Driving wheel and carriage

Abstract

To improve a degree of freedom of arrangement around a shaft while having a differential type all-direction moving mechanism.SOLUTION: A driving wheel includes a first input shaft 25A and a second input shaft 25B which are coaxial with each other, an output shaft (first output shaft 40A and second output shaft 40B), a first transmission mechanism 13A for transmitting the torque of the first input shaft to the first output shaft, a second transmission mechanism 13B for transmitting the torque of the second input shaft to the second output shaft, an axle 37 to which the wheel 15 is fixed, and that is rotatable, a power conversion mechanism for transmitting the torque of the output shaft to the axle, and a turning shaft 35 turnably supporting the wheel through the axle, wherein the first transmission mechanism includes a first winding transmission mechanism 33A having a pair of first winding wheels 33Aa and 33Ab, and an endless first winding transmission member 33Ac wound around each of the first winding wheels 33Aa and 33Ab, and the second transmission mechanism includes a second winding transmission mechanism 33B having a pair of second winding wheels 33Ba and 33Bb, and an endless second winding transmission member 33Bc wound around each of the second winding wheels 33Ba and 33Bb.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a drive wheel and a bogie. [Background technology]

[0002] Patent Document 1 discloses a drive wheel and a bogie using the drive wheel. This drive wheel includes a first input shaft and a second input shaft arranged on the same axis, a first output shaft and a second output shaft arranged on a different axis, a first spur gear mechanism that transmits the rotational force of the first input shaft to the first output shaft, a second spur gear mechanism that transmits the rotational force of the second input shaft to the second output shaft, wheels connected to an axle, a turning shaft that rotatably supports the wheels via the axle, a first power conversion mechanism that transmits the rotational force of the first output shaft to one end of the axle, and a second power conversion mechanism that transmits the rotational force of the second output shaft to the other end of the axle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-024033 A Summary of the Invention [Problem to be solved by the invention]

[0004] The driving wheel described in Patent Document 1 includes a differential omnidirectional movement mechanism. In a configuration including such a differential omnidirectional movement mechanism, it is desired to liberalize the arrangement of the wheels. Specifically, in Patent Document 1, when the width of the wheels is increased, the axle becomes longer, and the distance between the first output shaft and the first power conversion mechanism and the second output shaft and the second power conversion mechanism becomes large, and the first spur gear mechanism and the second spur gear mechanism, which are the transmission mechanism, become large, and there is a concern that the dimension in the width direction (axial direction of the axle) of the driving wheel becomes large. In addition, even if the offset position of the wheels becomes farther away, there is a concern that the transmission mechanism will also become large. Therefore, if the transmission mechanism can be prevented from becoming large, the driving wheel can be made compact.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a drive wheel and a bogie that can be made compact while being equipped with a differential omnidirectional movement mechanism. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, a drive wheel of one embodiment of the present disclosure comprises a first input shaft and a second input shaft on the same axis, an output shaft, a first transmission mechanism that transmits the rotational force of the first input shaft to the output shaft, a second transmission mechanism that transmits the rotational force of the second input shaft to the output shaft, a rotatable axle to which a wheel is fixed, a power conversion mechanism that transmits the rotational force of the output shaft to the axle, and a rotating shaft that rotatably supports the wheel via the axle, and at least one of the first transmission mechanism and the second transmission mechanism includes a wrapping transmission mechanism having a pair of wrapping wheels and an endless wrapping transmission member that is wrapped around each of the wrapping wheels.

[0007] As a desirable aspect of the above-mentioned drive wheel, the first transmission mechanism includes a first winding transmission mechanism having a pair of first winding wheels and an endless first winding transmission member wrapped around each of the first winding wheels, and the second transmission mechanism includes a second winding transmission mechanism having a pair of second winding wheels and an endless second winding transmission member wrapped around each of the second winding wheels.

[0008] As a preferred embodiment of the above-mentioned drive wheel, the first transmission mechanism has each of the first hanging wheels fixed to the first input shaft and the output shaft, respectively, and the second transmission mechanism has each of the second hanging wheels fixed to the second input shaft and the output shaft, respectively.

[0009] As a desirable aspect of the above-mentioned drive wheel, the output shaft includes a first output shaft and a second output shaft on separate shafts, the first transmission mechanism transmits the rotational force of the first input shaft to the first output shaft, the second transmission mechanism transmits the rotational force of the second input shaft to the second output shaft, and the power conversion mechanism includes a first power conversion mechanism that transmits the rotational force of the first output shaft to one end of the axle, and a second power conversion mechanism that transmits the rotational force of the second output shaft to the other end of the axle.

[0010] In a preferred embodiment of the drive wheel, the output shaft is single.

[0011] In a preferred embodiment of the drive wheel, the rotation axis of the wheel, which is aligned vertically and intersects the axis of the axle, is shifted horizontally relative to the axis of the pivot shaft in a direction perpendicular to the axis of the axle.

[0012] In order to achieve the above object, a bogie according to one aspect of the present disclosure includes any one of the drive wheels described above and a bogie body to which the drive wheel is attached. Effect of the Invention

[0013] According to the present disclosure, it is possible to reduce the size while providing a differential omnidirectional movement mechanism. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a perspective view showing a basic configuration of a drive wheel according to the first embodiment. [Diagram 2] FIG. 2 is a plan view showing the basic configuration of the drive wheel of the first embodiment. [Diagram 3] FIG. 3 is a front view showing the basic configuration of the drive wheel of the first embodiment. [Figure 4] FIG. 4 is a side view showing the basic configuration of the drive wheel of the first embodiment. [Diagram 5] FIG. 5 is a perspective view showing a drive system for the drive wheels of the first embodiment. [Figure 6] FIG. 6 is a cross-sectional view showing a drive system for a drive wheel according to the first embodiment. [Figure 7] FIG. 7 is a cross-sectional view showing a drive system for the drive wheels of the first embodiment. [Figure 8] FIG. 8 is a schematic diagram showing a driving force transmission path of the driving wheels in the first embodiment. [Figure 9] FIG. 9 is a perspective view showing a basic configuration of a drive wheel according to the second embodiment. [Figure 10] FIG. 10 is a plan view showing the basic configuration of a drive wheel according to the second embodiment. [Figure 11] FIG. 11 is a front view showing the basic configuration of a drive wheel according to the second embodiment. [Figure 12] FIG. 12 is a side view showing the basic configuration of a drive wheel according to the second embodiment. [Figure 13] FIG. 13 is a perspective view showing a drive system for drive wheels according to the second embodiment. [Figure 14] FIG. 14 is a cross-sectional view showing a drive system for a drive wheel according to the second embodiment. [Figure 15] FIG. 15 is a cross-sectional view showing a drive system for a drive wheel according to the second embodiment. [Figure 16] FIG. 16 is a schematic diagram showing a driving force transmission path of a driving wheel in the second embodiment. [Figure 17] FIG. 17 is a schematic diagram illustrating a configuration example of a cart according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Preferred embodiments of the drive wheel and the bogie according to the present disclosure will be described in detail below with reference to the drawings. Note that the present invention is not limited to these embodiments, and when there are multiple embodiments, the present invention also includes a configuration in which each embodiment is combined. Furthermore, the components in the embodiments include those that a person skilled in the art can easily imagine, those that are substantially the same, and those that are within the so-called equivalent range.

