JP2020024033A - Drive wheel and bogie - Google Patents

Abstract

To simplify a structure, and to secure a sufficient minimum ground clearance in drive wheels and a bogie.SOLUTION: A drive wheel comprises: a first input shaft 34A and a second input shaft 34B which are coaxially arranged; a first output shaft 40A and a second output shaft 40B which are non-coaxially arranged; a first spur gear mechanism 13A for transmitting rotation force of the first input shaft 34A to the first output shaft 40A; a second spur gear mechanism 13B for transmitting rotation force of the second input shaft 34B to the second output shaft 40B; a wheel 16 connected to an axle 37; a turning shaft 35 for supporting the wheel 16 via the axle 37 so as to be turnable; a first power conversion mechanisms (first bevel gear mechanism 15A) for transmitting the rotation force of the first output shaft 40A to one-side end part of the axle 37; and a second power conversion mechanism (second bevel gear mechanism 15B) for transmitting the rotation force of the second output shaft 40B to other-side end part of the axle 37.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a driving wheel and a bogie.

  A traveling vehicle that is loaded with luggage and that runs on its own is equipped with drive wheels equipped with a motor. In order to develop a bogie with good movement efficiency in a narrow space, it is necessary to have a performance capable of moving in all directions. At this time, it is desired to improve the operating rate of the motor mounted on the bogie, thereby reducing the size and weight of the bogie to suppress energy consumption. Conventional drive wheels having such performance include, for example, those described in the following Patent Documents.

  Patent Document 1 discloses that a first bevel gear fixed to a first drive shaft meshes with a driven bevel gear fixed to a wheel axle, and a second bevel gear fixed to a second drive shaft is driven by a driven bevel gear. The steering shaft is connected to the axle by meshing with gears. Therefore, when the first drive shaft and the second drive shaft are rotated at the same rotation speed in opposite directions, the wheels can be rotated without steering, and when the second drive shaft is stopped and the second drive shaft is rotated, Steering can be performed without rotating the wheels. Patent Document 2 discloses that a first output unit is meshed with a first drive unit, a second output unit is meshed with a second drive unit via a conversion unit, and the first output unit and the second output unit are combined. Are connected to the output shaft at the eccentric position by two bevel gears, a horizontal shaft, and a belt. Therefore, by changing the rotational speed ratio between the first output unit and the second output unit, it is possible to switch between the rotation of the wheels and the steering.

Japanese Patent Publication No. 7-64206 Japanese Patent No. 5376347

  By the way, in order to develop a bogie with good movement efficiency in a narrow space, it is necessary to have a performance capable of moving in all directions. In addition, by providing a function to perform automatic traveling, complete manual traveling, or manual traveling with power assist according to the use situation of the bogie, it is expected that work efficiency will be improved in production processes such as factories. . For that purpose, it is necessary to provide two motors for the driving wheels for propelling the bogie, a motor for changing the direction of the wheels and a motor for rotating the wheels. When the roles of these two motors are individually assigned to the change of the direction of the wheels and the rotation of the wheels, the motors that change the direction of the wheels in a straight running state over a long distance with almost no change in the direction of the wheels. In many cases, the stopped state is increased, and only the motor for rotating the wheels is operated for a long time. Then, in order to generate power for moving the bogie, the motor for rotating the wheel mainly functions, and the function of the motor for changing the direction of the wheel cannot be fully utilized. This results in a decrease and an increase in the size of the wheel rotation motor, that is, an increase in the size and weight of the bogie, which is not preferable from the viewpoint of energy consumption. In order to solve this problem, according to the present invention, a driving wheel mechanism in which two mounted motors simultaneously rotate and the bogie moves by the resultant force regardless of the operation of either changing the direction of the wheels or rotating the wheels. With this configuration, it is possible to reduce the size and weight of each drive device and the truck.

  Heretofore, there have been inventions aimed at changing the direction of the wheels and rotating the wheels by simultaneously rotating the two motors described above, for example, as described in Patent Documents 1 and 2 described above. There is technology. However, Patent Document 1 has a structure in which a driven bevel gear is fixed to an axle, and a first bevel gear and a second bevel gear which are arranged coaxially with the driven bevel gear in the up-down direction. Therefore, there is a problem that the structure becomes complicated, and the minimum ground clearance is reduced by disposing the first bevel gear at a position lower than the axle. In Patent Document 2, since a large number of spur gears are applied and stacked in the height direction as each driving unit and each output unit, the structure becomes complicated and the size increases in the height direction. There is a problem that.

  The present invention solves the above-described problems of the related art while enabling two mounted driving devices to operate simultaneously regardless of the operation of changing the direction of the wheel and the operation of rotating the wheel. It is another object of the present invention to provide a drive wheel and a bogie that can simplify the structure and can secure a sufficient minimum ground clearance.

  A drive wheel of the present invention for achieving the above object includes a first input shaft and a second input shaft arranged coaxially, a first output shaft and a second output shaft arranged on different axes, A first spur gear mechanism for transmitting the torque of the first input shaft to the first output shaft, a second spur gear mechanism for transmitting the torque of the second input shaft to the second output shaft, and an axle. A wheel to be coupled, a turning shaft for turning the wheel via the axle, and a first power conversion mechanism for transmitting a torque of the first output shaft to one end of the axle; A second power conversion mechanism for transmitting the torque of the output shaft to the other end of the axle.

  Therefore, the rotational force of the first input shaft and the second input shaft is transmitted to the first output shaft and the second output shaft via the first spur gear mechanism and the second spur gear mechanism, and is transmitted to the first output shaft and the second output shaft. The power is transmitted from the output shaft to each end of the axle via the first power conversion mechanism and the second power conversion mechanism. Here, by adjusting the rotation speeds of the first input shaft and the second input shaft, it is possible to switch between the rotation of the wheels and the steering. Therefore, the structure can be simplified, and a sufficient minimum ground clearance can be secured.

  As a desirable mode of the drive wheel of the present invention, the first output shaft and the second output shaft are arranged on both sides of the wheel in the axial direction of the axle.

  For this reason, the rotational force is input from both sides in the axial direction of the axle, so that the differential mechanism for steering the wheels can be simplified.

  As a desirable mode of the drive wheel of the present invention, the first power conversion mechanism and the second power conversion mechanism are arranged on both sides of the wheel in the axial direction of the axle.

  Therefore, the rotational force is input from both sides in the axial direction of the axle, and the differential mechanism for steering the wheels can be simplified.

  As a desirable mode of the drive wheel of the present invention, the second power conversion mechanism and the second power conversion mechanism are disposed above in a vertical direction intersecting the axial direction of the axle.

  Therefore, it is not necessary to dispose each power conversion mechanism on both sides in the axial direction of the axle.

  As a desirable mode of the drive wheel of the present invention, a first power transmission mechanism is provided between the first power conversion mechanism and one end of the axle, and a first power transmission mechanism is provided between the second power conversion mechanism and the other end of the axle. A second power transmission mechanism is provided therebetween.

