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MX2016008176A - Rueda esférica destinada a desplazar un vehículo y el vehiculo desplazado por dicha rueda. - Google Patents

Rueda esférica destinada a desplazar un vehículo y el vehiculo desplazado por dicha rueda.

Info

Publication number
MX2016008176A
MX2016008176A MX2016008176A MX2016008176A MX2016008176A MX 2016008176 A MX2016008176 A MX 2016008176A MX 2016008176 A MX2016008176 A MX 2016008176A MX 2016008176 A MX2016008176 A MX 2016008176A MX 2016008176 A MX2016008176 A MX 2016008176A
Authority
MX
Mexico
Prior art keywords
wheel
vehicle
caster
cup
opening
Prior art date
Application number
MX2016008176A
Other languages
English (en)
Inventor
CLERC Vincent
Roux Philippe
Original Assignee
Aldebaran Robotics
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 Aldebaran Robotics filed Critical Aldebaran Robotics
Publication of MX2016008176A publication Critical patent/MX2016008176A/es

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
    • B60B19/14—Ball-type wheels
    • 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
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • 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
    • B60B2900/00—Purpose of invention
    • B60B2900/50—Improvement of
    • B60B2900/551—Handling of obstacles or difficult terrains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B37/00—Wheel-axle combinations, e.g. wheel sets
    • B60B37/04—Wheel-axle combinations, e.g. wheel sets the wheels being rigidly attached to solid axles
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Tires In General (AREA)
  • Handcart (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

La presente invención se refiere a una rueda esférica diseñada para impulsar un vehículo, así como al vehículo impulsado por dicha rueda. La rueda (10) comprende dos casquetes (15, 16), cuya superficie sigue la superficie esférica de la rueda (10), estando cada uno de los casquetes (15, 16) enlazado por medio de una articulación de pivote (19, 29) con respecto al árbol motor. La rueda (10) comprende asimismo dos roldanas pivotantes (28, 29) dispuesta en la extensión de la articulación de pivote (19, 29) del casquete en cuestión (15, 16). Cada roldana pivotante (28, 29) asegura un rodamiento al nivel de la superficie esférica. Los radios S de la abertura de cada casquete (15, 16) y r de la correspondiente roldana pivotante (28, 29) se definen de forma que equilibren sustancialmente las fuerzas necesarias para impulsar el casquete (15, 16) y su correspondiente roldana pivotante (28, 29) cuando la rueda (10) traslada su apoyo en el suelo sobre un casquete (15, 16) al borde de la abertura, al apoyo en el suelo sobre su roldana pivotante correspondiente (28, 29).
MX2016008176A 2013-12-20 2014-12-18 Rueda esférica destinada a desplazar un vehículo y el vehiculo desplazado por dicha rueda. MX2016008176A (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1363339A FR3015358B1 (fr) 2013-12-20 2013-12-20 Roue spherique destinee a mouvoir un vehicule et vehicule mettant en œuvre la roue
PCT/EP2014/078560 WO2015091856A1 (fr) 2013-12-20 2014-12-18 Roue sphérique destinée à mouvoir un véhicule et véhicule mettant en œuvre la roue

Publications (1)

Publication Number Publication Date
MX2016008176A true MX2016008176A (es) 2017-05-04

Family

ID=50231395

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016008176A MX2016008176A (es) 2013-12-20 2014-12-18 Rueda esférica destinada a desplazar un vehículo y el vehiculo desplazado por dicha rueda.

Country Status (13)

Country Link
US (1) US9895928B2 (es)
EP (1) EP3083269B1 (es)
JP (1) JP6351725B2 (es)
CN (1) CN106163823B (es)
AU (1) AU2014368511B2 (es)
BR (1) BR112016014438A2 (es)
CA (1) CA2934625C (es)
FR (1) FR3015358B1 (es)
MX (1) MX2016008176A (es)
NZ (1) NZ722132A (es)
RU (1) RU2657140C1 (es)
SG (1) SG11201605063XA (es)
WO (1) WO2015091856A1 (es)

