DECOUPLED DRIVING DEVICE OF A SYNCHRONOUS MOVING ROBOT HAVING A DIFFERENTIAL WHEEL AND AN ENDLESS ROTATING TURRET FOR INFINITELY ROTATING A ROBOT AT 360 DEGREES BY CONNECTING A STEERING DEVICE WITH A DRIVING DEVICE THROUGH A TRIPLE SHAFT STRUCTURE

摘要

PURPOSE: A decoupled driving device of a synchronous moving robot having a differential wheel and an endless rotating turret is provided to improve work efficiency of the robot, to exactly control a motor, and to reduce power consumption of the robot by transmitting driving force of a steering motor and a driving motor independently from the rotation of the turret. CONSTITUTION: In a decoupled driving device of a synchronous moving robot, a turret motor(33) rotating a turret(34), a driving motor(29) rotating wheels(42), and a steering motor(19) switching the directions of the wheels are mounted on the turret. The driving force of the steering motor is transmitted to a wheel case(41) of a wheel unit(40) by a steering unit(10) having a primary differential gear unit(17). The driving force of the driving motor is delivered to the wheel of the wheel unit by a driving unit(20) having a secondary differential gear unit(27). The driving force of the turret motor is transmitted to the turret by a turret rotating unit(30). The differential gear unit of the driving unit is connected with the steering unit and the differential gear unit of the steering unit is coupled with the turret rotating unit, respectively. A coupling relation among the driving motor, the steering motor, and the turret motor is removed.