| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 61 | Inverted pendulum type moving body with a friction drive and friction drive unit | JP2009218292 | 2009-09-22 | JP5352394B2 | 2013-11-27 | 洋 五味; 透 竹中; 和也 ▲桑▼原 |
| In a frictional drive device comprising a pair of drive disks (48) rotatably supported by a frame (10) around a central axial line (A) in a mutually opposing relationship, a pair of motors (64) supported by the frame for individually rotatively actuating the drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk at a regular interval and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (84, 110) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86, 111) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member, a resiliency is incorporated either in the main wheel or in the drive rollers so that a relatively large number of driven rollers can be simultaneously engaged by the drive rollers and, hence, a relative high drive efficiency can be maintained even when the axial center of the annular member and the axial center of the drive disks are offset from each other. | ||||||
| 62 | Omni-directional wheel | JP2012532434 | 2010-10-12 | JP2013507283A | 2013-03-04 | リディアード，ウィリアム |
| 全方向式ホィールは、タイヤを据付けるリム、車両にホィールを取り付けるハブ、及びこのリムとハブを連結する手段を有している。 ホィールのリムは、一部がハブに回転可能に連結しており、この部分は、ハブの周囲に半径方向に回転するときに、リム上に据え付けたタイヤの表面と係合して、リム上のタイヤを回転させる。 従って、ホィールが地面と係合するときに、リム上のタイヤの回転によって、ホィールが、車両に取り付けたときにホィールの法平面に直交する平面において、ホィールを横方向に移動させる。 全方向式ホィールに使用する中実コアタイヤは、リムの回転可能な部分に係合するトレッドパターン又はらせん状コイル型を有する。 同様に中実コアタイヤの製造方法も提供されている。
【選択図】図４ |
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| 63 | 摩擦式駆動装置および倒立振子型移動体 | JP2011531660 | 2009-09-18 | JPWO2011033587A1 | 2013-02-07 | 洋 五味; 一司 浜谷 |
| 【課題】左右のドライブディスクのドライブローラと主輪のドリブンローラとの摩擦関係が変動しないようにすること。【解決手段】連結機構(クロスローラ軸受58)によって左右のドライブディスクドライブローラ56L、56Rの径方向と軸線方向の少なくとも一方の相対変位を規制して左右のドライブディスク56L、56Rを相対回転可能に連結する。【選択図】図3 | ||||||
| 64 | Frictional driving device and inverted pendulum type moving body using the same | JP2009260910 | 2009-11-16 | JP2011105092A | 2011-06-02 | GOMI HIROSHI; TAKENAKA TORU |
| PROBLEM TO BE SOLVED: To provide a traveling unit of a monocycle system inverted pendulum type moving body capable of providing high driving efficiency by changing an attack angle. SOLUTION: The attack angle of drive rollers 58L and 58R is variably set by varying an orientation position around turning shafts 54L and 54R of roller brackets 52L and 52R for supporting the drive rollers 58L and 58R contacting with a driven roller 106. COPYRIGHT: (C)2011,JPO&INPIT | ||||||
| 65 | Friction type drive device and inverted pendulum type moving body having the same | JP2009218292 | 2009-09-22 | JP2011068161A | 2011-04-07 | GOMI HIROSHI; TAKENAKA TORU; KUWAHARA KAZUYA |
| <P>PROBLEM TO BE SOLVED: To increase the number of drive rollers capable of being brought into contact with a driven roller. <P>SOLUTION: This friction drive device 40 includes: a pair of left and right disc-shaped drive discs 48L, 48R rotated by electric motors 64L, 64R; drive rollers 56L, 56R rotatably supported on an outer-periphery portion of the drive disc along a rotating surface not in parallel nor orthogonal to a rotational axis of the drive disc; an annular body 86 disposed between the left and right drive discs in the axial line direction of the drive disc; a plurality of driven rollers 92 arranged in annular direction of the annular body and rotatably supported on the annular body around an axial line in the tangential direction of the annular body at respective arrangement positions; and energizing members 53L, 53R which are mounted between the drive disc and the drive roller and energies the drive roller to the driven roller side. <P>COPYRIGHT: (C)2011,JPO&INPIT | ||||||
