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WO2008132779A1 - 全方向駆動装置及びそれを用いた全方向移動車 - Google Patents

全方向駆動装置及びそれを用いた全方向移動車 Download PDF

Info

Publication number
WO2008132779A1
WO2008132779A1 PCT/JP2008/000908 JP2008000908W WO2008132779A1 WO 2008132779 A1 WO2008132779 A1 WO 2008132779A1 JP 2008000908 W JP2008000908 W JP 2008000908W WO 2008132779 A1 WO2008132779 A1 WO 2008132779A1
Authority
WO
WIPO (PCT)
Prior art keywords
omnidirectional
rotating force
center
cross
main wheel
Prior art date
Application number
PCT/JP2008/000908
Other languages
English (en)
French (fr)
Inventor
Toru Takenaka
Makoto Hirano
Hideharu Izumi
Kazuya Kuwabara
Taiji Koyama
Shinichiro Kobashi
Original Assignee
Honda Motor Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=39925252&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2008132779(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Honda Motor Co., Ltd. filed Critical Honda Motor Co., Ltd.
Priority to EP08738520.9A priority Critical patent/EP2138379B1/en
Priority to KR1020097021657A priority patent/KR101113927B1/ko
Priority to JP2009511651A priority patent/JP5358432B2/ja
Priority to US12/450,357 priority patent/US8342270B2/en
Priority to CN2008800127202A priority patent/CN101663194B/zh
Publication of WO2008132779A1 publication Critical patent/WO2008132779A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/003—Multidirectional wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/12—Roller-type wheels
    • B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/14—Ball-type wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/08—Ball castors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K1/00—Unicycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2200/00—Type of product being used or applied
    • B60B2200/40—Articles of daily use
    • B60B2200/47—Physical activity equipment, e.g. leisure or sports articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2360/00—Materials; Physical forms thereof
    • B60B2360/10—Metallic materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2360/00—Materials; Physical forms thereof
    • B60B2360/30—Synthetic materials
    • B60B2360/32—Plastic compositions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2360/00—Materials; Physical forms thereof
    • B60B2360/50—Rubbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Handcart (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

【課題】電動モータ等の駆動源に対するパワーソース供給の取り回しを複雑にすることがなく、全方向駆動装置を、耐久性、保守性に優れたものにすること。 【解決手段】全方向駆動装置を、接線に直交する断面の中心回りに回転可能な無端環状体からなる主輪２と、主輪２の中心軸回りの回転力および接線に直交する断面の中心回りの回転力を発生させるための電動モータ５Ｒ、５Ｌと、電動モータ５Ｒ、５Ｌの回転力を主輪２の中心軸線Ｂ周りの回転力と断面中心Ｃ周りの回転力とにそれぞれ変換する駆動力変換手段（フリーローラ３Ｒ、３Ｌを備えた回転部材４Ｒ、４Ｌ）とを有するものとする。
PCT/JP2008/000908 2007-04-20 2008-04-08 全方向駆動装置及びそれを用いた全方向移動車 WO2008132779A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP08738520.9A EP2138379B1 (en) 2007-04-20 2008-04-08 Omnidirectional drive device and omnidirectional vehicle with such a device
KR1020097021657A KR101113927B1 (ko) 2007-04-20 2008-04-08 전방향 구동 장치 및 그것을 이용한 전방향 이동차
JP2009511651A JP5358432B2 (ja) 2007-04-20 2008-04-08 全方向駆動装置及びそれを用いた全方向移動車
US12/450,357 US8342270B2 (en) 2007-04-20 2008-04-08 Omni-directional drive device and omni-directional vehicle using the same
CN2008800127202A CN101663194B (zh) 2007-04-20 2008-04-08 全方向驱动装置及使用其的全方向移动车

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-112288 2007-04-20
JP2007112288 2007-04-20

Publications (1)

Publication Number Publication Date
WO2008132779A1 true WO2008132779A1 (ja) 2008-11-06

Family

ID=39925252

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/000908 WO2008132779A1 (ja) 2007-04-20 2008-04-08 全方向駆動装置及びそれを用いた全方向移動車

Country Status (6)

Country Link
US (1) US8342270B2 (ja)
EP (1) EP2138379B1 (ja)
JP (1) JP5358432B2 (ja)
KR (1) KR101113927B1 (ja)
CN (1) CN101663194B (ja)
WO (1) WO2008132779A1 (ja)

Cited By (89)

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EP2123547A2 (en) 2008-05-23 2009-11-25 Honda Motor Co., Ltd. Inverted pendulum mobile vehicle
WO2011033576A1 (ja) * 2009-09-18 2011-03-24 本田技研工業株式会社 全方向移動車両の制御装置
WO2011033591A1 (ja) * 2009-09-18 2011-03-24 本田技研工業株式会社 倒立振子型車両の制御装置
WO2011033578A1 (ja) * 2009-09-18 2011-03-24 本田技研工業株式会社 倒立振子型車両の制御装置
JP2011063205A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 倒立振子型移動体
JP2011063180A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 倒立振子型車両
WO2011036696A1 (ja) * 2009-09-23 2011-03-31 本田技研工業株式会社 倒立振子型車両
JP2011063208A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 倒立振子型移動体
JP2011063246A (ja) * 2009-09-21 2011-03-31 Honda Motor Co Ltd 摩擦式駆動装置及びそれを用いた倒立振子型移動体
JP2011063252A (ja) * 2009-09-21 2011-03-31 Honda Motor Co Ltd 摩擦式駆動装置および倒立振子型移動体
JP2011063181A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 倒立振子型移動体
JP2011063210A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 倒立振子型移動体
JP2011063215A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 摩擦式駆動装置および倒立振子型移動体
JP2011063183A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 倒立振子型車両
JP2011063242A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 駆動装置
JP2011063236A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 全方向移動車両
JP2011063152A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd ローラ組立体およびその組立方法
JP2011063209A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 摩擦式駆動装置および倒立振子型移動体
JP2011063207A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 倒立振子型移動体
JP2011063221A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 倒立振子型移動体およびその制御装置
JP2011064315A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd ローラ及びブシュ間の隙間調整方法
JP2011063153A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd ローラ組立体
JP2011063220A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 倒立振子型移動体
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JP2011105071A (ja) * 2009-11-13 2011-06-02 Honda Motor Co Ltd 倒立振子型車両の制御装置
JP2011105092A (ja) * 2009-11-16 2011-06-02 Honda Motor Co Ltd 摩擦式駆動装置及びそれを用いた倒立振子型移動体
JP2011125164A (ja) * 2009-12-11 2011-06-23 Honda Motor Co Ltd 移動装置
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CN102574558A (zh) * 2009-09-18 2012-07-11 本田技研工业株式会社 倒立摆型移动体
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KR101113927B1 (ko) 2012-02-29
CN101663194B (zh) 2012-10-10
JP5358432B2 (ja) 2013-12-04
CN101663194A (zh) 2010-03-03
EP2138379A1 (en) 2009-12-30
KR20100007858A (ko) 2010-01-22
JPWO2008132779A1 (ja) 2010-07-22
US8342270B2 (en) 2013-01-01
EP2138379B1 (en) 2018-11-28
US20100096905A1 (en) 2010-04-22

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