  Therefore, the driving force of the power conversion mechanism can be easily transmitted to the axle by the power transmission mechanism.

  As a desirable mode of the drive wheel of the present invention, the first power conversion mechanism transmits the rotational force of the first output shaft to one end of the axle having a different axial direction with respect to the first output shaft. , A bevel gear mechanism, a helical gear mechanism, a worm gear mechanism, a crown gear mechanism, or a universal joint mechanism is applied, and the second power conversion mechanism applies the rotational force of the second output shaft to the second output shaft. The power is transmitted to one end of the axle having a different axial direction with respect to the two output shafts, and any one of a bevel gear mechanism, a helical gear mechanism, a worm gear mechanism, a crown gear mechanism, and a universal joint mechanism is applied. Is done.

  Therefore, by applying any one of the bevel gear mechanism, the helical gear mechanism, the worm gear mechanism, the crown gear mechanism, and the universal joint mechanism to the power conversion mechanism, the axial direction with respect to the first output shaft is increased. And a function of transmitting the rotational force of the second output shaft to the other end of the axle having a different axial direction with respect to the second output shaft.

  As a desirable mode of the drive wheel of the present invention, the turning shaft has a first support member and a second support member connected to both sides of the wheel in the axial direction of the axle, and the axle has an axial direction. Each end is rotatably supported by the first support member and the second support member.

  Therefore, since each end of the axle is supported by the first support member and the second support member provided on both sides of the turning shaft, it is possible to simplify the differential mechanism for steering the wheels.

  As a desirable mode of the drive wheel of the present invention, the turning shaft is arranged coaxially with the first input shaft and the second input shaft.

  Therefore, miniaturization and simplification of the structure can be achieved.

  As a desirable mode of the drive wheel of the present invention, a rotation axis of the wheel along a vertical direction intersecting the axis of the axle is arranged coaxially with the turning axis.

  Therefore, miniaturization and simplification of the structure can be achieved.

  As a desirable mode of the drive wheel of the present invention, a rotation axis of the wheel along a vertical direction intersecting with an axis of the axle is a horizontal axis orthogonal to an axis of the axle with respect to an axis of the turning axis. It is displaced in the direction.

  Therefore, when the wheel is not driven, the wheel can be passively turned by the external force acting in the horizontal direction.

  Further, a truck according to the present invention includes the driving wheel and a main body to which the driving wheel is attached.

  Therefore, the structure can be simplified, and a sufficient minimum ground clearance can be secured.

  ADVANTAGE OF THE INVENTION According to the drive wheel and the bogie of this invention, while structure can be simplified, sufficient minimum ground clearance can be ensured.

FIG. 1 is a perspective view illustrating a configuration example of a drive wheel according to the first embodiment. FIG. 2 is a front view showing the drive wheels. FIG. 3 is a side view showing the drive wheels. FIG. 4 is a sectional view taken along line IV-IV of FIG. FIG. 5 is a sectional view taken along line VV of FIG. FIG. 6 is a sectional view taken along line VI-VI of FIG. FIG. 7 is a schematic diagram illustrating a driving force transmission path of a driving wheel. FIG. 8 is a partial perspective view illustrating an example of the power conversion mechanism. FIG. 9 is a partial perspective view illustrating an example of the power conversion mechanism. FIG. 10 is a partial perspective view illustrating an example of the power conversion mechanism. FIG. 11 is a partial front view illustrating an example of the power conversion mechanism. FIG. 12 is a schematic diagram illustrating a configuration example of a truck according to the first embodiment. FIG. 13 is a perspective view illustrating a configuration example of a drive wheel according to the second embodiment. FIG. 14 is a front view showing drive wheels. FIG. 15 is a side view showing the drive wheels. FIG. 16 is a sectional view taken along line X11-X11 in FIG. FIG. 17 is a sectional view taken along line XIII-XIII in FIG. FIG. 18 is a sectional view taken along line XIV-XIV of FIG. FIG. 19 is a front view of a main part showing a drive wheel of the third embodiment. FIG. 20 is a side view of a main part showing a drive wheel.

  Hereinafter, preferred embodiments of a drive wheel and a truck according to the present invention will be described in detail with reference to the drawings. It should be noted that the present invention is not limited by the embodiments, and when there are a plurality of embodiments, the embodiments include a combination of the embodiments. The components in the embodiments include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those that are in a so-called equivalent range.

[First Embodiment]
FIG. 12 is a schematic diagram illustrating a configuration example of a truck according to the first embodiment.

  In the first embodiment, as shown in FIG. 12, the cart 100 includes a main body 101, a handle 102, four drive wheels 103, a power supply 104, a control device 105, and an operation unit 106. ing.

  The main body 101 is, for example, a flat plate material, and has a rectangular shape in plan view. The handle part 102 of the main body 101 is fixed to one side in the longitudinal direction. The main body 101 has four drive wheels 103 mounted at four corners on the back side. The four drive wheels 103 are rotatable and steerable. The main body 101 has a power supply unit 104 and a control device 105 mounted on the back surface between the front and rear drive wheels 103, and an operation unit 106 mounted on the handle unit 102.

  Hereinafter, the drive wheel 103 will be described in detail. FIG. 1 is a perspective view illustrating a configuration example of a drive wheel according to the first embodiment, FIG. 2 is a front view illustrating the drive wheel, and FIG. 3 is a side view illustrating the drive wheel.

  In the first embodiment, as shown in FIGS. 1 to 3, the drive wheel 103 includes an input unit 11, a turning unit 12, a spur gear mechanism 13, an output unit 14, and a bevel gear mechanism as a power conversion mechanism. 15 and wheels 16.

  The input unit 11 is disposed above the main body 101, the upper end is fixed to the substrate 21, and the substrate 21 is supported by the main body 101 by a plurality of (four in the present embodiment) columns 22. The input unit 11 has a lower portion extending downward through the main body 101. The revolving unit 12 is disposed outside the lower part of the input unit 11, and the lower part extends downward through the main body 101. The spur gear mechanism 13 transmits the torque of the input unit 11. The output unit 14 is rotated by the torque input from the input unit 11. The bevel gear mechanism 15 transmits the rotational force of the output unit 14 to the wheels 16. The wheels 16 are rotatable and steerable by the input torque.

  Hereinafter, the input unit 11, the turning unit 12, the spur gear mechanism 13, the output unit 14, the bevel gear mechanism 15, and the wheels 16 will be described in detail. 4 is a sectional view taken along line IV-IV of FIG. 2, FIG. 5 is a sectional view taken along line VV of FIG. 4, and FIG. 6 is a sectional view taken along line VI-VI of FIG.

