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DE10146862A1 - Fully movable vehicle in shape of ball has drive system possessing only two drive wheels which are installed opposite and parallel to one another at same height - Google Patents

Fully movable vehicle in shape of ball has drive system possessing only two drive wheels which are installed opposite and parallel to one another at same height

Info

Publication number
DE10146862A1
DE10146862A1 DE10146862A DE10146862A DE10146862A1 DE 10146862 A1 DE10146862 A1 DE 10146862A1 DE 10146862 A DE10146862 A DE 10146862A DE 10146862 A DE10146862 A DE 10146862A DE 10146862 A1 DE10146862 A1 DE 10146862A1
Authority
DE
Germany
Prior art keywords
ball
drive
drive wheels
drive system
chassis
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
DE10146862A
Other languages
German (de)
Inventor
Richard Eckl
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to DE10146862A priority Critical patent/DE10146862A1/en
Publication of DE10146862A1 publication Critical patent/DE10146862A1/en
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/005—Motorised rolling toys
    • 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
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)

Abstract

The fully movable vehicle, in the shape of a ball, can drive forwards and backwards, can travel curves to the left or right and can cause the rotation on the spot clockwise and anticlockwise. The drive system possesses only two drive wheels which are installed opposite and parallel to one another at the same height. The center of gravity of the chassis lies below the drive wheels. The drive system can travel only in combination with a ball-shaped outer shell. The propulsion takes place by displacement of the center of gravity. The adhesive force of the drive wheels is determined by a pressure spring on the support wheel. The chassis is completely enclosed by the vehicle shell.

Description

Laut dem bisherigen Stand der Technik ist es nur möglich eine Kugel durch z. B. ein Auto, das in der Kugel fährt, eingeschränkt steuern zu können. Es wurde auch eine Erfindung gemacht, mit der man einer Kugel, die an eine Art Fuchsschwanz befestigt ist, unkontrollierbar auf einer waagerechten Ebene fahren lassen kann. Leider liegen mir jedoch keine Informationen zu einem Patent vor.According to the prior art, it is only possible to get a ball through z. B. a car that is in the ball travels to be able to control it to a limited extent. An invention was also made with which is uncontrollably on a ball attached to a kind of foxtail can drive horizontally level. Unfortunately, I don't have any information about one Patent before.

Bisher war es nicht möglich, eine Kugel vorwärts und rückwärts, nach links und nach rechts fahren bzw. steuern zu können. Außerdem war es nicht möglich eine Kugel auf der Stelle zu drehen, so dass eine Anfahrt der Kugel in jede beliebige Richtung möglich ist.So far it has not been possible to move a ball forward and backward, left and right to be able to drive or steer. In addition, it was not possible to get a bullet on the spot turn so that the ball can be moved in any direction.

Dieses bisher durch den Stand der Technik unlösbare Problem ist nun mit dem vollbeweglichen Fahrzeug in Form einer Kugel gelöst.This problem, which was previously unsolvable by the prior art, is now a problem with the fully movable one Vehicle solved in the form of a ball.

Das soeben erwähnte Fahrzeug ist folgendermaßen konstruiert (siehe dazu auch Fig. 1):
Das Fahrzeug besteht aus einer kugelförmigen Außenhülle (7), in der sich ein nicht an der Außenhülle befestigtes Chassis befindet. Das Chassis besteht aus einer Grundplatte (1) die an beiden Enden abgewinkelt ist. Auf den beiden Enden befindet sich jeweils ein Antriebsmotor (2), der sein Rad (3) antreibt. Auf dem Mittelstück der Grundplatte befindet sich ein besonders schweres Bauteil (z. B. Akku) (4), wodurch sich der Schwerpunkt. Unter den Rädern befindet. (Da dieses Fahrzeug mit dem Prinzip der Schwerpunktverlagerung funktioniert, ist ein Schwerpunkt unter den Rädern wichtig.) Ferner ist an der Grundplatte die Befestigungsstange (8) ihr den Federdämpfer (5) und das Stützrad (6) angebracht. Federdämpfer (5) und Stützrad (6) dienen dazu, den Anpressdruck und somit die Haftkraft der Räder (3) auf der Außenhülle zu erhöhen, damit ein Durchdrehen der Räder (3) während der Fahrt verhindert wird.The vehicle just mentioned is constructed as follows (see also Fig. 1):
The vehicle consists of a spherical outer shell ( 7 ) in which there is a chassis that is not attached to the outer shell. The chassis consists of a base plate ( 1 ) that is angled at both ends. On both ends there is a drive motor ( 2 ) which drives its wheel ( 3 ). There is a particularly heavy component (e.g. battery) ( 4 ) on the center piece of the base plate, which means that the center of gravity is. Located under the wheels. (Since this vehicle works with the principle of shifting the center of gravity, a center of gravity under the wheels is important.) Furthermore, the mounting rod ( 8 ), the spring damper ( 5 ) and the support wheel ( 6 ) are attached to the base plate. Spring damper ( 5 ) and support wheel ( 6 ) serve to increase the contact pressure and thus the adhesive force of the wheels ( 3 ) on the outer shell, so that the wheels ( 3 ) are prevented from spinning while driving.

