| 摘要 |
Modular drive system (22) for an object that can include a gear ring (12) having internal teeth, the gear ring connected to the object to drive the object; a frame connected to the object, the frame with a plurality mounts for mounting a plurality of drive units (28) and with a front face comprising a plurality of openings able to receive the plurality of drive units; and at least one drive unit mounted to the frame. The drive unit can include a pinion (14) engaging the internal teeth of the gear wheel to drive the gear wheel, and a motor (29) to drive the pinion. When a drive unit is mounted to the frame (24), a closed structure is formed to enclose at least the pinion of the at least one drive unit and the internal teeth of the gear wheel. |
