Driving wheel and carriage

Abstract

To suppress the whole height while providing a differential type omnidirectional moving mechanism.SOLUTION: A drive wheel 110 includes: a first input shaft 25A rotatably mounted about an axis O1 extending in the vertical direction; a second input shaft 25B mounted on the outer periphery of the first input shaft and rotatably mounted coaxially with the first input shaft; a first output shaft 40A rotatably mounted about an axis O3 extending in the horizontal direction; a second output shaft 40B rotatably mounted about an axis O4 parallel to the first output shaft; a first transmission mechanism 13A for transmitting a rotational force of the first input shaft to the first output shaft; a second transmission mechanism 13B for transmitting a rotational force of the second input shaft to the second output shaft; a pair of meshing gears 14 provided on the first output shaft and the second output shaft and meshing with each other; an axle formed by the second output shaft and to which wheels 15 are fixed; and a pivot shaft 35 for supporting the wheels rotatably via the second output shaft which is an axle and rotatably mounted coaxially with the first input shaft and the second input shaft.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a drive wheel and a carriage.

Background Art

[0002] Patent Document 1 discloses a drive wheel and a carriage using the drive wheel. This drive wheel includes a first input shaft and a second input shaft arranged coaxially, a first output shaft and a second output shaft arranged on separate axes, a first spur gear mechanism for transmitting the rotational force of the first input shaft to the first output shaft, a second spur gear mechanism for transmitting the rotational force of the second input shaft to the second output shaft, a wheel connected to an axle, a swivel shaft for rotatably supporting the wheel via the axle, a first power conversion mechanism for transmitting the rotational force of the first output shaft to one end of the axle, and a second power conversion mechanism for transmitting the rotational force of the second output shaft to the other end of the axle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The drive wheel described in Patent Document 1 is provided with a differential type omnidirectional movement mechanism. And this drive wheel expands the input to two bevel gears for differential to the left and right sides from the swivel shaft, and expands these in the vertical direction to perform differential on the wheel side respectively. Therefore, with this drive wheel, the overall height will increase.

[0005] The present disclosure has been made in view of the above problems, and an object thereof is to provide a drive wheel and a carriage that can suppress the overall height while having a differential type omnidirectional movement mechanism.

Means for Solving the Problems

[0006] A drive wheel according to an aspect of the present disclosure for achieving the above object includes a first input shaft rotatably provided around an axis extending in the vertical direction, a second input shaft provided on the outer periphery of the first input shaft and rotatably provided coaxially with the first input shaft, a first output shaft rotatably provided around an axis extending in the horizontal direction, a second output shaft rotatably provided around an axis parallel to the first output shaft, a first transmission mechanism for transmitting the rotational force of the first input shaft to the first output shaft, a second transmission mechanism for transmitting the rotational force of the second input shaft to the second output shaft, a pair of meshing gears provided on the first output shaft and the second output shaft and meshing with each other, an axle connected to the first output shaft or the second output shaft and to which a wheel is fixed, and a swivel shaft rotatably provided coaxially with the first input shaft and the second input shaft and supporting the wheel via the axle so as to be swiveling.

[0007] As a desirable aspect of the above drive wheel, the first output shaft and the second output shaft are arranged at different positions in the horizontal direction.

[0008] As a desirable aspect of the above drive wheel, the first transmission mechanism and the second transmission mechanism include bevel gears.

[0009] As a desirable aspect of the above drive wheel, the first transmission mechanism and the second transmission mechanism include worm gears.

[0010] As a desirable aspect of the above drive wheel, the axle is composed of the first output shaft or the second output shaft.

[0011] As a desirable aspect of the above drive wheel, it includes a rotational force transmission mechanism for transmitting the rotational force of the first output shaft or the second output shaft to the axle.

[0012] As a desirable aspect of the above drive wheel, the rotational force transmission mechanism is composed of a belt transmission mechanism.

[0013] As a desirable aspect of the above drive wheel, the rotational axis of the wheel is displaced in a horizontal direction orthogonal to the axis of the axle with respect to the axis of the swivel shaft.

[0014] The carriage according to one aspect of the present disclosure for achieving the above object includes any one of the drive wheels described above and a carriage body to which the drive wheel is attached.

Effect of the Invention

[0015] According to the present disclosure, it is possible to suppress the overall height while providing a differential type omnidirectional movement mechanism.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

[0017] Hereinafter, with reference to the drawings, preferred embodiments of the drive wheels and the carriage according to the present disclosure will be described in detail. Note that the present invention is not limited by this embodiment, and when there are a plurality of embodiments, those configured by combining each embodiment are also included. In addition, the constituent elements in the embodiments include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those within a so-called equivalent range.

[0018] FIG. 18 is a schematic diagram showing a configuration example of the carriage according to the embodiment.

[0019] The carriage 100 includes a carriage body 101, a handle portion 102, four drive wheels 110 (120, 130), a power supply unit 104, and a control device 105.

[0020] The carriage body 101 is, for example, a flat plate material and has a rectangular shape in plan view. The handle portion 102 is fixed to one side in the longitudinal direction of the carriage body 101. Four drive wheels 110 are mounted at the four corners on the back side of the carriage body 101. The four drive wheels 110 are rotatable and steerable. Further, the power supply unit 104 and the control device 105 are mounted on the back surface between the front and rear drive wheels 110 of the carriage body 101. 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 a RAM. Therefore, in the carriage 100, the control device 105 controls the drive wheels 110.

[0021] The carriage body 101 forms a flat surface on which the object to be transported can be placed. That is, the carriage 100 can be configured as an automatic guided vehicle (AGV). Further, the carriage 100 can be configured as a device that travels by arranging equipment along the flat surface of the carriage body 101. Examples of the device include various ones such as a hand lifter, a forklift, a picking robot, and medical equipment.

[0022] Note that the carriage 100 and the device are not limited to the above-described configurations regarding the number and arrangement of the drive wheels 110. For example, in the four-wheel form described above, the carriage 100 and the device may have a pair of drive wheels 110 attached to the rear side of the carriage 100 and a pair of driven wheels attached to the front side of the carriage 100. Further, although not shown in the figure, in a form of three or more wheels, the carriage 100 and the device may have one drive wheel 110 and all other wheels may be driven wheels. Further, although not shown in the figure, in a form of three or more wheels, the carriage 100 and the device may have no driven wheels and all wheels may be drive wheels 110. That is, in a form of three or more wheels, the carriage 100 and the device only need to have at least one drive wheel 110.