Das Antriebsprinzip des vollbeweglichen Fahrzeugs in Form einer Kugel funktioniert folgendermaßen (siehe dazu auch Fig. 3):The drive principle of the fully movable vehicle in the form of a ball works as follows (see also Fig. 3):

Vorwärts- und RückwärtsfahrtForward and backward travel

Durch Antreiben beider Räder (3) in die gleiche Richtung und mit selber Drehzahl fährt das Fahrzeug nach vorne oder hinten (siehe gestricheltes Chassis). Dabei fährt das Chassis in der Außenhülle (7) schräg nach oben, wodurch sich der Schwerpunkt vom Auflagepunkt in die jeweils angesteuerte Richtung entfernt. Da jedoch Schwerpunkt (9) und Auflagepunkt (10) der Kugel übereinander sein müssen, damit die Kugel steht, rollt die Kugel nun durch dieses erzeugte Ungleichgewicht in die gesteuerte Richtung.By driving both wheels ( 3 ) in the same direction and at the same speed, the vehicle moves forwards or backwards (see dashed chassis). The chassis in the outer shell ( 7 ) moves obliquely upwards, which moves the center of gravity away from the point of contact in the direction that is being controlled. However, since the center of gravity ( 9 ) and support point ( 10 ) of the ball must be one above the other for the ball to stand, the ball now rolls in the controlled direction due to this imbalance.

Kurvenfahrt nach Links oder RechtsTurn left or right

Durch Antreiben eines Rades (3) mit höherer Drehzahl und eines mit niedrigerer Drehzahl in die selbe Richtung wie das andere. Durch ein Antreiben der Kugel auf diese Weise dreht sich die Kugel außer nach vorne zusätzlich noch um die eigene Körperachse. Die Kugel rollt in die Richtung, auf der sich das Antriebsrad (3) mit niedrigerer Drehzahl befindet.By driving one wheel ( 3 ) at a higher speed and one at a lower speed in the same direction as the other. By driving the ball in this way, the ball also rotates about its own body axis in addition to the front. The ball rolls in the direction in which the drive wheel ( 3 ) is located at a lower speed.

Drehung auf der StelleTurn on the spot

Durch Antreiben der beiden Räder (3) mit gleicher Drehzahl jedoch in entgegengesetzte Richtung dreht sich die Kugel bzw. das Chassis auf der Stelle. Dadurch kann die Anfahrtsrichtung beliebig eingestellt werden. By driving the two wheels ( 3 ) at the same speed but in the opposite direction, the ball or the chassis rotates on the spot. This allows the direction of travel to be set as desired.

Das vollbewegliche Fahrzeug in Form einer Kugel kann als Antriebssystem für einen ferngesteuerten Ball dienen, den man in einer einfachen (kostengünstigen) Version als Spielzeug für Kinder verkaufen kann. Außerdem kann es in einer besseren (teureren) Version als Modell für Jugendliche und Erwachsene verkauft werden.The fully movable vehicle in the form of a ball can act as a drive system for one remotely controlled ball, which can be used in a simple (inexpensive) version as a toy can sell for children. It can also be a better (more expensive) version than the model for Teenagers and adults are sold.

Ferner ist dieses Antriebssystem auch für Roboter in verschiedenen Bereichen einsetzbar.This drive system can also be used for robots in various areas.

