CN106068173B - 多轴电动轮 - Google Patents

多轴电动轮 Download PDF

Info

Publication number
CN106068173B
CN106068173B CN201580011759.2A CN201580011759A CN106068173B CN 106068173 B CN106068173 B CN 106068173B CN 201580011759 A CN201580011759 A CN 201580011759A CN 106068173 B CN106068173 B CN 106068173B
Authority
CN
China
Prior art keywords
gear
coupled
drive
driving
gondola
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
Application number
CN201580011759.2A
Other languages
English (en)
Chinese (zh)
Other versions
CN106068173A (zh
Inventor
D·B·赫特森
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qualcomm Inc
Original Assignee
Qualcomm Inc
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 Qualcomm Inc filed Critical Qualcomm Inc
Publication of CN106068173A publication Critical patent/CN106068173A/zh
Application granted granted Critical
Publication of CN106068173B publication Critical patent/CN106068173B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on 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
    • 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
    • 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
    • B60K17/14—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing the motor of fluid or electric gearing being disposed in, or adjacent to, traction wheel
    • B60K17/145—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing the motor of fluid or electric gearing being disposed in, or adjacent to, traction wheel the electric gearing being disposed in or adjacent to traction 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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • 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
    • B60K2007/003—Disposition of motor in, or adjacent to, traction wheel with two or more motors driving a single 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
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0069—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle
    • B60K2007/0084—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle the motor axle being vertical
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
CN201580011759.2A 2014-03-05 2015-02-26 多轴电动轮 Expired - Fee Related CN106068173B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201461948467P 2014-03-05 2014-03-05
US61/948,467 2014-03-05
US14/485,395 2014-09-12
US14/485,395 US9376152B2 (en) 2014-03-05 2014-09-12 Multi-axis motorized wheel
PCT/US2015/017818 WO2015134284A1 (en) 2014-03-05 2015-02-26 Multi-axis motorized wheel

Publications (2)

Publication Number Publication Date
CN106068173A CN106068173A (zh) 2016-11-02
CN106068173B true CN106068173B (zh) 2018-01-16

Family

ID=54016607

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580011759.2A Expired - Fee Related CN106068173B (zh) 2014-03-05 2015-02-26 多轴电动轮

Country Status (5)

Country Link
US (1) US9376152B2 (cg-RX-API-DMAC7.html)
EP (1) EP3113913B1 (cg-RX-API-DMAC7.html)
JP (1) JP2017512661A (cg-RX-API-DMAC7.html)
CN (1) CN106068173B (cg-RX-API-DMAC7.html)
WO (1) WO2015134284A1 (cg-RX-API-DMAC7.html)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9376152B2 (en) * 2014-03-05 2016-06-28 Qualcomm Incorporated Multi-axis motorized wheel
US20190193784A1 (en) * 2017-12-21 2019-06-27 Disney Enterprises, Inc. Non-scrubbing vertical drive unit for a trackless or free roaming vehicle with zero turn radius
DE102018115112A1 (de) * 2018-06-22 2019-12-24 Ebm-Papst St. Georgen Gmbh & Co. Kg Radantriebsmodul zum Antrieb und zur Lenkung eines Rades
DE102018115115A1 (de) * 2018-06-22 2019-12-24 Ebm-Papst St. Georgen Gmbh & Co. Kg Radantriebsmodul mit Abstützvorrichtung
DE102018126700A1 (de) * 2018-10-25 2020-04-30 Ebm-Papst St. Georgen Gmbh & Co. Kg Modular aufgebautes Radantriebsmodul
KR102692121B1 (ko) * 2018-12-07 2024-08-05 현대자동차 주식회사 무인운반차량 통제 시스템 및 그 방법
US11376940B2 (en) * 2018-12-13 2022-07-05 University Of Florida Research Foundation, Incorporated Highly mobile robot for remote inspection
EP3969310A4 (en) * 2019-05-15 2022-06-01 Ammar, Essam, Abdelrahman DEVICE AND METHOD FOR SPHERICAL ARRANGEMENT

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6145611A (en) * 1997-12-11 2000-11-14 Haddad, Sr.; Albert G. Computerizable robotic automated bogie
US6491127B1 (en) * 1998-08-14 2002-12-10 3Com Corporation Powered caster wheel module for use on omnidirectional drive systems
CN1944097A (zh) * 2005-10-06 2007-04-11 容海因里希股份公司 用于地面传送装置的驱动和转向装置
CN102458962A (zh) * 2009-06-19 2012-05-16 国立大学法人丰桥技术科学大学 能够转向的驱动机构及全方向移动车
CN203172353U (zh) * 2013-04-12 2013-09-04 上海大学 一种万向车轮装置
CN203317421U (zh) * 2013-01-28 2013-12-04 苏州科瓴精密机械科技有限公司 一种自动机器人

