 136c are formed on the second main body portion 135B. In this specification, threaded holes 136a, 136b, and 136c are sometimes collectively referred to as threaded hole 136. Threaded hole 136 is formed on the side opposite to the side where the shaft insertion portion 139 is located. That is, threaded hole 136 is formed on the side opposite to the second wheel frame 13B. Threaded hole 136 allows the coupling member 14 to be threaded into it.

[0109] In the first wheel frame 13A, when viewed from the axial direction AD, at least one through hole 132 is positioned at a point symmetrical with respect to at least one threaded hole 136 about the rotation axis AX. In this embodiment, in the first wheel frame 13A, when viewed from the axial direction AD, through holes 132a, 132b, and 132c are positioned at a point symmetrical with respect to threaded holes 136a, 136b, and 136c about the rotation axis AX. Therefore, by rotating the wheel frame to face each other, components of the first wheel frame and the second wheel frame can be shared.

[0110] Similarly, in the second wheel frame 13B, when viewed from the axial direction AD, at least one through hole 132 is positioned at a point symmetrical with respect to at least one threaded hole 136 about the rotation axis AX. In this embodiment, in the second wheel frame 13B, when viewed from the axial direction AD, through holes 132a, 132b, and 132c are positioned at a point symmetrical with respect to the threaded hole 136b about the rotation axis AX. Therefore, by rotating the wheel frame to face each other, components of the first wheel frame and the second wheel frame can be shared.

[0111] The first main body 135A also has fixing holes 133a to 133d, an opening 137, a fixing hole 138a, and a fixing hole 138b.

[0112] The fixing holes 133a to 133d allow for the insertion of fixing components. These fixing components are, for example, screws. The first motor housing 18A and the first wheel frame 13A are secured by inserting the fixing components into the fixing holes 133a to 133d.

[0113] The opening 137 is an opening for the insertion of the first planetary gear 153A. With the first planetary gear 153A mounted on the first gear carrier 13A, a portion of the first planetary gear 153A protrudes from the opening 137.

[0114] The fixing holes 133a to 133d allow for the insertion of fixing components. These fixing components are, for example, screws. The first motor housing 18A and the first wheel frame 13A are secured by inserting the fixing components into the fixing holes 133a to 133d.

[0115] Similarly, fixing holes 133a to 133d, opening 137, fixing hole 138a, and fixing hole 138b are also formed on the second main body 135B.

[0116] Reference Figure 12 The rotary drive device DV will be further explained. Figure 12 An exploded perspective view is shown near the first wheel frame 13A and the second wheel frame 13B of the rotary drive device DV. Figure 12 The diagram shows a first wheel frame 13A, a second wheel frame 13B, a connecting component 14A, a connecting component 14B, a centering component 21, a first adjusting component 23A, a second adjusting component 23B, a sealing component 25, a first bearing component 156A, and a second bearing component 156B.

[0117] like Figure 12As shown, the rotary drive device DV also includes a centering component 21, a first adjusting component 23A, a second adjusting component 23B, a sealing component 25, a first bearing component 156A, and a second bearing component 156B. Regarding the first adjusting component 23A, the second adjusting component 23B, and the sealing component 25, refer to... Figures 13A to 19 The explanation will follow.

[0118] The through holes 132a to 132c of the first wheel frame 13A and the threaded holes 136a to 136c of the second wheel frame 13B are positioned opposite each other along the axial direction AD. Therefore, by inserting the connecting member 14A into the through holes 132a to 132c of the first wheel frame 13A and threading the connecting member 14A into the threaded holes 136a to 136c, a pair of wheel frames can be easily connected.

[0119] Similarly, the through holes 132a and 132c of the second wheel frame 13B and the threaded holes 136a and 136c of the second wheel frame 13B are positioned opposite each other in the axial direction AD. Therefore, by inserting the connecting member 14B into the through holes 132a and 132c of the second wheel frame 13B and screwing the connecting member 14B into the threaded holes 136a and 136c, a pair of wheel frames can be easily connected. Furthermore, the through holes 132a and 132c of the second wheel frame 13B and the threaded holes 136a and 136c of the second wheel frame 13B are positioned opposite each other in the axial direction AD. Figure 12 It is hidden and cannot be seen.

[0120] Next, refer to Figures 13A to 14B The centering component 21 will be described. Figure 13A This is a perspective view showing the centering component 21. Figure 13B This is a cross-sectional view showing the centering component 21. Figure 14A and Figure 14B This is a cross-sectional view of the vicinity of centering component 21.

[0121] like Figure 13A and Figure 13B As shown, the centering component 21 is annular. In this embodiment, the centering component 21 is annular. The centering component 21 has an inner peripheral surface 212 and an outer peripheral surface 214. The centering component 21 is formed of metal, for example.