[0023] [Embodiment 1 of Drive Wheel] Hereinafter, the drive wheel 110 will be described in detail. FIG. 1 is a perspective view showing the configuration of the drive wheel according to Embodiment 1. FIG. 2 is a perspective view showing the configuration of the drive wheel according to Embodiment 1. FIG. 3 is a plan view of the drive wheel according to Embodiment 1. FIG. 4 is a side view of the drive wheel according to Embodiment 1. FIG. 5 is a cross-sectional view (sectional view taken along line A-A in FIG. 3) showing the drive system of the drive wheel according to Embodiment 1. FIG. 6 is a cross-sectional view (sectional view taken along line B-B in FIG. 4) showing the drive system of the drive wheel according to Embodiment 1. FIG. 7 is a cross-sectional view (sectional view taken along line C-C in FIG. 4) showing the drive system of the drive wheel according to Embodiment 1. FIG. 8 is a schematic diagram showing the driving force transmission path of the drive wheel according to Embodiment 1.

[0024] In the following description, among the first direction, the second direction, and the third direction that intersect 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 "vertical direction Z". The front-rear direction X, the width direction Y, and the vertical direction Z are mutually perpendicular. The front-rear direction X typically corresponds to the direction along which the drive wheel 110 travels straight.

[0025] The drive wheel 110 has a main body 10 fixed to the cart body 101 of the cart 100 as described above. Based on this main body 10, a drive mechanism 11, a swivel section 12, a transmission mechanism 13, a meshing gear 14, and a wheel 15 are provided.

[0026] The main body 10 is formed in a plate shape with the plate surface facing up and down (see FIGS. 1 to 4). The drive mechanism 11 inputs a rotational force and is mainly provided above the main body 10. The swivel section 12 is mainly arranged below the main body 10. The transmission mechanism 13 transmits the rotational force input by the drive mechanism 11. The meshing gear 14 transmits the rotational force of the transmission mechanism 13 to the wheel 15. The wheel 15 is rotatable by the rotational force input via the drive mechanism 11, the transmission mechanism 13, and the meshing gear 14, and can be steered by the swivel section 12.

[0027] As shown in FIGS. 1 to 6, the drive mechanism 11 has a first drive mechanism 21A and a second drive mechanism 21B.

[0028] The first drive mechanism 21A is configured to have a first drive unit that is a motor. The first drive mechanism 21A is attached to the main body 10 such that the axis O6 (see FIG. 6) of the first drive shaft 21Ac extends along the vertical direction Z.

[0029] The second drive mechanism 21B is configured to have a second drive unit that is a motor. The second drive mechanism 21B is attached to the main body 10 such that the axis O7 (see FIG. 6) of the second drive shaft 21Bc extends along the vertical direction Z.

[0030] The swivel unit 12 includes a swivel shaft 35 and a support member 36. The swivel shaft 35 has the center of the disc shape as the axis O1 and is rotatably supported via a bearing 45 (mainly see Fig. 6) provided between the swivel shaft 35 and the main body 10. Thus, the swivel shaft 35 is supported so as to be relatively rotatable about the axis O1 with respect to the main body 10. The support member 36 is integrally provided on the plate-like lower surface of the swivel shaft 35.

[0031] The swivel unit 12 is arranged with the first input shaft 25A penetrating vertically in the Z direction coaxially with the axis O1, and is rotatably supported with respect to the support member 36 via a bearing 43b (see Fig. 6). The first input shaft 25A is rotatably supported with respect to the main body 10 via a bearing 43a (mainly see Fig. 6) coaxially with the axis O1. Therefore, the first input shaft 25A is supported so as to be relatively rotatable about the axis O1 with respect to the swivel unit 12 and is also supported so as to be relatively rotatable about the axis O1 with respect to the main body 10. That is, the swivel unit 12 is provided so as to be rotatable with respect to the main body 10 regardless of the rotation of the first input shaft 25A. For this reason, the drive wheel 110 of the embodiment can input a rotational force to the first input shaft 25A on the axis O1 which is the swivel axis of the wheel 15.

[0032] The swivel unit 12 arranges the second input shaft 25B along the vertical direction Z. The second input shaft 25B is inserted through the first input shaft 25A and is rotatably arranged outside the first input shaft 25A via a bearing 44 (mainly see Fig. 6). Therefore, the second input shaft 25B is supported so as to be relatively rotatable about the axis O1 with respect to the swivel unit 12 via the first input shaft 25A and is also supported so as to be relatively rotatable about the axis O1 with respect to the main body 10. That is, the swivel unit 12 is provided so as to be rotatable with respect to the main body 10 regardless of the rotation of the second input shaft 25B. For this reason, the drive wheel 110 of the embodiment can input a rotational force to the second input shaft 25B on the axis O1 which is the swivel axis of the wheel 15. With such a configuration, the first input shaft 25A, the second input shaft 25B, and the swivel unit 12 are rotatably arranged coaxially along the axis O1.

[0033] In the slewing section 12, a support member 36 is provided so as to extend downward at the lower part of the slewing shaft 35. As shown in FIG. 5, this support member 36 supports a first output shaft 40A and a second output shaft 40B. The first output shaft 40A and the second output shaft 40B are provided along axial centers O3 and O4 that extend in the horizontal direction (width direction Y) perpendicular to the direction (vertical direction Z) in which the axial center O1 extends. Therefore, the first output shaft 40A and the second output shaft 40B are provided parallel to each other. Also, the first output shaft 40A and the second output shaft 40B are displaced and arranged at different positions in the front-rear direction X. The first output shaft 40A is rotatably supported about the axial center O3 with respect to the support member 36 via a bearing 46 (mainly refer to FIG. 6). The second output shaft 40B is rotatably supported about the axial center O4 with respect to the support member 36 via a bearing 47 (mainly refer to FIG. 7).

[0034] In the slewing section 12, as shown in FIG. 7, the support member 36 supports an intermediate shaft 26B. The intermediate shaft 26B is provided along an axial center O5 that extends parallel to the direction (vertical direction Z) in which the axial center O1 extends. The intermediate shaft 26B is rotatably supported about the axial center O5 with respect to the support member 36 via a bearing 49. The axial center O5 of the intermediate shaft 26B is displaced (offset) mainly in the front-rear direction X with respect to the axial center O1.

