WO2007016917A3 - Rad - Google Patents

Rad Download PDF

Info

Publication number
WO2007016917A3
WO2007016917A3 PCT/DE2006/001390 DE2006001390W WO2007016917A3 WO 2007016917 A3 WO2007016917 A3 WO 2007016917A3 DE 2006001390 W DE2006001390 W DE 2006001390W WO 2007016917 A3 WO2007016917 A3 WO 2007016917A3
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
support elements
roller
wheel body
arrange
Prior art date
Application number
PCT/DE2006/001390
Other languages
English (en)
French (fr)
Other versions
WO2007016917A2 (de
Inventor
Wolfgang Guenther
Original Assignee
Kuka Roboter Gmbh
Wolfgang Guenther
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.)
Filing date
Publication date
Application filed by Kuka Roboter Gmbh, Wolfgang Guenther filed Critical Kuka Roboter Gmbh
Priority to EP06775827A priority Critical patent/EP1912799B1/de
Priority to JP2008525384A priority patent/JP5015155B2/ja
Priority to US11/995,056 priority patent/US8833862B2/en
Priority to DE112006002730T priority patent/DE112006002730A5/de
Priority to AT06775827T priority patent/ATE463353T1/de
Priority to DE502006006648T priority patent/DE502006006648D1/de
Publication of WO2007016917A2 publication Critical patent/WO2007016917A2/de
Publication of WO2007016917A3 publication Critical patent/WO2007016917A3/de

Links

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
    • B60B19/12—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
    • B60B19/003—Multidirectional wheels
    • 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
    • B60B2900/00—Purpose of invention
    • B60B2900/30—Increase in
    • B60B2900/351—Increase in versatility, e.g. usable for different purposes or different arrangements

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Rolls And Other Rotary Bodies (AREA)
  • Friction Gearing (AREA)
  • Pulleys (AREA)
  • Tires In General (AREA)

Abstract

Die Erfindung betrifft ein Rad (1) mit einem angetriebenen Radkörper (2), der zwei Tragelemente (21, 22) aufweist, zwischen denen eine Vielzahl von Rollkörpern (3) mit einer balligen Oberfläche drehbar angeordnet sind, die zumindest teilweise über den Umfang der Tragelemente (21, 22) hinausragen und deren Drehachsen schräg zu der Drehachse (239) des Radkörpers (2) ausgerichtet sind, wobei das Verhältnis des Außendurchmessers (Du) des Rades (1) zu dem maximalen Radius (Ra) der Rollkörper (3) zwischen 1,08 und 1,13, insbesondere zwischen 1,09 und 1,12 beträgt.
PCT/DE2006/001390 2005-08-09 2006-08-08 Rad WO2007016917A2 (de)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP06775827A EP1912799B1 (de) 2005-08-09 2006-08-08 Rad
JP2008525384A JP5015155B2 (ja) 2005-08-09 2006-08-08 ホイール
US11/995,056 US8833862B2 (en) 2005-08-09 2006-08-08 Wheel
DE112006002730T DE112006002730A5 (de) 2005-08-09 2006-08-08 Rad
AT06775827T ATE463353T1 (de) 2005-08-09 2006-08-08 Rad
DE502006006648T DE502006006648D1 (de) 2005-08-09 2006-08-08 Rad

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202005012682U DE202005012682U1 (de) 2005-08-09 2005-08-09 Rad
DE202005012682.9 2005-08-09

Publications (2)

Publication Number Publication Date
WO2007016917A2 WO2007016917A2 (de) 2007-02-15
WO2007016917A3 true WO2007016917A3 (de) 2007-04-26

Family

ID=37429288

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2006/001390 WO2007016917A2 (de) 2005-08-09 2006-08-08 Rad

Country Status (8)

Country Link
US (1) US8833862B2 (de)
EP (1) EP1912799B1 (de)
JP (1) JP5015155B2 (de)
CN (1) CN101223039A (de)
AT (1) ATE463353T1 (de)
DE (3) DE202005012682U1 (de)
ES (1) ES2339877T3 (de)
WO (1) WO2007016917A2 (de)

Families Citing this family (43)

