JP2010260501A - 摩擦式駆動装置及び全方向移動車 - Google Patents
摩擦式駆動装置及び全方向移動車 Download PDFInfo
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- JP2010260501A JP2010260501A JP2009114498A JP2009114498A JP2010260501A JP 2010260501 A JP2010260501 A JP 2010260501A JP 2009114498 A JP2009114498 A JP 2009114498A JP 2009114498 A JP2009114498 A JP 2009114498A JP 2010260501 A JP2010260501 A JP 2010260501A
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- 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
- 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
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- 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
-
- 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
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
-
- 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
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/14—Vehicles with one wheel only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/50—Structural details of electrical machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/425—Temperature
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- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
Abstract
【解決手段】左右の電動式駆動装置24L、24Rの全体を駆動回転部材30L、30Rの中心軸線上に配置して出力部材である内歯部材74L、74Rを駆動回転部材30L、30Rにトルク伝達且つ熱伝達関係で直結する。
【選択図】図2
Description
12 下部車体
24L 左側駆動装置
24R 右側駆動装置
26L、26R 電動モータ
28L、28R 波動歯車装置
30L、30R 駆動回転部材
34R、34L 切頭円錐部
38L 左側駆動ローラ
38R 右側駆動ローラ
50 車輪
51 軸体
52 フリーローラ
65L、65R リアハウジング
69L、69R ロータ軸
71L、71R ウェーブプラグ
73L、73R 可撓性外歯部材
74L、74R 内歯部材
Claims (4)
- 輪中心周りに回転可能且つ円形断面の中心線周りに回転可能な車輪と、前記車輪の両側に前記車輪の輪中心と同心の軸線周りに回転自在に配置された駆動回転部材と、前記駆動回転部材の円周面に複数個配置され、各々、前記駆動回転部材の回転軸線に対してねじれの関係をなす回転軸線周りに回転可能で、外周面をもって前記車輪の外周面に接触する駆動ローラと、前記駆動回転部材を自身の中心軸線周りに回転駆動する電動式駆動装置とを有する摩擦式駆動装置であって、
前記電動式駆動装置の出力部材が前記駆動回転部材に取り付けられている摩擦式駆動装置。 - 前記駆動回転部材は外側に向けて径が大きくなるテーパ状の面を有する中空の切頭円錐形状に形成され、切頭円錐部の外周に前記駆動ローラが配置され、前記切頭円錐部の内側空間に前記電動式駆動装置が配置されている請求項1記載の摩擦式駆動装置。
- 前記電動式駆動装置は電動モータと波動歯車装置とを含み、前記波動歯車装置は、リング状の出力部材と、前記出力部材の内側に当該出力部材と同心配置された入力部材と、前記入力部材と前記出力部材との間に設けられた波動歯車部とを有し、前記入力部材が前記電動モータの出力軸に固定連結され、前記波動歯車装置の前記出力部材が前記駆動回転部材に固定連結されている請求項1または2に記載の摩擦式駆動装置。
- 請求項1から3の何れか一項に記載の摩擦式駆動装置を含み、前記電動モータのケーシングが車体に取り付けられ、前記車輪によって走行する全方向移動車。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009114498A JP2010260501A (ja) | 2009-05-11 | 2009-05-11 | 摩擦式駆動装置及び全方向移動車 |
US13/319,586 US8499865B2 (en) | 2009-05-11 | 2010-04-09 | Friction drive device and omni-directional vehicle using the same |
PCT/JP2010/002600 WO2010131411A1 (ja) | 2009-05-11 | 2010-04-09 | 摩擦式駆動装置及び全方向移動車 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009114498A JP2010260501A (ja) | 2009-05-11 | 2009-05-11 | 摩擦式駆動装置及び全方向移動車 |
Publications (1)
Publication Number | Publication Date |
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JP2010260501A true JP2010260501A (ja) | 2010-11-18 |
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ID=43084797
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2009114498A Pending JP2010260501A (ja) | 2009-05-11 | 2009-05-11 | 摩擦式駆動装置及び全方向移動車 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8499865B2 (ja) |
JP (1) | JP2010260501A (ja) |
WO (1) | WO2010131411A1 (ja) |
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JP7345421B2 (ja) | 2020-03-31 | 2023-09-15 | ニデックドライブテクノロジー株式会社 | 回転駆動装置 |
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JP5396398B2 (ja) * | 2008-11-04 | 2014-01-22 | 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全方向移動体 |
US8353378B2 (en) * | 2009-09-18 | 2013-01-15 | Honda Motor Co., Ltd. | Frictional drive device and inverted pendulum type vehicle using the same |
JP5398446B2 (ja) * | 2009-09-18 | 2014-01-29 | 本田技研工業株式会社 | 駆動装置 |
JP5292242B2 (ja) * | 2009-09-21 | 2013-09-18 | 本田技研工業株式会社 | 摩擦式駆動装置および倒立振子型移動体 |
JP5352394B2 (ja) * | 2009-09-22 | 2013-11-27 | 本田技研工業株式会社 | 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 |
US8807250B2 (en) * | 2010-03-09 | 2014-08-19 | Shane Chen | Powered single-wheeled self-balancing vehicle for standing user |
US8424621B2 (en) * | 2010-07-23 | 2013-04-23 | Toyota Motor Engineering & Manufacturing North America, Inc. | Omni traction wheel system and methods of operating the same |
US8408339B2 (en) * | 2010-10-12 | 2013-04-02 | Honda Motor Co., Ltd. | Frictional drive device and inverted pendulum type vehicle using the same |
JP5813573B2 (ja) | 2012-05-14 | 2015-11-17 | 本田技研工業株式会社 | 倒立振子型車両 |
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2009
- 2009-05-11 JP JP2009114498A patent/JP2010260501A/ja active Pending
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2010
- 2010-04-09 US US13/319,586 patent/US8499865B2/en active Active
- 2010-04-09 WO PCT/JP2010/002600 patent/WO2010131411A1/ja active Application Filing
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CN111572270A (zh) * | 2020-04-17 | 2020-08-25 | 江苏大学 | 一种防磨损麦克纳姆轮 |
JP7349959B2 (ja) | 2020-06-05 | 2023-09-25 | 本田技研工業株式会社 | ドライブディスク |
JP7349960B2 (ja) | 2020-06-05 | 2023-09-25 | 本田技研工業株式会社 | ドライブディスク |
Also Published As
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US8499865B2 (en) | 2013-08-06 |
WO2010131411A1 (ja) | 2010-11-18 |
US20120061156A1 (en) | 2012-03-15 |
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