WO2008132778A1 - 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

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Publication number
WO2008132778A1
WO2008132778A1 PCT/JP2008/000907 JP2008000907W WO2008132778A1 WO 2008132778 A1 WO2008132778 A1 WO 2008132778A1 JP 2008000907 W JP2008000907 W JP 2008000907W WO 2008132778 A1 WO2008132778 A1 WO 2008132778A1
Authority
WO
WIPO (PCT)
Prior art keywords
omnidirectional
moving member
driver
free roller
drive force
Prior art date
Application number
PCT/JP2008/000907
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
Application filed by Honda Motor Co., Ltd. filed Critical Honda Motor Co., Ltd.
Priority to EP08738519.1A priority Critical patent/EP2138378B1/en
Priority to CN2008800121634A priority patent/CN101657347B/zh
Priority to US12/450,356 priority patent/US7980336B2/en
Priority to JP2009511650A priority patent/JP5292283B2/ja
Publication of WO2008132778A1 publication Critical patent/WO2008132778A1/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
    • 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
    • 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
    • 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
    • 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)
  • 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】第１の移動部材１０自体の移動によって第１の方向への駆動力を発生し、第１の移動部材１０に保持された第１のフリーローラ１４に第２の移動部材１１の移動によって第２のフリーローラ１５から駆動力を与えて第１のフリーローラ１４を回転させることで第２の方向への駆動力を発生する。駆動源である電動モータ１２、１３は基体４、５に設ける。
PCT/JP2008/000907 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 WO2008132778A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP08738519.1A EP2138378B1 (en) 2007-04-20 2008-04-08 Omnidirectional driver and omnidirectional vehicle employing it
CN2008800121634A CN101657347B (zh) 2007-04-20 2008-04-08 全方向驱动装置以及使用该全方向驱动装置的全方向移动车
US12/450,356 US7980336B2 (en) 2007-04-20 2008-04-08 Omni-directional drive device and omni-directional vehicle using the same
JP2009511650A JP5292283B2 (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

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-112287 2007-04-20
JP2007112287 2007-04-20

Publications (1)

Publication Number Publication Date
WO2008132778A1 true WO2008132778A1 (ja) 2008-11-06

Family

ID=39925251

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/000907 WO2008132778A1 (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) US7980336B2 (ja)
EP (1) EP2138378B1 (ja)
JP (1) JP5292283B2 (ja)
KR (1) KR101044378B1 (ja)
CN (1) CN101657347B (ja)
WO (1) WO2008132778A1 (ja)

Cited By (61)

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EP2123547A2 (en) 2008-05-23 2009-11-25 Honda Motor Co., Ltd. Inverted pendulum mobile vehicle
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
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
JP2011063204A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 全方向移動車両
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
JP2011063238A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 移動体、制御装置、および、制御方法
JP2011063239A (ja) * 2009-09-18 2011-03-31 Honda Motor Co Ltd 倒立振子型車両の制御装置、制御方法、および制御プログラム
JP2011068161A (ja) * 2009-09-22 2011-04-07 Honda Motor Co Ltd 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
JP4677048B1 (ja) * 2010-05-17 2011-04-27 紘一 原田 管路内走行装置
DE112009005239T5 (de) 2009-09-18 2012-09-06 Honda Motor Co., Ltd. Regelungs- /Steuerungsvorrichtung eines inverspendel-artigen Fahrzeugs
DE112009005244T5 (de) 2009-09-18 2012-09-06 Honda Motor Co., Ltd. Steuer/Regelvorrichtung eines Inverspendelartigen Fahrzeugs
DE112009005253T5 (de) 2009-09-18 2013-01-10 Honda Motor Co., Ltd. Steuer-/Regelvorrichtung für ein inverspendelartiges Fahrzeug
DE112009005246T5 (de) 2009-09-18 2013-01-10 Honda Motor Co., Ltd. Regelungs-/Steuerungsvorrichtung eines inverspendelartigen Fahrzeugs
DE112009005257T5 (de) 2009-09-18 2013-01-10 Honda Motor Co., Ltd. Regelungs-/Steuerungsvorrichtung eines inverspendelartigen Fahrzeugs
DE112009005248T5 (de) 2009-09-18 2013-01-10 Honda Motor Co., Ltd. Regelungs-/Steuerungsvorrichtung eines inverspendelartigen Fahrzeugs
DE112009005273T5 (de) 2009-09-23 2013-01-10 Honda Motor Co., Ltd. Regelungs-/Steuerungsvorrichtung einesinverspendelartigen Fahrzeugs
DE112009005274T5 (de) 2009-09-23 2013-01-24 Honda Motor Co., Ltd. Regelungs-/Steuerungsvorrichtung für inverspendelartiges Fahrzeug
DE112009005250T5 (de) 2009-09-18 2013-01-24 Honda Motor Co., Ltd. Regelungs-/Steuerungsvorrichtung eines inverspendelartigen Fahrzeugs
DE112009005251T5 (de) 2009-09-18 2013-01-24 Honda Motor Co., Ltd. Regelungs-/Steuerungsvorrichtung eines inverspendelartigen Fahrzeugs
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WO2013022017A1 (ja) * 2011-08-09 2013-02-14 株式会社椿本チエイン 多方向移動体モジュール
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EP2664532A1 (en) 2012-05-14 2013-11-20 Honda Motor Co., Ltd. Inverted pendulum type vehicle
EP2664528A1 (en) 2012-05-14 2013-11-20 Honda Motor Co., Ltd. Inverted pendulum type vehicle
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WO2014125865A1 (ja) * 2013-02-12 2014-08-21 株式会社椿本チエイン 移動指示装置、コンピュータプログラム、移動指示方法及び移動体システム
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Cited By (109)

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EP2123547A2 (en) 2008-05-23 2009-11-25 Honda Motor Co., Ltd. Inverted pendulum mobile vehicle
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US7980336B2 (en) 2011-07-19
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US20100038960A1 (en) 2010-02-18

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