| 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 turning wheels. SOLUTION: This wheel includes driven pulleys 13a and 12b in a plurality of rotary bodies 12a and 12b around the wheel 11, and includes a first rotation distribution transmitting mechanism 14 and a second rotation distribution transmitting mechanism 15 in the wheel 11. A hollow first rotary body driving shaft 18 is inserted into a hollow axle 16, and a second rotary body driving shaft 20 is also inserted, and the wheel 11 is driven by a traveling motor 17, and the first rotation distribution transmitting mechanism 14 is driven by a rotary body driving first motor 19, and the second rotation distribution transmitting mechanism 15 is driven by a rotary body driving second motor 21. When rotating the rotary bodies 12a and 12b, a first sun spur gear 14a and a second sun spur gear 15a are rotated in the same direction, and the traveling motor 17, the rotary body driving first motor 19 and the rotary body driving second motor 21 are rotatably controlled so that relative rotation is generated to the wheel. COPYRIGHT: (C)2011,JPO&INPIT
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