US 12,427,852 B2 · Driving module and mobile body including same

Abstract

A driving module includes a wheel unit, a first driving unit, a second driving unit, and a third driving unit. The wheel unit includes a traveling wheel that has a center through which a wheel rotation axis passes. The first driving unit includes a first shaft member that is coupled to the wheel unit so that rotation driving force about a first rotation axis eccentric from the wheel rotation axis in a radial direction of the wheel unit is applied to the wheel unit to thereby rotate the traveling wheel about the wheel rotation axis. The second driving unit is coupled to the wheel unit to rotate the wheel unit about the first rotation axis and having a cavity through which the first shaft member passes. The third driving unit is configured to steer the wheel unit about a second rotation axis perpendicular to the first rotation axis.

Claims11

Dependent claims

A driving module comprising:

a wheel unit comprising a traveling wheel configured to rotate about a wheel rotation axis that passes through a center of the traveling wheel;
a first motor comprising a first shaft coupled to the wheel unit so as to be configured to cause a rotation driving force, about a first rotation axis eccentric from the wheel rotation axis in a radial direction of the wheel unit, to be applied to the wheel unit in a way to cause the traveling wheel to rotate about the wheel rotation axis;
a second motor coupled to the wheel unit and configured to cause the wheel unit to rotate about the first rotation axis, wherein the second motor forms a cavity through which the first shaft passes;
and
a third motor configured to cause the wheel unit to rotate about a second rotation axis perpendicular to the first rotation axis.

2 more elements

Dependencies are inferred from the claim text.

Driving module and mobile body including same

Life of this patent

Driving module and mobile body including same

Life of this patent

Abstract

Claims11