Drive wheels and bogies

Abstract

To increase withstand load of a bearing of a turning shaft.SOLUTION: A turning shaft 35 is formed into a disc shape to support a first input shaft 25A, a second input shaft 25B, a first output shaft 40A, a second output shaft 40B, a first spur gear mechanism 13A, a second spur gear mechanism 13B, a wheel 15, a first helical gear mechanism 14A, and a second helical gear mechanism 14B, and is provided so as to be rotatable relative to a body 10 via a turning bearing 45 coaxially with the first input shaft 25A and the second input shaft 25B on the outside thereof.SELECTED DRAWING: Figure 4

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. The 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 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] Japanese Patent Publication No. 2020-024033 Summary of the Invention [Problem to be solved by the invention]

[0004] The drive wheel described in Patent Document 1 is equipped with a differential omnidirectional movement mechanism that allows the two drive units mounted thereon to operate simultaneously, regardless of whether the wheel is changing direction or rotating.

[0005] Here, the drive wheel described in Patent Document 1 has a cylindrical swivel shaft, which is coaxially arranged on the outer peripheries of the first input shaft and the second input shaft via bearings, and is mounted via bearings to a main body fixed to a bogie. The distance between the first input shaft, the second input shaft, and the rotating shaft must be as narrow as possible, and small-diameter bearings must be used. This requires high precision and makes machining difficult. Furthermore, a configuration in which the distance between the first input shaft, the second input shaft, and the rotating shaft is as narrow as possible and small-diameter bearings are used increases the load on the bearings, increasing rotation resistance and reducing load capacity.

[0006] 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 improve the load-bearing capacity of the bearing of the swivel shaft. [Means for solving the problem]

[0007] In order to achieve the above object, a drive wheel according to one aspect of the present disclosure 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 different axes, a first drive mechanism that inputs a rotational force to the first input shaft, a second drive mechanism that inputs a rotational force to the second input shaft, 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, a wheel connected to an 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 drive mechanism that transmits the rotational force of the second output shaft to one end of the axle. to the other end of the axle; a swivel shaft that rotatably supports the wheel via the axle; and a main body that supports the first drive mechanism and the second drive mechanism, wherein the swivel shaft is formed in a circular plate shape and supports the first input shaft, the second input shaft, the first output shaft, the second output shaft, the first spur gear mechanism, the second spur gear mechanism, the wheel, the first power conversion mechanism, and the second power conversion mechanism, and is rotatably mounted on the outside of the swivel shaft relative to the main body via a swivel bearing that is coaxial with the first input shaft and the second input shaft.

[0008] In a preferred embodiment of the drive wheel, the cylindrical second input shaft is arranged outside the first input shaft, the first input shaft is rotatable relative to the turning shaft via an input bearing, and the second input shaft is rotatable relative to the first input shaft via an intermediate bearing.

[0009] In a preferred embodiment of the drive wheel, the cylindrical second input shaft is arranged outside the first input shaft, the first input shaft is rotatable relative to the swivel shaft via a first input bearing, and the second input shaft is rotatable relative to the first input shaft via an intermediate bearing and is rotatable relative to the swivel shaft via a second input bearing.

[0010] In a preferred embodiment of the drive wheel, the first spur gear mechanism and the second spur gear mechanism are disposed within the thickness of the plate-like shape of the pivot shaft.

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

[0012] In a preferred embodiment of the drive wheel, the first output shaft and the second output shaft are disposed on both sides of the axle in the axial direction.

[0013] In a preferred embodiment of the drive wheel, the first power conversion mechanism and the second power conversion mechanism are disposed on both sides of the axle in the axial direction.

[0014] As a desirable aspect of the above-mentioned drive wheel, the first power conversion mechanism transmits the rotational force of the first output shaft to one end of the axle that is axially different from the first output shaft, and any one of a helical gear mechanism, a bevel gear mechanism, a worm gear mechanism, a crown gear mechanism, or a universal joint mechanism is applied, and the second power conversion mechanism transmits the rotational force of the second output shaft to the other end of the axle that is axially different from the second output shaft, and any one of a helical gear mechanism, a bevel gear mechanism, a worm gear mechanism, a crown gear mechanism, or a universal joint mechanism is applied.

[0015] In order to achieve the above object, a bogie according to one aspect of the present disclosure 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 different axes, a first drive mechanism that inputs a rotational force to the first input shaft, a second drive mechanism that inputs a rotational force to the second input shaft, 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 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. the first input shaft, the second input shaft, the first output shaft, the second output shaft, the first spur gear mechanism, the second spur gear mechanism, the wheels, the first power conversion mechanism, and the second power conversion mechanism, and is formed in a circular plate shape to support the first input shaft, the second input shaft, the first output shaft, the second output shaft, the first spur gear mechanism, the second spur gear mechanism, the wheels, the first power conversion mechanism, and the second power conversion mechanism, and is provided on the outside thereof with drive wheels rotatable relative to the main body via swivel bearings coaxial with the first input shaft and the second input shaft, and a bogie main body to which the drive wheels are attached. [Effects of the Invention]

[0016] According to the present disclosure, the load resistance of the bearing of the pivot shaft can be improved. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a perspective view showing an example of the basic configuration of a drive wheel according to the first embodiment. [Figure 2] FIG. 2 is a plan view showing the drive wheel of the first embodiment. [Figure 3] FIG. 3 is a side view showing the drive wheel of the first embodiment. [Figure 4] FIG. 4 is a cross-sectional view taken along line AA in FIG. [Figure 5] FIG. 5 is a cross-sectional view taken along line BB in FIG. [Figure 6] FIG. 6 is a schematic diagram showing a driving force transmission path of the driving wheels in the first embodiment. [Figure 7]FIG. 7 is a perspective view showing an example of the basic configuration of a drive wheel according to the second embodiment. [Figure 8] FIG. 8 is a plan view showing a driving wheel of the second embodiment. [Figure 9] FIG. 9 is a side view showing a driving wheel of the second embodiment. [Figure 10] FIG. 10 is a cross-sectional view taken along CC in FIG. [Figure 11] FIG. 11 is a cross-sectional view taken along line DD in FIG. [Figure 12] FIG. 12 is a schematic diagram showing a driving force transmission path of a driving wheel according to the second embodiment. [Figure 13] FIG. 13 is a perspective view showing an example of the basic configuration of a drive wheel according to the third embodiment. [Figure 14] FIG. 14 is a plan view showing a driving wheel of the third embodiment. [Figure 15] FIG. 15 is a side view showing a driving wheel of the third embodiment. [Figure 16] FIG. 16 is a cross-sectional view taken along the line E-E in FIG. [Figure 17] FIG. 17 is a cross-sectional view taken along the line FF in FIG. [Figure 18] FIG. 18 is a schematic diagram showing a driving force transmission path of a driving wheel according to the third embodiment. [Figure 19] FIG. 19 is a schematic diagram showing a driving force transmission path of a driving wheel according to the fourth embodiment. [Figure 20] FIG. 20 is a perspective view showing another example of the configuration of the power conversion mechanism. [Figure 21] FIG. 21 is a perspective view showing another example of the configuration of the power conversion mechanism. [Figure 22] FIG. 22 is a perspective view showing another example of the configuration of the power conversion mechanism. [Figure 23] FIG. 23 is a front view showing another example of the configuration of the power conversion mechanism. [Figure 24] FIG. 24 is a front view showing another example of the configuration of the drive wheels. [Figure 25] FIG. 25 is a side view of the drive wheel shown in FIG. [Figure 26] FIG. 26 is a schematic diagram illustrating an example of the configuration of a carriage according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] Preferred embodiments of the drive wheels and bogies 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 configurations that combine the embodiments. Furthermore, the components in the embodiments include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range.

[0019] FIG. 26 is a schematic diagram illustrating an example of the basic configuration of a carriage according to an embodiment.

[0020] The cart 100 includes a cart body 101, a handle 102, four drive wheels 110 (120, 130, 140), a power supply unit 104, and a control device 105.