[0016] FIG. 17 is a schematic diagram illustrating a configuration example of a cart according to an embodiment.

[0017] The cart 100 includes a cart body 101 , a handle portion 102 , four drive wheels 110 ( 120 ), a power supply portion 104 , and a control device 105 .

[0018] The dolly body 101 is, for example, a flat plate material, and has a rectangular shape in a plan view. A handle portion 102 is fixed to one side of the dolly body 101 in the longitudinal direction. Four drive wheels 110 are attached to the four corners of the rear surface of the dolly body 101. The four drive wheels 110 are rotatable and steerable. In addition, a power supply portion 104 and a control device 105 are attached to the rear surface of the dolly body 101 between the front and rear drive wheels 110. The control device 105 includes a computer system. The computer system includes a processor such as a CPU, and a memory such as a ROM or RAM. Thus, in the dolly 100, the control device 105 controls the drive wheels 110.

[0019] The cart body 101 has a flat surface, and thus an object to be transported can be placed on the flat surface. That is, the cart 100 can be configured as an automatic guided vehicle (AGV). The cart 100 can also be configured as a device that travels by placing equipment along the flat surface of the cart body 101. Examples of the equipment include various types of equipment, such as a hand lifter, a forklift, a picking robot, and medical equipment.

[0020] The number and arrangement of the drive wheels 110 of the dolly 100 and the device are not limited to the above-mentioned configuration. For example, in the above-mentioned four-wheel configuration, the dolly 100 and the device may have a pair of drive wheels 110 attached to the rear side of the dolly 100 and a pair of driven wheels attached to the front side of the dolly 100. In addition, although not shown in the figure, in a configuration with three or more wheels, the dolly 100 and the device may have one drive wheel 110 and all the other wheels may be driven wheels. In addition, although not shown in the figure, in a configuration with three or more wheels, the dolly 100 and the device may have no driven wheels and all the wheels may be drive wheels 110. In other words, in a configuration with three or more wheels, the dolly 100 and the device may have at least one drive wheel 110.

[0021] [Driving Wheel Embodiment 1] The driving wheel 110 will be described in detail below. FIG. 1 is a perspective view showing the basic configuration of the driving wheel of the first embodiment. FIG. 2 is a plan view showing the basic configuration of the driving wheel of the first embodiment. FIG. 3 is a front view showing the basic configuration of the driving wheel of the first embodiment. FIG. 4 is a side view showing the basic configuration of the driving wheel of the first embodiment. FIG. 5 is a perspective view showing the drive system of the driving wheel of the first embodiment. FIG. 6 is a cross-sectional view (cross-sectional view AA in FIGS. 2 and 4) showing the drive system of the driving wheel of the first embodiment. FIG. 7 is a cross-sectional view (cross-sectional view BB in FIG. 4) showing the drive system of the driving wheel of the first embodiment. FIG. 8 is a schematic diagram showing the drive force transmission path of the driving wheel of the first embodiment.

[0022] In the following description, of the first, second, and third directions that intersect with each other, the first direction is referred to as the "front-rear direction X", the second direction is referred to as the "width direction Y", and the third direction is referred to as the "up-down direction Z". The front-rear direction X, the width direction Y, and the up-down direction Z are perpendicular to each other. The front-rear direction X typically corresponds to the direction along which the drive wheel 110 moves straight. In FIG. 1, the front-rear direction X, the width direction Y, and the up-down direction Z are shown by double-headed arrows, but in other figures, they are shown in a coordinate system with single-headed arrows.

[0023] The drive wheel 110 has a main body 10 fixed to the bogie body 101 of the bogie 100 as described above, and based on this main body 10, a drive mechanism 11, a rotating section 12, a transmission mechanism 13, a power conversion mechanism 14, and wheels 15 are provided.

[0024] The main body 10 is mainly formed in a plate shape with the plate surfaces facing up and down. The drive mechanism 11 is provided on the main body 10 and inputs a rotational force. The swivel unit 12 is disposed below the main body 10. The transmission mechanism 13 transmits the rotational force input by the drive mechanism 11. The power conversion mechanism 14 transmits the rotational force of the transmission mechanism 13 to the wheels 15. The wheels 15 are single wheels that are rotatable by the rotational force input via the drive mechanism 11, the transmission mechanism 13, and the power conversion mechanism 14, and can be steered by the swivel unit 12.

[0025] The drive mechanism 11 includes a first drive mechanism 22A and a second drive mechanism 22B.

[0026] The first driving mechanism 22A includes a first driving unit 22Aa and a first driving shaft 22Ac. The first driving unit 22Aa is composed of a motor. The first driving mechanism 22A also includes a first belt mechanism 23A, and applies a rotational force to the first driving shaft 22Ac via the first belt mechanism 23A. The first belt mechanism 23A includes a first driving pulley 23Aa provided at the output portion of the first driving unit 22Aa, a first driven pulley 23Ab fixed to the first driving shaft 22Ac, and a first driving belt 23Ac. As shown in FIG. 6, the first driving shaft 22Ac is provided along an axis O6 extending in the vertical direction Z, and is rotatably supported by the main body 10 via a bearing 51. Therefore, in the first belt mechanism 23A, the first driving pulley 23Aa rotates in accordance with the output of the first driving part 22Aa, and the rotational force of this first driving pulley 23Aa is transmitted to the first driven pulley 23Ab via the first driving belt 23Ac, causing the first driving shaft 22Ac to rotate.

[0027] The second driving mechanism 22B includes a second driving unit 22Ba and a second driving shaft 22Bc. The second driving unit 22Ba is composed of a motor. The second driving mechanism 22B also includes a second belt mechanism 23B, and applies a rotational force to the second driving shaft 22Bc via the second belt mechanism 23B. The second belt mechanism 23B includes a second driving pulley 23Ba provided at the output portion of the second driving unit 22Ba, a second driven pulley 23Bb fixed to the second driving shaft 22Bc, and a second driving belt 23Bc. As shown in FIG. 6, the second driving shaft 22Bc is provided along an axis O7 extending in the vertical direction Z, and is rotatably supported by the main body 10 via a bearing 52. Therefore, in the second belt mechanism 23B, the second driving pulley 23Ba rotates in accordance with the output of the second driving unit 22Ba, and the rotational force of this second driving pulley 23Ba is transmitted to the second driven pulley 23Bb via the second driving belt 23Bc, causing the second driving shaft 22Bc to rotate.