[0122] like Figure 14A and Figure 14B As shown, the rotary drive device DV also has a centering component 21. The centering component 21 makes the axles of a pair of wheel carriers 13 coaxial. Specifically, the centering component 21 aligns the axle of the first wheel carrier 13A and the axle of the second wheel carrier 13B in a straight line. Therefore, the axles of a pair of wheel carriers can be made coaxial with high precision.

[0123] like Figure 14B As shown, the first protrusion 134A and the second protrusion 134B are opposite each other. The inner circumferential surface 212 of the centering member 21 contacts the first protrusion 134A and the second protrusion 134B. Therefore, the axle cores of the first wheel frame 13A and the second wheel frame 13B can be coaxial through a common component. As a result, the axle cores of a pair of wheel frames 13 can be coaxial with high precision.

[0124] A first bearing component 156A is mounted on a first wheel frame 13A, supporting a first drive force transmission component 110A for rotation. The first bearing component 156A has an inner peripheral portion 1562 and an outer peripheral portion 1564. A second bearing component 156B is mounted on a second wheel frame 13B, supporting a second drive force transmission component 110B for rotation. The second bearing component 156B has an inner peripheral portion 1562 and an outer peripheral portion 1564.

[0125] The centering component 21 is held in the axial direction AD by the first bearing component 156A and the second bearing component 156B. Therefore, the distance between the first bearing component 156A and the second bearing component 156B can be increased.

[0126] The rotary drive device DV also has a pair of adjusting members 23. The pair of adjusting members 23 includes a first adjusting member 23A and a second adjusting member 23B. The adjusting members 23 are located between at least one of the first bearing member 156A and the second bearing member 156B and the centering member 21. Specifically, the first adjusting member 23A is located between the first bearing member 156A and the centering member 21. The second adjusting member 23B is located between the second bearing member 156B and the centering member 21. Alternatively, the rotary drive device DV may have only one adjusting member 23. In this case, the adjusting member 23 is located between either the first bearing member 156A and the centering member 21 or between the second bearing member 156B and the centering member 21. The centering member 21 is held between the first bearing member 156A and the second bearing member 156B via the adjusting members 23, thus allowing easy adjustment of the preload applied to the main wheel 5.

[0127] Next, refer to Figures 15A to 16B A modified example of the centering component 21 will be described. Figure 15A This is a perspective view showing the centering component 21. Figure 15B This is a cross-sectional view showing the centering component 21. Figure 16A and Figure 16B This is a cross-sectional view of the vicinity of centering component 21.

[0128] like Figure 15A and Figure 15BAs shown, the centering member 21 is annular. In this modified example, the centering member 21 is approximately annular. The centering member 21 has a flat portion 216 and a protruding portion 217. The flat portion 216 is flat. The protruding portion 217 protrudes from the flat portion 216.

[0129] like Figure 16A and Figure 16B As shown, the centering component 21 contacts the inner circumference 1562 of the first bearing component 156A and the inner circumference 1562 of the second bearing component 156B. Therefore, the axles of a pair of wheel carriers can be made coaxial with high precision.

[0130] Next, refer to Figures 17A-18B Another variation of the centering component 21 will be described. Figure 17A This is a perspective view showing the centering component 21. Figure 17B This is a cross-sectional view showing the centering component 21. Figure 18A and Figure 18B This is a cross-sectional view of the vicinity of centering component 21.

[0131] like Figure 17A and Figure 17B As shown, the centering member 21 is generally circular in shape. The centering member 21 has a flat portion 216 and a protruding portion 217. The flat portion 216 is flat. The protruding portion 217 protrudes from the flat portion 216. A plurality of threaded holes 218 are formed on the centering member 21. In this modified example, three threaded holes 218a and three threaded holes 218b are formed on the centering member 21.

[0132] like Figure 18A As shown, the first wheel frame 13A is connected to the centering component 21 via at least one connecting member 14A. Specifically, the first wheel frame 13A is connected to the centering component 21 via the connecting member 14A and the centering component 21 screwed together. In this variation, the first wheel frame 13A is connected to the centering component 21 via three connecting members 14A. Furthermore, the second wheel frame 13B is connected to the centering component 21 via at least one connecting member 14B. Specifically, the second wheel frame 13B is connected to the centering component 21 via the connecting member 14B and the centering component 21 screwed together. In this variation, the second wheel frame 13B is connected to the centering component 21 via three connecting members 14B.

[0133] In this variation, the first wheel frame 13A and the second wheel frame 13B are indirectly connected via at least one connecting member 14. Specifically, the first wheel frame 13A is connected to the centering member 21 via at least one connecting member 14A. The second wheel frame 13B is connected to the centering member 21 via at least one connecting member 14B. Therefore, a pair of wheel frames 13 can be easily and indirectly connected.

[0134] Reference Figure 19The sealing component 25 will be described. Figure 19 This is a cross-sectional view of the vicinity of centering component 21.

