CN-113460192-B - Rotary driving device

CN113460192BCN 113460192 BCN113460192 BCN 113460192BCN-113460192-B

Abstract

The rotation driving device can easily connect the pair of wheel frames. The rotation driving Device (DV) has a pair of driving force transmission members (110), a pair of deceleration sections (15), a pair of wheel frames (13), and at least one coupling member (14). A plurality of driving rollers (120) are disposed on the pair of driving force transmission members (110). The plurality of driving rollers (120) transmit driving force to the main wheel (5). The main wheel (5) has a plurality of driven rollers (51). A pair of driving force transmission members (110) are rotatable about a rotation Axis (AX). A pair of wheel frames (13) accommodates at least a part of the speed reduction unit (15). The pair of wheel carriers (13) face each other in the Axial Direction (AD) along the rotation Axis (AX). The pair of wheel frames (13) has a first wheel frame (13A) and a second wheel frame (13B). The first wheel carrier (13A) and the second wheel carrier (13B) are directly or indirectly joined by at least one joining means (14).

Inventors

TSUBONE TAIHEI
Yu Quan Qiao Ping
Sen Yishu
Yata Wataru

Assignees

日本电产新宝株式会社
本田技研工业株式会社

Dates

Publication Date: 20260512
Application Date: 20210325
Priority Date: 20200331

Claims (9)

1. A rotary drive device, comprising: A pair of driving force transmission members that are provided with a plurality of driving rollers that transmit driving forces to a main wheel having a plurality of driven rollers, and are rotatable about rotational axes; A pair of deceleration units that decelerate the rotation speed of the input shaft and rotate the driving force transmission member at the decelerated rotation speed; A pair of wheel frames which receive at least a part of the speed reducing portion and are opposed to each other in an axial direction along the rotation axis, and At least one of the coupling members is configured to couple with the at least one of the coupling members, The pair of wheel frames has a first wheel frame and a second wheel frame, The first wheel frame and the second wheel frame are directly or indirectly coupled by the at least one coupling member, A through hole into which the at least one coupling member can be inserted and a screw hole into which the at least one coupling member is screwed are formed in the first wheel frame, A through hole into which the at least one coupling member can be inserted and a screw hole into which the at least one coupling member is screwed are formed in the second wheel frame, The through hole of the first wheel frame and the screw hole of the second wheel frame are located at opposite positions in the axial direction, the screw hole of the first wheel frame and the through hole of the second wheel frame are located at opposite positions in the axial direction, The rotation driving device further has a centering member for coaxially aligning the axial cores of the pair of wheel frames, The centering member is a separate annular member, and the centering member is in contact with both the first and second wheel frames of the pair of wheel frames.
2. The rotary driving device according to claim 1, wherein, The at least one bonding element is a plurality of, At least one through hole and at least one screw hole are respectively formed on the first wheel frame and the second wheel frame, In the first wheel carrier, the at least one through hole is arranged at a position symmetrical to the at least one screw hole with respect to the rotation axis as a center when viewed from the axial direction, In the second wheel carrier, the at least one through hole is arranged at a position symmetrical to the at least one screw hole with respect to the rotation axis as a center when viewed in the axial direction.
3. The rotary driving device according to claim 1, wherein, The center axes of the plurality of driving rollers are inclined with respect to the rotational direction of the main wheel about the rotational axis and have a twisted relationship with respect to the rotational axis.
4. The rotary driving device according to claim 1, wherein, The first wheel frame is coupled to the centering member by the at least one coupling member, The second wheel frame is coupled to the centering member by the at least one coupling member.
5. The rotary driving device according to claim 4, wherein, The centering component is in the shape of a ring, The centering member has an inner peripheral surface and an outer peripheral surface, The first wheel carrier has: A first main body part, and A first protruding portion protruding from the first main body portion toward the second wheel frame side, The second wheel carrier has: A second main body part, and A second protruding portion protruding from the second main body portion toward the first wheel frame side, The first protruding portion and the second protruding portion are opposite to each other, The inner peripheral surface of the centering member is in contact with the first protruding portion and the second protruding portion.
6. The rotary driving device according to claim 5, wherein, The rotation driving device further includes a seal member disposed in a space formed by the inner peripheral surface of the centering member, the first protruding portion, and the second protruding portion.
7. The rotary driving device according to any one of claims 3 to 6, wherein, The rotary drive device further has a first bearing member and a second bearing member, The pair of driving force transmission members has a first driving force transmission member and a second driving force transmission member, The first bearing member is mounted on the first wheel carrier, rotatably supports the first driving force transmission member, The second bearing member is mounted on the second wheel frame, rotatably supports the second driving force transmission member, The centering member is sandwiched by the first bearing member and the second bearing member in the axial direction.
8. The rotary driving device according to claim 7, wherein, The rotation driving device has an adjusting member located between the centering member and at least one of the first bearing member and the second bearing member.
9. The rotary driving device according to claim 7, wherein, The first bearing member has an inner peripheral portion and an outer peripheral portion, The second bearing member has an inner peripheral portion and an outer peripheral portion, The centering member is in contact with the inner peripheral portion of the first bearing member and the inner peripheral portion of the second bearing member.