[0021] The bogie body 101 is, for example, a flat plate material and has a rectangular shape in a plan view. A handle 102 is fixed to one longitudinal side of the bogie body 101. Four drive wheels 110 are attached to the four corners of the back side of the bogie body 101. The four drive wheels 110 are rotatable and steerable. In addition, a power supply unit 104 and a control device 105 are attached to the back side of the bogie 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. Therefore, in the bogie 100, the control device 105 controls the drive wheels 110.

[0022] The cart body 101 has a flat surface, so that 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 such equipment include a hand lifter, a forklift, a picking robot, and medical equipment.

[0023] The bogie 100 and the equipment are not limited to the above-described configuration in terms of the number and arrangement of the drive wheels 110. For example, in the above-described four-wheel configuration, the bogie 100 and the equipment may have a pair of drive wheels 110 attached to the rear side of the bogie 100 and a pair of driven wheels attached to the front side of the bogie 100. Furthermore, although not explicitly shown in the drawings, in a configuration with three or more wheels, the bogie 100 and the equipment may have one drive wheel 110 and all the other wheels may be driven wheels. Furthermore, although not explicitly shown in the drawings, in a configuration with three or more wheels, the bogie 100 and the equipment 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 bogie 100 and the equipment may have at least one drive wheel 110.

[0024] [Driving Wheel Embodiment 1] The drive wheel 110 will be described in detail below. Fig. 1 is a perspective view showing an example of the basic configuration of the drive wheel of embodiment 1. Fig. 2 is a plan view showing the drive wheel of embodiment 1. Fig. 3 is a side view showing the drive wheel of embodiment 1. Fig. 4 is a cross-sectional view taken along line AA in Fig. 2. Fig. 5 is a cross-sectional view taken along line BB in Fig. 3. Fig. 6 is a schematic diagram showing the drive force transmission path of the drive wheel of embodiment 1.

[0025] 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 swivel section 12, a transmission mechanism 13, a power conversion mechanism 14, and wheels 15 are provided.

[0026] The main body 10 is formed in the shape of a plate with its plate surfaces facing up and down. The drive mechanism 11 inputs rotational force and is mainly provided above the main body 10. The swivel unit 12 is located 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 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.

[0027] The drive mechanism 11 includes a first belt drive mechanism 22A as a first drive mechanism and a second belt drive mechanism 22B as a second drive mechanism. The first belt drive mechanism 22A includes a first drive unit 23A, a first drive pulley 24A, a first input shaft 25A, a first driven pulley 26A, and a first drive belt 27A. The first drive unit 23A is configured with a motor. The first drive unit 23A is fixed to the main body 10. The first drive unit 23A has a drive shaft 23Aa that protrudes above the main body 10 and extends in the vertical direction. The first drive pulley 24A is fixed to the drive shaft 23Aa. The first input shaft 25A extends in the vertical direction parallel to the drive shaft 23Aa and is supported rotatably around an axis O1. The first driven pulley 26A is fixed to the portion of the first input shaft 25A that protrudes above the main body 10. The first driven pulley 26A and the first driving pulley 24A are arranged side by side in a direction perpendicular to the first input shaft 25A and the driving shaft 23Aa. The first driving belt 27A is formed in an annular shape and is wound around the first driven pulley 26A and the first driving pulley 24A. Therefore, in the first belt driving mechanism 22A, the first driving pulley 24A is rotated by the driving of the first driving unit 23A, and this rotation is transmitted from the first driving pulley 24A to the first driven pulley 26A via the first driving belt 27A, thereby rotating the first input shaft 25A.

[0028] The second belt drive mechanism 22B includes a second drive unit 23B, a second drive pulley 24B, a second input shaft 25B, a second driven pulley 26B, and a second drive belt 27B. The second drive unit 23B is configured with a motor. The second drive unit 23B is fixed to the main body 10. The second drive unit 23B has a drive shaft 23Ba that protrudes above the main body 10 and extends in the vertical direction. The second drive pulley 24B is fixed to the drive shaft 23Ba. The second drive pulley 24B has the same diameter as the first drive pulley 24A. The second input shaft 25B extends in the vertical direction so as to be parallel to the drive shaft 23Ba and is supported rotatably about an axis O1. The second input shaft 25B is cylindrical and passes through the first input shaft 25A. The second input shaft 25B is disposed outside the first input shaft 25A via a pair of intermediate bearings 44 so as to rotate independently of the first input shaft 25A. The second driven pulley 26B is fixed to a portion of the second input shaft 25B that protrudes upward from the main body 10. The second driven pulley 26B has the same diameter as the first driven pulley 26A and is located below the first driven pulley 26A. The second driven pulley 26B and the second driving pulley 24B are arranged side by side in a direction perpendicular to the second input shaft 25B and the driving shaft 23Ba. The second drive belt 27B is formed in an annular shape and is wound around the second driven pulley 26B and the second driving pulley 24B. Therefore, when the second belt drive mechanism 22B drives the second driving unit 23B, the second driving pulley 24B rotates, and this rotation is transmitted from the second driving pulley 24B to the second driven pulley 26B via the second drive belt 27B, thereby rotating the second input shaft 25B.

[0029] The rotating shaft 35 has an axis O1 at the center of the disk shape, and is rotatably supported via a rotating bearing 45 in a circular through-hole 10a that penetrates the main body 10 in the up-down direction, as shown in Figures 4 and 5. This allows the rotating shaft 35 to be supported so as to be rotatable relative to the main body 10 around the axis O1.

[0030] The revolving shaft 35 is disposed so as to penetrate the first input shaft 25A of the first belt drive mechanism 22A in the vertical direction along the axis O1 and rotatably supports it via an input bearing 43. Therefore, the first input shaft 25A is supported rotatably relative to the revolving shaft 35 about the axis O1, and is also supported rotatably relative to the main body 10 about the axis O1. That is, the revolving shaft 35 is rotatable relative to the main body 10 regardless of the rotation of the first input shaft 25A. Therefore, the drive wheel 110 of this embodiment can input rotational force to the first input shaft 25A on the axis O1, which is the rotation axis of the wheel 15. Furthermore, the revolving shaft 35 is disposed above the second input shaft 25B of the second belt drive mechanism 22B. As described above, the second input shaft 25B passes through the first input shaft 25A and is rotatably disposed outside the first input shaft 25A via the intermediate bearing 44. Therefore, the second input shaft 25B is supported via the first input shaft 25A to be rotatable relative to the revolving shaft 35 about the axis O1, and is also supported to be rotatable relative to the main body 10 about the axis O1. In other words, the revolving shaft 35 is rotatable relative to the main body 10 regardless of the rotation of the second input shaft 25B. Therefore, 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 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 arranged coaxially along the axis O1.

[0031] The swivel shaft 35 is formed with a larger diameter than the first driven pulley 26A of the first belt drive mechanism 22A and the second driven pulley 26B of the second belt drive mechanism 22B, and its outer side is rotatably supported by the through-hole 10a of the main body 10 via a swivel bearing 45. Therefore, the swivel bearing 45 can be configured to be larger in diameter than the input bearing 43 that supports the first input shaft 25A and the intermediate bearing 44 that supports the second input shaft 25B. Conversely, the input bearing 43 and the intermediate bearing 44 can be configured to be smaller in diameter than the swivel bearing 45.

[0032] The swivel shaft 35 is provided at the bottom of the disk shape with a first support member 36A and a second support member 36B extending downward on both horizontal sides of the wheel 15. The wheel 15 is integrally provided with an axle 37 extending along an axis O2 perpendicular to the direction in which the axis O1 extends (the up-down direction). One end of the axle 37 along the axis O2 is rotatably supported by the first support member 36A via a wheel bearing 48, and the other end of the axle 37 along the axis O2 is rotatably supported by the second support member 36B via a wheel bearing 48. The swivel shaft 35, the first support member 36A, and the second support member 36B constitute the swivel unit 12. As shown in FIGS. 2 and 3, the rotation axis O5 of the wheel 15, which extends along the vertical direction intersecting the axis O2 of the axle 37, is offset horizontally perpendicular to the axis O2 of the axle 37 from the axis O1 of the swivel shaft 35. The drive wheel 110 may have its rotation axis O5 aligned with the axis O1 of the turning shaft .