  As shown in FIGS. 4 to 6, the input unit 11 has a two-axis integrated motor 30, and can input two rotational forces on the turning axis of the wheel 16. That is, a cylindrical support cylinder 31 is fixed to the lower part of the substrate 21. The first rotary cylinder 32A is supported inside the support cylinder 31 by a bearing 33A so as to be freely rotatable around the axis O1, and outwardly. The second rotary cylinder 32B is rotatably supported by a bearing 33B about the axis O1. The support cylinder 31 is provided with coils (not shown) on the inner peripheral surface and the outer peripheral surface, respectively. The first rotary cylinder 32A is provided with a magnet (not shown) on the outer peripheral surface, and is provided with a first input shaft 34A extending along the axis O1 direction at a lower portion. The second rotary cylinder 32B is provided with a magnet (not shown) on the inner peripheral surface, and is provided with a second input shaft 34B extending along the axis O1 direction at a lower portion. The second input shaft 34B has a cylindrical shape and is arranged outside the first input shaft 34A. The first input shaft 34A and the second input shaft 34B extend downward through the main body 101. The input unit 11 includes a motor 30 including a support cylinder 31, a first rotary cylinder 32A, and a second rotary cylinder 32B, a first input shaft 34A, and a second input shaft 34B. Therefore, when the coils of the support cylinder 31 are energized, the first input shaft 34A can be rotated via the first rotary cylinder 32A, and the second input shaft 34B can be rotated via the second rotary cylinder 32B. . On the other hand, when the coils of the support cylinder 31 are not energized, the first rotary cylinder 32A and the first input shaft 34A are rotatable with respect to the support cylinder 31, and the second rotary cylinder 32B and the second input shaft 34B are It is freely rotatable.

  The turning shaft 35 has a cylindrical shape, is arranged outside the second input shaft 34B, extends along the axis O1, and is supported rotatably about the axis O1. That is, the first input shaft 34A, the second input shaft 34B, and the turning shaft 35 are rotatably disposed coaxially along the axis O1. A bearing 43 is provided between the first input shaft 34A and the second input shaft 34B, a bearing 44 is provided between the second input shaft 34B and the turning shaft 35, and a bearing is provided between the turning shaft 35 and the main body 101. 45 are provided. The revolving shaft 35 has a cylindrical main body 35a and a flange 35b provided integrally below the main body 35a, and a cover member 35c is provided below the flange 35b. The turning shaft 35 is provided below the cover member 35c so that the first support member 36A and the second support member 36B extend downward on both sides of the wheel 16 in the horizontal direction. The wheel 16 is provided integrally with an axle 37 along the axis O2 direction orthogonal to the axis O1 direction at the center. One end of the axle 37 along the direction of the axis O2 is rotatably supported below the first support member 36A, and the other end of the axle 37 along the direction of the axis O2 is freely rotatable below the second support member 36B. Supported. The revolving unit 12 includes a revolving shaft 35, a first support member 36A, and a second support member 36B. Therefore, the rotation axis of the wheel along the vertical direction that intersects with the axis O2 of the axle 37 is arranged coaxially with the axis O1 of the turning shaft 35.

  The first input shaft 34A has a first drive spur gear 38A fixed at the lower end, and the second input shaft 34B has a second drive spur gear 38B fixed at the lower end. The first drive spur gear 38A meshes with the first driven spur gear 39A, and the second drive spur gear 38B meshes with the second driven spur gear 39B. The second drive spur gear 38B and the first drive spur gear 38A are vertically stacked and rotate about the axis O1. The first driven spur gear 39A is fixed to an upper part of the first output shaft 40A. The first output shaft 40A has an upper portion supported by penetrating the flange portion 35b and the cover member 35c of the revolving shaft 35, a lower portion supported by the first support member 36A, and supported rotatably about the axis O3. . The second driven spur gear 39B is fixed to an upper part of the second output shaft 40B. The upper portion of the second output shaft 40B is supported through the flange portion 35b and the cover member 35c of the revolving shaft 35, the lower portion is supported by the second support member 36B, and the second output shaft 40B is rotatably supported about the axis O4. . Here, the first driving spur gear 38A, the second driving spur gear 38B, the first driven spur gear 39A, and the second driving spur gear 38B are covered with the turning shaft 35 and the cover member 35c. Note that the axis O3 and the axis O4 are parallel to the axis O1.

  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 linearly arranged along a horizontal direction orthogonal to the axis O1 direction. That is, the first driven spur gear 39A and the first output shaft 40A, and the second driven spur gear 39B and the second output shaft 40B are disposed on both sides of the wheel 16 in the direction of the axis O2 of the axle 37. The spur gears 38A, 38B, 39A, 39B have the same shape such as pitch circle diameter, tooth shape, and number of teeth, but may have different shapes. For example, the driving spur gears 38A, 38B and the driven spur gears The gears 39A and 39B may have different shapes. The spur gear mechanism 13 has a first spur gear mechanism 13A and a second spur gear mechanism 13B. The first spur gear mechanism 13A includes a first driving spur gear 38A and a first driven spur gear 39A, and a second spur gear 39A. The spur gear mechanism 13B includes a second driving spur gear 38B and a second driven spur gear 39B. The output unit 14 includes a first output shaft 40A and a second output shaft 40B.

  The first output shaft 40A has a first drive bevel gear 41A fixed to a lower portion, and the second output shaft 40B has a second drive bevel gear 41B fixed to a lower portion. On the other hand, in the axle 37, the first driven bevel gear 42A is fixed to one end in the direction of the axis O2, and the second driven bevel gear 42B is fixed to the other end in the direction of the axis O2. The first drive bevel gear 41A meshes with the first driven bevel gear 42A, and the second drive bevel gear 41B meshes with the second driven bevel gear 42B. The bevel gear mechanism 15 has a first bevel gear mechanism 15A as a first power conversion mechanism and a second bevel gear mechanism 15B as a second power conversion mechanism, and the first bevel gear mechanism 15A is a first drive bevel gear. The second bevel gear mechanism 15B includes a second drive bevel gear 41B and a second driven bevel gear 42B.

  The drive wheels 103 of the first embodiment rotate and steer the wheels 16 by rotating the first input shaft 34A and the second input shaft 34B via the first rotary cylinder 32A and the second rotary cylinder 32B by the motor 30. It can be carried out. That is, the first input shaft 34A is rotated, the second input shaft 34B is rotated in the opposite direction to the first input shaft 34A, and the rotation speed (rotation speed) of the first input shaft 34A and the second input shaft 34B is the same. By doing so, the wheels 16 can be rotated without being steered. At this time, by making the rotation speeds (rotation speeds) of the first input shaft 34A and the second input shaft 34B different, the steering can be performed with the wheels 16 rotated or stopped.

  Here, the operation of the drive wheel 103 will be described. FIG. 7 is a schematic diagram illustrating a driving force transmission path of a driving wheel.

