CN112739606B - 球体驱动式移动装置 - Google Patents

球体驱动式移动装置 Download PDF

Info

Publication number
CN112739606B
CN112739606B CN201980062115.4A CN201980062115A CN112739606B CN 112739606 B CN112739606 B CN 112739606B CN 201980062115 A CN201980062115 A CN 201980062115A CN 112739606 B CN112739606 B CN 112739606B
Authority
CN
China
Prior art keywords
driving
ball
sphere
center
contact
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.)
Active
Application number
CN201980062115.4A
Other languages
English (en)
Chinese (zh)
Other versions
CN112739606A (zh
Inventor
宫本弘之
松本祥树
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.)
Kyushu Institute of Technology NUC
Original Assignee
Kyushu Institute of Technology NUC
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 Kyushu Institute of Technology NUC filed Critical Kyushu Institute of Technology NUC
Publication of CN112739606A publication Critical patent/CN112739606A/zh
Application granted granted Critical
Publication of CN112739606B publication Critical patent/CN112739606B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • B62D61/06—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three 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
    • B60B19/14—Ball-type wheels
    • 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
    • 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
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Friction Gearing (AREA)
  • Toys (AREA)
  • Manipulator (AREA)
  • Motorcycle And Bicycle Frame (AREA)
CN201980062115.4A 2018-11-28 2019-11-07 球体驱动式移动装置 Active CN112739606B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP2018222165 2018-11-28
JP2018-222165 2018-11-28
JP2019131032 2019-07-16
JP2019-131032 2019-07-16
PCT/JP2019/043715 WO2020110651A1 (ja) 2018-11-28 2019-11-07 球体駆動式移動装置

Publications (2)

Publication Number Publication Date
CN112739606A CN112739606A (zh) 2021-04-30
CN112739606B true CN112739606B (zh) 2023-05-02

Family

ID=70853776

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980062115.4A Active CN112739606B (zh) 2018-11-28 2019-11-07 球体驱动式移动装置

Country Status (5)

Country Link
US (1) US12071187B2 (https=)
JP (1) JP7558562B2 (https=)
CN (1) CN112739606B (https=)
DE (1) DE112019005925T5 (https=)
WO (1) WO2020110651A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7487969B2 (ja) * 2020-05-26 2024-05-21 国立大学法人九州工業大学 球体駆動式移動装置
US11633982B2 (en) * 2021-07-17 2023-04-25 Albert Michael Meyers All-terrain load transport system
DE102022102908B3 (de) 2022-02-08 2023-06-22 Innovated Transport Systems Ug (Haftungsbeschränkt) Fahrzeug für einen Fahrer mit einer auf einem Boden abrollenden Kugel
CN117416656B (zh) * 2023-11-20 2026-01-06 太原福莱瑞达物流设备科技有限公司 一种四向穿梭车及其应用方法

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0690980A (ja) 1991-11-19 1994-04-05 Osamu Funahashi 球状車輪を使った駆動により真横方向にも移動可能な車椅子
KR100317911B1 (ko) 1999-03-06 2001-12-22 곽정환 이동로봇의 구동장치 및 이를 이용한 이동로봇의 제어방법
JP2001063645A (ja) * 1999-08-27 2001-03-13 Institute Of Tsukuba Liaison Co Ltd 車輪型移動体
JP2002200991A (ja) 2001-08-27 2002-07-16 Fumiaki Tsurukawa 三輪駆動移動撮影装置とその車両
CN1435330A (zh) 2002-05-27 2003-08-13 黄善钧 一种新型的万向车轮
JP4756360B2 (ja) 2006-06-27 2011-08-24 トヨタ自動車株式会社 球体輪駆動機構
JP2009234524A (ja) * 2008-03-28 2009-10-15 Sony Corp 搬送装置と駆動機構
CN201257874Y (zh) 2008-06-13 2009-06-17 沈阳航空工业学院 带有斜交球式全方位移动轮的运动平台
JP5305285B2 (ja) * 2008-07-25 2013-10-02 国立大学法人九州工業大学 球体駆動式全方向移動装置
US20100243342A1 (en) 2009-03-25 2010-09-30 Chia-Wen Wu Omni-wheel based drive mechanism
JP5292241B2 (ja) 2009-09-21 2013-09-18 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
JP5901083B2 (ja) 2014-09-30 2016-04-06 国立大学法人九州工業大学 自立式の歩行支援装置
JP6318081B2 (ja) 2014-12-09 2018-04-25 リーフ株式会社 球体駆動モジュール及びそれを使用した自走台車
US9795863B1 (en) 2016-08-31 2017-10-24 Michael Linder Skateboard truck
CN107139646B (zh) 2017-05-24 2019-09-20 孙绍华 一种球形的全向轮及使用该轮的车辆
US11001298B2 (en) * 2017-11-15 2021-05-11 Intuitive Surgical Operations, Inc. Spherical wheel drive and mounting

Also Published As

Publication number Publication date
DE112019005925T5 (de) 2021-10-14
JP7558562B2 (ja) 2024-10-01
US20220009571A1 (en) 2022-01-13
US12071187B2 (en) 2024-08-27
CN112739606A (zh) 2021-04-30
WO2020110651A1 (ja) 2020-06-04
JPWO2020110651A1 (ja) 2021-10-14

Similar Documents

Publication Publication Date Title
CN112739606B (zh) 球体驱动式移动装置
JP6549121B2 (ja) ヒンジ付ビークルシャーシ
CN206067368U (zh) 全向轮、包括全向轮的机器人移动平台及移动机器人
US20140252844A1 (en) Omnidirectional wheel that can be driven by a motor and vehicle provided therewith
JP5305285B2 (ja) 球体駆動式全方向移動装置
JP5305290B2 (ja) 球体駆動式全方向移動装置
CN106427390A (zh) 全向轮、包括全向轮的机器人移动平台及移动机器人
JP2016049921A (ja) 車輪駆動装置
KR20180022518A (ko) 3자유도 병렬기구를 구비한 6자유도 볼 구동 로봇
US10730346B2 (en) Caster apparatus and transferring apparatus including the same
JPWO2020110651A5 (https=)
CN108215654B (zh) 车轮和运输车
CN115485182B (zh) 球体驱动式移动装置
CN107139646B (zh) 一种球形的全向轮及使用该轮的车辆
KR101444782B1 (ko) 구동모듈을 포함하는 이동체
CN105598996A (zh) 基于非完整约束的新型欠驱动机器人手腕装置
WO2019196757A1 (zh) 万向轮、行走机构和自主移动搬运机器人
JP7161754B2 (ja) 移動走行装置
JP6066166B2 (ja) 全方向移動車両
JPWO2020110334A1 (ja) 走行台車
CN206485129U (zh) 车轮和运输车
KR20170099683A (ko) 안정된 자세를 유지하는 볼 로봇
CN108890615A (zh) 用于机器人的万向行走装置
KR20170107197A (ko) 볼 로봇을 이용한 탑승형 이동장치
TW201430241A (zh) 面對面配置之全向輪傳動裝置

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant