JP5988952B2 - 車輪及び車輪装置及び倒立振子型車両 - Google Patents
車輪及び車輪装置及び倒立振子型車両 Download PDFInfo
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- JP5988952B2 JP5988952B2 JP2013236035A JP2013236035A JP5988952B2 JP 5988952 B2 JP5988952 B2 JP 5988952B2 JP 2013236035 A JP2013236035 A JP 2013236035A JP 2013236035 A JP2013236035 A JP 2013236035A JP 5988952 B2 JP5988952 B2 JP 5988952B2
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- wheel
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- inverted pendulum
- rotation
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- 238000003780 insertion Methods 0.000 claims description 12
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- 239000003638 chemical reducing agent Substances 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 5
- 230000007935 neutral effect Effects 0.000 description 4
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000005242 forging Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
Images
Classifications
-
- 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
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- 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
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0405—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
- B60K2001/0422—Arrangement under the front seats
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0046—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the vehicle body, i.e. moving independently from the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0061—Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Description
2 車体フレーム(車体)
3 主輪
4 主輪ユニット
5 副輪(車輪)
6 副輪ユニット
7 駆動ユニット
8 電装ユニット
9 バッテリパック
11 サドルユニット
51 従動プーリ
53 円環部材
54 従動ローラ
58 駆動ローラ
61 電動モータ
101 副輪支持アーム
110 基部部材
112 凹部
114 支持アーム
116 差込み部
118 係合部
120 支持軸部
124 保持部材(固定部材)
126 ばね片部
133 電動モータ
140 フリーローラ
153 ボールベアリング(軸受部)
154 ボールベアリング(軸受部)
Claims (7)
- 円盤状の基部部材と、
前記基部部材から周方向に間隔をおいて軸線方向に延出する支持アームと、
前記支持アームの各々に取り付けられ、自身の配置部における前記基部部材と同心の円周に対して略接線をなす方向に延在する軸線周りに転動可能なフリーローラとを有し、
前記基部部材は、当該基部部材の外周部に開口した凹部を当該基部部材の円周方向に間隔をおいて複数有し、
前記支持アームは、前記凹部に挿入される差込み部と、前記差込み部が前記凹部に挿入されることにより前記基部部材に軸線方向に移動不能に係合する係合部とを有し、
前記基部部材には、前記係合部が前記凹部より前記基部部材の径方向外方に離脱しないように前記支持アームを前記基部部材に固定する固定部材が取り付けられている車輪。 - 前記支持アームは、前記略接線をなす方向に板厚を有する板状をしていて、前記略接線をなす方向の両側面部に各々前記フリーローラを転動可能に支持している請求項1に記載の車輪。
- 前記支持アームは、前記基部部材の外周側から中心側に向かうに従って前記板厚が小さくなっていて、前記側面部より当該側面部に直交する方向に突出した軸部を有し、前記軸部に前記フリーローラが転動可能に取り付けられている請求項2に記載の車輪。
- 前記固定部材は、前記支持アームの全てを一括して前記基部部材の中心側に押さえ込む一つの保持部材によって構成されている請求項1から3の何れか一項に記載の車輪。
- 前記保持部材は、前記支持アームを前記基部部材の中心側に押さえるばね片部を有している請求項4に記載の車輪。
- 請求項1から5の何れか一項に記載の車輪と、
前記車輪の前記基部部材の軸線方向で見て前記支持アームの延出方向の側に配置されて前記基部部材を当該基部部材の中心軸線周りに回転駆動する電動モータと、
一端を前記基部部材に固定されて前記電動モータの回転を前記基部部材に伝達する回転軸と、前記回転軸の軸線方向に離れた2箇所に配置されて各々前記回転軸を固定側より回転可能に支持する軸受部とを有し、
前記回転軸の軸線方向で見て前記2箇所の軸受部の配置位置間に前記フリーローラの回転中心が位置している車輪装置。 - 車体と、
複数の回転自在なフリーローラを当該フリーローラの回転軸線が円環状をなすように組み合わせてなり、床面あるいは路面に接する接地点を有する主輪と、
前記車体に取り付けられ、前記主輪を支持すると共に前記主輪を円環中心周りに回転駆動及び/又は前記フリーローラを自身の回転軸線周りに回転駆動する駆動装置と、