[0035] In the slewing section 12, the support member 36 supports a wheel 15. The wheel 15 is provided on an axle. In this embodiment, the axle corresponds to the second output shaft 40B and can also be said to be integrally connected to the second output shaft 40B. A pair of first wheel 15A and second wheel 15B having the same diameter is provided for the wheel 15 with respect to the second output shaft 40B that is the axle. As shown in FIG. 7, for the first wheel 15A and the second wheel 15B, one of the first wheels 15A is fixed to the second output shaft 40B that is the axle, and the other second wheel 15B is rotatably supported with respect to the second output shaft 40B via a bearing 48.

[0036] As shown in FIGS. 1, 2, 5 to 7, the transmission mechanism 13 includes a first transmission mechanism 13A and a second transmission mechanism 13B.

[0037] The first transmission mechanism 13A can also be referred to as the first transmission gear mechanism. The first transmission mechanism 13A transmits the rotational force of the first drive shaft 21Ac of the first drive mechanism 21A to the first output shaft 40A via the first input shaft 25A. The first transmission mechanism 13A includes a first drive gear 31A, a first driven gear 32A, a first conversion gear 38A, and a first conversion output gear 39A. In the drive wheel 110 of the embodiment, the first drive gear 31A and the first driven gear 32A are constituted by spur gears, and the first conversion gear 38A and the first conversion output gear 39A are constituted by bevel gears.

[0038] In the first transmission mechanism 13A, the first drive gear 31A is fixed to the first drive shaft 21Ac of the first drive mechanism 21A. Therefore, the first drive gear 31A rotates about the axis O6 of the first drive shaft 21Ac by the rotational force driven by the first drive mechanism 21A. The first driven gear 32A is fixed to the upper end portion of the first input shaft 25A. Therefore, the first driven gear 32A rotates about the axis O1 of the first input shaft 25A. The first conversion gear 38A is fixed to the lower end portion of the first input shaft 25A. Therefore, the first conversion gear 38A rotates about the axis O1 of the first input shaft 25A together with the first driven gear 32A. The first conversion output gear 39A is fixed to the first output shaft 40A. Therefore, the first conversion output gear 39A rotates about the axis O3 of the first output shaft 40A. And the first drive gear 31A meshes with the first driven gear 32A. The first conversion gear 38A meshes with the first conversion output gear 39A in its front-rear direction X. Therefore, the first transmission mechanism 13A transmits the rotational force of the first drive mechanism 21A from the first drive gear 31A to the first driven gear 32A to apply a rotational force to the first input shaft 25A, and further transmits the rotational force of the first input shaft 25A from the first conversion gear 38A to the first conversion output gear 39A to apply a rotational force to the first output shaft 40A.

[0039] The second transmission mechanism 13B can also be referred to as a second transmission gear mechanism. The second transmission mechanism 13B transmits the rotational force of the second drive shaft 21Bc to the second output shaft 40B via the second input shaft 25B. The second transmission mechanism 13B includes a second drive gear 31B, a second driven gear 32B, a second connecting gear 33B, a second connecting output gear 34B, a second conversion gear 38B, and a second conversion output gear 39B. In the drive wheel 110 of the embodiment, the second drive gear 31B, the second driven gear 32B, the second connecting gear 33B, and the second connecting output gear 34B are configured as spur gears, and the second conversion gear 38B and the second conversion output gear 39B are configured as bevel gears.

[0040] In the second transmission mechanism 13B, the second drive gear 31B is fixed to the second drive shaft 21Bc of the second drive mechanism 21B. Therefore, the second drive gear 31B rotates about the axis O7 of the second drive shaft 21Bc by the rotational force that drives the second drive mechanism 21B. The second driven gear 32B is fixed to the upper end of the second input shaft 25B. Therefore, the second driven gear 32B rotates about the axis O1 of the second input shaft 25B. The second connecting gear 33B is fixed to the lower end of the second input shaft 25B. Therefore, the second connecting gear 33B rotates about the axis O1 of the second input shaft 25B together with the second driven gear 32B. The second connecting output gear 34B is fixed to the intermediate shaft 26B. Therefore, the second connecting output gear 34B rotates about the axis O5 of the intermediate shaft 26B. The second conversion gear 38B is fixed to the intermediate shaft 26B. Therefore, the second conversion gear 38B rotates about the axis O5 of the intermediate shaft 26B together with the second connecting output gear 34B. The second conversion output gear 39B is fixed to the second output shaft 40B. Therefore, the second conversion output gear 39B rotates about the axis O4 of the second output shaft 40B. And the second drive gear 31B meshes with the second driven gear 32B. The second connecting gear 33B meshes with the second connecting output gear 34B. The second conversion gear 38B meshes with the second conversion output gear 39B in the front-rear direction X thereof. Therefore, the second transmission mechanism 13B transmits the rotational force of the second drive mechanism 21B from the second drive gear 31B to the second driven gear 32B to apply a rotational force to the second input shaft 25B, and further transmits the rotational force of the second input shaft 25B from the second connecting gear 33B to the second connecting output gear 34B to apply a rotational force to the intermediate shaft 26B, and further transmits the rotational force of the intermediate shaft 26B from the second conversion gear 38B to the second conversion output gear 39B to apply a rotational force to the second output shaft 40B. The first output shaft 40A and the second output shaft 40B are given rotational forces in opposite directions to each other.

[0041] As shown in FIGS. 1, 2, 5 to 7, the meshing gear 14 includes a first meshing gear 41A and a second meshing gear 41B. In the drive wheel 110 of the embodiment, the first meshing gear 41A and the second meshing gear 41B are formed as spur gears. The first meshing gear 41A is fixed to the first output shaft 40A. The second meshing gear 41B is fixed to the second output shaft 40B. The first meshing gear 41A and the second meshing gear 41B mesh with each other. Therefore, the rotational force of the first output shaft 40A is also applied to the second output shaft 40B, which is the axle, via the meshing gear 14.

[0042] Also, as shown in FIGS. 4 and 5, in the drive wheel 110 of the embodiment, the rotation axis O2 of the wheel 15 is displaced (offset) in the horizontal direction (front-rear direction X) orthogonal to the axis O4 of the second output shaft 40B with respect to the axis O1 of the turning shaft 35. The rotation axis O2 of the wheel 15 intersects the axis O4 of the second output shaft 40B, which is the axle, extends along the vertical direction, and is a straight line passing through the center between the wheels 15A and 15B (the center between the points where the wheels 15A and 15B contact the ground) and parallel to the axis O1.