[0033] As shown in FIG. 4 , a first drive spur gear 38A is fixed to the first input shaft 25A below the disk-shaped pivot shaft 35. A second drive spur gear 38B is fixed to the second input shaft 25B above the disk-shaped pivot shaft 35. Therefore, the second drive spur gear 38B and the first drive spur gear 38A rotate about an axis O1. A first driven spur gear 39A meshes with the first drive spur gear 38A, and a second driven spur gear 39B meshes with the second drive spur gear 38B. The first driven spur gear 39A is fixed to a first output shaft 40A. An upper portion of the first output shaft 40A is supported by the pivot shaft 35 via a first output bearing 46, and a lower portion of the first output shaft 40A is supported by a first support member 36A via a first output bearing 46, so that the first output shaft 40A is rotatable about an axis O3. The second driven spur gear 39B is fixed to a second output shaft 40B. The second output shaft 40B passes through the revolving shaft 35, and is supported at its upper portion to the revolving shaft 35 via a second output bearing 47, and at its lower portion to the second support member 36B via the second output bearing 47, so as to be rotatable about an axis O4. The axes O3 and O4 are parallel to the axis O1.

[0034] The first driven spur gear 39A and the first driving spur gear 38A, and the second driving spur gear 38B and the second driven spur gear 39B are arranged so that the axes O1, O3, and O4 form a triangle in a plan view (see FIG. 2). The first driven spur gear 39A and the first output shaft 40A, which are centered on the axis O3, and the second driven spur gear 39B and the second output shaft 40B, which are centered on the axis O4, are arranged perpendicular to both sides of the axis O2 of the axle 37 with respect to the wheel 15. The rotation axis O5 of the wheel 15, which is perpendicular to the axis O2 of the axle 37, is offset horizontally from the axis O1 of the turning shaft 35 in a direction perpendicular to the direction of the axis O2 of the axle 37. Although the spur gears 38A, 38B, 39A, and 39B have the same shape in terms of pitch circle diameter, tooth profile, number of teeth, etc., they may have different shapes. For example, the drive spur gears 38A and 38B and the driven spur gears 39A and 39B may have different shapes.

[0035] The transmission mechanism 13 has a first spur gear mechanism (first transmission mechanism) 13A and a second spur gear mechanism (second transmission mechanism) 13B. The first spur gear mechanism 13A is composed of a first driving spur gear 38A, a first driven spur gear 39A, and a first output shaft 40A, and the second spur gear mechanism 13B is composed of a second driving spur gear 38B, a second driven spur gear 39B, and a second output shaft 40B.

[0036] A first drive helical gear 41A is fixed to the lower part of the first output shaft 40A, and a second drive helical gear 41B is fixed to the lower part of the second output shaft 40B. On the other hand, a first driven helical gear 42A is fixed to one end of the axle 37 in the direction of the axis O2, and a second driven helical gear 42B is fixed to the other end of the axle 37 in the direction of the axis O2. The first drive helical gear 41A meshes with the first driven helical gear 42A. The second drive helical gear 41B meshes with the second driven helical gear 42B. The power conversion mechanism 14 of this embodiment has a first helical gear mechanism 14A as the first power conversion mechanism and a second helical gear mechanism 14B as the second power conversion mechanism. The first helical gear mechanism 14A is composed of the first drive helical gear 41A and the first driven helical gear 42A. The second helical gear mechanism 14B is composed of a second driving helical gear 41B and a second driven helical gear 42B.

[0037] The drive mechanism 11 rotates the first input shaft 25A and the second input shaft 25B, thereby rotating and steering the wheels 15. For example, 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 rotational speeds (rotational speeds) of the first input shaft 25A and the second input shaft 25B the same, the wheels 15 can be rotated without being steered. In this case, by making the rotational speeds (rotational speeds) of the first input shaft 25A and the second input shaft 25B different, the wheels 15 can be steered while rotating or stopped.

[0038] Here, the operation of the drive wheel 110 will be described. As shown in Fig. 6, in the drive wheel 110, when the first input shaft 25A rotates in a first direction A1, the first drive spur gear 38A rotates in the same direction, and the first driven spur gear 39A meshing with the first drive spur gear 38A rotates in a second direction A2. When the first driven spur gear 39A rotates in the second direction A2, the first drive helical gear 41A, which is integrally provided with the first driven spur gear 39A via the first output shaft 40A, rotates in the same direction. Then, the first driven helical gear 42A meshing with the first drive helical gear 41A rotates in a third direction A3, causing the axle 37, which is integral with the first driven helical gear 42A, to rotate in the same direction. On the other hand, when the second input shaft 25B rotates in a first direction B1, which is the opposite direction to the first direction A1, the second drive spur gear 38B rotates in the same direction, and the second driven spur gear 39B meshing with the second drive spur gear 38B rotates in a second direction B2. When the second driven spur gear 39B rotates in the second direction B2, the second drive helical gear 41B, which is integral with the second driven spur gear 39B via the second output shaft 40B, rotates in the same direction. Then, the second driven helical gear 42B meshing with the second drive helical gear 41B rotates in a third direction B3, causing the axle 37, which is integral with the second driven helical gear 42B, to rotate in the same direction. Here, because the third direction A3 and the third direction B3 are the same rotational direction, if the first input shaft 25A and the second input shaft 25B rotate at the same rotation speed, the wheel 15 rotates without turning.

[0039] At this time, if 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 from the second drive helical gear 41B to the axle 37 via the second driven helical gear 42B becomes lower than the rotation speed input from the first drive helical gear 41A to the axle 37 via the first driven helical gear 42A. Then, the turning shaft 35 rotates by the rotation speed difference, turning and steering the wheels 15. Furthermore, if the rotation of the second input shaft 25B is stopped, the rotation speed input from the second drive helical gear 41B to the axle 37 via the second driven helical gear 42B becomes zero, and the wheels 15 turn and steer without rotating.

[0040] That is, when the gear ratios of the spur gears 38A, 38B, 39A, and 39B are the same and the gear ratios of the helical gears 41A, 41B, 42A, and 42B are the same, if the rotation speed of the first input shaft 25A is NA, the rotation speed of the second input shaft 25B is NB, the rotation speed of the revolving shaft 35 is NS, and the rotation speed of the wheel 15 is NW, the rotation speed NS of the revolving shaft 35 and the rotation speed NW of the wheel 15 are related by the following mathematical formula. NW=(1 / 2)NA-(1 / 2)NB NS=-(1 / 2)NA-(1 / 2)NB NA=NW-NS NB=-NW-NS

[0041] Although not shown in the drawings, the drive wheel 110 of the embodiment includes a swivel position detector. The swivel position detector is provided on the main body 10. The swivel position detector includes, for example, a first spur gear that rotates around the axis O1 together with the swivel shaft 35, a second spur gear that meshes with the first spur gear and rotates around an axis parallel to the axis O1, and a detector that detects the rotational position of the second spur gear. Therefore, the first spur gear rotates together with the swivel shaft 35, and the detector detects the rotational position of the first spur gear as the rotational position of the second spur gear, thereby detecting the rotational position of the swivel shaft 35, i.e., the rotational position of the swivel unit 12 relative to the main body 10. The detection signal from the detector is input to the control device 105 of the bogie (equipment) 100. As a result, the control device 105 can control the rotation of the drive wheel 110.

[0042] The drive wheel 110 of the above-described embodiment includes a first input shaft 25A and a second input shaft 25B arranged coaxially, a first output shaft 40A and a second output shaft 40B arranged on separate axes, a first spur gear mechanism 13A that transmits the rotational force of the first input shaft 25A to the first output shaft 40A, a second spur gear mechanism 13B that transmits the rotational force of the second input shaft 25B to the second output shaft 40B, a wheel 15 connected to an axle 37, a first power conversion mechanism (first helical gear mechanism 14A) that transmits the rotational force of the first output shaft 40A to one end of the axle 37, a second power conversion mechanism (second helical gear mechanism 14B) that transmits the rotational force of the second output shaft 40B to the other end of the axle 37, and a turning shaft 35 that supports the wheel 15 rotatably via the axle 37.

