| 摘要 |
<p>PURPOSE: A driving wheel and a robot device including the same are provided to transfer the robot device while adhering to a pipe even if the internal diameter of the pipe is changed and to stably use in the various environment in which a vertical pipe, a distributing pipe, and a curved pipe are mixed to use or the internal diameter is changed. CONSTITUTION: A driving wheel comprises a wheel housing (110), a stator unit (120), a coil (130), and a commutator (140). The three phase current is supplied. The coil includes a three phase coil reeled to correspond to the three phase current. The commutator includes a three phase electrode connecting the three phase current to each coil. The three phase coil is sequentially laminated and reeled in a protruded unit according to the order in which the current is supplied.</p> |