[0043] This drive wheel 110 can rotate and steer the wheel 15 by rotating the first input shaft 25A and the second input shaft 25B by the drive mechanism 11. For example, when the first output shaft 40A provided with the first meshing gear 41A and the second output shaft 40B provided with the second meshing gear 41B and the wheel 15 are rotated in opposite directions and the rotational speeds of the first output shaft 40A and the second output shaft 40B are made the same, the wheel 15 can be rotated without being steered by applying a rotational force to the first input shaft 25A and the second input shaft 25B. At this time, by making the rotational speeds of the first output shaft 40A and the second output shaft 40B different, the wheel 15 can be steered while rotating or stopped.

[0044] Here, the operation of the drive wheel 110 will be described with reference to FIG. 8. In FIG. 8, for the sake of convenience, the first output shaft 40A and the second output shaft 40B in the front-rear direction X, as apparent in FIG. 5, are shown by expanding them in the vertical direction. When the drive wheel 110 rotates the first input shaft 25A in the A1 direction, the first driven gear 32A and the first conversion gear 38A provided on the first input shaft 25A rotate in the same direction, and the first conversion output gear 39A meshing with the first conversion gear 38A rotates in the A2 direction opposite to the A1 direction. When the first conversion output gear 39A rotates in the A2 direction, the first meshing gear 41A integrally provided via the first output shaft 40A on the first conversion output gear 39A rotates in the same direction. Then, the second meshing gear 41B meshing with the first meshing gear 41A rotates in the C direction opposite to the A2 direction, and the second output shaft 40B, which is the axle provided with the second meshing gear 41B, is rotated in the same direction. On the other hand, when the drive wheel 110 rotates the second input shaft 25B in the B1 direction opposite to the A1 direction, the second driven gear 32B and the second connecting gear 33B provided on the second input shaft 25B rotate in the same direction, and the second connecting output gear 34B meshing with the second connecting gear 33B rotates in the B2 direction opposite to the B1 direction. When the second connecting output gear 34B rotates in the B2 direction, the second conversion gear 38B integrally provided via the intermediate shaft 26B on the second connecting output gear 34B rotates in the same direction. Then, the second conversion output gear 39B meshing with the second conversion gear 38B rotates in the C direction, and the second output shaft 40B, which is the axle integrated with the second conversion output gear 39B, is rotated in the same direction.

[0045] At this time, when the drive wheel 110 reduces the rotational speed of the second input shaft 25B with respect to the rotational speed of the first input shaft 25A so as to reduce the rotational speed of the second output shaft 40B with respect to the rotational speed of the first output shaft 40A, the turning shaft 35 rotates by the rotational speed difference between the first meshing gear 41A and the second meshing gear 41B, and the wheel 15 turns for steering. Also, when the drive wheel 110 stops the rotation of the first input shaft 25A or the second input shaft 25B, the rotational speed input to the first meshing gear 41A or the rotational speed input to the second meshing gear 41B becomes 0, and the wheel 15 turns for steering without rotating.

[0046] The drive wheel 110 of such an embodiment includes a first input shaft 25A rotatably provided around an axis O1 extending in the vertical direction, a second input shaft 25B provided on the outer periphery of the first input shaft 25A and rotatably provided coaxially with the first input shaft 25A, a first output shaft 40A rotatably provided around an axis O3 extending in the horizontal direction, a second output shaft 40B rotatably provided around an axis O4 parallel to the first output shaft 40A, a first transmission mechanism 13A for transmitting the rotational force of the first input shaft 25A to the first output shaft 40A, a second transmission mechanism 13B for transmitting the rotational force of the second input shaft 25B to the second output shaft 40B, a pair of meshing gears 14 provided on the first output shaft 40A and the second output shaft 40B and meshing with each other, an axle to which the second output shaft 40B, which constitutes the wheel 15, is fixed, and a swivel shaft 35 rotatably provided coaxially with the first input shaft 25A and the second input shaft 25B and supporting the wheel 15 so as to be swiveling via the second output shaft 40B which is the axle.

[0047] This drive wheel 110 has a differential omnidirectional movement mechanism. That is, in the drive wheel 110, the rotational force of the first input shaft 25A is transmitted to the first output shaft 40A via the first transmission mechanism 13A, the rotational force of the second input shaft 25B is transmitted to the second output shaft 40B via the second transmission mechanism 13B, and is transmitted to the wheel 15 from the first output shaft 40A and the second output shaft 40B via the meshing gears 14. This drive wheel 110 can switch between the rotation of the wheel 15 and the steering of the wheel 15 by adjusting the rotational speeds of the first input shaft 25A and the second input shaft 25B.

[0048] In particular, this drive wheel 110 is provided such that the first output shaft 40A is orthogonal to the first input shaft 25A, and the rotational force is transmitted between them by the first transmission mechanism 13A. Also, the second output shaft 40B is provided orthogonal to the second input shaft 25B, and the rotational force is transmitted between them by the second transmission mechanism 13B. The wheel 15 is provided with the second output shaft 40B as an axle, and the rotational force of the first input shaft 25A and the first output shaft 40A is transmitted to the wheel 15 via the meshing gears 14. In contrast, for example, the drive wheel described in Patent Document 1 has the first output shaft extending in the same direction as the first input shaft, and the rotational force is transmitted between them by the first transmission gear mechanism. The second output shaft extends in the same direction as the second input shaft, and the rotational force is transmitted between them by the second transmission gear mechanism. For an axle on a separate shaft, the rotational force of the first output shaft is transmitted by the first conversion gear mechanism, and the rotational force of the second output shaft is transmitted by the second conversion gear mechanism. Therefore, in the drive wheel described in Patent Document 1, since both the input shaft and the output shaft extend in the vertical direction, the vehicle height of the entire drive wheel inevitably increases. In this regard, in the drive wheel 110 of the embodiment, the rotational force is transmitted from the input shafts 25A and 25B extending in the vertical direction Z to the output shafts 40A and 40B in the front-rear direction X by the conversion gears 38A and 38B and the conversion driven gears 39A and 39B. By configuring one of the output shafts 40A and 40B as an axle, some of the gears for transmitting the driving force are omitted to save height, and a differential type omnidirectional moving wheel with a lower vehicle height is realized. As a result, the drive wheel 110 of the embodiment can suppress the overall height while having a differential type omnidirectional moving mechanism.

[0049] Also, in this drive wheel 110, the first output shaft 40A and the second output shaft 40B are arranged at different positions in the front-rear direction X (horizontal direction).

[0050] According to this drive wheel 110, by arranging the first output shaft 40A and the second output shaft 40B so as to be offset in the front-rear direction X, height can be saved.

