Title:
摩擦式駆動装置および摩擦式駆動装置を有する倒立振子型移動体
Document Type and Number:
Japanese Patent JP5352394
Kind Code:
B2
Abstract:
In a frictional drive device comprising a pair of drive disks (48) rotatably supported by a frame (10) around a central axial line (A) in a mutually opposing relationship, a pair of motors (64) supported by the frame for individually rotatively actuating the drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk at a regular interval and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (84, 110) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86, 111) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member, a resiliency is incorporated either in the main wheel or in the drive rollers so that a relatively large number of driven rollers can be simultaneously engaged by the drive rollers and, hence, a relative high drive efficiency can be maintained even when the axial center of the annular member and the axial center of the drive disks are offset from each other.
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Inventors:
Yo Gomi
Toru Takenaka
Mulberry Kazuya Hara
Toru Takenaka
Mulberry Kazuya Hara
Application Number:
JP2009218292A
Publication Date:
November 27, 2013
Filing Date:
September 22, 2009
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B62K17/00; B60B19/00; B62D15/00; B62K1/00; B62M13/00; F16H13/08; F16H13/10
Domestic Patent References:
| JP2005233432A | ||||
| JP54067165A | ||||
| JP60068C2 | ||||
| JP2005342818A | ||||
| JP9207831A |
Foreign References:
| WO2008132779A1 | ||||
| WO2008132778A1 |
Attorney, Agent or Firm:
Patent business corporation Oshima patent office
Yoichi Oshima
Yoichi Oshima