| 66 | Method for performing the operations in the running device and pipe line pipe | JP2010544253 | 2009-01-23 | JP2011509883A | 2011-03-31 | ベック，エスベン |
| 本発明は、パイプライン走行装置とも呼ばれるパイプ内走行装置に関する。 走行装置は、反対方向に回転して、走行装置をパイプラインに沿って移動させるか、又は互いに独立してより複雑な運動を実行する第１（２ａ）及び第２（２ｂ）のホイールアセンブリを含む。 各ホイールアセンブリ（２ａ、２ｂ）は、ホイールアーム（４）の自由端に多数のホイール（５）を含み、各ホイール（５）は、シャーシ（１）の軸に対して角度を付けられた回転軸を有する。 各ホイール（５）は、大径端及び小径端を有する回転対称体として形成され、大径端によって片側のみでホイールアーム（４）に取り付けられる。 | ||||||
| 67 | Drive device | JP2009218172 | 2009-09-18 | JP2011063242A | 2011-03-31 | GOMI HIROSHI; TAKENAKA TORU; KOBASHI SHINICHIRO; KOYAMA TAIJI; SASAKI MASAO; IZUMI HIDEJI; KUWAHARA KAZUYA |
| <P>PROBLEM TO BE SOLVED: To provide a drive device which enhances a grip force when the main wheel moves in a horizontal direction. <P>SOLUTION: The drive device includes: the main wheel 5 having a ring member 51, and a plurality of driven rollers 52 attached to the ring member rotatably; a plurality of first drive rollers 29R and a plurality of second drive rollers 29L disposed to be in contact with the outer peripheral surfaces 52a of the driven rollers, on both sides to sandwich the ring member therebetween; a first retaining body 27R and a second retaining body 27L respectively rotatably retaining the plurality of first drive rollers and the plurality of second drive rollers on both sides to sandwich the ring member therebetween; and a first drive part 31R and a second drive part 31L respectively rotary driving the first retaining body and the second retaining body. A groove part 55 is formed to the outer peripheral face of the driven roller at an angle with a circumferential direction thereof. <P>COPYRIGHT: (C)2011,JPO&INPIT | ||||||
| 68 | Wheel, friction type driving device using the same, and omni-directional vehicle | JP2009098705 | 2009-04-15 | JP2010247640A | 2010-11-04 | TAKENAKA TORU; HIRANO MAKOTO; GOMI HIROSHI; SASAKI MASAO; KOYAMA TAIJI; KOBASHI SHINICHIRO; IZUMI HIDEJI; KUWAHARA KAZUYA; MAKINO HIROYUKI |
| <P>PROBLEM TO BE SOLVED: To produce a wheel to be used for an omni-directional vehicle, etc. with good workability by securing required wheel performance. <P>SOLUTION: A shaft body 51 is constituted of a C-shaped shaft body 61 and a shaft complementing member 62 for forming an endless ring shape by complementing together with the shaft body 61. A joining part between the shaft body 61 and the shaft complementing member 62 includes a non-orthogonal surface which is not orthogonal to a center axis of the shaft body 51. The shaft body 61 and the shaft complementing member 62 are fixed and connected by a bolt 64 penetrating in a radial direction of the shaft body 51 into the non-orthogonal surface. <P>COPYRIGHT: (C)2011,JPO&INPIT | ||||||
| 69 | Autonomous traveling object and its movement control method | JP2008139236 | 2008-05-28 | JP2009288931A | 2009-12-10 | TAKAHASHI MASAKI; SUZUKI TAKAFUMI; SHIMOMOTO HIDEO |