[0051] In addition, in this drive wheel 110, the first transmission mechanism 13A and the second transmission mechanism 13B include bevel gears. That is, in this drive wheel 110, in the first transmission mechanism 13A, bevel gears (first conversion gear 38A and first conversion output gear 39A) are used for transmitting the rotational force from the first input shaft 25A to the first output shaft 40A. Also, in this drive wheel 110, in the second transmission mechanism 13B, bevel gears (second conversion gear 38B and second conversion output gear 39B) are used for transmitting the rotational force from the second input shaft 25B to the second output shaft 40B.

[0052] According to this drive wheel 110, by using bevel gears to transmit the rotational force from the first input shaft 25A extending in a different direction to the first output shaft 40A and the rotational force from the second input shaft 25B extending in a different direction to the second output shaft 40B, height can be saved.

[0053] Also, in this drive wheel 110, the rotation axis O2 of the wheel 15 is displaced and arranged in a horizontal direction orthogonal to the axis O4 of the second output shaft 40B which is the axle with respect to the axis O1 of the swivel shaft 35.

[0054] According to this drive wheel 110, when the wheel 15 is not being driven, the wheel 15 can be passively swiveled by an external force acting in the horizontal direction. That is, the carriage 100 can be automatically traveled and automatically steered, and an operator can manually travel and manually steer it.

[0055] In addition, the carriage 100 of the embodiment includes the above-described drive wheel 110 and a carriage body 101 to which the drive wheel 110 is attached. Therefore, the carriage 100 can suppress the overall height while including a differential omnidirectional movement mechanism.

[0056] [Embodiment 2 of the drive wheel] FIG. 9 is a perspective view showing the basic configuration of the drive wheel according to Embodiment 2. FIG. 10 is a plan view of the drive wheel according to Embodiment 2. FIG. 11 is a side view of the drive wheel according to Embodiment 2. FIG. 12 is a cross-sectional view showing the drive system of the drive wheel according to Embodiment 2 (sectional view taken along line D-D in FIG. 10). FIG. 13 is a cross-sectional view showing the drive system of the drive wheel according to Embodiment 2 (sectional view taken along line E-E in FIG. 11). FIG. 14 is a cross-sectional view showing the drive system of the drive wheel according to Embodiment 2 (sectional view taken along line F-F in FIG. 11). FIG. 15 is a schematic diagram showing the driving force transmission path of the drive wheel according to Embodiment 2.

[0057] The drive wheel 120 according to Embodiment 2 mainly differs from the drive wheel 110 according to Embodiment 1 described above in the configuration of the transmission mechanism 13 and the configuration of the wheel 15. In the following description of the drive wheel 120 according to Embodiment 2, the same reference numerals are given to the equivalent parts as those of the drive wheel 110 described above, and the description thereof is omitted.

[0058] The wheel 15 is provided on the axle. In this embodiment, the axle corresponds to the first output shaft 40A and is also said to be integrally connected to the first output shaft 40A. The wheel 15 is fixed as a single wheel to one end of the first output shaft 40A which is the axle.

[0059] As shown in FIGS. 9 and 12 to 14, the transmission mechanism 13 includes a first transmission mechanism 13A and a second transmission mechanism 13B.

[0060] The first transmission mechanism 13A can also be referred to as a first transmission gear mechanism. The first transmission mechanism 13A transmits the rotational force of the first drive shaft 21Ac to the first output shaft 40A via the first input shaft 25A. The first transmission mechanism 13A includes a first drive gear 31A, a first driven gear 32A, a first conversion gear 38A, and a first conversion output gear 39A. In the drive wheel 120 of the embodiment, the first drive gear 31A and the first driven gear 32A are constituted by spur gears, and the first conversion gear 38A and the first conversion output gear 39A are constituted by helical gears.

[0061] In the first transmission mechanism 13A, the first drive gear 31A is fixed to the first drive shaft 21Ac of the first drive mechanism 21A. Therefore, the first drive gear 31A rotates about the axis O6 of the first drive shaft 21Ac by the rotational force that drives the first drive mechanism 21A. The first driven gear 32A is fixed to the upper end of the first input shaft 25A. Therefore, the first driven gear 32A rotates about the axis O1 of the first input shaft 25A. The first conversion gear 38A is fixed to the lower end of the first input shaft 25A. Therefore, the first conversion gear 38A rotates about the axis O1 of the first input shaft 25A together with the first driven gear 32A. The first conversion output gear 39A is fixed to the first output shaft 40A. Therefore, the first conversion output gear 39A rotates about the axis O3 of the first output shaft 40A. And the first drive gear 31A meshes with the first driven gear 32A. The first conversion gear 38A meshes with the first conversion output gear 39A in the front-rear direction X thereof. Therefore, the first transmission mechanism 13A transmits the rotational force of the first drive mechanism 21A from the first drive gear 31A to the first driven gear 32A to apply a rotational force to the first input shaft 25A, and further transmits the rotational force of the first input shaft 25A from the first conversion gear 38A to the first conversion output gear 39A to apply a rotational force to the first output shaft 40A.

[0062] The second transmission mechanism 13B can also be referred to as the second transmission gear mechanism. The second transmission mechanism 13B transmits the rotational force of the second drive shaft 21Bc to the second output shaft 40B via the second input shaft 25B. The second transmission mechanism 13B includes a second drive gear 31B, a second driven gear 32B, a second connection gear 33B, a second connection output gear 34B, a second conversion gear 38B, and a second conversion output gear 39B. In the drive wheel 120 of the embodiment, the second drive gear 31B, the second driven gear 32B, the second connection gear 33B, and the second connection output gear 34B are constituted by spur gears, and the second conversion gear 38B and the second conversion output gear 39B are constituted by helical gears.