[0043] Therefore, the drive wheels 110 have a differential omnidirectional movement mechanism. That is, in the drive wheels 110, the rotational force of the first input shaft 25A and the second input shaft 25B is transmitted to the first output shaft 40A and the second output shaft 40B via the first spur gear mechanism 13A and the second spur gear mechanism 13B, and then transmitted from the first output shaft 40A and the second output shaft 40B to each end of the axle 37 via the first helical gear mechanism 14A and the second helical gear mechanism 14B. Here, the drive wheels 110 can switch between the rotation and steering of the wheels 15 by adjusting the rotation speed of the first input shaft 25A and the second input shaft 25B. Therefore, the drive wheels 110 simplify the transmission system of the rotational force to the wheels 15, thereby simplifying the structure and enabling a lower floor.

[0044] In particular, the drive wheel 110 includes a first drive mechanism (first belt drive mechanism 22A) that inputs rotational force to the first input shaft 25A, a second drive mechanism (second belt drive mechanism 22B) that inputs rotational force to the second input shaft 25B, and a main body 10 that supports the first belt drive mechanism 22A and the second belt drive mechanism 22B, and the swivel shaft 35 is formed in a circular plate shape and supports the first input shaft 25A, the second input shaft 25B, the first output shaft 40A, the second output shaft 40B, the first spur gear mechanism 13A, the second spur gear mechanism 13B, the wheel 15, the first helical gear mechanism 14A, and the second helical gear mechanism 14B, and is rotatably mounted on the outside thereof with respect to the main body 10 via a swivel bearing 45 that is coaxial with the first input shaft 25A and the second input shaft 25B.

[0045] Therefore, the drive wheel 110 can provide the slewing shaft 35 to be rotatable relative to the main body 10 by the slewing bearing 45 configured to be larger in diameter than the bearing (input bearing 43) that supports the first input shaft 25A and the bearing (intermediate bearing 44) that supports the second input shaft 25B. As a result, the drive wheel 110 of the embodiment can improve the load-bearing capacity of the slewing bearing 45, reduce turning resistance, and improve running performance. Moreover, the drive wheel 110 of the embodiment can be configured with a relatively large slewing bearing 45, which makes it easier to process and reduces manufacturing costs.

[0046] Furthermore, in the driving wheel 110 of the embodiment, a cylindrical second input shaft 25B is disposed on the outside of the first input shaft 25A, the first input shaft 25A is rotatably provided relative to the turning shaft 35 via an input bearing 43, and the second input shaft 25B is rotatably provided relative to the first input shaft 25A via an intermediate bearing 44. Therefore, by supporting the first input shaft 25A, which is on the inside relative to the turning shaft 35, with the input bearing 43 and supporting the second input shaft 25B, on the outside of the first input shaft 25A with the intermediate bearing 44, the driving wheel 110 can improve the rotational support accuracy, reduce backlash, and improve driving performance.

[0047] Furthermore, in the drive wheel 110 of the embodiment, the rotation axis O5 of the wheel 15, which is aligned in the vertical direction intersecting the axis O2 of the axle 37, is arranged to be offset in the horizontal direction perpendicular to the axis O2 of the axle 37 with respect to the axis O1 of the turning shaft 35. Therefore, when the drive wheel 110 does not drive the wheel 15, the wheel 15 can passively turn due to an external force acting from the horizontal direction. That is, the cart 100 can be automatically driven and steered, and can also be manually driven and steered by an operator.

[0048] In the driving wheel 110 of the embodiment, the first output shaft 40A and the second output shaft 40B are disposed on both sides in the direction of the axis O2 of the axle 37. Therefore, the driving wheel 110 receives rotational force from both sides in the direction of the axis O2 of the axle 37, which simplifies the differential mechanism for steering the wheels 15.

[0049] In addition, in the driving wheel 110 of the embodiment, the first power conversion mechanism (first helical gear mechanism 14A) and the second power conversion mechanism (second helical gear mechanism 14B) are arranged on both sides in the direction of the axis O2 of the axle 37. Therefore, the driving wheel 110 receives rotational force from both sides in the direction of the axis O2 of the axle 37, which makes it possible to simplify the differential mechanism for steering the wheels 15.

[0050] Moreover, the bogie 100 of the embodiment includes a drive wheel 110 and a bogie body 101 to which the drive wheel 110 is attached. Therefore, the bogie 100 can have a simplified structure and can ensure a sufficient minimum ground clearance.

[0051] [Driving Wheel Embodiment 2] Fig. 7 is a perspective view showing an example of the basic configuration of a drive wheel of embodiment 2. Fig. 8 is a plan view showing a drive wheel of embodiment 2. Fig. 9 is a side view showing a drive wheel of embodiment 2. Fig. 10 is a cross-sectional view taken along CC in Fig. 8. Fig. 11 is a cross-sectional view taken along DD in Fig. 9. Fig. 12 is a schematic diagram showing a drive force transmission path of a drive wheel of embodiment 2.

[0052] The driving wheel 120 of this embodiment has the same functional configuration as the driving wheel 110 described above, but differs in the arrangement of the transmission mechanism 13 relative to the pivot shaft 35 and the arrangement of the first input shaft 25A and the second input shaft 25B relative to the pivot shaft 35. Therefore, in the following description of the driving wheel 120, the same parts as those in the driving wheel 110 are denoted by the same reference numerals, and a description of the same configuration will be omitted.

[0053] The transmission mechanism 13 has a first spur gear mechanism (first transmission mechanism) 13A and a second spur gear mechanism (second transmission mechanism) 13B. The first spur gear mechanism 13A is composed of a first driving spur gear 38A, a first driven spur gear 39A, and a first output shaft 40A, and the second spur gear mechanism 13B is composed of a second driving spur gear 38B, a second driven spur gear 39B, and a second output shaft 40B.

[0054] As shown in FIG. 10 , in the first spur gear mechanism 13A, the first drive spur gear 38A and the first driven spur gear 39A are housed in a first recess 35a formed on the underside of the pivot shaft 35. Therefore, the first drive spur gear 38A and the first driven spur gear 39A are disposed within the vertical thickness of the pivot shaft 35. The first input shaft 25A penetrates the pivot shaft 35, and the first drive spur gear 38A is fixed inside the first recess 35a. The first input shaft 25A also penetrates the pivot shaft 35 in the vertical direction along the axis O1 and is rotatably supported in the first recess 35a via an input bearing 43. The first input shaft 25A is rotatably supported via the input bearing 43 by a support member 10b fixed to the main body 10 above the first driven pulley 26A. Therefore, the first drive spur gear 38A rotates around the axis O1. The first drive spur gear 38A meshes with a first driven spur gear 39A that is similarly disposed inside the first recess 35a. The first driven spur gear 39A is fixed to a first output shaft 40A. The first output shaft 40A has an upper portion supported relative to the rotating shaft 35 via a first output bearing 46 disposed in the first recess 35a, and a lower portion supported relative to the first support member 36A via the first output bearing 46, and is supported rotatably about an axis O3.

[0055] In the second spur gear mechanism 13B, the second drive spur gear 38B and the second driven spur gear 39B are housed in a second recess 35b formed on the upper surface of the pivot shaft 35. Therefore, the second drive spur gear 38B and the second driven spur gear 39B are disposed within the thickness of the pivot shaft 35. A portion of the second input shaft 25B fits into the second recess 35b, and the second drive spur gear 38B is fixed inside the second recess 35b. The second input shaft 25B is disposed outside the first input shaft 25A via a pair of intermediate bearings 44 and is supported rotatably about the axis O1. Therefore, the second drive spur gear 38B rotates around the axis O1. The second drive spur gear 38B meshes with a second driven spur gear 39B, which is also disposed inside the second recess 35b. The second driven spur gear 39B is fixed to the second output shaft 40B. The second output shaft 40B has an upper portion that penetrates the revolving shaft 35 and is supported on the revolving shaft 35 via a second output bearing 47 disposed in the second recess 35b, and a lower portion that is supported on the second support member 36B via the second output bearing 47, so that the second output shaft 40B is supported rotatably about an axis O4. The axes O3 and O4 are parallel to the axis O1.