[0135] like Figure 19 As shown, the rotary drive device DV preferably also includes a sealing member 25. The sealing member 25 is disposed in the space formed by the inner peripheral surface 212 of the centering member 21, the first protrusion 134A, and the second protrusion 134B. The sealing member 25 is, for example, an O-ring. The sealing member 25 is, for example, an elastic member such as rubber. The sealing member 25 contacts the inner peripheral surface 212 of the centering member 21, the first protrusion 134A, and the second protrusion 134B. Therefore, it can fill the gap generated between the inner peripheral surface 212 of the centering member 21, the first protrusion 134A, and the second protrusion 134B. As a result, the sealing member 25 can prevent rainwater from entering the interior of the rotary drive device from the outside. Additionally, the sealing member can prevent oil leakage from the interior of the rotary drive device.

[0136] The above is with reference to the attached diagram ( Figures 1 to 19 The embodiments of the present invention have been described. However, the present invention is not limited to the above embodiments and can be implemented in various ways without departing from its spirit. For ease of understanding, the accompanying drawings are schematically shown with each constituent element as the main body. For the convenience of making the drawings, the thickness, length, number, etc. of each constituent element shown are different from the actual ones. In addition, the material, shape, size, etc. of each constituent element shown in the above embodiments are examples and are not particularly limited. Various changes can be made without substantially departing from the effect of the present invention.

[0137] Industrial availability

[0138] This invention can be used, for example, in rotary drive devices.

Claims

1. A rotary drive device, comprising: A pair of drive force transmission components are configured to transmit drive force to a main wheel having multiple driven rollers, and the pair of drive force transmission components are rotatable about a rotation axis. A pair of speed reduction units reduce the rotational speed of the input shaft and cause the drive force transmission component to rotate at the reduced speed. A pair of wheel carriers housing at least a portion of the speed reduction unit, and the pair of wheel carriers being axially opposed to each other along the axis of rotation; and At least one connecting component, The pair of wheel frames has a first wheel frame and a second wheel frame. The first wheel frame and the second wheel frame are joined directly or indirectly through the at least one connecting component. The first wheel frame has a through hole for inserting the at least one connecting member and a threaded hole for screwing the at least one connecting member into. The second wheel frame has a through hole for inserting the at least one connecting member and a threaded hole for screwing the at least one connecting member into. The through hole of the first wheel frame and the threaded hole of the second wheel frame are located opposite each other in the axial direction. The rotary drive also has a centering component that makes the axles of the pair of wheel frames coaxial. The centering component is an independent annular component, and the centering component is in contact with both the first wheel frame and the second wheel frame of the pair of wheel frames.

2. The rotary drive device according to claim 1, wherein, The at least one connecting component may be multiple. At least one through hole and at least one threaded hole are formed on the first wheel frame and the second wheel frame, respectively. In the first wheel frame, when viewed from the axial direction, the at least one through hole is positioned at a point symmetrical to the at least one threaded hole about the axis of rotation. In the second wheel frame, when viewed from the axial direction, the at least one through hole is positioned at a point symmetrical to the at least one threaded hole about the axis of rotation.

3. The rotary drive device according to claim 1, wherein, The central axes of the plurality of drive rollers are inclined relative to the rotation direction of the main wheel about the rotation axis and have a torsional relationship with respect to the rotation axis.

4. The rotary drive device according to claim 1, wherein, The first wheel frame is connected to the centering component via the at least one connecting component. The second wheel frame is coupled to the centering component via the at least one coupling component.

5. The rotary drive device according to claim 4, wherein, The centering component is ring-shaped. The centering component has an inner peripheral surface and an outer peripheral surface. The first wheel frame has: First main body section; as well as A first protrusion extends from the first main body towards the second wheel frame side. The second wheel frame has: Second main body section; as well as The second protrusion extends from the second main body towards the first wheel frame side. The first protrusion and the second protrusion are positioned opposite each other. The inner circumferential surface of the centering component contacts the first protrusion and the second protrusion.

6. The rotary drive device according to claim 5, wherein, The rotary drive also has a sealing component disposed in the space formed by the inner peripheral surface of the centering component, the first protrusion, and the second protrusion.

7. The rotary drive device according to any one of claims 3 to 6, wherein, The rotary drive device also has a first bearing component and a second bearing component. The pair of driving force transmission components includes a first driving force transmission component and a second driving force transmission component. The first bearing component is mounted on the first wheel frame, supporting the first driving force transmission component so that it can rotate. The second bearing component is mounted on the second wheel frame, supporting the second drive force transmission component so that it can rotate. The centering component is held in the axial direction by the first bearing component and the second bearing component.

8. The rotary drive device according to claim 7, wherein, The rotary drive has an adjustment component located between at least one of the first bearing component and the second bearing component and the centering component.

9. The rotary drive device according to claim 7, wherein, The first bearing component has an inner peripheral portion and an outer peripheral portion. The second bearing component has an inner peripheral portion and an outer peripheral portion. The centering component contacts the inner circumference of the first bearing component and the inner circumference of the second bearing component.

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