Ein vollbewegliches Fahrzeug in Form einer Kugel kann folgendermaßen konstruiert werden (hier als ferngesteuertes Modell; siehe auch Fig. 4):A fully mobile vehicle in the form of a ball can be constructed as follows (here as a remote-controlled model; see also Fig. 4):

Zuerst einmal ist eine stabile, kugelförmige Außenhülle (1) nötig (z. B. eine Plastikkugel), die sich in zwei Hälften aufschrauben lässt. Die Kugelinnenwand muss etwas rauh sein, damit die Antriebsräder (2) nicht durchdrehen können.First of all, a stable, spherical outer shell ( 1 ) is required (e.g. a plastic ball) that can be screwed on in two halves. The inside wall of the sphere must be a little rough so that the drive wheels ( 2 ) cannot spin.

Das Chassis besteht aus einer länglichen Grundplatte (3), dessen Enden um ca. 30-45 Grad abgewinkelt sind, um schwere Bauteile möglichst tief plazieren zu können. Auf den zwei Enden sitzt jeweils ein (elektrischer) Getriebemotor (4), der eines der zwei Antriebsräder (2) antreibt. Auf dem Mittelstück der Grundplatte ist der Akku (5) befestigt, um den Schwerpunkt möglichst tief zu legen (mindestens unter die Antriebsräder).The chassis consists of an elongated base plate ( 3 ), the ends of which are angled by approx. 30-45 degrees so that heavy components can be placed as deep as possible. On each of the two ends there is an (electric) geared motor ( 4 ) which drives one of the two drive wheels ( 2 ). The battery ( 5 ) is attached to the center piece of the base plate in order to lower the center of gravity as much as possible (at least under the drive wheels).

Zwischen den beiden Gehäusen der Getriebemotoren ist ein Querverbinder (6) befestigt, an dem die Befestigungsstange (7) für den Federdämpfer (8) und das Stützrad (9) angebracht ist (Funktion des Stützrads siehe oben).Between the two housings of the geared motors, a cross connector ( 6 ) is attached, on which the mounting rod ( 7 ) for the spring damper ( 8 ) and the support wheel ( 9 ) is attached (see above for the function of the support wheel).

Jeweils an der linken Seite der Getriebegehäuse (4) ist ein Fahrtregler (10) befestigt, mit dem man die Drehzahl und Richtung des jeweiligen Motors (4) steuern kann. An dem zuvor schon genannten Querverbinder (6) ist der Empfänger (11) befestigt.A speed controller ( 10 ) is attached to the left side of the gearbox housing ( 4 ) with which the speed and direction of the respective motor ( 4 ) can be controlled. The receiver ( 11 ) is attached to the previously mentioned cross connector ( 6 ).

Der Schaltkreis kann der Fig. 2 entnommen werden.The circuit can be seen in FIG. 2.

Claims (1)

Das vollbewegliche Fahrzeug in Form einer Kugel, das vorwärts und rückwärts fahren kann, Kurven nach links oder rechts fahren kann und die Drehung auf der Stelle gegen und mit dem Uhrzeigersinn machen kann, kann als Antriebssystem für Roboter oder als ferngesteuertes Spielzeug für Kinder eingesetzt werden und kennzeichnet sich durch folgende Merkmale:
  • - das Antriebssystem besitzt nur zwei Antriebsräder, die gegenüber, auf selber Höhe und parallel zueinander eingebaut sind,
  • - der Schwerpunkt des Fahrgestells/Chassis liegt unter den Antriebsrädern,
  • - das Antriebssystem kann nur in Kombination mit einer kugelförmigen Außenhülle fahren,
  • - der Vortrieb erfolgt durch Schwerpunktverlagerung,
  • - die Haftkraft der Antriebsräder wird durch eine Druckfeder am Stützrad bestimmt,
  • - das Chassis wird vollständig von der Fahrzeughülle eingeschlossen.
The fully moving vehicle in the form of a ball, which can drive forward and backward, can make turns left or right and can turn on the spot counterclockwise and clockwise, can be used as a drive system for robots or as a remote-controlled toy for children and is characterized by the following features:
  • - the drive system has only two drive wheels, which are installed opposite, at the same height and parallel to each other,
  • - the center of gravity of the chassis / chassis lies under the drive wheels,
  • - the drive system can only move in combination with a spherical outer shell,
  • - the propulsion takes place by shifting the center of gravity,
  • - The adhesive force of the drive wheels is determined by a compression spring on the support wheel,
  • - The chassis is completely enclosed by the vehicle shell.
DE10146862A 2000-10-17 2001-09-22 Fully movable vehicle in shape of ball has drive system possessing only two drive wheels which are installed opposite and parallel to one another at same height Ceased DE10146862A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE10146862A DE10146862A1 (en) 2000-10-17 2001-09-22 Fully movable vehicle in shape of ball has drive system possessing only two drive wheels which are installed opposite and parallel to one another at same height