[0063] In the second transmission mechanism 13B, the second drive gear 31B is fixed to the second drive shaft 21Bc of the second drive mechanism 21B. Therefore, the second drive gear 31B rotates about the axis O7 of the second drive shaft 21Bc by the rotational force that drives the second drive mechanism 21B. The second driven gear 32B is fixed to the upper end portion of the second input shaft 25B. Therefore, the second driven gear 32B rotates about the axis O1 of the second input shaft 25B. The second connecting gear 33B is fixed to the lower end portion of the second input shaft 25B. Therefore, the second connecting gear 33B rotates about the axis O1 of the second input shaft 25B together with the second driven gear 32B. The second connecting output gear 34B is fixed to the intermediate shaft 26B. Therefore, the second connecting output gear 34B rotates about the axis O5 of the intermediate shaft 26B. The second conversion gear 38B is fixed to the intermediate shaft 26B. Therefore, the second conversion gear 38B rotates about the axis O5 of the intermediate shaft 26B together with the second connecting output gear 34B. The second conversion output gear 39B is fixed to the second output shaft 40B. Therefore, the second conversion output gear 39B rotates about the axis O4 of the second output shaft 40B. And the second drive gear 31B meshes with the second driven gear 32B. The second connecting gear 33B meshes with the second connecting output gear 34B. The second conversion gear 38B meshes with the second conversion output gear 39B in the front-rear direction X thereof. Therefore, the second transmission mechanism 13B transmits the rotational force of the second drive mechanism 21B from the second drive gear 31B to the second driven gear 32B to apply a rotational force to the second input shaft 25B, and further transmits the rotational force of the second input shaft 25B from the second connecting gear 33B to the second connecting output gear 34B to apply a rotational force to the intermediate shaft 26B, and further transmits the rotational force of the intermediate shaft 26B from the second conversion gear 38B to the second conversion output gear 39B to apply a rotational force to the second output shaft 40B. The first output shaft 40A and the second output shaft 40B are applied with rotational forces in opposite directions to each other.

[0064] Further, as shown in FIG. 10, in the drive wheel 120 of the embodiment, the rotation axis O2 of the wheel 15 is displaced (offset) in the horizontal direction (front-rear direction X) orthogonal to the axis O3 of the first output shaft 40A, which is the axle, with respect to the axis O1 of the turning shaft 35. The rotation axis O2 of the wheel 15 intersects the axis O3 of the first output shaft 40A, which is the axle, extends along the vertical direction, and is a straight line passing through the center in the direction along the axis O4 of the wheel 15 and parallel to the axis O1.

[0065] This drive wheel 120 can rotate and steer the wheel 15 by rotating the first input shaft 25A and the second input shaft 25B by the drive mechanism 11. For example, the first output shaft 40A provided with the first meshing gear 41A and the second output shaft 40B provided with the second meshing gear 41B and the wheel 15 rotate in opposite directions, and the rotational speeds (rotation speeds) of the first output shaft 40A and the second output shaft 40B are made the same. By applying a rotational force to the first input shaft 25A and the second input shaft 25B, the wheel 15 can be rotated without being steered. At this time, by making the rotational speeds (rotation speeds) of the first output shaft 40A and the second output shaft 40B different, the wheel 15 can be steered in a rotating or stopped state.

[0066] Here, the operation of the drive wheel 120 will be described with reference to FIG. 15. In FIG. 15, for the sake of convenience, the first output shaft 40A and the second output shaft 40B are shown expanded in the vertical direction. When the drive wheel 120 rotates the first input shaft 25A in the A1 direction, the first driven gear 32A and the first conversion gear 38A provided on the first input shaft 25A rotate in the same direction, and the first conversion output gear 39A meshing with the first conversion gear 38A rotates in the C direction opposite to the A1 direction. Then, the first output shaft 40A, which is a shaft integrated with the first conversion output gear 39A, is rotated in the same direction. On the other hand, when the drive wheel 120 rotates the second input shaft 25B in the B1 direction opposite to the A1 direction, the second driven gear 32B and the second connection gear 33B provided on the second input shaft 25B rotate in the same direction, and the second connection output gear 34B meshing with the second connection gear 33B rotates in the B2 direction opposite to the B1 direction. When the second connection output gear 34B rotates in the B2 direction, the second conversion gear 38B integrally provided via the intermediate shaft 26B with the second connection output gear 34B rotates in the same direction. Then, the second conversion output gear 39B meshing with the second conversion gear 38B rotates in the B3 direction opposite to the B2 direction. When the second conversion output gear 39B rotates in the B3 direction, the second meshing gear 41B integrally provided via the second output shaft 40B with the second conversion output gear 39B rotates in the same direction. Then, the first meshing gear 41A meshing with the second meshing gear 41B rotates in the C direction opposite to the B3 direction, and the first output shaft 40A, which is a shaft provided with the first meshing gear 41A, is rotated in the same direction.

[0067] At this time, when the drive wheel 120 reduces the rotation speed of the second input shaft 25B with respect to the rotation speed of the first input shaft 25A so as to reduce the rotation speed of the second output shaft 40B with respect to the rotation speed of the first output shaft 40A, the swivel shaft 35 rotates by the rotation speed difference between the first meshing gear 41A and the second meshing gear 41B, and the wheel 15 swivels and steers. Also, when the drive wheel 120 stops the rotation of the first input shaft 25A or the second input shaft 25B, the rotation speed input to the first meshing gear 41A or the rotation speed input to the second meshing gear 41B becomes 0, and the wheel 15 swivels and steers without rotating.

[0068] The driving wheel 120 of such an embodiment includes a first input shaft 25A rotatably provided around an axis O1 extending in the vertical direction, a second input shaft 25B provided on the outer periphery of the first input shaft 25A and rotatably provided coaxially with the first input shaft 25A, a first output shaft 40A rotatably provided around an axis O3 extending in the horizontal direction, a second output shaft 40B rotatably provided around an axis O4 parallel to the first output shaft 40A, a first transmission mechanism 13A for transmitting the rotational force of the first input shaft 25A to the first output shaft 40A, a second transmission mechanism 13B for transmitting the rotational force of the second input shaft 25B to the second output shaft 40B, a pair of meshing gears 14 provided on the first output shaft 40A and the second output shaft 40B and meshing with each other, an axle formed by the first output shaft 40A to which the wheel 15 is fixed, and a swivel shaft 35 rotatably provided coaxially with the first input shaft 25A and the second input shaft 25B and supporting the wheel 15 so as to be swiveling via the first output shaft 40A which is an axle.

[0069] This 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 first output shaft 40A via the first transmission mechanism 13A, the rotational force of the second input shaft 25B is transmitted to the second output shaft 40B via the second transmission mechanism 13B, and is transmitted to the wheel 15 from the first output shaft 40A and the second output shaft 40B via the meshing gears 14. This driving wheel 120 can switch between the rotation of the wheel 15 and the steering of the wheel 15 by adjusting the rotational speeds of the first input shaft 25A and the second input shaft 25B.