[0028] The swivel unit 12 includes a swivel shaft 35. As shown in Fig. 6, the swivel shaft 35 is rotatably supported by the main body 10 via a bearing 45 around an axis O1 extending in the up-down direction Z. This allows the swivel shaft 35 to be supported relatively rotatably around the axis O1 extending in the up-down direction Z with respect to the main body 10.

[0029] As shown in FIG. 6, the revolving shaft 35 is arranged so as to penetrate the first input shaft 25A coaxially with the axis O1 in the vertical direction Z, and rotatably supports it via a bearing 43b. The first input shaft 25A is rotatably supported coaxially with the axis O1 with respect to the main body 10 via a bearing 43a. Therefore, the first input shaft 25A is supported so as to be rotatable relative to the revolving shaft 35 around the axis O1, and is also supported so as to be rotatable relative to the main body 10 around the axis O1. That is, the revolving shaft 35 is provided so as to be rotatable relative to the main body 10 regardless of the rotation of the first input shaft 25A. Therefore, in the driving wheel 110 of the embodiment, the revolving shaft 35 rotates around the axis O1 together with the support members 36A and 36B that support the wheels 15, and a rotational force can be input to the first input shaft 25A on the axis O1, which is the revolving axis.

[0030] As shown in FIG. 6, the revolving shaft 35 has the second input shaft 25B disposed along the vertical direction Z. The second input shaft 25B is inserted through the first input shaft 25A and rotatably disposed on the outside of the first input shaft 25A via a bearing 44. Therefore, the second input shaft 25B is supported via the first input shaft 25A so as to be rotatable relative to the revolving shaft 35 about the axis O1, and is also supported relative to the main body 10 so as to be rotatable relative to the axis O1. That is, the revolving shaft 35 is provided rotatable relative to the main body 10 regardless of the rotation of the second input shaft 25B. Therefore, the driving wheel 110 of the embodiment can input a rotational force to the second input shaft 25B on the axis O1, which is the revolving axis of the wheel 15. With this configuration, the first input shaft 25A, the second input shaft 25B, and the revolving shaft 35 are rotatably disposed coaxially along the axis O1.

[0031] A first support member 36A and a second support member 36B are provided at a lower portion of the rotating shaft 35 so as to extend downward on both sides in the width direction Y of the wheel 15. The wheel 15 is integrally provided with an axle 37 extending in the width direction Y along an axis O2 perpendicular to the direction in which the axis O1 extends (the up-down direction Z). As shown in Fig. 7, one end of the axle 37 along the axis O2 is rotatably supported by the first support member 36A via a bearing 48, and the other end is rotatably supported by the second support member 36B via a bearing 48.

[0032] The rotating shaft 35 is disposed so as to penetrate the first output shaft 40A in the vertical direction Z parallel to the axis O1, and rotatably supports the first output shaft 40A via a bearing 47 as shown in Fig. 7. Therefore, the first output shaft 40A is supported so as to be rotatable relatively to the rotating shaft 35 about an axis O3 parallel to the axis O1.

[0033] The rotating shaft 35 is disposed so as to penetrate the second output shaft 40B in the vertical direction Z parallel to the axis O1, and rotatably supports the second output shaft 40B via a bearing 46 as shown in Fig. 7. Therefore, the second output shaft 40B is supported so as to be rotatable relatively to the rotating shaft 35 about an axis O4 parallel to the axis O1.

[0034] As shown in FIGS. 5 to 7, the transmission mechanism 13 has a first transmission mechanism 13A and a second transmission mechanism 13B.

[0035] The first transmission mechanism 13A transmits the rotational force of the first drive shaft 22Ac to the first output shaft 40A via the first input shaft 25A. The first transmission mechanism 13A includes a first transmission drive gear 31A, a first transmission driven gear 32A, and a first winding transmission mechanism (also referred to as a winding transmission mechanism) 33A. In the driving wheel 110 of the embodiment, the first transmission drive gear 31A and the first transmission driven gear 32A are configured with spur gears.

[0036] In the first transmission mechanism 13A, the first transmission drive gear 31A is fixed to the first drive shaft 22Ac of the first drive mechanism 22A. Therefore, the first transmission drive gear 31A rotates around the axis O6 of the first drive shaft 22Ac by the rotational force of the first drive mechanism 22A. The first transmission driven gear 32A is fixed to the first input shaft 25A. Therefore, the first transmission driven gear 32A rotates around the axis O1 of the first input shaft 25A. The first transmission drive gear 31A meshes with the first transmission driven gear 32A. Therefore, the first transmission mechanism 13A transmits the rotational force of the first drive mechanism 22A from the first transmission drive gear 31A to the first transmission driven gear 32A and provides it to the first input shaft 25A.

[0037] In the first transmission mechanism 13A, the first winding transmission mechanism 33A has a pair of first winding sheaves (also called winding sheaves) 33Aa, 33Ab, and an endless first winding transmission member (also called winding transmission member) 33Ac wrapped around each of the first winding sheaves 33Aa, 33Ab. The pair of first winding sheaves 33Aa, 33Ab is composed of pulleys, and the first winding transmission member 33Ac is composed of a timing belt. Alternatively, the pair of first winding sheaves 33Aa, 33Ab is composed of sprockets, and the first winding transmission member 33Ac is composed of a chain. The first winding sheave 33Aa is fixed to the first input shaft 25A. Therefore, the first winding sheave 33Aa rotates around the axis O1 of the first input shaft 25A. The other first winding sheave 33Ab is fixed to the first output shaft 40A. Therefore, the first winding sheave 33Ab rotates about the axis O3 of the first output shaft 40A. Therefore, the first transmission mechanism 13A provides the rotational force transmitted to the first input shaft 25A to the first output shaft 40A via the first winding transmission mechanism 33A.

[0038] The second transmission mechanism 13B transmits the rotational force of the second drive shaft 22Bc to the second output shaft 40B via the second input shaft 25B. The second transmission mechanism 13B includes a second transmission drive gear 31B, a second transmission driven gear 32B, and a second winding transmission mechanism (also referred to as a winding transmission mechanism) 33B. In the driving wheel 110 of the embodiment, the second transmission drive gear 31B and the second transmission driven gear 32B are configured by spur gears.

[0039] In the second transmission mechanism 13B, the second transmission drive gear 31B is fixed to the second drive shaft 22Bc of the second drive mechanism 22B. Therefore, the second transmission drive gear 31B rotates around the axis O7 of the second drive shaft 22Bc by the rotational force of the second drive mechanism 22B. The second transmission driven gear 32B is fixed to the second input shaft 25B. Therefore, the second transmission driven gear 32B rotates around the axis O1 of the second input shaft 25B. The second transmission drive gear 31B meshes with the second transmission driven gear 32B. Therefore, the second transmission mechanism 13B transmits the rotational force of the second drive mechanism 22B from the second transmission drive gear 31B to the second transmission driven gear 32B and provides it to the second input shaft 25B.