  As shown in FIG. 7, when the first input shaft 34A rotates in the first direction A1 in the drive wheel 103, the first drive spur gear 38A rotates in the same direction, and the first driven spur gear 38A meshes with the first drive spur gear 38A. The spur gear 39A rotates in the second direction A2. When the first driven spur gear 39A rotates in the second direction A2, the first drive bevel gear 41A provided integrally with the first driven spur gear 39A via the first output shaft 40A rotates in the same direction. Then, the first driven bevel gear 42A meshing with the first driving bevel gear 41A rotates in the third direction A3, and rotates the axle 37 integrated with the first driven bevel gear 42A in the same direction. On the other hand, when the second input shaft 34B is rotated in the first direction B1 opposite to the first direction A1, the second driven spur gear 38B rotates in the same direction, and the second driven spur gear meshing with the second driving spur gear 38B. 39B rotates in the second direction B2. When the second driven spur gear 39B rotates in the second direction B2, the second drive bevel gear 41B provided integrally with the second driven spur gear 39B via the second output shaft 40B rotates in the same direction. Then, the second driven bevel gear 42B meshing with the second drive bevel gear 41B rotates in the third direction B3, and rotates the axle 37 integrated with the second driven bevel gear 42B in the same direction. Here, since the third direction A3 and the third direction B3 are in the same rotation direction, if the first input shaft 34A and the second input shaft 34B have the same number of rotations, the wheel 16 rotates without turning.

  At this time, when the rotation speed of the second input shaft 34B is reduced with respect to the rotation speed of the first input shaft 34A, the rotation speed input to the axle 37 from the second drive bevel gear 41B via the second driven bevel gear 42B. Is lower than the number of revolutions input from the first drive bevel gear 41A to the axle 37 via the first driven bevel gear 42A. Then, the turning shaft 35 rotates by the difference in the number of revolutions, turning the wheel 16 and steering. When the rotation of the second input shaft 34B is stopped, the number of rotations input from the second drive bevel gear 41B to the axle 37 via the second driven bevel gear 42B becomes 0, and the wheel 16 turns without rotating. Steer.

That is, when the gear ratio of each spur gear 38A, 38B, 39A, 39B is the same and the gear ratio of each bevel gear 41A, 41B, 42A, 42B is the same, the rotation speed of the first input shaft 34A is NA, Assuming that the rotation speed of the two-input shaft 34B is NB, the rotation speed of the turning shaft 35 is NS, and the rotation speed of the wheels 16 is NW, the rotation speed NS of the turning shaft 35 and the rotation speed NW of the wheels 16 are expressed by the following equation. Become.
NW = (1/2) NA- (1/2) NB
NS =-(1/2) NA- (1/2) NB
NA = NW-NS
NB = -NW-NS

  As described above, in the drive wheel according to the first embodiment, the first input shaft 34A and the second input shaft 34B arranged coaxially, and the first output shaft 40A and the second output shaft arranged separately from each other. A shaft 40B, a first spur gear mechanism 13A for transmitting the torque of the first input shaft 34A to the first output shaft 40A, and a second spur gear for transmitting the torque of the second input shaft 34B to the second output shaft 40B The mechanism 13B, the wheel 16 connected to the axle 37, the turning shaft 35 that supports the wheel 16 to be able to turn via the axle 37, and the second shaft that transmits the rotational force of the first output shaft 40A to one end of the axle 37. There is provided one bevel gear mechanism 15A and a second bevel gear mechanism 15B that transmits the rotational force of the second output shaft 40B to the other end of the axle 37.

  Therefore, the rotational force of the first input shaft 34A and the second input shaft 34B 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. The power is 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 15A and the second bevel gear mechanism 15B. Here, by adjusting the rotation speeds of the first input shaft 34A and the second input shaft 34B, the rotation and the steering of the wheels 16 can be switched. Therefore, since the bevel gear mechanisms 15A and 15B are arranged at the respective ends of the axle 37, the transmission system of the rotational force to the wheels 16 is simplified, and the structure can be simplified, and the structure can be simplified. Minimum ground clearance can be secured.

  In the drive wheel of the first embodiment, the first output shaft 40A and the second output shaft 40B are arranged on both sides of the wheel 16 in the direction of the axis O2 of the axle 37. Therefore, the rotational force is input from both sides of the axle 37 in the direction of the axis O2, and the differential mechanism for steering the wheels 16 can be simplified.

  In the drive wheel of the first embodiment, the first bevel gear mechanism 15A and the second bevel gear mechanism 15B are arranged on both sides of the wheel 16 in the direction of the axis O2 of the axle 37. Accordingly, the rotational force is input from both sides of the axle 37 in the direction of the axis O2, and the differential mechanism for steering the wheels 16 can be simplified.

  In the drive wheel of the first embodiment, the first bevel gear mechanism 15A and the second bevel gear mechanism 15B are arranged above in the vertical direction intersecting the direction of the axis O2 of the axle 37. Therefore, it is not necessary to arrange the bevel gear mechanisms 15A and 15B on both sides of the axle 37 in the direction of the axis O2.

  In the drive wheel of the first embodiment, a first support member 36A and a second support member 36B are connected to both sides of the turning shaft 35 in the direction of the axis O2 of the axle 37 with respect to the wheel 16, and the direction of the axis O2 of the axle 37 is connected. Are rotatably supported by the first support member 36A and the second support member 36B. Therefore, it is possible to simplify the differential mechanism for steering the wheels 16.

  In the drive wheel of the first embodiment, the turning shaft 35 is arranged coaxially with the first input shaft 34A and the second input shaft 34B. Therefore, miniaturization and simplification of the structure can be achieved.

  In the drive wheel of the first embodiment, the rotation axis O5 of the wheel 16 along the vertical direction intersecting the direction of the axis O2 of the axle 37 is arranged coaxially with the turning shaft 35. Therefore, miniaturization and simplification of the structure can be achieved.

  Further, the bogie of the first embodiment includes a drive wheel 103 and a main body 101 to which the drive wheel 103 is attached. Therefore, the structure can be simplified, and a sufficient minimum ground clearance can be secured.

  FIG. 8 is a partial perspective view illustrating an example of the power conversion mechanism. FIG. 9 is a partial perspective view illustrating an example of the power conversion mechanism. FIG. 10 is a partial perspective view illustrating an example of the power conversion mechanism. FIG. 11 is a partial front view illustrating an example of the power conversion mechanism.

  As described above, the power conversion mechanism has been described as being the bevel gear mechanism 15 having the first bevel gear mechanism 15A and the second bevel gear mechanism 15B, but is not limited thereto.

