JP7558562B2 - 球体駆動式移動装置 - Google Patents

球体駆動式移動装置 Download PDF

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Publication number
JP7558562B2
JP7558562B2 JP2020558261A JP2020558261A JP7558562B2 JP 7558562 B2 JP7558562 B2 JP 7558562B2 JP 2020558261 A JP2020558261 A JP 2020558261A JP 2020558261 A JP2020558261 A JP 2020558261A JP 7558562 B2 JP7558562 B2 JP 7558562B2
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Japan
Prior art keywords
sphere
drive
ball
driving
rotating body
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JP2020558261A
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English (en)
Japanese (ja)
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JPWO2020110651A5 (https=
JPWO2020110651A1 (ja
Inventor
弘之 宮本
祥樹 松本
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
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Kyushu Institute of Technology NUC
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    • 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

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  • 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)
JP2020558261A 2018-11-28 2019-11-07 球体駆動式移動装置 Active JP7558562B2 (ja)

Applications Claiming Priority (5)

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

Publications (3)

Publication Number Publication Date
JPWO2020110651A1 JPWO2020110651A1 (ja) 2021-10-14
JPWO2020110651A5 JPWO2020110651A5 (https=) 2022-10-17
JP7558562B2 true JP7558562B2 (ja) 2024-10-01

Family

ID=70853776

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2020558261A Active JP7558562B2 (ja) 2018-11-28 2019-11-07 球体駆動式移動装置

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

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP2010030360A (ja) 2008-07-25 2010-02-12 Kyushu Institute Of Technology 球体駆動式全方向移動装置
US20110263377A1 (en) 2008-12-26 2011-10-27 Chung Hua University Omni-wheel based driving device with belt transmission mechanism
JP2015024160A (ja) 2014-09-30 2015-02-05 国立大学法人九州工業大学 自立式の歩行支援装置
JP2015117011A (ja) 2014-12-09 2015-06-25 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

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
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
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
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
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

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP2010030360A (ja) 2008-07-25 2010-02-12 Kyushu Institute Of Technology 球体駆動式全方向移動装置
US20110263377A1 (en) 2008-12-26 2011-10-27 Chung Hua University Omni-wheel based driving device with belt transmission mechanism
JP2015024160A (ja) 2014-09-30 2015-02-05 国立大学法人九州工業大学 自立式の歩行支援装置
JP2015117011A (ja) 2014-12-09 2015-06-25 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

Also Published As

Publication number Publication date
DE112019005925T5 (de) 2021-10-14
US20220009571A1 (en) 2022-01-13
US12071187B2 (en) 2024-08-27
CN112739606A (zh) 2021-04-30
CN112739606B (zh) 2023-05-02
WO2020110651A1 (ja) 2020-06-04
JPWO2020110651A1 (ja) 2021-10-14

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