JP5484019B2 - 摩擦駆動式車両 - Google Patents
摩擦駆動式車両 Download PDFInfo
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- JP5484019B2 JP5484019B2 JP2009278893A JP2009278893A JP5484019B2 JP 5484019 B2 JP5484019 B2 JP 5484019B2 JP 2009278893 A JP2009278893 A JP 2009278893A JP 2009278893 A JP2009278893 A JP 2009278893A JP 5484019 B2 JP5484019 B2 JP 5484019B2
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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
- 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
- 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
-
- 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
- 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
- B60K17/30—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable
-
- 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
- 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
- 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
- B62K3/00—Bicycles
- B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2200/00—Type of product being used or applied
- B60B2200/40—Articles of daily use
- B60B2200/47—Physical activity equipment, e.g. leisure or sports articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2360/00—Materials; Physical forms thereof
- B60B2360/10—Metallic materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2360/00—Materials; Physical forms thereof
- B60B2360/30—Synthetic materials
- B60B2360/32—Plastic compositions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2360/00—Materials; Physical forms thereof
- B60B2360/30—Synthetic materials
- B60B2360/32—Plastic compositions
- B60B2360/324—Comprising polyurethane
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2360/00—Materials; Physical forms thereof
- B60B2360/50—Rubbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/80—Other vehicles not covered by groups B60Y2200/10 - B60Y2200/60
- B60Y2200/81—Toys
-
- 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
- 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
- B62K2204/00—Adaptations for driving cycles by electric motor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
Description
このような全方向に移動可能な車両に於いては、駆動ローラから被駆動ローラ(車輪)に効率よく動力伝達を行うためには、駆動ローラと被駆動ローラとを適正な接触圧をもって接触させる必要がある。駆動ローラと被駆動との接触圧が不足すると、駆動ローラと従動ローラとの間で滑りが生じ、駆動ローラの空回りにより動力伝達効率が低下する。これに対し駆動ローラと被駆動ローラとの接触圧が過剰であると、駆動ローラと被駆動ローラとの間の摩擦抵抗が過大になって駆動ローラの円滑な回転が阻害され、動力伝達効率が低下する。しかも、過大な接触圧は、駆動ローラ或いは被駆動ローラの軸受に対して悪影響を及ぼす。
Claims (5)
- 車体と、
上下2個のリンク要素を含み、前記各リンク要素の中間部を各々前記車体に枢動可能に連結され、前記車体より支持された左側および右側の四節平行リンク機構と、
前記左側の四節平行リンク機構の前記上下2個のリンク要素の各々の車幅方向内側の端部に枢動可能に連結された左側部材と、
前記右側の四節平行リンク機構の前記上下2個のリンク要素の各々の車幅方向内側の端部の各々に枢動可能に連結された右側部材と、
前記左側部材および前記右側部材に設けられた左右の原動機と、
前記左側部材および前記右側部材に設けられ前記左右の原動機によって個別に駆動される左右の駆動部材と、
前記左右の駆動部材間にあって当該左右の駆動部材によって挟まれるようにして回転可能に支持され、前記左右の駆動手段との接触によって摩擦駆動される車輪と、
