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    • 10. 发明公开
    • STEERABLE DRIVE MECHANISM AND OMNIDIRECTIONAL MOVING VEHICLE
    • LENKARER ANTRIEBSMECHANISMUS UND ALLE RICHTUNGEN BEWEGLICHES VENTIL
    • EP2444301A1
    • 2012-04-25
    • EP10789475.0
    • 2010-06-15
    • National University Corporation Toyohashi University of Technology
    • TERASHIMA, KazuhikoONO, TakashiUENO, Yuuki
    • B62D7/14A61G5/04B62D9/00F16H1/14F16H37/02
    • B62D7/1509A61G5/046B60K7/00B60K7/0007B60K17/043B60K2007/0046B60K2007/0084B60Y2200/84B62D5/0418B62D7/026
    • Provided are a drive mechanism capable of improving stability of steering environment and operation rate of power sources, and an omnidirectional moving vehicle using this drive mechanism. The omnidirectional moving vehicle comprises a vehicle body (6), and a plurality of wheels (4a to 4d) at least two wheels of which are equipped with the steering drive mechanism. The drive mechanism comprises a rotatable steering unit (1), a wheel (4) supported by the steering unit, a drive member (2) rotating about an axis extending along a center axis of the steering unit, an output shaft (3) located at an offset position from the center axis of the steering unit and transmitting rotational force of the drive member to the wheel. The drive member comprises a first drive unit (22) driven in a forward rotation direction and a second drive unit (23) driven in a reverse rotation direction and located coaxially with the first drive unit. The output shaft is provided with a first output unit (71) to which driving force is transmitted from the first drive unit, and a second output unit (72) to which driving force is transmitted from a conversion unit for converting rotation of the second drive unit, is restricted by both the output units, and transmits rotational force obtained from the output units to the wheel.
    • 提供能够提高转向环境的稳定性和动力源的运转率的驱动机构,以及使用该驱动机构的全方位移动车辆。 全方向移动车辆包括车体(6)和至少两个车轮的多个车轮(4a至4d),其具有转向驱动机构。 所述驱动机构包括可转动转向单元(1),由所述转向单元支撑的轮(4),绕所述转向单元的中心轴线延伸的轴线旋转的驱动构件(2),位于 在与转向单元的中心轴线的偏移位置处,并且将驱动构件的旋转力传递到车轮。 驱动构件包括沿正向驱动的第一驱动单元(22)和沿反向旋转方向驱动并与第一驱动单元同轴定位的第二驱动单元(23)。 输出轴设置有从第一驱动单元传递驱动力的第一输出单元(71)和从转换单元传递驱动力的第二输出单元(72),用于转换第二驱动器的旋转 单元由两个输出单元限制,并且将从输出单元获得的旋转力传递到车轮。