Tsuyoshi ASHIDA,Takayuki NAKAMURA,Shinichi YAMAKAWA,Yasunori OHTA,Timothy P. SHERIDAN
申请号：
US13538458
公开号：
US20130172679A1
申请日:
2012.06.29
申请国别(地区):
US
年份:
2013
代理人:
摘要：
If an instruction indicating advance is input, first and second motors are driven to rotate first and second torque wires. A rotary body is circulated by the rotation of the first and second torque wires, and a propelling unit advances. The first and second TGs detect the rotating speeds of the first and second torque wires. If disconnection of the first torque wire is detected by a disconnection detecting section, a motor control section stops driving of the first motor coupled to the disconnected first torque wire, and rotates the second motor coupled to the second torque wire that is not disconnected at a low speed to rotate the second torque wire at a low speed. Through the low-speed rotation of the second torque wire, the propelling unit advances at a low speed or retreats at a low speed.
