ES2545834A1 - Rueda omnidireccional y móvil omnidireccional - Google Patents

Rueda omnidireccional y móvil omnidireccional Download PDF

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Publication number
ES2545834A1
ES2545834A1 ES201430197A ES201430197A ES2545834A1 ES 2545834 A1 ES2545834 A1 ES 2545834A1 ES 201430197 A ES201430197 A ES 201430197A ES 201430197 A ES201430197 A ES 201430197A ES 2545834 A1 ES2545834 A1 ES 2545834A1
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ES
Spain
Prior art keywords
omnidirectional
wheel
axis
translation
machine
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.)
Granted
Application number
ES201430197A
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English (en)
Other versions
ES2545834B1 (es
Inventor
Daniel CLOS COSTA
Jordi Martinez Miralles
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.)
Universitat Politecnica de Catalunya UPC
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Universitat Politecnica de Catalunya UPC
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.)
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Publication date
Application filed by Universitat Politecnica de Catalunya UPC filed Critical Universitat Politecnica de Catalunya UPC
Priority to ES201430197A priority Critical patent/ES2545834B1/es
Priority to PCT/ES2015/070085 priority patent/WO2015121521A1/es
Publication of ES2545834A1 publication Critical patent/ES2545834A1/es
Application granted granted Critical
Publication of ES2545834B1 publication Critical patent/ES2545834B1/es
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B60B19/14—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
    • B60B33/006—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism
    • B60B33/0063—Castors in general; Anti-clogging castors characterised by details of the swivel mechanism no swivelling action, i.e. no real caster
    • 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
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2900/00—Purpose of invention
    • B60B2900/50—Improvement of
    • B60B2900/551—Handling of obstacles or difficult terrains

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Friction Gearing (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Transmission Devices (AREA)

Abstract

Rueda omnidireccional y móvil omnidireccional. La rueda omnidireccional (20) comprende un cuerpo de soporte (1) fijado a un árbol motor (2) coaxial con un eje de giro de rueda (E1), dos cuerpos de rodadura (3a, 3b) conectados giratoriamente al cuerpo de soporte (1) respecto a un eje de giro libre (E2) perpendicular al eje de giro de rueda (E1), los cuales tienen unas superficies de rodadura semiesféricas (4a, 4b), unas regiones polares truncadas (10a, 10b) donde están instalados dos rodillos polares (6a, 6b), y unos bordes circunferenciales (5a, 5b) separados por un espacio circunferencial intermedio (G) a través del cual pasa el árbol motor (2) y donde están instalados dos rodillos intermedios (8a, 8b). Los rodillos polares e intermedios tienen respectivos ejes en un plano perpendicular al eje de giro de rueda y superficies de rodadura cuyas directrices tienen el mismo radio (R) y el mismo centro (C) que las superficies de rodadura semiesféricas.

Description

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Claims (1)

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ES201430197A 2014-02-14 2014-02-14 Rueda omnidireccional y móvil omnidireccional Active ES2545834B1 (es)

Priority Applications (2)

Application Number Priority Date Filing Date Title
ES201430197A ES2545834B1 (es) 2014-02-14 2014-02-14 Rueda omnidireccional y móvil omnidireccional
PCT/ES2015/070085 WO2015121521A1 (es) 2014-02-14 2015-02-11 Rueda omnidireccional, y móvil omnidireccional

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ES201430197A ES2545834B1 (es) 2014-02-14 2014-02-14 Rueda omnidireccional y móvil omnidireccional

Publications (2)

Publication Number Publication Date
ES2545834A1 true ES2545834A1 (es) 2015-09-15
ES2545834B1 ES2545834B1 (es) 2016-06-23

Family

ID=53799626

Family Applications (1)

Application Number Title Priority Date Filing Date
ES201430197A Active ES2545834B1 (es) 2014-02-14 2014-02-14 Rueda omnidireccional y móvil omnidireccional

Country Status (2)

Country Link
ES (1) ES2545834B1 (es)
WO (1) WO2015121521A1 (es)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106427390A (zh) * 2016-10-13 2017-02-22 北京智能管家科技有限公司 全向轮、包括全向轮的机器人移动平台及移动机器人
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
JP6799180B2 (ja) * 2017-07-27 2020-12-09 北京猟戸星空科技有限公司Ｂｅｉｊｉｎｇ Ｏｒｉｏｎ Ｓｔａｒ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ． 全方向ボールホイール
CN109624607A (zh) * 2018-11-09 2019-04-16 华中科技大学 一种球轮式全向移动平台
TWI761728B (zh) * 2019-11-21 2022-04-21 緯創資通股份有限公司 助行器及其全向輪
CN112223951B (zh) * 2020-10-20 2021-12-07 燕山大学 一种多路况可变形行走车轮
EP4328132A1 (en) * 2022-08-23 2024-02-28 Gulfstream Aerospace Corporation Reduced-friction roller and related assembly for a moveable control surface of an aircraft

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL7906664A (nl) * 1979-09-06 1981-03-10 Hugo Karel Krop Bolvormig wiel.
JP2000211307A (ja) * 1999-01-22 2000-08-02 Nansin Co Ltd 回転式キャスタ
JP2007210576A (ja) * 2006-02-07 2007-08-23 Kenjiro Tadakuma 全方向移動体用球状車輪および全方向移動体
JP2008155652A (ja) * 2006-12-20 2008-07-10 Murata Mach Ltd 自走式搬送台車
WO2013164327A1 (fr) * 2012-04-30 2013-11-07 Aldebaran Robotics Roue sphérique et véhicule mettant en oeuvre la roue

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL7906664A (nl) * 1979-09-06 1981-03-10 Hugo Karel Krop Bolvormig wiel.
JP2000211307A (ja) * 1999-01-22 2000-08-02 Nansin Co Ltd 回転式キャスタ
JP2007210576A (ja) * 2006-02-07 2007-08-23 Kenjiro Tadakuma 全方向移動体用球状車輪および全方向移動体
JP2008155652A (ja) * 2006-12-20 2008-07-10 Murata Mach Ltd 自走式搬送台車
WO2013164327A1 (fr) * 2012-04-30 2013-11-07 Aldebaran Robotics Roue sphérique et véhicule mettant en oeuvre la roue

Also Published As

Publication number Publication date
WO2015121521A1 (es) 2015-08-20
ES2545834B1 (es) 2016-06-23

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