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10051368 2000-10-17
DE10146862A DE10146862A1 (en) 2000-10-17 2001-09-22 Fully movable vehicle in shape of ball has drive system possessing only two drive wheels which are installed opposite and parallel to one another at same height

Publications (1)

Publication Number Publication Date
DE10146862A1 true DE10146862A1 (en) 2002-05-02

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2351457A1 (en) * 2010-08-06 2011-02-04 Universidad De Málaga Spherical robot (Machine-translation by Google Translate, not legally binding)
WO2012094349A2 (en) 2011-01-05 2012-07-12 Orbotix, Inc. Self-propelled device with actively engaged drive system
US9090214B2 (en) 2011-01-05 2015-07-28 Orbotix, Inc. Magnetically coupled accessory for a self-propelled device
US9218316B2 (en) 2011-01-05 2015-12-22 Sphero, Inc. Remotely controlling a self-propelled device in a virtualized environment
US9280717B2 (en) 2012-05-14 2016-03-08 Sphero, Inc. Operating a computing device by detecting rounded objects in an image
US9292758B2 (en) 2012-05-14 2016-03-22 Sphero, Inc. Augmentation of elements in data content
US9429940B2 (en) 2011-01-05 2016-08-30 Sphero, Inc. Self propelled device with magnetic coupling
US9829882B2 (en) 2013-12-20 2017-11-28 Sphero, Inc. Self-propelled device with center of mass drive system
US9827487B2 (en) 2012-05-14 2017-11-28 Sphero, Inc. Interactive augmented reality using a self-propelled device
CN108029582A (en) * 2017-12-04 2018-05-15 郑州游爱网络技术有限公司 A kind of electric pet toy ball
US10056791B2 (en) 2012-07-13 2018-08-21 Sphero, Inc. Self-optimizing power transfer
US10168701B2 (en) 2011-01-05 2019-01-01 Sphero, Inc. Multi-purposed self-propelled device
CN110834682A (en) * 2019-12-13 2020-02-25 中国科学院沈阳自动化研究所 An Internal Friction Omnidirectional Mobile Spherical Robot

