To provide a spherical driving device that can be suppressed from being complicated in configuration or being enlarged in a size so as to improve versatility.SOLUTION: A spherical driving device 10 comprises a first motor 11 and a second motor 12, a base housing 13, an input bevel gear 32, an intermediate bevel gear 33, a first tire support body 16 and a first tire 18, and a second tire support body 17 and a second tire 19. The base housing 13 houses the motors 11 and 12. The input bevel gear 32 is connected to a rotary shaft 12a of the second motor 12. The intermediate bevel gear 33 is connected to an intermediate shaft 15 that is orthogonal to rotary shafts 11a and 12a and engages with the input bevel gear 32. The first tire support body 16 is connected to a first end part of the intermediate shaft 15 and fixes the first tire 18. The second tire support body 17 is connected to a second end part of the intermediate shaft 15 and fixes the second tire 19.SELECTED DRAWING: Figure 1
【課題】構成の複雑化又は大型化を抑制し、汎用性を向上させることが可能な球体駆動装置を提供する。【解決手段】球体駆動装置10は、第1モータ11及び第2モータ12と、ベース筐体13と、入力傘歯車32と、中間傘歯車33と、第1タイヤ支持体16及び第1タイヤ18と、第2タイヤ支持体17及び第2タイヤ19と、を備える。ベース筐体13は各モータ11,12を収容する。入力傘歯車32は第2モータ12の回転軸12aに接続される。中間傘歯車33は各回転軸11a,12aと直交する中間シャフト15に接続され、入力傘歯車32に噛み合う。第1タイヤ支持体16は、中間シャフト15の第1端部に接続され、第1タイヤ18を固定する。第2タイヤ支持体17は、中間シャフト15の第2端部に接続され、第2タイヤ19を固定する。【選択図】図1
SPHERICAL DRIVING DEVICE AND CONTROL DEVICE
球体駆動装置及び制御装置
2020-07-02
Patent
Electronic Resource
Japanese
Electronic device including rolling element between spherical housing and internal driving device
European Patent Office | 2023
|European Patent Office | 2020
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