| 摘要 |
PROBLEM TO BE SOLVED: To provide a wheel with an all-driving type rotary body capable of smoothly getting over a step height by individually driving all rotary wheels. SOLUTION: The wheel supports a wheel 11 by a hollow wheel shaft 16, and has driven pulleys 13a and 12b in a plurality of rotary bodies 12a and 12b around the wheel 11, and has a first rotation distribution transmitting mechanism 14 having a first ring-shaped sun gear 14a and a second rotation distribution transmitting mechanism 15 having a second ring-shaped sun gear 15a in the wheel 11. A wheel shaft 16 is driven by a traveling motor 17, and the first ring-shaped sun gear 14a is driven by a rotary body driving first motor 18, and the second ring-shaped sun gear 15a is driven by a rotary body driving second motor 19. Electric power supply to the motors 19 and 21 is performed by a slip ring sand a brush, and control is performed by communication through a hollow part of the wheel shaft 16. When rotating the rotary bodies 12a and 12b, the first ring-shaped sun gear 14a and the second ring-shaped sun gear 15a are rotated in the same direction, and a phase is made different so that an average rotating speed is the same. COPYRIGHT: (C)2011,JPO&INPIT
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