[0056] The drive wheel 120 of this embodiment has the same configuration as the drive wheel 110 and can achieve the same effects.

[0057] In particular, in the driving wheel 120 of the embodiment, the swivel shaft 35 is formed in a circular plate shape and supports the first input shaft 25A, the second input shaft 25B, the first output shaft 40A, the second output shaft 40B, the first spur gear mechanism 13A, the second spur gear mechanism 13B, the wheel 15, the first helical gear mechanism 14A, and the second helical gear mechanism 14B, and is rotatably mounted on the outside thereof relative to the main body 10 via a swivel bearing 45 coaxial with the first input shaft 25A and the second input shaft 25B.

[0058] Therefore, the drive wheel 120 can provide the slewing shaft 35 to be rotatable relative to the main body 10 by the slewing bearing 45 configured to be larger in diameter than the bearing (input bearing 43) that supports the first input shaft 25A and the bearing (intermediate bearing 44) that supports the second input shaft 25B. As a result, the drive wheel 120 of the embodiment can improve the load-bearing capacity of the slewing bearing 45, thereby reducing turning resistance and improving driving performance. Moreover, the drive wheel 120 of the embodiment can be configured with a relatively large slewing bearing 45, which makes it easier to process and reduces manufacturing costs.

[0059] Furthermore, in the driving wheel 120 of the embodiment, a cylindrical second input shaft 25B is disposed on the outside of the first input shaft 25A, the first input shaft 25A is rotatably provided with respect to the turning shaft 35 via an input bearing 43, and the second input shaft 25B is rotatably provided with respect to the first input shaft 25A via an intermediate bearing 44. Therefore, by supporting the first input shaft 25A, which is on the inside of the turning shaft 35, with the input bearing 43 and supporting the second input shaft 25B on the outside of the first input shaft 25A with the intermediate bearing 44, the driving wheel 120 can improve the rotational support accuracy, reduce backlash, and improve driving performance.

[0060] In the driving wheel 120 of the embodiment, the swivel shaft 35 is formed in a plate shape, and the first spur gear mechanism 13A and the second spur gear mechanism 13B are disposed within the thickness of the swivel shaft 35. Therefore, in the driving wheel 120, the plate thickness of the swivel shaft 35 can be made relatively thick, and the swivel bearing 45 can be configured to have a larger diameter and be larger in size, thereby further improving the load resistance.

[0061] Moreover, the bogie 100 of the embodiment includes a drive wheel 120 and a bogie body 101 to which the drive wheel 120 is attached. Therefore, the bogie 100 can have a simplified structure and can ensure a sufficient minimum ground clearance.

[0062] [Driving Wheel Embodiment 3] Fig. 13 is a perspective view showing an example of the basic configuration of a drive wheel of embodiment 3. Fig. 14 is a plan view showing a drive wheel of embodiment 3. Fig. 15 is a side view showing a drive wheel of embodiment 3. Fig. 16 is an E-E cross-sectional view of Fig. 14. Fig. 17 is an F-F cross-sectional view of Fig. 15. Fig. 18 is a schematic diagram showing a drive force transmission path of a drive wheel of embodiment 3.

[0063] The drive wheel 130 of this embodiment has the same functional configuration as the drive wheel 110 described above, but differs in the arrangement of the transmission mechanism 13 relative to the pivot shaft 35 and the arrangement of the first input shaft 25A and the second input shaft 25B relative to the pivot shaft 35. Therefore, in the following description of the drive wheel 130, the same parts as those in the drive wheel 110 are denoted by the same reference numerals, and a description of the same configuration will be omitted.

[0064] The transmission mechanism 13 has a first spur gear mechanism (first transmission mechanism) 13A and a second spur gear mechanism (second transmission mechanism) 13B. The first spur gear mechanism 13A is composed of a first driving spur gear 38A, a first driven spur gear 39A, and a first output shaft 40A, and the second spur gear mechanism 13B is composed of a second driving spur gear 38B, a second driven spur gear 39B, and a second output shaft 40B.

[0065] As shown in FIG. 16 , in the first spur gear mechanism 13A, the first drive spur gear 38A and the first driven spur gear 39A are housed in a recess 35c formed by hollowing out the upper surface of the revolving shaft 35. Therefore, the first drive spur gear 38A and the first driven spur gear 39A are disposed within the vertical thickness of the revolving shaft 35. The first input shaft 25A is disposed to penetrate the revolving shaft 35, and the first drive spur gear 38A is fixed inside the recess 35c. The first input shaft 25A is also disposed to penetrate the revolving shaft 35 in the vertical direction along the axis O1, and is rotatably supported in the recess 35c via a first input bearing 43. Therefore, the first drive spur gear 38A rotates around the axis O1. The first drive spur gear 38A meshes with a first driven spur gear 39A, which is also disposed inside the recess 35c. The first driven spur gear 39A is fixed to a first output shaft 40A. The first output shaft 40A is supported at its upper part relative to the swivel shaft 35 via a first output bearing 46 arranged in the recess 35c, and at its lower part relative to the first support member 36A via the first output bearing 46, so that it is supported rotatably around the axis O3.

[0066] In the second spur gear mechanism 13B, the second drive spur gear 38B and the second driven spur gear 39B are housed in the recess 35c, just like the first spur gear mechanism 13A. Therefore, the second drive spur gear 38B and the second driven spur gear 39B are disposed within the thickness of the pivot shaft 35. A portion of the second input shaft 25B fits into the recess 35c, and the second drive spur gear 38B is fixed inside the recess 35c. The second input shaft 25B is disposed outside the first input shaft 25A via a pair of intermediate bearings 44 and is supported rotatably around the axis O1. The second input shaft 25B is rotatably supported in the recess 35c via a second input bearing 49. Therefore, the second drive spur gear 38B rotates around the axis O1. The second drive spur gear 38B meshes with the second driven spur gear 39B, which is also disposed inside the recess 35c. The second driven spur gear 39B is fixed to a second output shaft 40B. The second output shaft 40B has an upper portion that penetrates the revolving shaft 35 and is supported on the revolving shaft 35 via a second output bearing 47 disposed in the recess 35c, and a lower portion that is supported on the second support member 36B via the second output bearing 47, so that the second output shaft 40B is rotatable about an axis O4. The axes O3 and O4 are parallel to the axis O1.

[0067] The drive wheel 130 of this embodiment has the same configuration as the drive wheel 110 and can achieve the same effects.

[0068] In particular, in the driving wheel 130 of the embodiment, the swivel shaft 35 is formed in a circular plate shape and supports the first input shaft 25A, the second input shaft 25B, the first output shaft 40A, the second output shaft 40B, the first spur gear mechanism 13A, the second spur gear mechanism 13B, the wheel 15, the first helical gear mechanism 14A, and the second helical gear mechanism 14B, and is rotatably mounted on the outside thereof relative to the main body 10 via a swivel bearing 45 coaxial with the first input shaft 25A and the second input shaft 25B.

[0069] Therefore, the drive wheel 130 can provide the slewing shaft 35 to be rotatable relative to the main body 10 by the slewing bearing 45, which is configured to have a larger diameter than the bearing (input bearing 43) that supports the first input shaft 25A and the bearing (intermediate bearing 44) that supports the second input shaft 25B. As a result, the drive wheel 130 of the embodiment can improve the load-bearing capacity of the slewing bearing 45, thereby reducing turning resistance and improving driving performance. Moreover, the drive wheel 130 of the embodiment can be configured with a relatively large slewing bearing 45, which makes it easier to process and reduces manufacturing costs.

[0070] Furthermore, in the drive wheel 130 of the embodiment, a cylindrical second input shaft 25B is disposed on the outside of the first input shaft 25A, the first input shaft 25A is rotatably provided with respect to the turning shaft 35 via a first input bearing 43, and the second input shaft 25B is rotatably provided with respect to the first input shaft 25A via an intermediate bearing 44, and is rotatably provided with respect to the turning shaft via a second input bearing 49. Therefore, in the drive wheel 130, the first input shaft 25A on the inside with respect to the turning shaft 35 is supported by the first input bearing 43, and the second input shaft 25B is supported on the outside of the first input shaft 25A by the intermediate bearing 44 and the second input bearing 49, thereby improving the rotational support accuracy, reducing backlash, and improving driving performance.