| PROBLEM TO BE SOLVED: To prevent the direction of a detection part which detects an external environment from being frequently changed, and to quickly facilitate countermeasures to the external environment in an autonomous traveling object which is able to move while evading an obstacle, and to prevent, when an object to be conveyed is connected to the self-unit, the object to be conveyed from swinging and interfering with the peripheral environment in the case of evading the obstacle. SOLUTION: A robot 11 includes: an omni-directional wheel mechanism; a laser range finder 14; and a traveling control controller. The omni-directional wheel mechanism is able to move the self-unit to all azimuths. The laser range finder 14 is configured to detect an obstacle 16. A traveling controller creates a movement instruction signal to evade the obstacle 16 detected by the laser range finder 14 without changing the front direction of the self-unit, and transmits it to the omni-directional wheel mechanism. COPYRIGHT: (C)2010,JPO&INPIT | ||||||
| 70 | wheel | JP2008525384 | 2006-08-08 | JP2009504465A | 2009-02-05 | グュンター，ボルフガング |
| 本発明は、駆動されるホイール体（２）を備え、該ホイール体は２つの支持部材（２１，２２）を有しており、該支持部材の間には中高の表面をもつ多数のローラ体（３）が回転可能に配置されており、該ローラ体は少なくとも部分的に前記支持部材（２１，２２）の円周から突き出すとともに、その回転軸は前記ホイール体（２）の回転軸（２３９）に対して斜めに向いているホイール（１）に関するものであり、前記ホイール（１）の外径（Ｄｕ）と前記ローラ体（３）の最大半径（Ｒａ）との比率は１．０８から１．１３の間であり、特に１．０９から１．１２の間である。 | ||||||
| 71 | Electric wheelchair | JP2006132274 | 2006-05-11 | JP2007301134A | 2007-11-22 | TORITA HIDEKI |
| <P>PROBLEM TO BE SOLVED: To provide an electric wheelchair being easily changed into a four-wheel drive as necessary. <P>SOLUTION: This electric wheelchair having electric-drive type left/right rear wheels and non-circling type front wheels disposed with a plurality of rollers rotating orthogonally to the wheel rectilinear direction around their circumferences, is provided with an operation lever 14 provided in a body frame, transmission rollers 11 occupying transmission positions between the wheel circumferential faces of the front/rear wheels 1 and 5 and transmitting the rotation of the rear wheels 1 to the front wheels 5, roller support arms 12 and 13 freely rotating the transmission rollers and movably provided in the body frame so as to move between a neutral position and the transmission positions with their supported swingably in the front/rear direction, and transmission roller press-contact springs 16 energizing the roller support arms 12 and 13 in the direction of the transmission positions so as to press contact with the wheel circumferential faces at the transmission positions. The operation lever 14 interlocks and restricts the roller support arms 12 and 13 inversely to the transmission positions by the operation to regular positions or releases the restriction by the operation to actuation positions. <P>COPYRIGHT: (C)2008,JPO&INPIT | ||||||
| 72 | JPS59109402K1 - | JP22071782A | 1982-12-16 | JPS59109402K1 | 1984-06-25 | |
| 73 | JPS5716001B2 - | JP12670673 | 1973-11-09 | JPS5716001B2 | 1982-04-02 | |
| 74 | HINGED VEHICLE CHASSIS | PCT/US2014067494 | 2014-11-25 | WO2015081137A9 | 2015-07-09 | PARROTT BRIAN; OUTA ALI; GONZALEZ PABLO EDUARDO CARRASCO ZANINI; LATIF FADL ABDEL |
| A robotic vehicle chassis is provided. The robotic vehicle chassis includes a first chassis section, a second chassis section, and a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction. The vehicle includes a drive wheel mounted to one of the first and second chassis sections and an omni-wheel mounted to the other of the first and second chassis sections. The omni-wheel is mounted at an angle orthogonal with respect to the drive wheel. The hinge joint rotates in response to the curvature of a surface the vehicle is traversing. | ||||||
