JP5292242B2 - 摩擦式駆動装置および倒立振子型移動体 - Google Patents
摩擦式駆動装置および倒立振子型移動体 Download PDFInfo
- Publication number
- JP5292242B2 JP5292242B2 JP2009218246A JP2009218246A JP5292242B2 JP 5292242 B2 JP5292242 B2 JP 5292242B2 JP 2009218246 A JP2009218246 A JP 2009218246A JP 2009218246 A JP2009218246 A JP 2009218246A JP 5292242 B2 JP5292242 B2 JP 5292242B2
- Authority
- JP
- Japan
- Prior art keywords
- drive
- main wheel
- driven roller
- central axis
- axis
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
- 230000002093 peripheral effect Effects 0.000 claims description 12
- 230000001141 propulsive effect Effects 0.000 description 6
- 239000002184 metal Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 210000001217 buttock Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Images
Classifications
-
- 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
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
-
- 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
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/14—Vehicles with one wheel only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Friction Gearing (AREA)
Description
14L、14R ステップ
20 上部フレーム
30L、30R サドル
40 走行ユニット
42L、42R 固定マウント部材
48L、48R ドライブディスク
56L、56R ドライブローラ
58 クロスローラ軸受
64L、64R 電動モータ
72L、72R 波動歯車装置
84 主輪
86 環状体
92 ドリブンローラ
104 第1傾動ブラケット
108 第2傾動ブラケット
110 第1傾動用電動モータ
114 第2傾動用電動モータ
Claims (3)
- 環状体と前記環状体の環方向に複数個配置され各々自身の配置位置に於ける前記環状体の接線方向の軸線周りに回転可能なドリブンローラとを含む主輪と、前記主輪の軸線方向の左右両側に各々自身の中心軸線周りに回転可能に配置された左右のドライブディスクと、前記左右のドライブディスクの各々に当該ドライブディスクの中心軸線に対してねじれの関係をなす軸線周りに回転可能に配置され、外周面をもって前記ドリブンローラの外周面に接触する複数個のドライブローラとを有する摩擦式駆動装置であって、
前記左右のドライブディスクの少なくとも一方の中心軸線が前記主輪の環中心を通る中心軸線に対して傾斜している摩擦式駆動装置。 - 前記ドライブディスクの中心軸線が前記主輪の環中心を通る中心軸線に対して傾斜する傾斜角を可変設定する可変傾動機構を有する請求項1に記載の摩擦式駆動装置。
- 走行ユニットとして、請求項1または2記載の摩擦式駆動装置を含む倒立振子型移動体。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009218246A JP5292242B2 (ja) | 2009-09-21 | 2009-09-21 | 摩擦式駆動装置および倒立振子型移動体 |
US12/884,365 US8220571B2 (en) | 2009-09-21 | 2010-09-17 | Frictional drive device and inverted pendulum type vehicle using the same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009218246A JP5292242B2 (ja) | 2009-09-21 | 2009-09-21 | 摩擦式駆動装置および倒立振子型移動体 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011063252A JP2011063252A (ja) | 2011-03-31 |
JP5292242B2 true JP5292242B2 (ja) | 2013-09-18 |
Family
ID=43755666
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009218246A Expired - Fee Related JP5292242B2 (ja) | 2009-09-21 | 2009-09-21 | 摩擦式駆動装置および倒立振子型移動体 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8220571B2 (ja) |
JP (1) | JP5292242B2 (ja) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5396398B2 (ja) * | 2008-11-04 | 2014-01-22 | 本田技研工業株式会社 | 摩擦式駆動装置及びそれを用いた全方向移動体 |
JP2010260501A (ja) * | 2009-05-11 | 2010-11-18 | Honda Motor Co Ltd | 摩擦式駆動装置及び全方向移動車 |