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KR102415855B1 (ko) * 2015-06-30 2022-07-01 엘지전자 주식회사 전방향 이동 바퀴 및 이를 이용한 로봇
CN106004237A (zh) * 2016-06-29 2016-10-12 成都电科创品机器人科技有限公司 一种全向移动装置
CN105966171A (zh) * 2016-06-29 2016-09-28 成都电科创品机器人科技有限公司 一种全向轮
CN106741262B (zh) * 2016-12-22 2018-10-12 深圳市智能机器人研究院 一种球形机器人
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
US20210291587A1 (en) * 2017-07-27 2021-09-23 Beijing Orion Star Technology Co., Ltd. Omnidirectional ball wheel
CN107364281B (zh) * 2017-07-31 2021-03-26 熊鹏 球形轮胎驱动系统及具有该系统的球形轮胎汽车
CN107867359A (zh) * 2017-12-12 2018-04-03 深圳市自由侠科技有限公司 一种橄榄球形独轮车
CN109533748B (zh) * 2018-09-05 2020-07-03 徐州康泰通讯设备有限公司 滚筒式信包箱
US11267283B2 (en) * 2019-04-05 2022-03-08 Honda Motor Co., Ltd. Omni-direction wheel system and methods for controlling the omni-direction wheel system
TWI761728B (zh) * 2019-11-21 2022-04-21 緯創資通股份有限公司 助行器及其全向輪
CA3157975A1 (en) * 2019-11-25 2021-06-03 Joal OLLIVIER Spherical omni-directional wheel
IT202000007240A1 (it) * 2020-04-06 2021-10-06 Aixcellence Srl Dispositivo di mantenimento della traiettoria di un veicolo
RU2733672C1 (ru) * 2020-06-05 2020-10-06 Вячеслав Сергеевич Перфильев Сферомобиль с гироскопической поддержкой горизонтального положения
WO2024135304A1 (ja) * 2022-12-21 2024-06-27 ソニーグループ株式会社 移動体及び移動方法
DE102024108951A1 (de) 2024-03-28 2025-10-02 Honda Motor Co., Ltd. Arbeitsmaschine
WO2025262996A1 (ja) * 2024-06-19 2025-12-26 ソニーグループ株式会社 車輪構造、及び移動体

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* Cited by examiner, † Cited by third party
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US3128814A (en) * 1964-04-14 Rohland
US2812031A (en) * 1953-06-19 1957-11-05 Elic P Aghnides Vehicle with inclined hemispheroidal wheels
US3695375A (en) * 1970-11-30 1972-10-03 Thaddeus M Splawinski Multi-purpose vehicle
NL7906664A (nl) * 1979-09-06 1981-03-10 Hugo Karel Krop Bolvormig wiel.
DE2945325A1 (de) * 1979-11-09 1981-05-21 Ustav pro výzkum motorových vozidel, Praha Einrichtung zur ueberwindung von hindernissen am fahrwerk eines gelaendefahrzeuges
DE29510627U1 (de) * 1995-06-30 1995-09-14 BIG Spielwarenfabrik Dipl.-Ing. Ernst A. Bettag, 90765 Fürth Aufsitz-Rutschspielfahrzeug
JPH0958461A (ja) * 1995-08-23 1997-03-04 Hitachi Zosen Corp 走行車輪装置
AU7908498A (en) * 1997-07-02 1999-01-25 Borringia Industrie Ag Drive wheel
JP3270410B2 (ja) * 1999-01-22 2002-04-02 株式会社ナンシン 回転式キャスタ
US6561591B2 (en) * 2001-06-07 2003-05-13 The Scott Fetzer Company Wheel assembly
CN1406802A (zh) * 2001-08-24 2003-04-02 任治国 一种全方位运动小车
US6888333B2 (en) * 2003-07-02 2005-05-03 Intouch Health, Inc. Holonomic platform for a robot
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FR2989935B1 (fr) * 2012-04-30 2016-04-15 Aldebaran Robotics Roue spherique et vehicule mettant en œuvre la roue

Also Published As

Publication number Publication date
RU2016129179A (ru) 2018-01-25
JP2017507056A (ja) 2017-03-16
CN106163823A (zh) 2016-11-23
FR3015358A1 (fr) 2015-06-26
RU2657140C1 (ru) 2018-06-08
CN106163823B (zh) 2018-11-23
BR112016014438A2 (pt) 2017-08-08
WO2015091856A1 (fr) 2015-06-25
US9895928B2 (en) 2018-02-20
EP3083269A1 (fr) 2016-10-26
FR3015358B1 (fr) 2017-06-16
CA2934625C (en) 2018-09-04
NZ722132A (en) 2017-08-25
EP3083269B1 (fr) 2021-03-10
US20160318337A1 (en) 2016-11-03
JP6351725B2 (ja) 2018-07-04
AU2014368511B2 (en) 2018-02-08
AU2014368511A1 (en) 2016-08-04
SG11201605063XA (en) 2016-07-28
CA2934625A1 (en) 2015-06-25

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