CN115485182B - 球体驱动式移动装置 - Google Patents

球体驱动式移动装置 Download PDF

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Publication number
CN115485182B
CN115485182B CN202180029487.4A CN202180029487A CN115485182B CN 115485182 B CN115485182 B CN 115485182B CN 202180029487 A CN202180029487 A CN 202180029487A CN 115485182 B CN115485182 B CN 115485182B
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China
Prior art keywords
driving
ball
sphere
center
rotating bodies
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Active
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CN202180029487.4A
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English (en)
Chinese (zh)
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CN115485182A (zh
Inventor
宫本弘之
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Kyushu Institute of Technology NUC
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Kyushu Institute of Technology NUC
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Application filed by Kyushu Institute of Technology NUC filed Critical Kyushu Institute of Technology NUC
Publication of CN115485182A publication Critical patent/CN115485182A/zh
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Publication of CN115485182B publication Critical patent/CN115485182B/zh
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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
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Friction Gearing (AREA)
  • Telescopes (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Toys (AREA)
CN202180029487.4A 2020-05-26 2021-02-17 球体驱动式移动装置 Active CN115485182B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020091308 2020-05-26
JP2020-091308 2020-05-26
PCT/JP2021/005932 WO2021240912A1 (ja) 2020-05-26 2021-02-17 球体駆動式移動装置

Publications (2)

Publication Number Publication Date
CN115485182A CN115485182A (zh) 2022-12-16
CN115485182B true CN115485182B (zh) 2025-05-09

Family

ID=78744268

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180029487.4A Active CN115485182B (zh) 2020-05-26 2021-02-17 球体驱动式移动装置

Country Status (5)

Country Link
US (1) US12539929B2 (https=)
JP (1) JP7487969B2 (https=)
CN (1) CN115485182B (https=)
DE (1) DE112021002961T5 (https=)
WO (1) WO2021240912A1 (https=)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112739606A (zh) * 2018-11-28 2021-04-30 国立大学法人九州工业大学 球体驱动式移动装置

Family Cites Families (11)

* 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
JP3669181B2 (ja) 1998-10-26 2005-07-06 松下電工株式会社 電動車椅子および記録媒体
JP3498043B2 (ja) 2000-06-14 2004-02-16 川崎重工業株式会社 球状駆動輪を用いる全方向移動装置
JP3498044B2 (ja) * 2000-06-14 2004-02-16 川崎重工業株式会社 全方向移動装置の制御装置
JP2004024329A (ja) 2002-06-21 2004-01-29 Yoichi Toyoda 球体駆動装置
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
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
JP5305290B2 (ja) * 2009-01-30 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
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

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112739606A (zh) * 2018-11-28 2021-04-30 国立大学法人九州工业大学 球体驱动式移动装置

Also Published As

Publication number Publication date
DE112021002961T5 (de) 2023-04-27
JP7487969B2 (ja) 2024-05-21
JPWO2021240912A1 (https=) 2021-12-02
US20230174176A1 (en) 2023-06-08
WO2021240912A1 (ja) 2021-12-02
CN115485182A (zh) 2022-12-16
US12539929B2 (en) 2026-02-03

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