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4174762A (en) * 1977-02-02 1979-11-20 Caterpillar Tractor Co. Hydrostatic transmission with differential steering
JPS61235220A (ja) 1985-04-10 1986-10-20 Casio Comput Co Ltd 全方向移動車
US5068943A (en) * 1990-12-27 1991-12-03 Shepherd Products U.S., Inc. Dual wheel tilted axle caster with an integral retainer and bearing assembly
JP3214680B2 (ja) * 1993-10-28 2001-10-02 株式会社アイ・エイチ・アイ・エアロスペース 宇宙探査用走行車
JP3455999B2 (ja) * 1993-12-20 2003-10-14 株式会社デンソー 走行台車
JPH07257387A (ja) * 1994-03-24 1995-10-09 Nippondenso Co Ltd 台車の制御装置
WO2000032433A1 (en) * 1998-12-01 2000-06-08 Hitachi, Ltd. Drive device and vehicle
US20050061570A1 (en) 2002-01-02 2005-03-24 Mcvicar Martin Four-directional forklift truck
DE102004005869A1 (de) 2004-02-05 2005-09-15 Abm Greiffenberger Antriebstechnik Gmbh Antriebseinheit, insbesondere Einrad-Triebwerk für ein batteriebetriebenes Fahrzeug
JP2005288655A (ja) * 2004-04-02 2005-10-20 Victor Co Of Japan Ltd 移動ロボット
JP2006001518A (ja) 2004-06-17 2006-01-05 Masabumi Tanaka 全方向移動車輪を用いた全方向移動装置
US7789175B2 (en) * 2005-10-11 2010-09-07 Cycogs, Llc Modular dual wheel drive assembly, wheeled devices that include modular dual wheel drive assemblies and methods for moving and/or maneuvering wheeled devices using modular dual wheel drive assemblies
FR2893298B1 (fr) 2005-11-15 2009-06-12 Agri Concept & Technologie A C Tracteur, notamment pour travaux agraires.
JP5057130B2 (ja) * 2006-02-07 2012-10-24 建二郎 多田隈 全方向移動体用球状車輪および全方向移動体
JP2008176750A (ja) * 2007-01-22 2008-07-31 Zmp:Kk 駆動機構制御装置
DE202007004178U1 (de) * 2007-02-16 2008-06-26 Liebherr-Werk Biberach Gmbh Achsaufhängung für Schwerfahrzeuge
JP5228156B2 (ja) 2007-05-09 2013-07-03 国立大学法人豊橋技術科学大学 差動機構による全方向移動機構
DE102008015825A1 (de) 2008-03-27 2009-10-01 Daimler Ag Radnabenantrieb für einen Kraftwagen
US8768548B2 (en) * 2009-04-10 2014-07-01 The United States Of America As Represented By The Secretary Of The Navy Spherical infrared robotic vehicle
JP5692931B2 (ja) * 2010-02-22 2015-04-01 学校法人日本大学 走行ロボット
TWI406653B (zh) 2011-06-13 2013-09-01 Univ Nat Taiwan Science Tech 滾輪模組與應用其之輪椅
FR2981008B1 (fr) * 2011-10-06 2013-11-29 Commissariat Energie Atomique Roue omnidirectionnelle motorisable et vehicule qui en est equipe
FR2989935B1 (fr) * 2012-04-30 2016-04-15 Aldebaran Robotics Roue spherique et vehicule mettant en œuvre la roue
US9376152B2 (en) * 2014-03-05 2016-06-28 Qualcomm Incorporated Multi-axis motorized wheel

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6145611A (en) * 1997-12-11 2000-11-14 Haddad, Sr.; Albert G. Computerizable robotic automated bogie
US6491127B1 (en) * 1998-08-14 2002-12-10 3Com Corporation Powered caster wheel module for use on omnidirectional drive systems
CN1944097A (zh) * 2005-10-06 2007-04-11 容海因里希股份公司 用于地面传送装置的驱动和转向装置
CN102458962A (zh) * 2009-06-19 2012-05-16 国立大学法人丰桥技术科学大学 能够转向的驱动机构及全方向移动车
CN203317421U (zh) * 2013-01-28 2013-12-04 苏州科瓴精密机械科技有限公司 一种自动机器人
CN203172353U (zh) * 2013-04-12 2013-09-04 上海大学 一种万向车轮装置

Also Published As

Publication number Publication date
US9376152B2 (en) 2016-06-28
CN106068173A (zh) 2016-11-02
WO2015134284A1 (en) 2015-09-11
EP3113913B1 (en) 2019-07-10
US20150251715A1 (en) 2015-09-10
JP2017512661A (ja) 2017-05-25
EP3113913A1 (en) 2017-01-11

Similar Documents

Publication Publication Date Title
CN106068173B (zh) 多轴电动轮
CN101323328A (zh) 一种农用智能移动机器人平台
CN103991491A (zh) 一种轮式全向移动装置、全向移动方法及运输装置
WO2020133546A1 (zh) 可重构式关节履带复合移动机器人
CN105643588A (zh) 自走式机械手
CN107776692A (zh) 移动机器人及其行进方法
US10093367B2 (en) Omni-directional treads
CN108706036B (zh) 一种中央控制刹车系统及推车型可移动式医疗设备
CN104210545A (zh) 一种新型全向移动平台
CN204124189U (zh) 一种新型全向移动平台
CN109263756A (zh) 基于两个轮毂电机的全向轮式agv机器人及其运行方式
CN106427398B (zh) 可全方位运动的全向轮
RU2581806C1 (ru) Шароколесный движитель
CN210592186U (zh) 一种具备全向移动和越障能力的物流机器人
Kim et al. Design and development of a variable configuration delivery robot platform
US20240278607A1 (en) Systems and methods for docking vehicles for towing
CN207241836U (zh) 一种可全向移动的机器人
CN107506024B (zh) 四自由度混联运动平台的控制方法、装置及系统
CN208291367U (zh) 轮腿机器人
CN111348097A (zh) 一种电动转向车桥
CN206306731U (zh) 可全方位运动的全向轮
CN112918188B (zh) 一种移动平台
CN114313059A (zh) 一种多地形轮式巡检机器人
CN115674948A (zh) 双轮式从动轮及叉车
CN222933950U (zh) 一种巡检机器人行进转向装置

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20180116

CF01 Termination of patent right due to non-payment of annual fee