Patent ID: 8220571
Filing Date: 2012-07-17
Classification: B60L,B62K,Y02T

Abstract:
1. A frictional drive device, comprising: a frame; a pair of drive disks rotatably supported by the frame around a central axial line in a mutually opposing relationship; a pair of 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 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 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 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 the main wheel engaging an object to be actuated; wherein the central axial line of at least one of the drive disks is tilted in a prescribed direction with respect to a central axial line of the main wheel.