Description

Rotary driving device Technical Field The present invention relates to a rotary drive device. Background A conventional friction drive device is included as a travel means in an inverted pendulum type mobile body (for example, patent document 1). The inverted pendulum type mobile body has a lower frame and an upper frame coupled to each other. The friction drive device is supported by a lower frame of the inverted pendulum type mobile body. The lower frame has left and right side wall portions facing each other with a space therebetween in the left-right direction. The friction drive device has cylindrical left and right mounting members. The friction type driving device is arranged between the left side wall part and the right side wall part of the lower frame. The left and right mounting members are fixedly mounted to the insides of the left and right side wall portions by mounting bolts, respectively. That is, the left and right mounting members are fixed to the lower frame concentrically with respect to the central axis. The left and right mounting members rotatably support left and right annular driving disks via cross roller bearings on the outer periphery of the cylindrical portion of the mounting member. The left and right drive disks each have an outer annular portion having a larger diameter than the cylindrical portion of the drive disk. The left and right driving rollers are rotatably mounted on the outer annular portion by roller shafts, respectively. Left and right electric motors are disposed inside the cylindrical portions of the left and right drive disks. The output rotations of the left and right electric motors are decelerated by the left and right planetary gear devices, and transmitted to the left and right driving disks, respectively. The left and right planetary gear devices are configured to form a reduction gear by fixing a sun gear as an input member to rotor shafts of left and right electric motors, a ring gear as an output member to left and right drive disks, and a pinion carrier as a reaction force member to a mounting member. Patent document 1 Japanese patent application laid-open No. 2011-63209 However, in the friction type driving device described in patent document 1, it is not easy to connect a pair of wheel carriers. Disclosure of Invention The present invention has been made in view of the above-described problems, and an object thereof is to provide a rotation driving device capable of easily coupling a pair of wheel carriers. An exemplary rotary drive device of the present invention includes a pair of drive force transmission members, a pair of speed reduction units, a pair of wheel carriers, and at least one coupling member. The pair of driving force transmission members is provided with a plurality of driving rollers. The plurality of driving rollers transmit driving force to the main wheel. The main wheel has a plurality of driven rollers. The pair of driving force transmission members are rotatable about the rotation axis. The pair of deceleration portions decelerates the rotational speed of the input shaft and rotates the driving force transmission member at the decelerated rotational speed. The pair of wheel frames accommodates at least a part of the speed reduction portion. The pair of wheel carriers are opposed to each other in an axial direction along the rotation axis. The pair of wheel frames has a first wheel frame and a second wheel frame. The first wheel frame and the second wheel frame are directly or indirectly coupled by the at least one coupling member. According to the present invention as exemplified, a rotary drive device capable of easily coupling a pair of wheel frames can be provided. Drawings Fig. 1 is a perspective view showing a truck. Fig. 2 is a side view showing the truck. Fig. 3 is a bottom view showing the carrier. Fig. 4 is a perspective view showing the rotary driving device. Fig. 5 is a perspective view showing the main wheel and the second driving part. Fig. 6A is a perspective view showing the driving roller. Fig. 6B is a top view showing the drive roller. Fig. 7 is a cross-sectional view of the rotary drive device taken along line VII-VII of fig. 4. Fig. 8 is a cross-sectional view of the rotary drive device taken along line VIII-VIII of fig. 4. Fig. 9A is a perspective view showing the wheel frame. Fig. 9B is a perspective view showing the wheel frame. Fig. 10A is a side view showing the wheel frame. Fig. 10B is a side view showing the wheel frame. Fig. 11 is a front view showing the wheel frame. Fig. 12 shows an exploded perspective view of the vicinity of the first and second wheel frames of the rotary drive device. Fig. 13A is a perspective view showing the centering member. Fig. 13B is a cross-sectional view showing the centering member. Fig. 14A is a cross-sectional view of the vicinity of the centering member. Fig. 14B is a cross-sectional view of the vicinity of the centering member. Fig. 15A is a perspective view showing