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KR100906575B1 (ko) * 2008-01-25 2009-07-09 경북대학교 산학협력단 가변 옴니휠 및 이를 이용한 운송장치
DE102008019976B4 (de) * 2008-04-21 2012-04-26 Kuka Roboter Gmbh Omnidirektional-Rad und Verfahren zur Montage von Rollkörpern eines Omnidirektional-Rades, sowie omnidirektional bewegliches Fahrwerk und dessen Verwendung
DE102008044917A1 (de) * 2008-08-29 2010-03-04 Claas Fertigungstechnik Gmbh Laufradanordnung eines Fahrwerks
KR101662083B1 (ko) * 2009-11-25 2016-10-04 엘지전자 주식회사 캐니스터형 진공청소기
ES2606427T3 (es) * 2009-11-25 2017-03-23 Lg Electronics Inc. Aspiradora de tipo vertical
DE102010008970A1 (de) * 2010-02-24 2011-08-25 KUKA Roboter GmbH, 86165 Förderbahn
JP5604993B2 (ja) * 2010-06-02 2014-10-15 日本精工株式会社 移動装置
WO2012079538A1 (zh) * 2010-12-17 2012-06-21 浙江美科斯叉车有限公司 全方位轮
KR20120087453A (ko) * 2011-01-28 2012-08-07 금성에이스산업(주) 유니버설 캐스터
DE102011053903A1 (de) * 2011-09-23 2013-03-28 Zdenek Spindler Mecanumrad sowie Mecanumradfahrzeug
CN102501726A (zh) * 2011-12-13 2012-06-20 北京卫星制造厂 一种适用于高精度大承载的全方位轮
DE102012208094A1 (de) * 2012-05-15 2013-11-21 Kuka Laboratories Gmbh Verfahren zum Ermitteln möglicher Positionen eines Roboterarms
CN103043128B (zh) * 2012-09-19 2017-06-13 张豫南 全方位移动履带
CN102887035B (zh) * 2012-10-24 2015-08-26 浙江鼎力机械股份有限公司 全向移动的高空作业平台的移动轮装置
CN102874049B (zh) * 2012-10-24 2015-06-03 浙江鼎力机械股份有限公司 全向高空作业平台的移动轮
CN102874725B (zh) * 2012-10-24 2015-08-26 浙江鼎力机械股份有限公司 全向移动的高空作业平台
CN103817965A (zh) * 2014-03-03 2014-05-28 上海汇聚自动化科技有限公司 一种麦克纳姆辊轮的加工方法
CN104015556A (zh) * 2014-06-18 2014-09-03 昆山市叶茂机电设备有限公司 一种全向轮
CN104494720A (zh) * 2014-12-12 2015-04-08 张豫南 一种基于履带车辆运动模式的高效转向平台
DE102015002360A1 (de) 2015-02-26 2016-09-01 Fresenius Medical Care Deutschland Gmbh Multidirektionales Rad und Verfahren zu dessen Herstellung
CN105584290B (zh) 2016-01-15 2018-03-13 京东方科技集团股份有限公司 全向轮、运动装置和运动装置的控制方法
JP2017132404A (ja) * 2016-01-29 2017-08-03 トヨタ自動車東日本株式会社 全方向車輪及び車両
DE102016218674A1 (de) 2016-09-28 2018-03-29 Robert Bosch Gmbh Elektromotorisch angetriebene Radvorrichtung, insbesondere Smartwheel
US10876657B2 (en) 2016-10-21 2020-12-29 Quanta Associates, L.P. Drill pipe or product line improved rollers and movement
RU172578U1 (ru) * 2016-11-07 2017-07-13 федеральное государственное бюджетное образовательное учреждение высшего образования "Ижевский государственный технический университет имени М.Т. Калашникова" Роликонесущее колесо сфероробота
CN107199828B (zh) * 2017-05-04 2019-05-14 华中科技大学 一种基于球冠表面的麦克纳姆轮
US11058270B2 (en) * 2017-10-17 2021-07-13 Maidbot, Inc. Robotic apparatus, method, and applications
KR102679629B1 (ko) 2018-02-05 2024-07-01 나부테스코 가부시키가이샤 휠
DE102018106592A1 (de) 2018-03-21 2019-09-26 Retrofit Europa Gmbh Mecanum-Rad und Antriebsanordnung mit diesem
CN108749482B (zh) * 2018-06-12 2024-02-20 杭州程天科技发展有限公司 麦克纳姆轮、底盘和帮扶机器人
US10696115B2 (en) * 2018-06-22 2020-06-30 Southwest Research Institute Movement system for an omnidirectional vehicle
JP7121980B2 (ja) * 2018-07-02 2022-08-19 裕一 中里 軸状部材の送り移動装置及びその方法
JP7446733B2 (ja) 2018-08-09 2024-03-11 ナブテスコ株式会社 バレル及び当該バレルを備えたホイール
DE102019211937A1 (de) * 2018-08-09 2020-02-13 Nabtesco Corporation Tonnen und die betreffenden Tonnen umfassendes Rad
DE102018214381B3 (de) 2018-08-24 2019-10-31 Kuka Deutschland Gmbh Verfahren zum Betreiben eines Omnidirektionalräder-Fahrzeugs, Omnidirektionalräder-Fahrzeug und Computerprogrammprodukt
CN109094296A (zh) * 2018-09-03 2018-12-28 健芮智能科技（昆山）有限公司 一种模块化的麦卡纳姆轮及其移动机器人
CN110091661B (zh) * 2019-05-08 2024-07-09 费曼科技(青岛)有限公司 一种u型金属弹性支撑体的柔性车轮
CN210302393U (zh) * 2019-06-28 2020-04-14 汕头市益尔乐玩具有限公司 一种偏心全向轮
DE102019215373B4 (de) 2019-10-08 2021-07-22 Kuka Deutschland Gmbh Verfahren zum Betreiben eines autonomen Fahrzeugs, autonomes Fahrzeug und Computerprogrammprodukt
DE102019216461B3 (de) 2019-10-25 2021-01-21 Kuka Deutschland Gmbh Verfahren zum Betreiben eines autonomen Fahrzeugs, autonomes Fahrzeug und Computerprogrammprodukt
DE102020128126A1 (de) * 2020-10-26 2022-04-28 Fischertechnik Gmbh Allseitenrad
GB202110393D0 (en) * 2021-07-19 2021-09-01 Starco Dml Ltd Omnidirectional wheel apparatus
NO346956B1 (en) * 2021-08-19 2023-03-20 Wheel Me As Mecanum wheel with easily replaceable rollers