[0040] In the second transmission mechanism 13B, the second winding transmission mechanism 33B has a pair of second winding wheels (also called winding wheels) 33Ba, 33Bb, and an endless second winding transmission member (also called winding transmission member) 33Bc wound around each of the second winding wheels 33Ba, 33Bb. The pair of second winding wheels 33Ba, 33Bb is composed of pulleys, and the second winding transmission member 33Bc is composed of a timing belt. Alternatively, the pair of second winding wheels 33Ba, 33Bb is composed of sprockets, and the second winding transmission member 33Bc is composed of a chain. The second winding wheel 33Ba is fixed to the second input shaft 25B. Therefore, the second winding wheel 33Ba rotates around the axis O1 of the second input shaft 25B. The other second winding wheel 33Bb is fixed to the second output shaft 40B. Therefore, the second winding sheave 33Bb rotates about the axis O4 of the second output shaft 40B. Therefore, the second transmission mechanism 13B provides the rotational force transmitted to the second input shaft 25B to the second output shaft 40B via the second winding transmission mechanism 33B.

[0041] In this transmission mechanism 13, the first transmission drive gear 31A of the first transmission mechanism 13A and the second transmission drive gear 31B of the second transmission mechanism 13B have the same pitch circle diameter and number of teeth. In addition, in the transmission mechanism 13, the first transmission driven gear 32A of the first transmission mechanism 13A and the second transmission driven gear 32B of the second transmission mechanism 13B have the same pitch circle diameter and number of teeth. In addition, in the transmission mechanism 13, the first winding transmission mechanism 33A and the second winding transmission mechanism 33B have the same diameters and number of teeth of the first winding wheel 33Aa and the second winding wheel 33Ba, the same diameters and number of teeth of the first winding wheel 33Ab and the second winding wheel 33Bb, and the first winding transmission member 33Ac and the second winding transmission member 33Bc have the same endless circumferential lengths.

[0042] As shown in FIGS. 1 and 3 to 7, the power conversion mechanism 14 has a first power conversion mechanism 14A and a second power conversion mechanism 14B.

[0043] The first power converting mechanism 14A transmits the rotational force of the first output shaft 40A to the axle 37. The first power converting mechanism 14A is composed of a first converted driving gear 41A and a first converted driven gear 42A. In the driving wheel 110 of the embodiment, the first converted driving gear 41A and the first converted driven gear 42A are composed of bevel gears.

[0044] The first conversion driving gear 41A is fixed to the lower part of the first output shaft 40A. Therefore, the first conversion driving gear 41A rotates around the axis O3 together with the first output shaft 40A. Also, the first conversion driven gear 42A is fixed to one end of the axle 37. Therefore, the first conversion driven gear 42A rotates around the axis O2 together with the axle 37. And the first conversion driving gear 41A meshes with the first conversion driven gear 42A. Therefore, the first power conversion mechanism 14A converts the rotation around the axis O3 of the first output shaft 40A into the rotation around the axis O2 of the axle 37.

[0045] The second power converting mechanism 14B transmits the rotational force of the second output shaft 40B to the axle 37. The second power converting mechanism 14B is composed of a second converted driving gear 41B and a second converted driven gear 42B. In the driving wheel 110 of the embodiment, the second converted driving gear 41B and the second converted driven gear 42B are composed of bevel gears.

[0046] The second conversion driving gear 41B is fixed to the lower part of the second output shaft 40B. Therefore, the second conversion driving gear 41B rotates around the axis O4 together with the second output shaft 40B. In addition, the second conversion driven gear 42B is fixed to the other end of the axle 37. Therefore, the second conversion driven gear 42B rotates around the axis O2 together with the axle 37. And, the second conversion driving gear 41B meshes with the second conversion driven gear 42B. Therefore, the second power conversion mechanism 14B converts the rotation around the axis O4 of the second output shaft 40B into the rotation around the axis O2 of the axle 37.

[0047] 4 and the cross sections of Fig. 6 and Fig. 7, the driving wheel 110 of the embodiment is disposed such that the rotation axis O5 of the wheel 15 along the vertical direction intersecting the axis O2 of the axle 37 is shifted (offset) in the horizontal direction (front-rear direction X) perpendicular to the axis O2 of the axle 37 with respect to the axis O1 of the turning shaft 35. Also, the driving wheel 110 of the embodiment is disposed such that the axis O3 of the first output shaft 40A and the axis O4 of the second output shaft 40B overlap with the axis O2 of the axle 37 in a plan view.

[0048] The drive wheel 110 can rotate and steer the wheels 15 by rotating the first input shaft 25A and the second input shaft 25B by the drive mechanism 11. For example, the wheels 15 can be rotated without steering by rotating the first input shaft 25A and rotating the second input shaft 25B in the opposite direction to the first input shaft 25A, and by making the number of rotations (rotation speed) transmitted to the first input shaft 25A and the second input shaft 25B the same. At this time, by making the number of rotations (rotation speed) of the first input shaft 25A and the second input shaft 25B different, the wheels 15 can be steered while rotating or stopped.

[0049] Here, the operation of the drive wheel 110 will be described. As shown in Fig. 8, when the first input shaft 25A of the drive wheel 110 rotates in the A1 direction, the first transmission driven gear 32A and the first winding sheave 33Aa rotate in the same direction, and the first winding sheave 33Ab around which the first winding transmission member 33Ac is wound together with the first winding sheave 33Aa rotates in the A2 direction, which is the same direction as the A1 direction. When the first winding sheave 33Ab rotates in the A2 direction, the first conversion driving gear 41A that is integrally provided on the first winding sheave 33Ab via the first output shaft 40A rotates in the same direction. Then, the first conversion driven gear 42A that meshes with the first conversion driving gear 41A rotates in the C direction, causing the axle 37 that is integral with the first conversion driven gear 42A to rotate in the same direction. On the other hand, when the second input shaft 25B rotates in the B1 direction, which is the opposite direction to the A1 direction, the second transmission driven gear 32B and the second hanging wheel 33Ba rotate in the same direction, and the second hanging wheel 33Bb, which is wrapped around the second hanging wheel 33Ba and the second hanging wheel 33Bc, rotates in the B2 direction, which is the same direction as the B1 direction. When the second hanging wheel 33Bb rotates in the B2 direction, the second conversion driving gear 41B, which is integrally provided on the second hanging wheel 33Bb via the second output shaft 40B, rotates in the same direction. Then, the second conversion driven gear 42B meshing with the second conversion driving gear 41B rotates in the C direction, causing the axle 37, which is integral with the second conversion driven gear 42B, to rotate in the same direction.