前記駆動装置によって前記主輪の円環中心周りの回転駆動と前記フリーローラの回転軸線周りの回転駆動とを制御し、前記車体を所定の起立姿勢に保つ倒立振子制御を行う倒立振子制御装置とを有する倒立振子型車両であって、
前記車体に上下方向に回動可能に取り付けられた副輪支持アームと、
前記副輪支持アームに取り付けられ、前記主輪の接地点より離れた位置にて接地する副輪とを有し、前記副輪が請求項6に記載の車輪装置の前記車輪によって構成されている倒立振子型車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013236035A JP5988952B2 (ja) | 2013-11-14 | 2013-11-14 | 車輪及び車輪装置及び倒立振子型車両 |
US14/535,356 US9415630B2 (en) | 2013-11-14 | 2014-11-07 | Wheel, wheel device and inverted pendulum type vehicle |
DE102014223107.8A DE102014223107B4 (de) | 2013-11-14 | 2014-11-12 | Rad, Radvorrichtung und Inverspendel-artiges Fahrzeug |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013236035A JP5988952B2 (ja) | 2013-11-14 | 2013-11-14 | 車輪及び車輪装置及び倒立振子型車両 |
Publications (2)
Publication Number | Publication Date |
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JP2015093651A JP2015093651A (ja) | 2015-05-18 |
JP5988952B2 true JP5988952B2 (ja) | 2016-09-07 |
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JP2013236035A Active JP5988952B2 (ja) | 2013-11-14 | 2013-11-14 | 車輪及び車輪装置及び倒立振子型車両 |
Country Status (3)
Country | Link |
---|---|
US (1) | US9415630B2 (ja) |
JP (1) | JP5988952B2 (ja) |
DE (1) | DE102014223107B4 (ja) |
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GB2515794B (en) * | 2013-07-04 | 2015-06-10 | Velofeet Ltd | Improvements Relating to Vehicles |
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 |
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 |
JP6424131B2 (ja) * | 2015-04-16 | 2018-11-14 | 本田技研工業株式会社 | 摩擦式走行装置 |
GB2538277B (en) * | 2015-05-13 | 2021-04-14 | Artemev Timur | Self-balancing powered unicycle device |
CN105584290B (zh) * | 2016-01-15 | 2018-03-13 | 京东方科技集团股份有限公司 | 全向轮、运动装置和运动装置的控制方法 |
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 |
US10239347B2 (en) | 2016-05-18 | 2019-03-26 | Saudi Arabian Oil Company | Magnetic omni-wheel with roller bracket |
KR20230023827A (ko) | 2016-09-13 | 2023-02-17 | 인디고 테크놀로지스, 인크. | 다중 바 연결 전기 구동 시스템 |
JP2018131068A (ja) * | 2017-02-15 | 2018-08-23 | ナブテスコ株式会社 | 運搬台車用の駆動装置 |
JP6914088B2 (ja) | 2017-04-12 | 2021-08-04 | Whill株式会社 | 全方向車輪 |
CN108521771B (zh) * | 2017-05-31 | 2021-05-18 | 深圳市大疆创新科技有限公司 | 麦克纳姆轮及具有该麦克纳姆轮的机器人 |
CN107364279B (zh) * | 2017-07-28 | 2023-08-25 | 广州视源电子科技股份有限公司 | 车辆及其全向轮 |
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JP7332536B2 (ja) | 2020-06-02 | 2023-08-23 | 本田技研工業株式会社 | 移動体の制御装置 |
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2013
- 2013-11-14 JP JP2013236035A patent/JP5988952B2/ja active Active
-
2014
- 2014-11-07 US US14/535,356 patent/US9415630B2/en active Active
- 2014-11-12 DE DE102014223107.8A patent/DE102014223107B4/de active Active
Also Published As
Publication number | Publication date |
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DE102014223107B4 (de) | 2020-09-03 |
US9415630B2 (en) | 2016-08-16 |
US20150129327A1 (en) | 2015-05-14 |
JP2015093651A (ja) | 2015-05-18 |
DE102014223107A1 (de) | 2015-05-21 |
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