  FIG. 8 shows a helical gear mechanism 17 as an example of a power conversion mechanism that is replaced with the bevel gear mechanism 15. The helical gear mechanism 17 transmits the torque of the output unit 14 to the wheels 16. The helical gear mechanism 17 has a first helical gear mechanism 17A as a first power conversion mechanism and a second helical gear mechanism 17B as a second power conversion mechanism. The first helical gear mechanism 17A is fixed to a first driving helical gear 51A fixed to a lower portion of the first output shaft 40A and one end of an axle 37 provided on the wheel 16 in an axial center O2 direction. The first driven helical gear 51A meshes with the first driven helical gear 52A. The second helical gear mechanism 17B includes a second drive helical gear 51B fixed to a lower portion of the second output shaft 40B and a second drive helical gear 51B fixed to the other end of the axle 37 in the direction of the axis O2. The second driven gear meshing with the helical gear 51B is constituted by a helical gear 52B.

  As described above, the rotational force of the first input shaft 34A and the second input shaft 34B is applied 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. The power is transmitted from the first output shaft 40A and the second output shaft 40B to the respective ends of the axle 37 via the first helical gear mechanism 17A and the second helical gear mechanism 17B. Here, by adjusting the rotation speeds of the first input shaft 34A and the second input shaft 34B, the rotation and the steering of the wheels 16 can be switched. Therefore, since the helical gear mechanisms 17A and 17B are arranged at each end of the axle 37, the transmission system of the rotational force to the wheels 16 is simplified, and the structure can be simplified. , Sufficient minimum ground clearance can be secured.

  FIG. 9 shows a worm gear mechanism 18 as an example of a power conversion mechanism that is replaced by the bevel gear mechanism 15. The worm gear mechanism 18 transmits the torque of the output unit 14 to the wheels 16. The worm gear 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 fixed to a first worm 61A fixed to a lower portion of the first output shaft 40A, and is fixed to one end of the axle 37 provided on the wheel 16 in the direction of the axis O2 to form the first worm 61A. The first worm wheel 62A meshes with the first worm wheel 62A. The second worm gear mechanism 18B includes a second worm 61B fixed to a lower portion of the second output shaft 40B and a second worm wheel fixed to the other end of the axle 37 in the direction of the axis O2 to mesh with the second worm 61B. 62B.

  As described above, the rotational force of the first input shaft 34A and the second input shaft 34B is applied 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 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. Here, by adjusting the rotation speeds of the first input shaft 34A and the second input shaft 34B, the rotation and the steering of the wheels 16 can be switched. For this reason, since the worm gear mechanisms 18A and 18B are disposed at the respective ends of the axle 37, the transmission system of the rotational force to the wheels 16 is simplified, and the structure can be simplified. Minimum ground clearance can be secured.

  The first worm gear mechanism 18A includes a first worm wheel 62A fixed to a lower portion of the first output shaft 40A, and a first worm 61A fixed to one end of the axle 37 in the direction of the axis O2. Is also good. The second worm gear mechanism 18B is configured such that a second worm wheel 62B is fixed below the second output shaft 40B, and a second worm 61B is fixed to the other end of the axle 37 in the direction of the axis O2. You may.

  FIG. 10 shows a crown gear mechanism 19 as an example of a power conversion mechanism that is replaced with the bevel gear mechanism 15. The crown gear mechanism 19 transmits the torque of the output unit 14 to the wheels 16. The crown gear 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 includes a first crown gear 71A fixed to a lower portion of the first output shaft 40A, and a first crown gear fixed to one end of an axle 37 provided on the wheel 16 in the direction of the axis O2. The first spur gear 72A meshes with the first spur gear 71A. The second crown gear mechanism 19B includes a second crown gear 71B fixed to a lower portion of the second output shaft 40B, and a second crown gear fixed to the other end of the axle 37 in the direction of the axis O2 and meshing with the second crown gear 71B. It is constituted by a spur gear 72B.

  As described above, the rotational force of the first input shaft 34A and the second input shaft 34B is applied 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 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. Here, by adjusting the rotation speeds of the first input shaft 34A and the second input shaft 34B, the rotation and the steering of the wheels 16 can be switched. For this reason, since the crown gear mechanisms 19A and 19B are disposed at the respective ends of the axle 37, the transmission system of the rotational force to the wheels 16 is simplified, and the structure can be simplified and sufficient. Minimum ground clearance can be secured.

  The first crown gear mechanism 19A is configured such that a first spur gear 72A is fixed below the first output shaft 40A, and a first crown gear 71A is fixed to one end of the axle 37 in the direction of the axis O2. You may. The second crown gear mechanism 19B is configured such that a second spur gear 72B is fixed to a lower portion of the second output shaft 40B, and a second crown gear 71B is fixed to the other end of the axle 37 in the direction of the axis O2. May be.

  FIG. 11 shows a universal joint mechanism (universal joint mechanism) 20 as an example of a power conversion mechanism replaced with the bevel gear mechanism 15. The universal joint mechanism 20 transmits the torque of the output unit 14 to the wheels 16. The universal joint 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 includes a first drive joint 81A fixed to the lower end of the first output shaft 40A, and a first driven joint 82A fixed to one end of the axle 37 provided on the wheel 16 in the direction of the axis O2. And a first connecting portion 83A connecting the first driving joint 81A and the first driven joint 82A. The second universal joint mechanism 20A includes a second drive joint 81B fixed to the lower end of the second output shaft 40B, a second driven joint 82B fixed to the other end of the axle 37 in the direction of the axis O2, and a second drive joint. It is constituted by a joint 81B and a second connecting portion 83B for connecting the second driven joint 82B. Although not explicitly shown in the drawing, the first universal joint mechanism 20A has one end of the first connecting portion 83A fixed to the lower end of the first output shaft 40A and the other end of the first connecting portion 83A connected to the axis of the axle 37. A configuration in which one or a plurality of joints corresponding to the first drive joint 81A and the first driven joint 82A are provided at an intermediate portion and fixed to one end in the O2 direction may be adopted. Similarly, although not explicitly shown in the drawing, the second universal joint mechanism 20B is configured such that one end of the second connecting portion 83B is fixed to the lower end of the second output shaft 40B, and the other end of the second connecting portion 83B is the shaft of the axle 37. A configuration in which one or a plurality of joints corresponding to the second drive joint 81B and the second driven joint 82B are fixed to the intermediate portion at the other end in the direction of the center O2, and may be provided.

  As described above, the rotational force of the first input shaft 34A and the second input shaft 34B is applied 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 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. Here, by adjusting the rotation speeds of the first input shaft 34A and the second input shaft 34B, the rotation and the steering of the wheels 16 can be switched. For this reason, since the universal joint mechanisms 20A and 20B are disposed at the respective ends of the axle 37, the transmission system of the rotational force to the wheels 16 is simplified, and the structure can be simplified, and the structure can be sufficiently improved. Minimum ground clearance can be secured.