[0050] At this time, when the rotation speed of the second input shaft 25B is reduced relative to the rotation speed of the first input shaft 25A, the rotation speed input to the second transmission driven gear 32B and the second winding transmission mechanism 33B of the drive wheel 110 becomes lower than the rotation speed input to the first transmission driven gear 32A and the first winding transmission mechanism 33A. Then, the turning shaft 35 rotates by the rotation speed difference, and the wheel 15 turns and is steered. Also, when the rotation of the first input shaft 25A or the second input shaft 25B is stopped, the rotation speed input to the first transmission driven gear 32A and the first winding transmission mechanism 33A or the rotation speed input to the second transmission driven gear 32B and the second winding transmission mechanism 33B of the drive wheel 110 becomes zero, and the wheel 15 turns and is steered without rotating.

[0051] As described above, the driving wheel 110 of the embodiment described above is characterized by including the first input shaft 25A and the second input shaft 25B which are coaxially arranged, an output shaft (first output shaft 40A, second output shaft 40B), a first transmission mechanism 13A which transmits the rotational force of the first input shaft 25A to the first output shaft 40A, a second transmission mechanism 13B which transmits the rotational force of the second input shaft 25B to the second output shaft 40B, a rotatable axle 37 to which the wheel 15 is fixed, and a power conversion mechanism (first power conversion mechanism 14A, The first transmission mechanism 13A includes a first winding transmission mechanism 33A having a pair of first winding wheels 33Aa, 33Ab and an endless first winding transmission member 33Ac wrapped around each of the first winding wheels 33Aa, 33Ab, and the second transmission mechanism 13B includes a second winding transmission mechanism 33B having a pair of second winding wheels 33Ba, 33Bb and an endless second winding transmission member 33Bc wrapped around each of the second winding wheels 33Ba, 33Bb.

[0052] The driving wheel 110 has a differential omnidirectional movement mechanism. That is, in the driving wheel 110, the rotational force of the first input shaft 25A is transmitted to the output shaft (first output shaft 40A) via the first transmission mechanism 13A, the rotational force of the second input shaft 25B is transmitted to the output shaft (second output shaft 40B) via the second transmission mechanism 13B, the rotational force is transmitted from the output shaft (first output shaft 40A) to the axle 37 via the power conversion mechanism 14 (first power conversion mechanism 14A), and the rotational force is transmitted from the output shaft (second output shaft 40B) to the axle 37 via the power conversion mechanism 14 (second power conversion mechanism 14B). The driving wheel 110 can switch between the rotation of the wheels 15 connected to the axle 37 and the steering of the wheels 15 by adjusting the rotational speed of the first input shaft 25A and the second input shaft 25B.

[0053] In particular, in the driving wheel 110, the first transmission mechanism 13A includes a first winding transmission mechanism 33A, and the second transmission mechanism 13B includes a second winding transmission mechanism 33B. Therefore, in the driving wheel 110, even if the output shafts (first output shaft 40A, second output shaft 40B) are moved away from the first input shaft 25A and the second input shaft 25B in the extension direction of the axle 37 due to an increase in the size of the width direction Y of the wheel 15, by preparing the first winding transmission member 33Ac and the second winding transmission member 33Bc with large circumferential lengths, it is possible to transmit the rotational force to the output shafts (first output shaft 40A, second output shaft 40B).

[0054] For example, when a gear mechanism is used to transmit rotational force from the first input shaft 25A and the second input shaft 25B to the output shaft (first output shaft 40A, second output shaft 40B), using large diameter gears will result in an increase in size, or using a greater number of gears will result in a more complex structure, which will hinder miniaturization.

[0055] In this regard, the driving wheel 110 of the embodiment does not require an increase in size or complexity, and therefore can improve the degree of freedom of arrangement around the axle 37 while providing a differential omnidirectional movement mechanism. The arrangement around the axle 37 also includes offsetting the rotation axis O5 of the wheel 15 with respect to the axis O1 of the turning shaft 35, and the driving wheel 110 of the embodiment can improve the degree of freedom of this offset. Note that the driving wheel 110 may be configured such that at least one of the first transmission mechanism 13A and the second transmission mechanism 13B includes a wrapping transmission mechanism, and the other includes, for example, a gear mechanism.

[0056] In addition, in this drive wheel 110, the first transmission mechanism 13A has first winding wheels 33Aa, 33Ab fixed to the first input shaft 25A and the output shaft (first output shaft 40A), respectively, and the second transmission mechanism 13B has second winding wheels 33Ba, 33Bb fixed to the second input shaft 25B and the output shaft (second output shaft 40B), respectively.

[0057] This drive wheel 110 can transmit the rotational force of the first drive shaft 22Ac to the first output shaft 40A via the first input shaft 25A, and can transmit the rotational force of the second drive shaft 22Bc to the second output shaft 40B via the second input shaft 25B, and can be made compact while being equipped with a differential omnidirectional movement mechanism.

[0058] In addition, in this drive wheel 110, the output shaft includes a first output shaft 40A and a second output shaft 40B on separate shafts, the first transmission mechanism 13A transmits the rotational force of the first input shaft 25A to the first output shaft 40A, the second transmission mechanism 13B transmits the rotational force of the second input shaft 25B to the second output shaft 40B, and the power conversion mechanism includes a first power conversion mechanism 14A that transmits the rotational force of the first output shaft 40A to one end of the axle 37, and a second power conversion mechanism 14B that transmits the rotational force of the second output shaft 40B to the other end of the axle 37.

[0059] According to this drive wheel 110, the rotational forces of the first output shaft 40A and the second output shaft 40B are transmitted to one end and the other end, respectively, of the axle 37. Therefore, this drive wheel 110 can increase the transmission capacity to the axle 37 while being compact in size.

[0060] In addition, in this drive wheel 110, the rotation axis O5 of the wheel 15, which intersects with the axis O2 of the axle 37 and runs vertically, is shifted from the axis O1 of the pivot shaft 35 in the horizontal direction perpendicular to the axis O2 of the axle 37.

[0061] According to the driving wheels 110, when the wheels 15 are not driven, the wheels 15 can passively turn by an external force acting from a horizontal direction. That is, the cart 100 can automatically travel and steer, and can also be manually traveled and steered by an operator.

[0062] Moreover, the bogie 100 of the embodiment includes the above-mentioned drive wheels 110 and a bogie body 101 to which the drive wheels 110 are attached. Therefore, the bogie 100 can be made compact while being provided with a differential omnidirectional movement mechanism.

[0063] [Driving Wheel Embodiment 2] FIG. 9 is a perspective view showing the basic configuration of a drive wheel of the second embodiment. FIG. 10 is a plan view showing the basic configuration of a drive wheel of the second embodiment. FIG. 11 is a front view showing the basic configuration of a drive wheel of the second embodiment. FIG. 12 is a side view showing the basic configuration of a drive wheel of the second embodiment. FIG. 13 is a perspective view showing a drive system of a drive wheel of the second embodiment. FIG. 14 is a cross-sectional view showing the drive system of a drive wheel of the second embodiment (cross-sectional view taken along CC in FIG. 12). FIG. 15 is a cross-sectional view showing the drive system of a drive wheel of the second embodiment (cross-sectional view taken along DD in FIG. 12). FIG. 16 is a schematic diagram showing a drive force transmission path of a drive wheel of the second embodiment.