[0071] In the drive wheel 130 of this embodiment, the swivel shaft 35 is formed in a plate shape, and the first spur gear mechanism 13A and the second spur gear mechanism 13B are disposed within the thickness of the swivel shaft 35. Therefore, in the drive wheel 130, the plate thickness of the swivel shaft 35 can be made relatively thick, and the swivel bearing 45 can be configured to have a larger diameter and be larger in size, thereby further improving the load resistance.

[0072] Moreover, the bogie 100 of the embodiment includes a drive wheel 130 and a bogie body 101 to which the drive wheel 130 is attached. Therefore, the bogie 100 can have a simplified structure and can ensure a sufficient minimum ground clearance.

[0073] [Driving Wheel Embodiment 4] FIG. 19 is a schematic diagram showing a driving force transmission path of a driving wheel according to the fourth embodiment.

[0074] The drive wheel 140 of this embodiment has the same functional configuration as the drive wheel 110 described above, but differs in the drive mechanism 111. Therefore, in the following description of the drive wheel 140, the same parts as those in the drive wheel 110 are denoted by the same reference numerals, and a description of the same configuration will be omitted. Note that in Figure 19, the arrangement of the transmission mechanism 13 relative to the pivot shaft 35 and the arrangement of the first input shaft 25A and the second input shaft 25B relative to the pivot shaft 35 are shown in the configuration of the drive wheel 130, but these may also be the configurations of the drive wheels 110 and 120.

[0075] The drive mechanism 111 has a two-shaft integrated motor and inputs two rotational forces onto the axis O1 of the rotary shaft 35. The two-shaft integrated motor has a cylindrical support cylinder 121 fixed to the main body 10. A first rotary cylinder 122A is supported inside the support cylinder 121 so as to be rotatable about the axis O1. The support cylinder 121 also supports a second rotary cylinder 122B outside the support cylinder 121 so as to be rotatable about the axis O1. Although not shown in the figure, coils (not shown) are provided on the inner and outer circumferential surfaces of the support cylinder 121. A magnet is provided on the outer circumferential surface of the first rotary cylinder 122A, and a first input shaft 25A extending along the axis O1 is provided at the bottom. A magnet is provided on the inner circumferential surface of the second rotary cylinder 122B, and a second input shaft 25B extending along the axis O1 is provided at the bottom. Therefore, by energizing the coils of the support cylinder 121, a rotational force is input to the first input shaft 25A via the first rotary cylinder 122A, and a rotational force is input to the second input shaft 25B via the second rotary cylinder 122B. On the other hand, when no current is applied to the coils of the support cylinder 121, the first rotary cylinder 122A and the first input shaft 25A are rotatable relative to the support cylinder 121, and the second rotary cylinder 122B and the second input shaft 25B are rotatable.

[0076] Such drive wheel 140 also has the same configuration as drive wheels 110, 120, and 130, and thus provides the same operational effects. Also, bogie body 101 to which drive wheel 140 is attached provides the same operational effects as bogie body 101 to which drive wheels 110, 120, and 130 are attached.

[0077] [Other configuration examples] Fig. 20 is a perspective view showing another example of the configuration of the power conversion mechanism. Fig. 21 is a perspective view showing another example of the configuration of the power conversion mechanism. Fig. 22 is a perspective view showing another example of the configuration of the power conversion mechanism. Fig. 23 is a front view showing another example of the configuration of the power conversion mechanism. Note that the main configuration of the drive wheels equipped with power conversion mechanisms 17, 18, 19, and 20 shown in Figs. 20 to 23 is the same as that of the drive wheels 110, 120, 130, and 140 described above, and equivalent parts are given the same reference numerals and description thereof will be omitted.

[0078] The power conversion mechanism 17 shown in FIG. 20 is a bevel gear mechanism that transmits the rotational force of the transmission mechanism 13 to the wheels 15. The power conversion mechanism 17 has a first bevel gear mechanism 17A as a first power conversion mechanism and a second bevel gear mechanism 17B as a second power conversion mechanism. The first bevel gear mechanism 17A is composed of a first drive bevel gear 51A fixed to the lower part of the first output shaft 40A and a first driven bevel gear 52A fixed to one end of the axle 37 provided on the wheels 15 in the direction of the axis O2 and meshing with the first drive bevel gear 51A. The second bevel gear mechanism 17B is composed of a second drive bevel gear 51B fixed to the lower part of the second output shaft 40B and a second driven bevel gear 52B fixed to the other end of the axle 37 in the direction of the axis O2 and meshing with the second drive bevel gear 51B.

[0079] In the drive wheels equipped with this power conversion mechanism 17, the rotational force of the first input shaft 25A and the second input shaft 25B is transmitted to the first output shaft 40A and the second output shaft 40B via the first driven spur gear 39A and the second driven spur gear 39B, and then transmitted from the first output shaft 40A and the second output shaft 40B to each end of the axle 37 via the first bevel gear mechanism 17A and the second bevel gear mechanism 17B. The drive wheels can switch between the rotation and steering of the wheels 15 by adjusting the rotation speed of the first input shaft 25A and the second input shaft 25B. Therefore, since the drive wheels have the bevel gear mechanisms 17A, 17B disposed at each end of the axle 37, respectively, the transmission system for the rotational force to the wheels 15 is simplified, which simplifies the structure and contributes to a lower floor.

[0080] The power conversion mechanism 18 shown in FIG. 21 is a worm gear mechanism that transmits the rotational force of the transmission mechanism 13 to the wheels 15. The power conversion mechanism 18 has a first worm gear mechanism 18A as a first power conversion mechanism and a second worm gear mechanism 18B as a second power conversion mechanism. The first worm gear mechanism 18A is composed of a first worm 53A fixed to the lower part of the first output shaft 40A and a first worm wheel 54A fixed to one end of the axle 37 provided on the wheel 15 in the direction of the axis O2 and meshing with the first worm 53A. The second worm gear mechanism 18B is composed of a second worm 53B fixed to the lower part of the second output shaft 40B and a second worm wheel 54B fixed to the other end of the axle 37 in the direction of the axis O2 and meshing with the second worm 53B.

[0081] In the drive wheels equipped with this power conversion mechanism 18, the rotational force of the first input shaft 25A and the second input shaft 25B is transmitted to the first output shaft 40A and the second output shaft 40B via the first driven spur gear 39A and the second driven spur gear 39B, and then transmitted from the first output shaft 40A and the second output shaft 40B to each end of the axle 37 via the first worm gear mechanism 18A and the second worm gear mechanism 18B. The drive wheels can switch between the rotation and steering of the wheels 15 by adjusting the rotation speed of the first input shaft 25A and the second input shaft 25B. Therefore, since the drive wheels have the worm gear mechanisms 18A, 18B disposed at each end of the axle 37, respectively, the transmission system of the rotational force to the wheels 15 is simplified, which simplifies the structure and contributes to a lower floor.

[0082] The first worm gear mechanism 18A may be configured such that the first worm wheel 54A is fixed to the lower part of the first output shaft 40A, and the first worm 53A is fixed to one end of the axle 37 in the direction of the axis O2. The second worm gear mechanism 18B may be configured such that the second worm wheel 54B is fixed to the lower part of the second output shaft 40B, and the second worm 53B is fixed to the other end of the axle 37 in the direction of the axis O2.

[0083] The power conversion mechanism 19 shown in Figure 22 is a crown gear mechanism that transmits the rotational force of the transmission mechanism 13 to the wheels 15. The power conversion mechanism 19 has a first crown gear mechanism 19A as a first power conversion mechanism and a second crown gear mechanism 19B as a second power conversion mechanism. The first crown gear mechanism 19A is composed of a first crown gear 55A fixed to the lower part of the first output shaft 40A and a first spur gear 56A fixed to one end of the axle 37 provided on the wheels 15 in the direction of the axis O2 and meshing with the first crown gear 55A. The second crown gear mechanism 19B is composed of a second crown gear 55B fixed to the lower part of the second output shaft 40B and a second spur gear 56B fixed to the other end of the axle 37 in the direction of the axis O2 and meshing with the second crown gear 55B.