前記左側の前記四節平行リンク機構の前記上下2個のリンク要素の各々の車幅方向外側の端部に枢動可能に連結された左側のステップ部と、
前記右側の前記四節平行リンク機構の前記上下2個のリンク要素の各々の車幅方向外側の端部に枢動可能に連結された右側のステップ部とを有し、
前記左側の四節平行リンク機構は前記左側のステップ部に作用する積載荷重によって前記左側部材が前記車輪に近付く方向に付勢して前記左側のステップ部に作用する積載荷重の増加に伴って前記左側の駆動部材と前記車輪との接触圧を増大し、
前記右側の四節平行リンク機構は前記右側のステップ部に作用する積載荷重によって前記右側部材が前記車輪に近付く方向に付勢して前記右側のステップ部に作用する積載荷重の増加に伴って前記右側の駆動部材と前記車輪との接触圧を増大する摩擦駆動式車両。 - 荷重を受ける荷重受け部を有する車体と、
前記車体に設けられた左右の原動機と、
各々前記車体に対して車幅方向に移動可能に設けられ、前記左右の原動機によって個別に駆動される左右の駆動部材と、
前記左右の駆動部材間にあって当該左右の駆動部材によって挟まれるようにして回転可能に支持され、前記左右の駆動手段との接触によって摩擦駆動される車輪と、
前記荷重受け部に作用する荷重を油圧に変換する受圧用流体圧シリンダ装置と、
前記車体と前記左右の駆動部材との間に設けられ、前記受圧用流体圧シリンダ装置より油圧を供給され、当該油圧によって前記左右の駆動部材が前記車輪に近付く方向に付勢して前記左右の駆動部材と前記車輪との接触圧を増大する加圧用流体圧シリンダ装置とを有する摩擦駆動式車両。 - 荷重を受ける荷重受け部を有する車体と、
前記車体に設けられた左右の原動機と、
各々前記車体に対して車幅方向に移動可能に設けられ、前記左右の原動機によって個別に駆動される左右の駆動部材と、
前記左右の駆動部材間にあって当該左右の駆動部材によって挟まれるようにして回転可能に支持され、前記左右の駆動手段との接触によって摩擦駆動される車輪と、
前記荷重受け部に作用する荷重を電力又は信号に変換する第1の力−電気トランスデューサと、
前記車体と前記左右の駆動部材との間に設けられ、前記第1の力−電気トランスデューサにより生成された前記電力又は信号を、前記駆動部材を前記車輪に向けて付勢する力に変換し、前記左右の駆動部材と前記車輪との接触圧を増大する第2の力−電気トランスデューサとを有する摩擦駆動式車両。 - 前記第1の力−電気トランスデューサがロードセルを含み、前記第2の力−電気トランスデューサがピエゾ素子を含む請求項3に記載の摩擦駆動式車両。
- 前記駆動部材が、回転可能部材と、それぞれ、前記車輪の前記回転中心に対して捩れの位置関係にある回転中心周りに回転し得るように前記回転可能部材に支持された複数の駆動ローラとを含み、
前記車輪が、前記回転可能部材に対して概ね同軸をなすように配置された環状体と、それぞれ、前記環状体に対して、その接線方向軸線周りに回転し得るように軸支された複数の被駆動ローラとを含む請求項1から請求項4の何れか一項に記載の摩擦駆動式車両。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009278893A JP5484019B2 (ja) | 2008-12-10 | 2009-12-08 | 摩擦駆動式車両 |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008314309 | 2008-12-10 | ||
JP2008314309 | 2008-12-10 | ||
JP2009278893A JP5484019B2 (ja) | 2008-12-10 | 2009-12-08 | 摩擦駆動式車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010159047A JP2010159047A (ja) | 2010-07-22 |
JP5484019B2 true JP5484019B2 (ja) | 2014-05-07 |
Family
ID=42229834
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009278893A Expired - Fee Related JP5484019B2 (ja) | 2008-12-10 | 2009-12-08 | 摩擦駆動式車両 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8162092B2 (ja) |
JP (1) | JP5484019B2 (ja) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8240407B2 (en) * | 2007-05-16 | 2012-08-14 | Honda Motor Co., Ltd. | Omni-directional vehicle |
DE112009002676B4 (de) * | 2008-11-04 | 2014-08-07 | Honda Motor Co., Ltd. | Reibungsantriebsvorrichtung und Allrichtungsfahrzeug, das diese verwendet |
JP5398446B2 (ja) * | 2009-09-18 | 2014-01-29 | 本田技研工業株式会社 | 駆動装置 |
US8353378B2 (en) * | 2009-09-18 | 2013-01-15 | Honda Motor Co., Ltd. | Frictional drive device and inverted pendulum type vehicle using the same |
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 |
JP5484009B2 (ja) * | 2009-11-16 | 2014-05-07 | 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 |
US8408339B2 (en) * | 2010-10-12 | 2013-04-02 | Honda Motor Co., Ltd. | Frictional drive device and inverted pendulum type vehicle using the same |