  By the way, in the drive wheel of the first embodiment, the first output shaft 40A and the axle 37 are different from each other by 90 degrees in the axial direction. Therefore, the first power conversion mechanism (the first bevel gear mechanism 15A, the first helical gear mechanism 17A, the first worm gear mechanism 18A, the first worm gear mechanism 18A) that transmits the rotational force of the first output shaft 40A to one end of the axle 37. The single crown gear mechanism 19A and the first universal joint mechanism 20A) transmit the rotational force of the first output shaft 40A to one end of the axle 37 having a different axial direction with respect to the first output shaft 40A. Further, the second output shaft 40B and the axle 37 are different from each other by 90 degrees in the axial direction. Therefore, the second power conversion mechanism (the second bevel gear mechanism 15B, the second helical gear mechanism 17B, the second worm gear mechanism 18B, the second worm gear mechanism 18B) that transmits the rotational force of the second output shaft 40B to one end of the axle 37. The two crown gear mechanism 19B and the second universal joint mechanism 20B) transmit the rotational force of the second output shaft 40B to one end of the axle 37 having a different axial direction with respect to the second output shaft 40B.

  In the drive wheel of the first embodiment, as described above, the input unit 11 has the two-axis integrated motor 30 and is configured to input two rotational forces on the turning axis of the wheel 16. The input shaft 34A, the second input shaft 34B, and the turning shaft 35 are rotatably arranged coaxially along the axis O1. Further, in the drive wheel of the first embodiment, the rotational force of the first input shaft 34A and the second input shaft 34B is transmitted to the first output shaft 40A and the second output shaft 34A via the first spur gear mechanism 13A and the second spur gear mechanism 13B. For transmission to the two output shafts 40B, the axis O3 of the first output shaft 40A and the axis O4 of the second output shaft 40B are made parallel to the axis O1. Furthermore, since the axle 37 of the wheel 16 is along the axis O2 direction orthogonal to the direction of the axis O1, the rotational force of the first output shaft 40A and the second output shaft 40B is transmitted to the axle 37 whose axial direction differs by 90 degrees. To do this, the first power conversion mechanism (the first bevel gear mechanism 15A, the first helical gear mechanism 17A, the first worm gear mechanism 18A, the first crown gear mechanism 19A, the first universal joint mechanism 20A) and the second power conversion mechanism A power conversion mechanism (second bevel gear mechanism 15B, second helical gear mechanism 17B, second worm gear mechanism 18B, second crown gear mechanism 19B, second universal joint mechanism 20B) is required.

  The power conversion mechanism is not limited to the above-described configuration, and may be any configuration as long as the rotational force of the output shafts 40A and 40B is transmitted to the axle 37 having different axial directions with respect to the output shafts 40A and 40B.

[Second embodiment]
FIG. 13 is a perspective view illustrating a configuration example of a drive wheel according to the second embodiment, FIG. 14 is a front view illustrating the drive wheel, and FIG. 15 is a side view illustrating the drive wheel. Note that members having the same functions as those of the above-described embodiment are denoted by the same reference numerals, and detailed description is omitted.

  In the second embodiment, as shown in FIGS. 13 to 15, the drive wheel 111 includes an input unit 11, a turning unit 61, a spur gear mechanism 13, an output unit 14, and a bevel gear mechanism as a power conversion mechanism. 15 and wheels 16.

  The input unit 11 is disposed above the main body 101, the upper end is fixed to the substrate 21, and the substrate 21 is supported by the main body 101 by a plurality of (four in the present embodiment) columns 22. The input unit 11 has a lower portion extending downward through the main body 101. The revolving unit 61 is disposed outside the lower part of the input unit 11, and the lower part shifted in the horizontal direction extends downward through the main body 101. The spur gear mechanism 13 transmits the torque of the input unit 11. The output unit 14 is rotated by the torque input from the input unit 11. The bevel gear mechanism 15 transmits the torque of the output unit 14 to the wheels 16. The wheels 16 are rotatable and steerable by the input torque.

  Hereinafter, the input unit 11, the turning unit 61, the spur gear mechanism 13, the output unit 14, the bevel gear mechanism 15, and the wheels 16 will be described in detail. 16 is a sectional view taken along line X11-X11 in FIG. 14, FIG. 17 is a sectional view taken along XIII-XIII in FIG. 16, and FIG. 18 is a sectional view taken along XIV-XIV in FIG.

  As shown in FIGS. 14 to 18, the input unit 11 has a two-shaft integrated motor 30, and the first rotary cylinder 32 </ b> A is rotatable around the axis O <b> 1 by a bearing 33 </ b> A inside the support cylinder 31. While being supported, the second rotary cylinder 32B is rotatably supported around the axis O1 by a bearing 33B outside the support cylinder 31. The first rotary cylinder 32A is provided with a first input shaft 34A at a lower portion, and the second rotary cylinder 32B is provided with a second input shaft 34B at a lower portion.

  The turning shaft 71 has a cylindrical shape, is arranged outside the second input shaft 34B, extends along the axis O1, and is supported rotatably about the axis O1. That is, the first input shaft 34A, the second input shaft 34B, and the turning shaft 71 are rotatably arranged coaxially along the axis O1. The turning shaft 71 has a main body 71a having a cylindrical shape, and a flange portion 71b provided integrally with a lower portion of the main body 71a, and a cover member 71c is provided below the flange portion 71b. The turning shaft 71 is provided so that the first support member 36A and the second support member 36B extend downward on both sides of the wheel 16 in the horizontal direction below the cover member 71c. The wheel 16 is provided with an axle 37 along the axis O2 perpendicular to the axis O1 at a position shifted horizontally from the center. One end of the axle 37 along the direction of the axis O2 is rotatably supported below the first support member 36A, and the other end of the axle 37 along the direction of the axis O2 is freely rotatable below the second support member 36B. Supported. The revolving unit 61 includes a revolving shaft 71, a first support member 36A, and a second support member 36B. Therefore, the rotation axis O5 of the wheel 16 along the vertical direction intersecting the direction of the axis O2 of the axle 37 is shifted from the axis O1 of the turning shaft 71 in the horizontal direction orthogonal to the direction of the axis O2 of the axle 37. Be placed.

  The first input shaft 34A has a first drive spur gear 38A fixed at the lower end, and the second input shaft 34B has a second drive spur gear 38B fixed at the lower end. The first drive spur gear 38A meshes with the first driven spur gear 39A, and the second drive spur gear 38B meshes with the second driven spur gear 39B. The second drive spur gear 38B and the first drive spur gear 38A are vertically stacked and rotate about the axis O1. The first driven spur gear 39A is fixed to an upper part of the first output shaft 40A. The first output shaft 40A has an upper portion supported through the turning shaft 71, a lower portion supported by the first support member 36A, and is rotatably supported about the axis O3. The second driven spur gear 39B is fixed to an upper part of the second output shaft 40B. The second output shaft 40B has an upper portion supported through the turning shaft 71, a lower portion supported by the second support member 36B, and supported rotatably about the axis O4. The axis O3 and the axis O4 are parallel to the axis O1.