[0084] In the drive wheels equipped with this power conversion mechanism 19, the rotational force of the first input shaft 25A and the second input shaft 25B is transmitted to the first output shaft 40A and the second output shaft 40B via the first driven spur gear 39A and the second driven spur gear 39B, and then transmitted from the first output shaft 40A and the second output shaft 40B to each end of the axle 37 via the first crown gear mechanism 19A and the second crown gear mechanism 19B. The drive wheels can switch between the rotation and steering of the wheels 15 by adjusting the rotation speed of the first input shaft 25A and the second input shaft 25B. Therefore, since the drive wheels have the crown gear mechanisms 19A, 19B disposed at each end of the axle 37, respectively, the transmission system of the rotational force to the wheels 15 is simplified, which enables the structure to be simplified and contributes to a lower floor.

[0085] The first crown gear mechanism 19A may be configured such that a first spur gear 56A is fixed to the lower part of the first output shaft 40A, and a first crown gear 55A is fixed to one end of the axle 37 in the direction of the axis O2. The second crown gear mechanism 19B may be configured such that a second spur gear 56B is fixed to the lower part of the second output shaft 40B, and a second crown gear 55B is fixed to the other end of the axle 37 in the direction of the axis O2.

[0086] 23 is a universal joint mechanism that transmits the rotational force of the transmission mechanism 13 to the wheels 15. The power conversion mechanism 20 has a first universal joint mechanism 20A as a first power conversion mechanism and a second universal joint mechanism 20B as a second power conversion mechanism. The first universal joint mechanism 20A is made up of a first drive coupling 57A fixed to the lower end of the first output shaft 40A, a first driven coupling 58A fixed to one end of the axle 37 provided on the wheels 15 in the direction of the axis O2, and a first connecting portion 59A that connects the first drive coupling 57A and the first driven coupling 58A. Second universal joint mechanism 20B is composed of second drive coupling 57B fixed to the lower end of second output shaft 40B, second driven coupling 58B fixed to the other end of axle 37 in the direction of axis O2, and second connecting portion 59B connecting second drive coupling 57B and second driven coupling 58B. Although not shown in the figures, first universal joint mechanism 20A may have a configuration in which one end of first connecting portion 59A is fixed to the lower end of first output shaft 40A, the other end of first connecting portion 59A is fixed to one end of axle 37 in the direction of axis O2, and one or more joints corresponding to first drive coupling 57A and first driven coupling 58A are provided in an intermediate portion. Similarly, although not explicitly shown in the figure, the second universal joint mechanism 20B may be configured such that one end of the second connecting portion 59B is fixed to the lower end of the second output shaft 40B, the other end of the second connecting portion 59B is fixed to the other end of the axle 37 in the direction of the axis O2, and a single or multiple joints corresponding to the second driving joint 57B and the second driven joint 58B are provided in the intermediate portion.

[0087] In the drive wheels equipped with this power conversion mechanism 20, the rotational force of the first input shaft 25A and the second input shaft 25B is transmitted to the first output shaft 40A and the second output shaft 40B via the first driven spur gear 39A and the second driven spur gear 39B, and then transmitted from the first output shaft 40A and the second output shaft 40B to each end of the axle 37 via the first universal joint mechanism 20A and the second universal joint mechanism 20B. The drive wheels can switch between the rotation and steering of the wheels 15 by adjusting the rotation speed of the first input shaft 25A and the second input shaft 25B. Therefore, by arranging the universal joint mechanisms 20A, 20B at each end of the axle 37, the system for transmitting the rotational force to the wheels 15 is simplified, thereby simplifying the structure and contributing to a lower floor.

[0088] In the drive wheels 110, 120, 130, and 140 of the above-described embodiment, the axial directions of the first output shaft 40A and the axle 37 are different from each other by 90 degrees. Therefore, in the drive wheels 110, 120, 130, and 140, the first power conversion mechanism (first helical gear mechanism 14A, first bevel gear mechanism 17A, first worm gear mechanism 18A, first crown gear mechanism 19A, and first universal joint mechanism 20A) that transmits the rotational force of the first output shaft 40A to one end of the axle 37 transmits the rotational force of the first output shaft 40A to one end of the axle 37 whose axial direction is different from that of the first output shaft 40A. In addition, in the drive wheels 110, 120, 130, and 140 of the above-described embodiment, the axial directions of the second output shaft 40B and the axle 37 are different from each other by 90 degrees. Therefore, the drive wheels 110, 120, 130, 140 have a second power conversion mechanism (second helical gear mechanism 14B, second bevel gear mechanism 17B, second worm gear mechanism 18B, second crown gear mechanism 19B, second universal joint mechanism 20B) that transmits the rotational force of the second output shaft 40B to one end of the axle 37, and transmits the rotational force of the second output shaft 40B to one end of the axle 37 that is axially different from the second output shaft 40B. Note that the power conversion mechanism is not limited to the above-described configuration, and may have any configuration that transmits the rotational force of the output shafts 40A, 40B to the axle 37 that is axially different from the output shafts 40A, 40B.

[0089] Thus, in the drive wheels 110, 120, 130, and 140 of the embodiments, the first power conversion mechanism transmits the rotational force of the first output shaft 40A to one end of the axle 37 that is axially different from the first output shaft 40A, and any one of the first helical gear mechanism 14A, the first bevel gear mechanism 17A, the first worm gear mechanism 18A, the first crown gear mechanism 19A, and the first universal joint mechanism 20A is applied, and the second power conversion mechanism transmits the rotational force of the second output shaft 40B to the other end of the axle 37 that is axially different from the second output shaft 40B, and any one of the second helical gear mechanism 14B, the second bevel gear mechanism 17B, the second worm gear mechanism 18B, the second crown gear mechanism 19B, and the second universal joint mechanism 20B is applied. Therefore, various types of power conversion mechanisms can be applied to the drive wheels 110, 120, 130, and 140, which simplifies the transmission system of rotational force to the wheels 15, simplifies the structure, and contributes to a lower floor.

[0090] Fig. 24 is a front view showing another example of the configuration of the drive wheel. Fig. 25 is a side view of the drive wheel shown in Fig. 24. Note that members having the same functions as those in the above-described embodiment are given the same reference numerals and detailed description thereof will be omitted.

[0091] The driving wheel 150 shown in FIGS. 24 and 25 differs from the driving wheels 110, 120, 130, and 140 described above mainly in that it has a power transmission mechanism 81.

[0092] In the drive wheel 150, the first input shaft 25A, the second input shaft 25B, and the revolving shaft 35 are coaxially rotatably arranged along the axis O1. A first drive spur gear 38A is fixed to the lower end of the first input shaft 25A, and a second drive spur gear 38B is fixed to the lower end of the second input shaft 25B. The first drive spur gear 38A meshes with a first driven spur gear 39A, and the second drive spur gear 38B meshes with a second driven spur gear 39B. The second drive spur gear 38B and the first drive spur gear 38A are stacked one above the other and rotate around the axis O1. The first driven spur gear 39A is fixed to the top of the first output shaft 40A, and the first output shaft 40A is supported by the revolving shaft 35 for rotation around the axis O3. The second driven spur gear 39B is fixed to an upper part of the second output shaft 40B, and the second output shaft 40B is supported by the revolving shaft 35 so as to be rotatable about an axis O4. A first drive helical gear 41A is fixed to a lower part of the first output shaft 40A, and a second drive helical gear 41B is fixed to a lower part of the second output shaft 40B. A first driven helical gear 42A that meshes with the first drive helical gear 41A and a second driven helical gear 42B that meshes with the second drive helical gear 41B are fixed to a connecting shaft 91. The connecting shaft 91 has an axis O6 that is perpendicular to the axis O1 and parallel to the axis O2 of the axle 37.