[0064] The drive wheel 120 of the second embodiment has a single output shaft 40, and is different from the drive wheel 110 of the first embodiment described above in terms of the configurations of the drive mechanism 11, the transmission mechanism 13, and the power conversion mechanism 14. In the following description of the drive wheel 120 of the second embodiment, the same parts as those of the drive wheel 110 described above are denoted by the same reference numerals, and description thereof will be omitted.

[0065] The drive mechanism 11 includes a first drive mechanism 22A and a second drive mechanism 22B.

[0066] The first driving mechanism 22A includes a first driving unit 22Aa. The first driving unit 22Aa is composed of a motor. The first driving unit 22Aa is fixed to the main body 10, and the driving shaft is provided so as to protrude upward. The driving shaft of the first driving unit 22Aa is provided parallel to the first input shaft 25A. The first driving mechanism 22A also includes a first belt mechanism 23A. The first belt mechanism 23A includes a first driving pulley 23Aa, a first driven pulley 23Ab, and a first driving belt 23Ac. The first driving pulley 23Aa is fixed to the driving shaft of the first driving unit 22Aa. The first driven pulley 23Ab is fixed to a portion of the first input shaft 25A protruding upward from the main body 10. The first driving belt 23Ac is formed in a ring shape and is wound around the first driving pulley 23Aa and the first driven pulley 23Ab. Therefore, in the first belt mechanism 23A, the first driving pulley 23Aa rotates when the first driving unit 22Aa is driven, and this rotation is transmitted from the first driving pulley 23Aa to the first driven pulley 23Ab via the first driving belt 23Ac, thereby rotating the first input shaft 25A.

[0067] The second driving mechanism 22B includes a second driving unit 22Ba. The second driving unit 22Ba is composed of a motor. The second driving unit 22Ba is fixed to the main body 10, and the driving shaft is provided so as to protrude upward. The driving shaft of the second driving unit 22Ba is provided parallel to the second input shaft 25B (see Figs. 13 and 14). The second driving mechanism 22B also includes a second belt mechanism 23B. The second belt mechanism 23B includes a second driving pulley 23Ba, a second driven pulley 23Bb, and a second driving belt 23Bc. The second driving pulley 23Ba is fixed to the driving shaft of the second driving unit 22Ba. The second driven pulley 23Bb is fixed to a portion of the second input shaft 25B protruding upward from the main body 10. The second driving belt 23Bc is formed in a ring shape and is wound around the second driving pulley 23Ba and the second driven pulley 23Bb. Therefore, in the second belt mechanism 23B, the second driving pulley 23Ba rotates by driving the second driving part 22Ba, and this rotation is transmitted from the second driving pulley 23Ba to the second driven pulley 23Bb via the second driving belt 23Bc, and the second input shaft 25B rotates. The second driving pulley 23Ba, the second driven pulley 23Bb, and the second driving belt 23Bc are formed in the same manner as the first driving pulley 23Aa, the first driven pulley 23Ab, and the first driving belt 23Ac, respectively. The second driven pulley 23Bb is located below the first driven pulley 23Ab.

[0068] The rotating shaft 35 is disposed so as to penetrate the output shaft 40 in the vertical direction Z parallel to the axis O1, and rotatably supports the output shaft 40 via a bearing 46 as shown in Fig. 15. Therefore, the output shaft 40 is supported so as to be rotatable relatively to the rotating shaft 35 about an axis O3 parallel to the axis O1.

[0069] As shown in FIGS. 13 to 15, the transmission mechanism 13 has a first transmission mechanism 13A and a second transmission mechanism 13B.

[0070] The first transmission mechanism 13A transmits the rotational force of the first input shaft 25A to the output shaft 40. The first transmission mechanism 13A includes a first winding transmission mechanism (also referred to as a winding transmission mechanism) 33A.

[0071] The first winding transmission mechanism 33A has a pair of first winding sheaves (also called winding sheaves) 33Aa, 33Ab, and an endless first winding transmission member (also called winding transmission member) 33Ac that is wound around each of the first winding sheaves 33Aa, 33Ab. The pair of first winding sheaves 33Aa, 33Ab is composed of pulleys, and the first winding transmission member 33Ac is composed of a timing belt. Alternatively, the pair of first winding sheaves 33Aa, 33Ab is composed of sprockets, and the first winding transmission member 33Ac is composed of a chain. The first winding sheave 33Aa is fixed to the first input shaft 25A. Therefore, the first winding sheave 33Aa rotates around the axis O1 of the first input shaft 25A. The other first winding sheave 33Ab is fixed to the output shaft 40. Therefore, the first windshield sheave 33Ab rotates about the axis O3 of the output shaft 40.

[0072] The second transmission mechanism 13B transmits the rotational force of the second input shaft 25B to the output shaft 40. The second transmission mechanism 13B includes a second transmission drive intermediate gear 38B, a second transmission driven intermediate gear 39B, and a second winding transmission mechanism (also referred to as a winding transmission mechanism) 33B. In the driving wheel 120 of the embodiment, the second transmission drive intermediate gear 38B and the second transmission driven intermediate gear 39B are configured with spur gears.

[0073] In the second transmission mechanism 13B, the second transmission drive intermediate gear 38B is fixed to the second input shaft 25B. Therefore, the second transmission drive intermediate gear 38B rotates around the axis O1 of the second input shaft 25B. The second transmission driven intermediate gear 39B is fixed to the intermediate shaft 26. As shown in FIG. 15, the intermediate shaft 26 is provided along the axis O8 extending in the vertical direction and is rotatably supported by the rotating shaft 35 via a bearing 49. Therefore, the second transmission driven intermediate gear 39B and the intermediate shaft 26 rotate around the axis O8. The second transmission drive intermediate gear 38B meshes with the second transmission driven intermediate gear 39B. Therefore, the second transmission mechanism 13B transmits the rotational force of the second input shaft 25B from the second transmission drive intermediate gear 38B to the second transmission driven intermediate gear 39B and provides it to the intermediate shaft 26.