[0070] In particular, this drive wheel 120 is provided such that the first output shaft 40A is orthogonal to the first input shaft 25A, and the rotational force is transmitted between them by the first transmission mechanism 13A. The second output shaft 40B is provided orthogonal to the second input shaft 25B, and the rotational force is transmitted between them by the second transmission mechanism 13B. A wheel 15 is provided with the first output shaft 40A as an axle, and the rotational forces of the first input shaft 25A and the first output shaft 40A are transmitted to the wheel 15 via the meshing gears 14. In contrast, for example, the drive wheel described in Patent Document 1 has the first output shaft extending in the same direction as the first input shaft, and the rotational force is transmitted between them by the first transmission gear mechanism. The second output shaft extends in the same direction as the second input shaft, and the rotational force is transmitted between them by the second transmission gear mechanism. The rotational force of the first output shaft is transmitted to the axle of a separate shaft by the first conversion gear mechanism, and the rotational force of the second output shaft is transmitted by the second conversion gear mechanism. Therefore, in the drive wheel 120 of the embodiment, the rotational force is transmitted from the input shafts 25A and 25B extending in different directions to the output shafts 40A and 40B in the front-rear direction X by the conversion gears 38A, 38B and the conversion driven gears 39A, 39B in the embodiment. By configuring one of the output shafts 40A and 40B as an axle, some of the gears that expand in the vertical direction are omitted to save height, and a differential-type omnidirectional moving wheel with a lower vehicle height is realized. As a result, the drive wheel 120 of the embodiment can suppress the overall height while having a differential-type omnidirectional movement mechanism.

[0071] Further, in this drive wheel 120, the first transmission mechanism 13A and the second transmission mechanism 13B include screw gears. That is, in this drive wheel 120, the first transmission mechanism 13A uses screw gears (the first conversion gear 38A and the first conversion output gear 39A) to transmit the rotational force from the first input shaft 25A to the first output shaft 40A. Also, in this drive wheel 120, the second transmission mechanism 13B uses screw gears (the second conversion gear 38B and the second conversion output gear 39B) to transmit the rotational force from the second input shaft 25B to the second output shaft 40B.

[0072] According to this drive wheel 120, by means of a helical gear, the transmission of rotational force from the first input shaft 25A extending in a different direction to the first output shaft 40A and the transmission of rotational force from the second input shaft 25B extending in a different direction to the second output shaft 40B are carried out, so that height can be saved.

[0073] Moreover, the carriage 100 of the embodiment includes the above-described drive wheel 120 and a carriage body 101 to which the drive wheel 120 is attached. Therefore, the carriage 100 can suppress the overall height while including a differential omnidirectional movement mechanism.

[0074] [Embodiment 3 of the drive wheel] FIG. 16 is a perspective view showing the configuration of the drive wheel of Embodiment 3. FIG. 17 is a schematic diagram showing the driving force transmission path of the drive wheel of Embodiment 3.

[0075] The drive wheel 130 of Embodiment 3 mainly differs from the above-described drive wheel 110 in that it has a rotational force transmission mechanism 16. The drive wheel 130 of Embodiment 3 targets the rotational force transmission mechanism 16 as a feature. In the following description of the drive wheel 130 of Embodiment 3, the same reference numerals are given to the equivalent parts as those of the above-described drive wheel 110, and the description thereof is omitted.

[0076] The rotational force transmission mechanism 16 transmits the rotational force of the second output shaft 40B to the axle 37 to which the wheel 15 is fixed.

[0077] The axle 37 is provided in parallel with the first output shaft 40A and the second output shaft 40B. Therefore, the axle 37 extends in the horizontal direction (width direction Y), and its axis O8 is provided in parallel with the axis O3 and the axis O4. Although not shown in the figure, the axle 37 is rotatably provided about the axis O8 with respect to the support member 36 via a bearing. The wheel 15 is fixed to this axle 37. And the drive wheel 130 is arranged such that the rotation axis O2 of the wheel 15 is offset (displaced) in the horizontal direction (front-rear direction X) orthogonal to the axis O8 of the axle 37 with respect to the axis O1 of the turning shaft 35. The rotation axis O2 of the wheel 15 intersects the axis O8 of the axle 37 and extends along the vertical direction, and is a straight line passing through the center in the direction along the axis O8 of the wheel 15 and parallel to the axis O1.

[0078] The rotational force transmission mechanism 16 is configured as a belt transmission mechanism including two pulleys 56 and a timing belt 57 wound around each pulley 56. One pulley 56 is fixed to the second output shaft 40B. The other pulley 56 is fixed to the axle 37. Therefore, the rotational force transmission mechanism 16 transmits the rotational force around the axis O4 of the second output shaft 40B as the rotational force around the axis O8 of the axle 37 via the two pulleys 56 and the timing belt 57, thereby transmitting the driving force to the wheels 15 via the axle 37.

[0079] Note that the drive wheels 130 are composed of the first conversion gear 38A and the first conversion output gear 39A, and the second conversion gear 38B and the second conversion output gear 39B, which are screw gears. The first conversion gear 38A and the first conversion output gear 39A, and the second conversion gear 38B and the second conversion output gear 39B may be composed of bevel gears.

[0080] Here, the operation of the drive wheel 130 will be described with reference to FIG. 17. In FIG. 17, for convenience, the first output shaft 40A and the second output shaft 40B are shown unfolded in the vertical direction, and the rotational force transmission mechanism 16 is also shown unfolded in the vertical direction. When the drive wheel 130 rotates the first input shaft 25A in the A1 direction, the first driven gear 32A and the first conversion gear 38A provided on the first input shaft 25A rotate in the same direction, and the first conversion output gear 39A meshing with the first conversion gear 38A rotates in the A2 direction opposite to the A1 direction. When the first conversion output gear 39A rotates in the A2 direction, the first meshing gear 41A integrally provided with the first output shaft 40A via the first conversion output gear 39A rotates in the same direction. Then, the second meshing gear 41B meshing with the first meshing gear 41A rotates in the B3 direction opposite to the A2 direction, and rotates the second output shaft 40B provided with the second meshing gear 41B in the same direction. On the other hand, when the drive wheel 110 rotates the second input shaft 25B in the B1 direction opposite to the A1 direction, the second driven gear 32B and the second connection gear 33B provided on the second input shaft 25B rotate in the same direction, and the second connection output gear 34B meshing with the second connection gear 33B rotates in the B2 direction opposite to the B1 direction. When the second connection output gear 34B rotates in the B2 direction, the second conversion gear 38B integrally provided with the second connection output gear 34B via the intermediate shaft 26B rotates in the same direction. Then, the second conversion output gear 39B meshing with the second conversion gear 38B rotates in the B3 direction, and rotates the second output shaft 40B integrated with the second conversion output gear 39B in the same direction. And when the second output shaft 40B of the drive wheel 130 rotates in the B3 direction, the axle 37 to which the wheel 15 is fixed is rotated in the same direction via each pulley 56 and the timing belt 57 of the rotational force transmission mechanism 16.