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2354404A1 (de) * 1972-11-13 1974-05-16 Ilon B E Rad fuer ein laufstabiles, selbstfahrendes fahrzeug
EP0147602A2 (de) * 1983-11-17 1985-07-10 Mecanum Innovation Ab Transportvorrichtung
WO1986003132A1 (en) * 1984-11-20 1986-06-05 International Texas Industries, Inc. Omnidirectional vehicle base
DE3841971A1 (de) * 1988-12-09 1990-06-21 Walter Franke Allseitig rangierbares schwertransportfahrzeug
US6179073B1 (en) * 1998-05-28 2001-01-30 University Of South Florida Hybrid track for a vehicle

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US3789947A (en) * 1972-04-17 1974-02-05 Nasa Omnidirectional wheel
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JPS5830424U (ja) * 1981-08-22 1983-02-28 株式会社島津製作所 移動台車
JPS58156401A (ja) * 1982-03-11 1983-09-17 Hitachi Chem Co Ltd 樽形車輪をそなえてなる二輪車
SE447083B (sv) * 1983-08-16 1986-10-27 Mecanum Ab Styranordning for styrning av korriktning och korhastighet hos fordon
GB2242173A (en) * 1989-04-11 1991-09-25 Secretary Trade Ind Brit Dynamically balanced vehicle
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JP2003127605A (ja) * 2001-10-19 2003-05-08 Kawasaki Heavy Ind Ltd 全方向移動車両の車輪構造
JP3910417B2 (ja) * 2001-11-21 2007-04-25 関東自動車工業株式会社 回転体付き車輪
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Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2354404A1 (de) * 1972-11-13 1974-05-16 Ilon B E Rad fuer ein laufstabiles, selbstfahrendes fahrzeug
EP0147602A2 (de) * 1983-11-17 1985-07-10 Mecanum Innovation Ab Transportvorrichtung
WO1986003132A1 (en) * 1984-11-20 1986-06-05 International Texas Industries, Inc. Omnidirectional vehicle base
DE3841971A1 (de) * 1988-12-09 1990-06-21 Walter Franke Allseitig rangierbares schwertransportfahrzeug
US6179073B1 (en) * 1998-05-28 2001-01-30 University Of South Florida Hybrid track for a vehicle

Also Published As

Publication number Publication date
ES2339877T3 (es) 2010-05-26
DE202005012682U1 (de) 2006-12-21
US8833862B2 (en) 2014-09-16
EP1912799B1 (de) 2010-04-07
DE112006002730A5 (de) 2008-07-10
JP5015155B2 (ja) 2012-08-29
WO2007016917A2 (de) 2007-02-15
ATE463353T1 (de) 2010-04-15
JP2009504465A (ja) 2009-02-05
CN101223039A (zh) 2008-07-16
US20090065113A1 (en) 2009-03-12
DE502006006648D1 (de) 2010-05-20
EP1912799A2 (de) 2008-04-23

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