Cited By (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2351457A1 (en) * 2010-08-06 2011-02-04 Universidad De Málaga Spherical robot (Machine-translation by Google Translate, not legally binding)
US10168701B2 (en) 2011-01-05 2019-01-01 Sphero, Inc. Multi-purposed self-propelled device
US9836046B2 (en) 2011-01-05 2017-12-05 Adam Wilson System and method for controlling a self-propelled device using a dynamically configurable instruction library
US9090214B2 (en) 2011-01-05 2015-07-28 Orbotix, Inc. Magnetically coupled accessory for a self-propelled device
US9114838B2 (en) 2011-01-05 2015-08-25 Sphero, Inc. Self-propelled device for interpreting input from a controller device
US9150263B2 (en) 2011-01-05 2015-10-06 Sphero, Inc. Self-propelled device implementing three-dimensional control
US9193404B2 (en) 2011-01-05 2015-11-24 Sphero, Inc. Self-propelled device with actively engaged drive system
US9211920B1 (en) 2011-01-05 2015-12-15 Sphero, Inc. Magnetically coupled accessory for a self-propelled device
US9218316B2 (en) 2011-01-05 2015-12-22 Sphero, Inc. Remotely controlling a self-propelled device in a virtualized environment
US11630457B2 (en) 2011-01-05 2023-04-18 Sphero, Inc. Multi-purposed self-propelled device
US9290220B2 (en) 2011-01-05 2016-03-22 Sphero, Inc. Orienting a user interface of a controller for operating a self-propelled device
US11460837B2 (en) 2011-01-05 2022-10-04 Sphero, Inc. Self-propelled device with actively engaged drive system
US9389612B2 (en) 2011-01-05 2016-07-12 Sphero, Inc. Self-propelled device implementing three-dimensional control
US9395725B2 (en) 2011-01-05 2016-07-19 Sphero, Inc. Self-propelled device implementing three-dimensional control
US9394016B2 (en) 2011-01-05 2016-07-19 Sphero, Inc. Self-propelled device for interpreting input from a controller device
US9429940B2 (en) 2011-01-05 2016-08-30 Sphero, Inc. Self propelled device with magnetic coupling
US9457730B2 (en) 2011-01-05 2016-10-04 Sphero, Inc. Self propelled device with magnetic coupling
US10678235B2 (en) 2011-01-05 2020-06-09 Sphero, Inc. Self-propelled device with actively engaged drive system
US9481410B2 (en) 2011-01-05 2016-11-01 Sphero, Inc. Magnetically coupled accessory for a self-propelled device
US9766620B2 (en) 2011-01-05 2017-09-19 Sphero, Inc. Self-propelled device with actively engaged drive system
EP3659681A1 (en) * 2011-01-05 2020-06-03 Sphero, Inc. Self-propelled device with actively engaged drive system
EP2661311A4 (en) * 2011-01-05 2014-12-10 Orbotix Inc Self-propelled device with actively engaged drive system
US9841758B2 (en) 2011-01-05 2017-12-12 Sphero, Inc. Orienting a user interface of a controller for operating a self-propelled device
US10423155B2 (en) 2011-01-05 2019-09-24 Sphero, Inc. Self propelled device with magnetic coupling
US9886032B2 (en) 2011-01-05 2018-02-06 Sphero, Inc. Self propelled device with magnetic coupling
US9952590B2 (en) 2011-01-05 2018-04-24 Sphero, Inc. Self-propelled device implementing three-dimensional control
US10281915B2 (en) 2011-01-05 2019-05-07 Sphero, Inc. Multi-purposed self-propelled device
US10012985B2 (en) 2011-01-05 2018-07-03 Sphero, Inc. Self-propelled device for interpreting input from a controller device
US10022643B2 (en) 2011-01-05 2018-07-17 Sphero, Inc. Magnetically coupled accessory for a self-propelled device
US10248118B2 (en) 2011-01-05 2019-04-02 Sphero, Inc. Remotely controlling a self-propelled device in a virtualized environment
WO2012094349A2 (en) 2011-01-05 2012-07-12 Orbotix, Inc. Self-propelled device with actively engaged drive system
US10192310B2 (en) 2012-05-14 2019-01-29 Sphero, Inc. Operating a computing device by detecting rounded objects in an image
US9827487B2 (en) 2012-05-14 2017-11-28 Sphero, Inc. Interactive augmented reality using a self-propelled device
US9483876B2 (en) 2012-05-14 2016-11-01 Sphero, Inc. Augmentation of elements in a data content
US9292758B2 (en) 2012-05-14 2016-03-22 Sphero, Inc. Augmentation of elements in data content
US9280717B2 (en) 2012-05-14 2016-03-08 Sphero, Inc. Operating a computing device by detecting rounded objects in an image
US10056791B2 (en) 2012-07-13 2018-08-21 Sphero, Inc. Self-optimizing power transfer
US10620622B2 (en) 2013-12-20 2020-04-14 Sphero, Inc. Self-propelled device with center of mass drive system
US9829882B2 (en) 2013-12-20 2017-11-28 Sphero, Inc. Self-propelled device with center of mass drive system
US11454963B2 (en) 2013-12-20 2022-09-27 Sphero, Inc. Self-propelled device with center of mass drive system
CN108029582A (en) * 2017-12-04 2018-05-15 郑州游爱网络技术有限公司 A kind of electric pet toy ball
CN110834682A (en) * 2019-12-13 2020-02-25 中国科学院沈阳自动化研究所 An Internal Friction Omnidirectional Mobile Spherical Robot

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