[0081] At this time, when the drive wheel 130 reduces the rotational speed of the second input shaft 25B with respect to the rotational speed of the first input shaft 25A so as to reduce the rotational speed of the second output shaft 40B with respect to the rotational speed of the first output shaft 40A, the swivel shaft 35 rotates by the rotational speed difference between the first meshing gear 41A and the second meshing gear 41B, and the wheel 15 swivels and steers. Also, when the rotation of the first input shaft 25A or the second input shaft 25B is stopped, the drive wheel 110 causes the rotational speed input to the first meshing gear 41A or the rotational speed input to the second meshing gear 41B to become 0, and the wheel 15 swivels and steers without rotating.

[0082] In addition, in this drive wheel 130, one pulley 56 of the rotational force transmission mechanism 16 may be fixed to the first output shaft 40A. In this case, the rotational force transmission mechanism 16 transmits the rotational force around the axis O3 of the first output shaft 40A as the rotational force around the axis O8 of the axle 37 via the two pulleys 56 and the timing belt 57, thereby transmitting the driving force to the wheel 15 via the axle 37.

[0083] This drive wheel 130 and the carriage 100 can operate in the same manner as the drive wheel 110 and the carriage 100 of Embodiment 1 and the drive wheel 120 and the carriage 100 of Embodiment 2, and the same operational effects as those of the drive wheel 110 and the carriage 100 and the drive wheel 120 and the carriage 100 can be obtained.

[0084] In particular, in this drive wheel 130, it includes the axle 37 to which the wheel 15 is fixed and the rotational force transmission mechanism 16 that transmits the rotational force of the second output shaft 40B (or the first output shaft 40A) to the axle 37. The rotational force transmission mechanism 16 displaces (offsets) the rotational axis O2 of the wheel 15 along the vertical direction intersecting the axis O8 of the axle 37 in the horizontal direction orthogonal to the axis O8 of the axle 37 with respect to the axis O1 of the swivel shaft 35.

[0085] According to this drive wheel 130, when the wheel 15 is not being driven, the wheel 15 can be passively swiveled by an external force acting in the horizontal direction. That is, the carriage 100 can be automatically traveled and automatically steered, and an operator can manually travel and manually steer.

[0086] Further, in the drive wheel 130 of the embodiment, the rotational force transmission mechanism 16 is composed of a belt transmission mechanism.

[0087] According to this drive wheel 130, the rotational force transmission mechanism 16 may be a gear transmission mechanism. However, by using a belt transmission mechanism as the rotational force transmission mechanism 16, a configuration in which the rotation axis O2 of the wheel 15 intersecting the axis O8 of the axle 37 and extending in the vertical direction is displaced in the horizontal direction orthogonal to the axis O8 of the axle 37 with respect to the axis O1 of the turning axis 35 can be easily implemented.

[0088] [Modification Example] In the drive wheels 110, 120, and 130 described above, the gears described as spur gears may be composed of, for example, helical gears. Further, in the drive wheels 110, 120, and 130 described above, the gears described as bevel gears or screw gears may be composed of, for example, worm gears, crown gears, or universal joints.

Explanation of Reference Numerals

[0089] 13A First transmission mechanism 13B Second transmission mechanism 14 Meshing gear 15 (15A, 15B) Wheel 16 Rotational force transmission mechanism 25A First input shaft 25B Second input shaft 35 Turning axis 37 Axle 40A First output shaft 40B Second output shaft 100 Carriage 101 Carriage body 110, 120, 130 Drive wheels

Claims

1. A first input shaft rotatably provided around an axis extending along the vertical direction, A second input shaft provided on the outer periphery of the first input shaft and rotatably provided coaxially with the first input shaft, A first output shaft rotatably provided around an axis extending along the horizontal direction, A second output shaft rotatably provided around an axis parallel to the first output shaft, A first transmission mechanism for transmitting the rotational force of the first input shaft to the first output shaft, A second transmission mechanism for transmitting the rotational force of the second input shaft to the second output shaft, A pair of meshing gears provided on the first output shaft and the second output shaft and meshing with each other, An axle connected to the first output shaft or the second output shaft and to which a wheel is fixed, A swivel shaft rotatably provided coaxially with the first input shaft and the second input shaft and supporting the wheel via the axle so as to be swiveling, A drive wheel including the above.

2. The drive wheel according to claim 1, wherein the first output shaft and the second output shaft are arranged at different positions in the horizontal direction.

3. The drive wheel according to claim 1, wherein the first transmission mechanism and the second transmission mechanism include bevel gears.

4. The drive wheel according to claim 1, wherein the first transmission mechanism and the second transmission mechanism include worm gears.

5. The drive wheel according to claim 1, wherein the axle consists of the first output shaft or the second output shaft.

6. The drive wheel according to claim 1, including a rotational force transmission mechanism for transmitting the rotational force of the first output shaft or the second output shaft to the axle.

7. The drive wheel according to claim 6, wherein the rotational force transmission mechanism consists of a belt transmission mechanism.

8. The drive wheel according to claim 1, wherein the rotational axis of the wheel is displaced in a horizontal direction orthogonal to the axis of the axle with respect to the axis of the swivel shaft.

9. A drive wheel, A bogie body to which the drive wheel is attached, Comprising, The drive wheel, A first input shaft rotatably provided around an axis extending along the vertical direction, A second input shaft provided on the outer periphery of the first input shaft and rotatably provided coaxially with the first input shaft, A first output shaft rotatably provided around an axis extending along the horizontal direction, A second output shaft rotatably provided around an axis parallel to the first output shaft, A first transmission mechanism for transmitting the rotational force of the first input shaft to the first output shaft, A second transmission mechanism for transmitting the rotational force of the second input shaft to the second output shaft, A pair of meshing gears provided on the first output shaft and the second output shaft and meshing with each other; An axle connected to the first output shaft or the second output shaft and to which a wheel is fixed; A turning shaft rotatably provided coaxially with the first input shaft and the second input shaft and supporting the wheel via the axle so as to be turnable; comprising a bogie.

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