US8353378B2 (en) * | 2009-09-18 | 2013-01-15 | Honda Motor Co., Ltd. | Frictional drive device and inverted pendulum type vehicle using the same |
WO2011033575A1 (ja) * | 2009-09-18 | 2011-03-24 | 本田技研工業株式会社 | 倒立振子型移動体 |
JP5398446B2 (ja) * | 2009-09-18 | 2014-01-29 | 本田技研工業株式会社 | 駆動装置 |
JP5352394B2 (ja) * | 2009-09-22 | 2013-11-27 | 本田技研工業株式会社 | 摩擦式駆動装置および摩擦式駆動装置を有する倒立振子型移動体 |
JP5484009B2 (ja) * | 2009-11-16 | 2014-05-07 | 本田技研工業株式会社 | 摩擦式駆動装置及びそれを用いた倒立振子型移動体 |
US8408339B2 (en) * | 2010-10-12 | 2013-04-02 | Honda Motor Co., Ltd. | Frictional drive device and inverted pendulum type vehicle using the same |
USD747668S1 (en) * | 2014-02-10 | 2016-01-19 | Shane Chen | One-wheeled vehicle |
GB2532514A (en) * | 2014-11-24 | 2016-05-25 | Artemev Timur | Self-balancing powered unicycle device |
JP6417263B2 (ja) * | 2015-04-16 | 2018-11-07 | 本田技研工業株式会社 | 摩擦式走行装置および全方向移動装置 |
JP6511324B2 (ja) | 2015-04-16 | 2019-05-15 | 本田技研工業株式会社 | 摩擦式走行装置および全方向移動装置 |
JP6417305B2 (ja) * | 2015-09-14 | 2018-11-07 | 本田技研工業株式会社 | 摩擦式走行装置および乗物 |
JP6618373B2 (ja) * | 2016-01-25 | 2019-12-11 | 本田技研工業株式会社 | 摩擦式走行装置および乗物 |
CN105923082B (zh) * | 2016-05-17 | 2019-05-24 | 林鸿贵 | 一种机电陀螺平衡独轮车 |
CN208559659U (zh) * | 2017-12-12 | 2019-03-01 | 深圳市自由侠科技有限公司 | 一种独轮平衡车 |
EP3679996A1 (en) * | 2019-01-09 | 2020-07-15 | Shane Chen | Auto-balancing transportation device with stable platform pivot axes |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2590174A (en) * | 1947-01-27 | 1952-03-25 | Fmc Corp | Driven dirigible dual front wheel unit for tractors |
US2595476A (en) * | 1948-02-26 | 1952-05-06 | Int Harvester Co | Rocking front wheel mounting for tricycle-type tractor |
US2603301A (en) * | 1948-05-08 | 1952-07-15 | Joseph F Sipior | Motor propelled amusement device |
US2687048A (en) * | 1952-09-08 | 1954-08-24 | Butler Frank David | Internal fluid pressure variable combined hydrodynamical and planetary gearing driven transmission coupler applicable to a traction wheel of an automotive vehicle |
US4715460A (en) * | 1984-11-20 | 1987-12-29 | International Texas Industries, Inc. | Omnidirectional vehicle base |
US5720529A (en) * | 1996-12-20 | 1998-02-24 | Barron; Bruce J. | Roller skate wheel |
FR2808491B1 (fr) * | 2000-05-04 | 2002-08-09 | Cie Du Sol | Un chariot automoteur apte a se deplacer dans une galerie cylindrique |
CN101663194B (zh) * | 2007-04-20 | 2012-10-10 | 本田技研工业株式会社 | 全方向驱动装置及使用其的全方向移动车 |
JP5292283B2 (ja) * | 2007-04-20 | 2013-09-18 | 本田技研工業株式会社 | 全方向駆動装置及びそれを用いた全方向移動車 |
JP5292286B2 (ja) * | 2007-05-16 | 2013-09-18 | 本田技研工業株式会社 | 全方向に移動可能な乗り物 |
US8162092B2 (en) * | 2008-12-10 | 2012-04-24 | Honda Motor Co., Ltd. | Friction drive vehicle |
JP2010260501A (ja) * | 2009-05-11 | 2010-11-18 | Honda Motor Co Ltd | 摩擦式駆動装置及び全方向移動車 |
JP5398446B2 (ja) * | 2009-09-18 | 2014-01-29 | 本田技研工業株式会社 | 駆動装置 |