[0074] In the second transmission mechanism 13B, the second winding transmission mechanism 33B has a pair of second winding wheels (also called winding wheels) 33Ba, 33Bb, and an endless second winding transmission member (also called winding transmission member) 33Bc wound around each of the second winding wheels 33Ba, 33Bb. The pair of second winding wheels 33Ba, 33Bb is composed of pulleys, and the second winding transmission member 33Bc is composed of a timing belt. Alternatively, the pair of second winding wheels 33Ba, 33Bb is composed of sprockets, and the second winding transmission member 33Bc is composed of a chain. The second winding wheel 33Ba is fixed to the intermediate shaft 26. Therefore, the second winding wheel 33Ba rotates around the axis O8 of the intermediate shaft 26. The other second winding wheel 33Bb is fixed to the output shaft 40. Therefore, the second winding sheave 33Bb rotates about the axis O3 of the output shaft 40. Therefore, the second transmission mechanism 13B provides the rotational force transmitted from the second input shaft 25B to the intermediate shaft 26 to the output shaft 40 via the second winding transmission mechanism 33B.

[0075] 9 and 11 to 15, the power conversion mechanism 14 transmits the rotational force of the output shaft 40 to the axle 37. The power conversion mechanism 14 is composed of a converted driving gear 41 and a converted driven gear 42. In the driving wheel 120 of the embodiment, the converted driving gear 41 and the converted driven gear 42 are composed of bevel gears.

[0076] The conversion driving gear 41 is fixed to a lower part of the output shaft 40. Therefore, the conversion driving gear 41 rotates around the axis O3 together with the output shaft 40. In addition, the conversion driven gear 42 is fixed to one end of the axle 37. Therefore, the conversion driven gear 42 rotates around the axis O2 together with the axle 37. In addition, the conversion driving gear 41 meshes with the conversion driven gear 42. Therefore, the power conversion mechanism 14 converts the rotation around the axis O3 of the output shaft 40 into rotation around the axis O2 of the axle 37.

[0077] 12, the driving wheel 120 of the embodiment is disposed such that the rotation axis O5 of the wheel 15 along the vertical direction intersecting the axis O2 of the axle 37 is shifted (offset) in the horizontal direction (front-rear direction X) perpendicular to the axis O2 of the axle 37 with respect to the axis O1 of the turning shaft 35. Moreover, the driving wheel 120 of the embodiment is disposed such that the axis O3 of the output shaft 40 overlaps with the axis O2 of the axle 37 in a plan view.

[0078] The drive wheel 120 can rotate and steer the wheels 15 by rotating the first input shaft 25A and the second input shaft 25B with the drive mechanism 11. For example, the wheels 15 can be rotated without steering by rotating the first input shaft 25A and rotating the second input shaft 25B in the opposite direction to the first input shaft 25A, and by making the number of rotations (rotation speed) transmitted to the first input shaft 25A and the second input shaft 25B the same. At this time, by making the number of rotations (rotation speed) of the first input shaft 25A and the second input shaft 25B different, the wheels 15 can be steered while rotating or stopped.

[0079] Here, the operation of the drive wheel 120 will be described. As shown in Fig. 16, when the first input shaft 25A of the drive wheel 120 rotates in the A1 direction, the first winding sheave 33Aa of the first winding transmission mechanism 33A rotates in the same direction, and the first winding sheave 33Ab around which the first winding transmission member 33Ac is wound together with the first winding sheave 33Aa rotates in the C' direction, which is the same direction as the A1 direction. When the first winding sheave 33Ab rotates in the C' direction, the conversion driving gear 41 that is integrally provided on the first winding sheave 33Ab via the output shaft 40 rotates in the same direction. Then, the conversion driven gear 42 that meshes with the conversion driving gear 41 rotates in the C direction, causing the axle 37 that is integral with the conversion driven gear 42 to rotate in the same direction. On the other hand, when the second input shaft 25B rotates in the B1 direction, which is the opposite direction to the A1 direction, the second transmission drive intermediate gear 38B rotates in the same direction, and the second transmission driven intermediate gear 39B meshing with the second transmission drive intermediate gear 38B rotates in the B2 direction, which is the opposite direction to the B1 direction, together with the intermediate shaft 26. When the intermediate shaft 26 rotates in the B2 direction, the second winding wheel 33Ba of the second winding transmission mechanism 33B rotates in the same direction, and the second winding wheel 33Bb around which the second winding transmission member 33Bc is wrapped together with the second winding wheel 33Ba rotates in the C' direction, which is the same direction as the B2 direction. When the second winding wheel 33Bb rotates in the C' direction, the conversion drive gear 41, which is integrally provided to the second winding wheel 33Bb via the output shaft 40, rotates in the same direction. As a result, the conversion driven gear 42 meshing with the conversion driving gear 41 rotates in the C direction, causing the axle 37 integrated with the conversion driven gear 42 to rotate in the same direction.

[0080] At this time, when the rotation speed of the second input shaft 25B is reduced relative to the rotation speed of the first input shaft 25A, the rotation speed input to the second winding transmission mechanism 33B of the drive wheel 120 becomes lower than the rotation speed input to the first winding transmission mechanism 33A. Then, the turning shaft 35 rotates by the rotation speed difference, and the wheel 15 turns and is steered. In addition, when the rotation of the first input shaft 25A or the second input shaft 25B is stopped, the rotation speed input to the first winding transmission mechanism 33A or the rotation speed input to the second winding transmission mechanism 33B of the drive wheel 110 becomes zero, and the wheel 15 turns and is steered without rotating.

[0081] As described above, the driving wheel 120 of the embodiment described above is characterized by including the first input shaft 25A and the second input shaft 25B on the same axis, the output shaft 40, a first transmission mechanism 13A that transmits the rotational force of the first input shaft 25A to the output shaft 40, a second transmission mechanism 13B that transmits the rotational force of the second input shaft 25B to the output shaft 40, a rotatable axle 37 to which the wheel 15 is fixed, a power conversion mechanism 14 that transmits the rotational force of the output shaft 40 to the axle 37, and a power conversion mechanism 14 that converts the rotational force of the output shaft 40 to the axle 37. The first transmission mechanism 13A includes a first winding transmission mechanism 33A having a pair of first winding wheels 33Aa, 33Ab and an endless first winding transmission member 33Ac wrapped around each of the first winding wheels 33Aa, 33Ab, and the second transmission mechanism 13B includes a second winding transmission mechanism 33B having a pair of second winding wheels 33Ba, 33Bb and an endless second winding transmission member 33Bc wrapped around each of the second winding wheels 33Ba, 33Bb.

[0082] The driving wheel 120 has a differential omnidirectional movement mechanism. That is, in the driving wheel 120, the rotational force of the first input shaft 25A is transmitted to the output shaft 40 via the first transmission mechanism 13A, the rotational force of the second input shaft 25B is transmitted to the output shaft 40 via the second transmission mechanism 13B, and is transmitted from the output shaft 40 to the axle 37 via the power conversion mechanism 14. The driving wheel 120 can switch between the rotation of the wheels 15 connected to the axle 37 and the steering of the wheels 15 by adjusting the rotation speeds of the first input shaft 25A and the second input shaft 25B.

