Patent ID: 8356681
Filing Date: 2013-01-22
Classification: B60B,B62K

Abstract:
1. A frictional drive device, comprising a frame; a pair of drive disks each rotatably supported by the frame around a central axial line in a mutually opposing relationship; a pair of first actuators supported by the frame for individually rotatively actuating the drive disks; a plurality of drive rollers arranged along an outer periphery of each drive disk each via a roller bracket which is rotatable around a center line extending in a radial direction at an angle with respect to the central axial line of the drive disks, each roller bracket rotatably supports the corresponding drive roller so as to be rotatable along a prescribed plane of rotation at a certain angular relationship with the central axial line; an annular main wheel disposed at least 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 and a plurality of driven rollers supported along the annular member so as to be rotatable around a tangential line of the annular member; and a pair of second actuators supported by the frame and configured to selectively turn each drive roller around the center line of the corresponding roller bracket.