JP5401233B2 (ja) * | 2009-09-18 | 2014-01-29 | 本田技研工業株式会社 | 倒立振子型移動体 |
JP5260455B2 (ja) * | 2009-09-18 | 2013-08-14 | 本田技研工業株式会社 | 倒立振子型移動体 |
US8513917B2 (en) * | 2009-09-18 | 2013-08-20 | Honda Motor Co., Ltd. | Recharging system for a rechargeable battery of an inverted pendulum type vehicle |
US8353378B2 (en) * | 2009-09-18 | 2013-01-15 | Honda Motor Co., Ltd. | Frictional drive device and inverted pendulum type vehicle using the same |
US8567537B2 (en) * | 2009-09-18 | 2013-10-29 | Honda Motor Co., Ltd | Inverted pendulum type vehicle |
JP5352394B2 (ja) * | 2009-09-22 | 2013-11-27 | 本田技研工業株式会社 | 摩擦式駆動装置および摩擦式駆動装置を有する倒立振子型移動体 |
JP5358374B2 (ja) * | 2009-09-24 | 2013-12-04 | 本田技研工業株式会社 | 車両 |
US8807250B2 (en) * | 2010-03-09 | 2014-08-19 | Shane Chen | Powered single-wheeled self-balancing vehicle for standing user |
-
2009
- 2009-09-21 JP JP2009218246A patent/JP5292242B2/ja not_active Expired - Fee Related
-
2010
- 2010-09-17 US US12/884,365 patent/US8220571B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20110067935A1 (en) | 2011-03-24 |
US8220571B2 (en) | 2012-07-17 |
JP2011063252A (ja) | 2011-03-31 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5292242B2 (ja) | 摩擦式駆動装置および倒立振子型移動体 | |
JP5426682B2 (ja) | 摩擦式駆動装置および倒立振子型移動体 | |
JP5687174B2 (ja) | 全方向移動装置用の走行車輪、摩擦式駆動装置および全方向移動装置 | |
JP5443387B2 (ja) | 車輪及びそれを用いた摩擦式駆動装置及び全方向移動体 | |
JP5484009B2 (ja) | 摩擦式駆動装置及びそれを用いた倒立振子型移動体 | |
JP5398446B2 (ja) | 駆動装置 | |
JP5352394B2 (ja) | 摩擦式駆動装置および摩擦式駆動装置を有する倒立振子型移動体 | |
JP5566649B2 (ja) | 倒立振子型移動体 | |
EP2138379B1 (en) | Omnidirectional drive device and omnidirectional vehicle with such a device | |
JP5292286B2 (ja) | 全方向に移動可能な乗り物 | |
CN102245397B (zh) | 摩擦式驱动装置及使用该摩擦式驱动装置的全方向移动体 | |
JP6099484B2 (ja) | 倒立振子型車両 | |
WO2011033585A1 (ja) | 倒立振子型移動体 | |
JP6424131B2 (ja) | 摩擦式走行装置 | |
WO2018041148A1 (zh) | 一种载人翻滚双轮车及其操作方法 | |
US10179627B2 (en) | Frictional propulsion device and vehicle using same | |
JP2018065504A (ja) | 倒立振子型車両 | |
JP2011063214A (ja) | 摩擦式駆動装置および倒立振子型移動体 | |
JP5908354B2 (ja) | 倒立振子型車両 | |
JP6650371B2 (ja) | 倒立振子型車両 | |
JP5292241B2 (ja) | 摩擦式駆動装置及びそれを用いた倒立振子型移動体 | |
JP2000142379A (ja) | 浮遊型自動車 | |
JP5303411B2 (ja) | 摩擦式駆動装置および倒立振子型移動体 | |
JP5221486B2 (ja) | 摩擦式駆動装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7422 Effective date: 20111014 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20111124 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120518 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20130521 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20130523 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20130610 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5292242 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
LAPS | Cancellation because of no payment of annual fees |