| 75 | LOAD CARRYING VEHICLE AND EJECTION MECHANISM AND METHODS RELATED THERETO | PCT/US2005043948 | 2005-12-06 | WO2006071461A3 | 2008-02-21 | FENELLI NICHOLAS E |
| Apparatus for transporting, loading, and off-loading munitions with improved safety and efficiency. In preferred embodiments, a munitions transport and loading apparatus (1) which employs omni-directional wheel modules (5) for optimized maneuverability. | ||||||
| 76 | IMPROVED WHEEL ASSEMBLY AND WHEELCHAIR | PCT/US2005030615 | 2005-08-24 | WO2006041579A3 | 2006-09-14 | LAMPRICH LONNIE JAY; LAMPRICH BRADLEY KEITH |
| A wheel assembly having multiple small rotatable wheels mounted laterally thereon whereby lateral movement as well as forward and backward movement is provided. A pair of the wheel assemblies is utilized on a hand-propelled wheelchair that can be moved laterally as well as in the standard forward-reverse motion. The wheelchair comprises a frame, one or more axles, a pair of main wheels rotatable on the one or more axles, and a plurality of small rotatable outer wheels positioned laterally on the main wheels. | ||||||
| 77 | 캐스터 장치 및 이를 포함하는 이송 장치 | KR1020160028720 | 2016-03-10 | KR1020170105743A | 2017-09-20 | 육남수; 박정준; 홍은경; 황범수 |
| 캐스터장치가제공된다. 캐스터장치는, 캐스터휠, 상기캐스터휠의제1 측에배치되고, 제1 모터에의해구동되는제1 드라이빙휠, 상기캐스터휠의상기제1 측과대향하는제2 측에배치되고, 상기제1 모터와다른제2 모터에의해구동되는제2 드라이빙휠, 지면의굴곡에따라상기지면과수직방향으로상기제1 드라이빙휠을이동시키는제1 완충기, 및상기지면의굴곡에따라상기지면과수직방향으로상기제2 드라이빙휠을이동시키는제2 완충기를포함하되, 상기제1 및제2 드라이빙휠은상기캐스터휠을조향한다. | ||||||
| 78 | 힌지형 차량 새시 | KR1020167016812 | 2014-11-25 | KR1020160104624A | 2016-09-05 | 패럿,브라이언; 오우타,알리; 파블로카라스코자니니; 파들압델라티프 |
| 로봇식차량이제공된다. 로봇식차량섀시는제1 섀시섹션, 제2 섀시섹션, 및상기제1 및제2 섀시섹션이서로에대해적어도제1 방향으로회전할수 있도록제1 섀시섹션과제2 섀시섹션을연결하는힌지조인트를포함한다. 차량은제1 및제2 섀시섹션중 하나에장착되는구동휠, 및제1 및제2 섀시섹션중 다른하나에장착되는옴니-휠을포함한다. 옴니-휠은구동휠에대해직교하는각도로장착된다. 힌지조인트는차량이횡단하는표면의곡률에응답하여회전한다. | ||||||
| 79 | 자율 이동 장치 | KR1020090007417 | 2009-01-30 | KR101380269B1 | 2014-04-01 | 모리구치토시키; 무라야마타카히코; 오카다타쿠야 |
| 본 발명은 자율 이동 장치로서, 구동 장치가 설치된 대차와, 상기 대차의 측면 및 상하면 전체 또는 일부를 덮고, 또한 상기 대차에 대하여 상대 변위 가능하게 상기 대차에 부착되는 커버와, 상기 대차의 상하면의 적어도 한쪽면과 그 상하면의 적어도 한쪽면에 대향하는 상기 커버의 상대 변위에 따른 검출 신호를 출력하는 검출 장치와, 상기 검출 장치로부터 출력되는 검출 신호에 따라 상기 구동 장치를 제어하는 제어 장치를 포함한다. 자율 이동 장치 | ||||||
| 80 | 도립진자형 차량 | KR1020130020264 | 2013-02-26 | KR1020140016138A | 2014-02-07 | 타케나카토루; 시로쿠라신야; 무라카미히데오; 아라키마코토 |
| An inverted pendulum type vehicle, of which cockpit is freely inclined, is prepared with a first movement action unit (3) and a second movement action unit (4) which are arranged leaving spaces at the front and rear, and which are capable of moving into every direction. At a predetermined representative point of the vehicle (1) or in a situation where the first movement action unit (3) is moving left or right, The velocities of the first movement action unit (3) and the second movement action unit (4) are differentiated, so as to control the movement actions of the first movement action unit (3) and the second movement action unit (4). [Reference numerals] (31) Operation command conversion unit; (32) Gravity center target speed determining unit; (33) Gravity center target speed estimating unit; (34) Posture control calculating unit; (35a) Gravity center deviation estimating unit; (AA) Translational velocity command | ||||||
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