  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 such that the axis O1, the axis O3, and the axis O4 form a triangle. In other words, the rotation axis O5 of the wheel 16 is displaced from the axis O1 of the turning shaft 71 in a horizontal direction orthogonal to the direction of the axis O2 of the axle 37. The first driven spur gear 39A and the first output shaft 40A, and the second driven spur gear 39B and the second output shaft 40B are arranged on both sides of the wheel 16 in the direction of the axis O2 of the axle 37.

  The first output shaft 40A has a first drive bevel gear 41A fixed to a lower portion, and the second output shaft 40B has a second drive bevel gear 41B fixed to a lower portion. On the other hand, in the axle 37, the first driven bevel gear 42A is fixed to one end in the direction of the axis O2, and the second driven bevel gear 42B is fixed to the other end in the direction of the axis O2. The first drive bevel gear 41A meshes with the first driven bevel gear 42A, and the second drive bevel gear 41B meshes with the second driven bevel gear 42B. The bevel gear mechanism 15 has a first bevel gear mechanism 15A as a first power conversion mechanism and a second bevel gear mechanism 15B as a second power conversion mechanism, and the first bevel gear mechanism 15A is a first drive bevel gear. The second bevel gear mechanism 15B includes a second drive bevel gear 41B and a second driven bevel gear 42B. As described in the first embodiment, the first power conversion mechanism is a first helical gear mechanism 17A, a first worm gear mechanism 18A, and a first crown gear mechanism, instead of the first bevel gear mechanism 15A. 19A, the first universal joint mechanism 20A can be applied, and the second power conversion mechanism is a second helical gear mechanism 17B, a second worm gear mechanism 18B, a second crown gear mechanism instead of the second bevel gear mechanism 15B. 19B and the second universal joint mechanism 20B can be applied.

  The drive wheels 111 of the second embodiment rotate and steer the wheels 16 by rotating the first input shaft 34A and the second input shaft 34B via the first rotary cylinder 32A and the second rotary cylinder 32B by the motor 30. It can be carried out. That is, the first input shaft 34A is rotated, the second input shaft 34B is rotated in the opposite direction to the first input shaft 34A, and the rotation speed (rotation speed) of the first input shaft 34A and the second input shaft 34B is the same. By doing so, the wheels 16 can be rotated without being steered. At this time, by making the rotation speeds (rotation speeds) of the first input shaft 34A and the second input shaft 34B different, the steering can be performed with the wheels 16 rotated or stopped.

  Note that the rotation and steering operation of the drive wheel 111 are substantially the same as those of the drive wheel 103 of the first embodiment, and thus description thereof will be omitted.

  As described above, in the drive wheel according to the second embodiment, the rotation axis O5 of the wheel 16 along the vertical direction intersecting with the axis O2 of the axle 37 is moved relative to the axis O1 of the turning shaft 71. It is displaced in the horizontal direction orthogonal to the direction of the axis O2. Therefore, when the wheel 16 is not driven, the wheel 16 can passively turn by an external force acting in the horizontal direction. That is, the trolley 100 can be automatically driven and steered, and the operator can manually drive and steer.

[Third embodiment]
FIG. 19 is a front view of a main part showing a drive wheel of the third embodiment, and FIG. 20 is a side view of a main part showing a drive wheel. Note that members having the same functions as those of the above-described embodiment are denoted by the same reference numerals, and detailed description is omitted.

  In the third embodiment, as shown in FIGS. 19 and 20, the drive wheel 121 includes an input unit 11, a turning unit 12, a spur gear mechanism 13, an output unit 14 (14A, 14B), and a power conversion mechanism. , A bevel gear mechanism 15 (15A, 15B), a power transmission mechanism 81, and wheels 16. Here, the input unit 11, the turning unit 12, and the spur gear mechanism 13 are the same as those in the first embodiment, as shown in FIGS.

  The first input shaft 34A, the second input shaft 34B, and the turning shaft 35 are rotatably arranged coaxially along the axis O1. The first input shaft 34A has a first drive spur gear 38A fixed at the lower end, and the second input shaft 34B has a second drive spur gear 38B fixed at the lower end. The first drive spur gear 38A meshes with the first driven spur gear 39A, and the second drive spur gear 38B meshes with the second driven spur gear 39B. The second drive spur gear 38B and the first drive spur gear 38A are vertically stacked and rotate about the axis O1. The first driven spur gear 39A is fixed to an upper portion of the first output shaft 40A, and the first output shaft 40A is rotatably supported on the turning shaft 71 about the axis O3. The second driven spur gear 39B is fixed to an upper portion of the second output shaft 40B, and the second output shaft 40B is rotatably supported by the turning shaft 71 about the axis O4.

  The first output shaft 40A has a first drive bevel gear 41A fixed to a lower portion, and the second output shaft 40B has a second drive bevel gear 41B fixed to a lower portion. The first driven bevel gear 42A meshing with the first driving bevel gear 41A and the second driven bevel gear 42B meshing with the second driving bevel gear 41B are fixed to the connection shaft 91. The connection shaft 91 is orthogonal to the axis O1 and parallel to the axis O2. A first power transmission mechanism 81A is provided between the first bevel gear mechanism 15A and one end of the axle 37, and a second power transmission mechanism 81B is provided between the second bevel gear mechanism 15B and the other end of the axle 37. Provided.

  The bevel gear mechanism 15 has a first bevel gear mechanism 15A as a first power conversion mechanism and a second bevel gear mechanism 15B as a second power conversion mechanism, and the first bevel gear mechanism 15A is a first drive bevel gear. The second bevel gear mechanism 15B includes a second drive bevel gear 41B and a second driven bevel gear 42B. As described in the first embodiment, the first power conversion mechanism is a first helical gear mechanism 17A, a first worm gear mechanism 18A, and a first crown gear mechanism, instead of the first bevel gear mechanism 15A. 19A, the first universal joint mechanism 20A can be applied, and the second power conversion mechanism is a second helical gear mechanism 17B, a second worm gear mechanism 18B, a second crown gear mechanism instead of the second bevel gear mechanism 15B. 19B and the second universal joint mechanism 20B can be applied.

  That is, the first drive pulley 92A is fixed to one end of the connection shaft 91 in the direction of the axis O6, and the second drive pulley 92B is fixed to the other end of the connection shaft 91 in the direction of the axis O6. In the axle 37, a first driven pulley 93A is fixed to one end in the direction of the axis O2, and a second driven pulley 93B is fixed to the other end in the direction of the axis O2. Then, an endless first drive belt 94A is looped between the first drive pulley 92A and the first driven pulley 93A, and an endless second drive belt is provided between the second drive pulley 92B and the second driven pulley 93B. 94B is looped. Here, the first power transmission mechanism 81A includes a first driving pulley 92A, a first driven pulley 93A, and a first driving belt 94A, and the second power transmission mechanism 81B includes a second driving pulley 92B and a second driven pulley. 93B and a second drive belt 94B.

