A swing speed reducer comprising: a main body; an input shaft that is rotatably held in the main body; a precession body that precesses; a swinging body that engages with the precession body and is swung by the precession; and an output shaft that is rotated by the swing of the swinging body; wherein a precession annular groove for precession of the precession body and a swinging annular groove for swinging the swinging body are provided on the surface of a spherical portion.

A swing speed reducer comprising: a main body; an input shaft that is rotatably held in the main body; a precession body that precesses; a swinging body that engages with the precession body and is swung by the precession; and an output shaft that is rotated by the swing of the swinging body; wherein a precession annular groove for precession of the precession body and a swinging annular groove for swinging the swinging body are provided on the surface of a spherical portion.

A power transmission roller assembly includes a power transmission roller configured to be brought into contact with the driving roller and the driven roller, a pivot shaft fixed to a vehicle body, a pivot arm arranged radially inside of the power transmission roller and pivotally mounted on the pivot shaft, and a roller support bearing rotatably supporting the power transmission roller. A pair of biasing members are mounted to the pivot arm and bias the roller support bearing to a predetermined position between the driving roller and the driven roller such that the abutment force between the driving roller and the power transmission roller is balanced with the abutment force between the driven roller and the power transmission roller. Sliding members are mounted on respective shafts of the biasing members to extend through the sliding members, and frictional forces are generated between the sliding members and the respective shafts.

A power transmission roller assembly includes a power transmission roller configured to be brought into contact with the driving roller and the driven roller, a pivot shaft fixed to a vehicle body, a pivot arm arranged radially inside of the power transmission roller and pivotally mounted on the pivot shaft, and a roller support bearing rotatably supporting the power transmission roller. A pair of biasing members are mounted to the pivot arm and bias the roller support bearing to a predetermined position between the driving roller and the driven roller such that the abutment force between the driving roller and the power transmission roller is balanced with the abutment force between the driven roller and the power transmission roller. Sliding members are mounted on respective shafts of the biasing members to extend through the sliding members, and frictional forces are generated between the sliding members and the respective shafts.

Disclosed herein is a rotation transmitting device which permits the transmission of rotation with a reduced play and which permits the constituents to be aligned easily. The rotation transmitting device has a transmitting member (30) which surrounds a rotating part (12) of a drive shaft (11) and a rotating part (22) of a driven shaft (21). At least either the rotating part (12) of the drive shaft (11) or the rotating part (22) of the driven shaft (21) has an external surface that comes into contact with the internal surface of the transmitting member (30) so that friction arising between the internal surface and the external surface achieves torque transmission and reception to and from the transmitting member (30).

Disclosed herein is a rotation transmitting device which permits the transmission of rotation with a reduced play and which permits the constituents to be aligned easily. The rotation transmitting device has a transmitting member (30) which surrounds a rotating part (12) of a drive shaft (11) and a rotating part (22) of a driven shaft (21). At least either the rotating part (12) of the drive shaft (11) or the rotating part (22) of the driven shaft (21) has an external surface that comes into contact with the internal surface of the transmitting member (30) so that friction arising between the internal surface and the external surface achieves torque transmission and reception to and from the transmitting member (30).

The present disclosure includes a transmission comprising a first wheel assembly including a first wheel, a first drive gear coupled to the first wheel such that driving the first drive gear causes a corresponding rotation of the first wheel, and a first motor coupled to the first drive gear to drive the first drive gear. The transmission also includes a second wheel assembly that includes, a second wheel, a second drive gear coupled to the second wheel such that driving the second drive gear causes a corresponding rotation of the second wheel, and a second motor coupled to the second drive gear to drive the second drive gear.

The present disclosure includes a transmission comprising a first wheel assembly including a first wheel, a first drive gear coupled to the first wheel such that driving the first drive gear causes a corresponding rotation of the first wheel, and a first motor coupled to the first drive gear to drive the first drive gear. The transmission also includes a second wheel assembly that includes, a second wheel, a second drive gear coupled to the second wheel such that driving the second drive gear causes a corresponding rotation of the second wheel, and a second motor coupled to the second drive gear to drive the second drive gear.

In a propulsion device including a main wheel having a plurality of driven rollers fitted on and arranged circumferentially along an annular core member so as to be rotatable around tangential lines of the annular core member at respective positions thereof on the annular core member, a pair of drive disks positioned on either side of the main wheel in an individually rotatable manner, a plurality of drive rollers supported along an outer periphery of each drive disk so as to be each rotatable around a rotational center line extending in a skewed relationship to a rotational center line of the corresponding drive disk, and a drive unit for individually rotatively driving the drive disks, a plurality of guide rollers are rotatably supported by a body frame and engage at least one driven roller not engaged by any of the drive rollers from either side.

In a propulsion device including a main wheel having a plurality of driven rollers fitted on and arranged circumferentially along an annular core member so as to be rotatable around tangential lines of the annular core member at respective positions thereof on the annular core member, a pair of drive disks positioned on either side of the main wheel in an individually rotatable manner, a plurality of drive rollers supported along an outer periphery of each drive disk so as to be each rotatable around a rotational center line extending in a skewed relationship to a rotational center line of the corresponding drive disk, and a drive unit for individually rotatively driving the drive disks, a plurality of guide rollers are rotatably supported by a body frame and engage at least one driven roller not engaged by any of the drive rollers from either side.