JP2013129414A (ja) * | 2011-11-26 | 2013-07-04 | Honda Motor Co Ltd | 全方向移動車両 |
JP5922489B2 (ja) * | 2012-05-14 | 2016-05-24 | 本田技研工業株式会社 | 倒立振子型車両 |
JP6034593B2 (ja) | 2012-05-14 | 2016-11-30 | 本田技研工業株式会社 | 倒立振子型車両 |
US9199685B2 (en) * | 2012-05-14 | 2015-12-01 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
JP5988952B2 (ja) * | 2013-11-14 | 2016-09-07 | 本田技研工業株式会社 | 車輪及び車輪装置及び倒立振子型車両 |
GB2525042A (en) * | 2014-04-11 | 2015-10-14 | Timeinvest Ltd | Powered unicycle device and drive arrangement for the same |
US9937751B2 (en) * | 2014-12-12 | 2018-04-10 | The Boeing Company | Positioning systems |
GB2540352A (en) * | 2015-07-10 | 2017-01-18 | Artemev Timur | Self-balancing powered transportation device |
JP6618373B2 (ja) * | 2016-01-25 | 2019-12-11 | 本田技研工業株式会社 | 摩擦式走行装置および乗物 |
CN105923082B (zh) * | 2016-05-17 | 2019-05-24 | 林鸿贵 | 一种机电陀螺平衡独轮车 |
CN109195809B (zh) * | 2016-06-07 | 2022-02-01 | 国立大学法人东北大学 | 全向旋转驱动机构及移动体 |
US20180154972A1 (en) * | 2016-11-08 | 2018-06-07 | Shane Chen | Suspension friction drive and auto-balancing transporation device having same |
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US3746117A (en) * | 1971-10-06 | 1973-07-17 | R Alred | Spherical vehicle |
JPS6144085A (ja) * | 1984-08-08 | 1986-03-03 | 本田技研工業株式会社 | 簡易車両 |
US7370713B1 (en) * | 1993-02-24 | 2008-05-13 | Deka Products Limited Partnership | Personal mobility vehicles and methods |
US7090040B2 (en) * | 1993-02-24 | 2006-08-15 | Deka Products Limited Partnership | Motion control of a transporter |
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US6227324B1 (en) * | 2000-04-27 | 2001-05-08 | Dennis N. Sauve | Electrically powered scooter |
JP2004345608A (ja) * | 2003-05-26 | 2004-12-09 | Sony Corp | 重心移動により操舵可能な車両 |
US7963352B2 (en) * | 2003-08-18 | 2011-06-21 | Engineering Recreation (2008) Limited | Powered unicycle |
JP3820239B2 (ja) * | 2003-08-22 | 2006-09-13 | 英希 根本 | 全方向移動用車輪およびこれに使用されるフレキシブルタイヤ |
JP2005162060A (ja) * | 2003-12-03 | 2005-06-23 | Sony Corp | 搬送体、搬送体の駆動装置および搬送体の搬送方法 |
JP4240114B2 (ja) * | 2006-11-15 | 2009-03-18 | トヨタ自動車株式会社 | 走行装置 |
EP2138379B1 (en) * | 2007-04-20 | 2018-11-28 | Honda Motor Co., Ltd. | Omnidirectional drive device and omnidirectional vehicle with such a device |
US8240407B2 (en) * | 2007-05-16 | 2012-08-14 | Honda Motor Co., Ltd. | Omni-directional vehicle |
JP5147542B2 (ja) * | 2008-05-23 | 2013-02-20 | 本田技研工業株式会社 | 倒立振子移動体 |
JP5358374B2 (ja) * | 2009-09-24 | 2013-12-04 | 本田技研工業株式会社 | 車両 |
-
2009
- 2009-12-08 JP JP2009278893A patent/JP5484019B2/ja not_active Expired - Fee Related
- 2009-12-08 US US12/633,300 patent/US8162092B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JP2010159047A (ja) | 2010-07-22 |
US20100139996A1 (en) | 2010-06-10 |
US8162092B2 (en) | 2012-04-24 |
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