  Therefore, when the first input shaft 34A 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 bevel gear 41A rotates together with the first output shaft 40A. Then, the first driven bevel gear 42A meshing with the first drive bevel gear 41A rotates, and the connecting shaft 91 rotates. The torque of the connecting shaft 91 is transmitted to the axle 37 via the first drive pulley 92A, the first drive belt 94A, and the first driven pulley 93A, and the axle 37 rotates. On the other hand, when the second input shaft 34B rotates in the opposite direction to the first input shaft 34A, the second driving spur gear 38B rotates, and the second driven spur gear 39B rotates. When the second driven spur gear 39B rotates, the second drive bevel gear 41B rotates together with the second output shaft 40B. Then, the second driven bevel gear 42B meshing with the second drive bevel gear 41B rotates, and the connecting shaft 91 rotates. The torque 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, and the axle 37 rotates.

  The drive wheels 121 of the second embodiment rotate and steer the wheels 16 by rotating the first input shaft 34A and the second input shaft 34B via the first rotary cylinder 32A and the second rotary cylinder 32B by the motor 30. It can be carried out. That is, the first input shaft 34A is rotated, the second input shaft 34B is rotated in the opposite direction to the first input shaft 34A, and the rotation speed (rotation speed) of the first input shaft 34A and the second input shaft 34B is the same. By doing so, the wheels 16 can be rotated without being steered. At this time, by making the rotation speeds (rotation speeds) of the first input shaft 34A and the second input shaft 34B different, the steering can be performed with the wheels 16 rotated or stopped.

  The rotation of the drive wheel 121 and the operation of the steering are substantially the same as those of the drive wheel 103 of the first embodiment, and thus the description is omitted.

  As described above, in the drive wheel of the third embodiment, the first power transmission mechanism 81A is provided between the first bevel gear mechanism 15A and one end of the axle 37, and the second bevel gear mechanism 15B and the axle 37 are connected to each other. A second power transmission mechanism 81B is provided between the second power transmission mechanism 81B and the other end. Therefore, the driving force of the bevel gear mechanisms 15A, 15B can be easily transmitted to the axle 37 by the power transmission mechanisms 81A, 81B.

DESCRIPTION OF SYMBOLS 11 Input part 12, 61 Revolving part 13 Spur gear mechanism 13A 1st spur gear mechanism 13B 2nd spur gear mechanism 14 Output part 15 Bevel gear mechanism (power conversion mechanism)
15A 1st bevel gear mechanism (1st power conversion mechanism)
15B 2nd bevel gear mechanism (2nd power conversion mechanism)
16 wheels 17 helical gear mechanism (power conversion mechanism)
17A 1st helical gear mechanism (1st power conversion mechanism)
17B Second helical gear mechanism (second power conversion mechanism)
18 Worm gear mechanism (power conversion mechanism)
18A first worm gear mechanism (first power conversion mechanism)
18B Second worm gear mechanism (second power conversion mechanism)
19 Crown gear mechanism (power conversion mechanism)
19A First Crown Gear Mechanism (First Power Conversion Mechanism)
19B Second crown gear mechanism (second power conversion mechanism)
20 Universal joint mechanism (power conversion mechanism)
20A 1st universal joint mechanism (1st power conversion mechanism)
20B 2nd universal joint mechanism (2nd power conversion mechanism)
Reference Signs List 30 motor 31 support tube 32A first rotating tube 32B second rotating tube 33A bearing 33B bearing 34A first input shaft 34B second input shaft 35, 71 turning shaft 36A first support member 36B second support member 37 axle 38A first drive Spur gear 38B Second drive spur gear 39A First driven spur gear 39B Second driven spur gear 40A First output shaft 40B Second output shaft 41A First drive bevel gear 41B Second drive bevel gear 42A First driven bevel gear 42B 2 driven bevel gear 43, 44, 45 bearing 81 power transmission mechanism 81A first power transmission mechanism 81B second power transmission mechanism 91 connecting shaft 92A first drive pulley 92B second drive pulley 93A first driven pulley 93B second driven pulley 94A First drive belt 94B Second drive belt 100 Bogie 101 Main body 102 Handle 103,111,12 Drive wheel 104 power supply unit 105 control unit 106 operation unit

Claims (11)

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 a rotational force of the first input shaft to the first output shaft;
A second spur gear mechanism for transmitting the torque of the second input shaft to the second output shaft,
A wheel connected to the axle;
A turning shaft that supports the wheels to be able to turn via the axle;
A first power conversion mechanism that transmits a torque of the first output shaft to one end of the axle;
A second power conversion mechanism for transmitting the torque of the second output shaft to the other end of the axle;
Drive wheels comprising:   The drive wheel according to claim 1, wherein the first output shaft and the second output shaft are disposed on both sides of the wheel in the axial direction of the axle.   3. The drive wheel according to claim 1, wherein the first power conversion mechanism and the second power conversion mechanism are arranged on both sides of the wheel in the axial direction of the axle. 4.   4. The drive wheel according to claim 3, wherein the first power conversion mechanism and the second power conversion mechanism are disposed above in a vertical direction that intersects an axial direction of the axle. 5.   A first power transmission mechanism is provided between the first power conversion mechanism and one end of the axle, and a second power transmission mechanism is provided between the second power conversion mechanism and the other end of the axle. The drive wheel according to claim 4.   The first power conversion mechanism transmits the rotational force of the first output shaft to one end of the axle having a different axial direction with respect to the first output shaft. The bevel gear mechanism, the helical gear mechanism , A worm gear mechanism, a crown gear mechanism, or a universal joint mechanism is applied, and the second power conversion mechanism applies a rotational force of the second output shaft in an axial direction with respect to the second output shaft. The transmission to one end of the different axle, wherein one of a bevel gear mechanism, a helical gear mechanism, a worm gear mechanism, a crown gear mechanism, and a universal joint mechanism is applied. The drive wheel according to any one of claims 1 to 4.   A first support member and a second support member are connected to both sides of the turning shaft in the axial direction of the axle with respect to the wheel, and each end of the axle in the axial direction is the first support member and The drive wheel according to any one of claims 1 to 6, wherein the drive wheel is rotatably supported by the second support member.   The drive wheel according to any one of claims 1 to 7, wherein the turning shaft is arranged coaxially with the first input shaft and the second input shaft.   The drive wheel according to any one of claims 1 to 8, wherein a rotational axis of the wheel along a vertical direction intersecting an axial direction of the axle is arranged coaxially with the turning axis.   The rotation axis of the wheel along a vertical direction that intersects the axis of the axle is offset from the axis of the turning axis in a horizontal direction orthogonal to the axis of the axle. The drive wheel according to any one of claims 1 to 8. A driving wheel according to any one of claims 1 to 10,
A body to which the drive wheel is attached;
A trolley equipped with.

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