[0093] The power transmission mechanism 81 has a first power transmission mechanism 81A and a second power transmission mechanism 81B. The first power transmission mechanism 81A is provided between a first helical gear mechanism 14A of the power conversion mechanism 14 and one end of the axle 37. The second power transmission mechanism 81B is provided between a second helical gear mechanism 14B of the power conversion mechanism 14 and the other end of the axle 37. The power conversion mechanism 14 can be replaced with the power conversion mechanisms 17, 18, 19, and 20.

[0094] The first power transmission mechanism 81A has a first drive pulley 92A, a first driven pulley 93A, and a first drive belt 94A. The first drive pulley 92A is fixed to one end of the connecting shaft 91 in the direction of the axis O6. The first driven pulley 93A is fixed to one end of the axle 37 in the direction of the axis O2. The first drive belt 94A is formed in an annular shape and is wound around the first drive pulley 92A and the first driven pulley 93A. The second power transmission mechanism 81B has a second drive pulley 92B, a second driven pulley 93B, and a second drive belt 94B. The second drive pulley 92B is fixed to the other end of the connecting shaft 91 in the direction of the axis O6. The second driven pulley 93B is fixed to the other end of the axle 37 in the direction of the axis O2. The second drive belt 94B is formed in a circular shape and is wound around the second drive pulley 92B and the second driven pulley 93B.

[0095] Therefore, when the first input shaft 25A rotates, the first drive spur gear 38A rotates, and the first driven spur gear 39A rotates. When the first driven spur gear 39A rotates, the first drive helical gear 41A rotates together with the first output shaft 40A. This rotates the first driven helical gear 42A meshing with the first drive helical gear 41A, and the connecting shaft 91 rotates. The rotational force of the connecting shaft 91 is transmitted to the axle 37 via the first drive pulley 92A, first drive belt 94A, and first driven pulley 93A, causing the axle 37 to rotate. On the other hand, when the second input shaft 25B rotates in the opposite direction to the first input shaft 25A, the second drive spur gear 38B rotates, and the second driven spur gear 39B rotates. When the second driven spur gear 39B rotates, the second drive helical gear 41B rotates together with the second output shaft 40B. This causes the second driven helical gear 42B, which meshes with the second drive helical gear 41B, to rotate, thereby rotating the connecting shaft 91. The rotational force of the connecting shaft 91 is transmitted to the axle 37 via the second drive pulley 92B, the second drive belt 94B, and the second driven pulley 93B, causing the axle 37 to rotate.

[0096] In this way, in the drive wheel 150, a first power transmission mechanism 81A is provided between the first helical gear mechanism 14A and one end of the axle 37, and a second power transmission mechanism 81B is provided between the second helical gear mechanism 14B and the other end of the axle 37. Therefore, the driving forces of the helical gear mechanisms 14A and 14B can be transmitted to the axle 37 by the power transmission mechanisms 81A and 81B. [Explanation of symbols]

[0097] 13A First spur gear mechanism 13B Second spur gear mechanism 14 Power conversion mechanism 14A First helical gear mechanism (first power conversion mechanism) 14B Second helical gear mechanism (second power conversion mechanism) 15 wheels 17 Power conversion mechanism 17A First bevel gear mechanism (first power conversion mechanism) 17B Second bevel gear mechanism (second power conversion mechanism) 18 Power conversion mechanism 18A First worm gear mechanism (first power conversion mechanism) 18B Second worm gear mechanism (second power conversion mechanism) 19 Power conversion mechanism 19A First crown gear mechanism (first power conversion mechanism) 19B Second crown gear mechanism (second power conversion mechanism) 20 Power conversion mechanism 20A First universal joint mechanism (first power conversion mechanism) 20B Second universal joint mechanism (second power conversion mechanism) 22A First belt drive mechanism (first drive mechanism) 22B Second belt drive mechanism (second drive mechanism) 25A First input shaft 25B Second input shaft 35 Swivel axis 37 axles 40A first output shaft 40B Second output shaft 43 Input bearing (first input bearing) 44 Intermediate bearing 45 Slewing bearing 49 Second input bearing 100 carts 101 Bogie body 110,120,130,140,150 Drive wheels

Claims

1. a first input shaft and a second input shaft arranged coaxially; a first output shaft and a second output shaft disposed on different axes; a first drive mechanism that inputs a rotational force to the first input shaft; a second drive mechanism that inputs a rotational force to the second input shaft; a first spur gear mechanism that transmits a rotational force of the first input shaft to the first output shaft; a second spur gear mechanism that transmits a rotational force of the second input shaft to the second output shaft; a wheel coupled to the axle; a first power conversion mechanism that transmits a rotational force of the first output shaft to one end of the axle; a second power conversion mechanism that transmits the rotational force of the second output shaft to the other end of the axle; a pivot shaft that rotatably supports the wheel via the axle; a main body supporting the first drive mechanism and the second drive mechanism; Equipped with The swivel shaft is formed in a circular plate shape and supports the first input shaft, the second input shaft, the first output shaft, the second output shaft, the first spur gear mechanism, the second spur gear mechanism, the wheels, the first power conversion mechanism, and the second power conversion mechanism, and a drive wheel is provided on the outside of the swivel shaft so as to be rotatable relative to the main body via a swivel bearing coaxial with the first input shaft and the second input shaft.

2. The second input shaft having a cylindrical shape is disposed outside the first input shaft, the first input shaft is rotatably provided with respect to the pivot shaft via an input bearing, The second input shaft is rotatably provided relative to the first input shaft via an intermediate bearing. The drive wheel according to claim 1 .

3. The second input shaft having a cylindrical shape is disposed outside the first input shaft, the first input shaft is rotatably provided with respect to the pivot shaft via a first input bearing, the second input shaft is rotatably provided with respect to the first input shaft via an intermediate bearing, and is rotatably provided with respect to the pivot shaft via a second input bearing, The drive wheel according to claim 1 .

4. the first spur gear mechanism and the second spur gear mechanism are disposed within the thickness of the plate of the pivot shaft; The drive wheel according to claim 1 .

5. The rotation axis of the wheel, which is aligned along a vertical direction intersecting the axis of the axle, is shifted horizontally relative to the axis of the pivot shaft, which is perpendicular to the axis of the axle. The drive wheel according to claim 1 .

6. the first output shaft and the second output shaft are disposed on both sides of the axle in an axial direction. The drive wheel according to claim 1 .

7. the first power conversion mechanism and the second power conversion mechanism are disposed on both sides of the axle in an axial direction. The drive wheel according to claim 1 .

8. the first power conversion mechanism transmits the rotational force of the first output shaft to one end of the axle that is axially different from the first output shaft, and is any one of a helical gear mechanism, a bevel gear mechanism, a worm gear mechanism, a crown gear mechanism, and a universal joint mechanism; the second power conversion mechanism transmits the rotational force of the second output shaft to the other end of the axle, which has an axial center direction different from that of the second output shaft, and is any one of a helical gear mechanism, a bevel gear mechanism, a worm gear mechanism, a crown gear mechanism, or a universal joint mechanism. The drive wheel according to claim 1 .

9. a first input shaft and a second input shaft arranged coaxially; a first output shaft and a second output shaft disposed on different axes; a first drive mechanism that inputs a rotational force to the first input shaft; a second drive mechanism that inputs a rotational force to the second input shaft; a first spur gear mechanism that transmits a rotational force of the first input shaft to the first output shaft; a second spur gear mechanism that transmits a rotational force of the second input shaft to the second output shaft; a wheel coupled to the axle; a first power conversion mechanism that transmits a rotational force of the first output shaft to one end of the axle; a second power conversion mechanism that transmits the rotational force of the second output shaft to the other end of the axle; a pivot shaft that rotatably supports the wheel via the axle; a main body supporting the first drive mechanism and the second drive mechanism; Equipped with the rotating shaft is formed in a disk shape and supports the first input shaft, the second input shaft, the first output shaft, the second output shaft, the first spur gear mechanism, the second spur gear mechanism, the wheels, the first power conversion mechanism, and the second power conversion mechanism, and a drive wheel is provided on the outside of the rotating shaft so as to be rotatable with respect to the main body via a swing bearing coaxial with the first input shaft and the second input shaft; a carriage body to which the drive wheels are attached; A trolley equipped with:

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