| 摘要 |
PURPOSE: To provide a robot running mechanism highly capable of overcoming a hindrance, having a simple structure. CONSTITUTION: A sun gear 13 is fixed to an axle 17 which is supported to a vehicle body 17 and which is rotated by a motor 9, and a rotary disc 11 from which more than two arm parts 12 are radially projected is rotatably attached to the axle 17. Further, an epicyclig gear 14 meshed with the sun gear is located between the arm parts 12, and a wheel rotating gear 19 is provided. A wheel 18 is fixed to the wheel rotating gear 19 so that rotation is transmitted from a main shaft 6 to the wheel 18. |