[0083] In particular, in the driving wheel 120, the first transmission mechanism 13A includes a first winding transmission mechanism 33A, and the second transmission mechanism 13B includes a second winding transmission mechanism 33B. Therefore, in the driving wheel 120, even if the output shaft 40 moves away from the first input shaft 25A and the second input shaft 25B in the extension direction of the axle 37 as the dimension of the width direction Y of the wheel 15 increases, by providing the first winding transmission member 33Ac and the second winding transmission member 33Bc with large circumferential lengths, it is possible to transmit the rotational force to the output shaft 40.

[0084] For example, when a gear mechanism is used to transmit rotational force from the first input shaft 25A and the second input shaft 25B to the output shaft 40, using large diameter gears will result in an increase in size, or using a greater number of gears will result in a more complex structure, which will hinder miniaturization.

[0085] In this regard, the driving wheel 120 of the embodiment does not lead to an increase in size or complexity, and therefore can improve the degree of freedom of arrangement around the axle 37 while providing a differential omnidirectional movement mechanism. The arrangement around the axle 37 also includes offsetting the rotation axis O5 of the wheel 15 with respect to the axis O1 of the turning shaft 35, and the driving wheel 120 of the embodiment can improve the degree of freedom of this offset. Note that the driving wheel 120 may be configured such that at least one of the first transmission mechanism 13A and the second transmission mechanism 13B includes a wrapping transmission mechanism, and the other includes, for example, a gear mechanism.

[0086] In addition, in this drive wheel 120, the first transmission mechanism 13A has first winding wheels 33Aa, 33Ab fixed to the first input shaft 25A and the output shaft 40, respectively, and the second transmission mechanism 13B has second winding wheels 33Ba, 33Bb fixed to the second input shaft 25B and the output shaft 40, respectively.

[0087] This drive wheel 120 can transmit the rotational force of the first drive shaft 22Ac to the output shaft 40 via the first input shaft 25A, and can transmit the rotational force of the second drive shaft 22Bc to the output shaft 40 via the second input shaft 25B, and can be made compact while being equipped with a differential omnidirectional movement mechanism.

[0088] Moreover, this drive wheel 120 has a single output shaft.

[0089] According to this drive wheel 120, the rotational force of the first input shaft 25A and the second input shaft 25B is transmitted to the single output shaft 40. Therefore, this drive wheel 120 can simplify the configuration around the axle 37.

[0090] In addition, in this drive wheel 120, the rotation axis O5 of the wheel 15, which intersects with the axis O2 of the axle 37 and runs vertically, is shifted from the axis O1 of the turning shaft 35 in the horizontal direction perpendicular to the axis O2 of the axle 37.

[0091] According to the driving wheels 120, when the wheels 15 are not driven, the wheels 15 can passively turn by an external force acting from a horizontal direction. That is, the cart 100 can automatically travel and steer, and can also be manually traveled and steered by an operator.

[0092] Moreover, the bogie 100 of the embodiment includes the above-mentioned drive wheels 120 and a bogie body 101 to which the drive wheels 120 are attached. Therefore, the bogie 100 can be made compact while being provided with a differential omnidirectional movement mechanism.

[0093] [Variations] In the above-mentioned driving wheels 110 and 120, the transmission mechanism 13 has been described as a spur gear, but this is not limited thereto. For example, the transmission mechanism 13 may be configured as a helical gear, although not shown in the drawings. Also, in the above-mentioned driving wheels 110 and 120, the power conversion mechanism 14 has been described as a bevel gear, but this is not limited thereto. For example, the power conversion mechanism 14 may be a screw gear, a helical gear, a worm gear, a crown gear, a universal joint, or the like, although not shown in the drawings. [Explanation of symbols]

[0094] 13A First transmission mechanism 13B Second transmission mechanism 14 Power conversion mechanism 14A First power conversion mechanism 14B Second power conversion mechanism 15 wheels 25A First input shaft 25B Second input shaft 33A First winding transmission mechanism 33Aa,33Ab First winding wheel 33Ac First winding transmission member 33B Second winding transmission mechanism 33Ba,33Bb Second winding wheel 33Bc Second winding transmission member 35 Swivel Axis 37 Axle 40 Output shaft 40A first output shaft 40B Second output shaft 100 Carts 101 Cart body 110,120 Drive wheels

Claims

1. A first input shaft and a second input shaft which are coaxially arranged, An output shaft; a first transmission mechanism that transmits a rotational force of the first input shaft to the output shaft; a second transmission mechanism that transmits a rotational force of the second input shaft to the output shaft; a rotatable axle to which the wheels are fixed; a power conversion mechanism that transmits a rotational force of the output shaft to the axle; a pivot shaft that rotatably supports the wheel via the axle; Equipped with At least one of the first transmission mechanism and the second transmission mechanism includes a winding transmission mechanism having a pair of winding wheels and an endless winding transmission member wound around each of the winding wheels. Drive wheel.

2. The first transmission mechanism includes a first winding transmission mechanism having a pair of first winding wheels and an endless first winding transmission member wound around each of the first winding wheels, The second transmission mechanism includes a second winding transmission mechanism having a pair of second winding wheels and an endless second winding transmission member wound around each of the second winding wheels.

2. The drive wheel of claim 1.

3. The first transmission mechanism includes first pulleys fixed to the first input shaft and the output shaft, The second transmission mechanism has the second hanging wheels fixed to the second input shaft and the output shaft, respectively.

3. A drive wheel according to claim 2.

4. The output shaft includes a first output shaft and a second output shaft on different shafts, the first transmission mechanism transmits a rotational force of the first input shaft to the first output shaft, the second transmission mechanism transmits a rotational force of the second input shaft to the second output shaft, the power conversion mechanism includes a first power conversion mechanism that transmits a rotational force of the first output shaft to one end of the axle, and a second power conversion mechanism that transmits a rotational force of the second output shaft to the other end of the axle.

2. The drive wheel of claim 1.

5. The output shaft is single.

2. The drive wheel of claim 1.

6. The rotation axis of the wheel, which is aligned along a vertical direction intersecting the axis of the axle, is shifted in a horizontal direction perpendicular to the axis of the axle with respect to the axis of the pivot shaft. A driving wheel according to any one of claims 1 to 5.

7. Drive wheels and A carriage body to which the drive wheels are attached; Equipped with The drive wheels are A first input shaft and a second input shaft which are coaxially arranged, An output shaft; a first transmission mechanism that transmits a rotational force of the first input shaft to the output shaft; a second transmission mechanism that transmits a rotational force of the second input shaft to the output shaft; a rotatable axle to which the wheels are fixed; a power conversion mechanism that transmits a rotational force of the output shaft to the axle; a pivot shaft that rotatably supports the wheel via the axle; Equipped with At least one of the first transmission mechanism and the second transmission mechanism includes a winding transmission mechanism having a pair of winding wheels and an endless winding transmission member wound around each of the winding wheels. Trolley.

Images