OMNI-DIRECTIONAL DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME

• US 20100096905A1
• Filed: 04/08/2008
• Published: 04/22/2010
• Est. Priority Date: 04/20/2007
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Kobashi, Shinichiro, Takenaka, Toru, Hirano, Makoto, Izumi, Hideharu, Kuwabara, Kazuya, Koyama, Taiji
• Granted Patent: US 8,342,270 B2
• Time in Patent Office: Days
• US Class Current: 301/5.23
• CPC Class Codes: B60B 19/00 Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
• CPC Class Codes: B60B 19/003 Multidirectional wheels
• CPC Class Codes: B60B 19/125 with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
• CPC Class Codes: B60B 2200/47 Physical activity equipment, e.g. leisure or sports articles
• CPC Class Codes: B60B 2360/10 Metallic materials
• CPC Class Codes: B60B 2360/32 Plastic compositions
• CPC Class Codes: B60B 2360/50 Rubbers
• CPC Class Codes: B60B 33/08 Ball castors B60B33/0028 takes precedence
• CPC Class Codes: B60Y 2200/40 Special vehicles
• CPC Class Codes: B62K 1/00 Unicycles
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Abstract

The omni-directional drive device comprises a main wheel (2) comprising an endless annular member rotatable around a center of cross section perpendicular to a corresponding tangential line, electric motors (5R and 5L) for producing rotative forces around the rotation axis of the main wheel (2) and around the center of cross section perpendicular to a corresponding tangential line of the main wheel (2) and an arrangement (rotary members (4R and 4L) fitted with free rollers (3R and 3L)) for converting the rotational forces of the electric motors (5R and 5L) to the rotational forces around the rotation center of the main wheel (2) and around the center (C) of cross section perpendicular to a corresponding tangential line of the main wheel (2).

Claims

1. An omni-directional drive device, comprising:

a base;

a first power transmitting member and a second power transmitting member rotatably supported by the base in a mutually coaxial relationship;

a first drive unit and a second drive unit for rotatively actuating the first and second power transmitting members, respectively;

a plurality of first free rollers rotatably supported by the first power transmitting member and arranged along a first concentric circle, each first free roller having a rotation axis which is related to a rotation axis of the first power transmitting member as skew lines;

a plurality of second free rollers rotatably supported by the second power transmitting member and arranged along a second concentric circle, each second free roller having a rotation axis which is related to a rotation axis of the second power transmitting member as skew lines; and

a main wheel including an annular member configured to rotate around a cross sectional center line thereof, and engaged by the first and second free rollers in such a manner that a lateral force of each free roller is transmitted to the main wheel so as to cause a circumferential movement of the main wheel along a circumference thereof and a rotational movement of the annular member around the cross sectional center line thereof.

2. The omni-directional drive device according to claim 1, wherein the main wheel is coaxially disposed in relation to the power transmitting members.

3. The omni-directional drive device according to claim 2, wherein the annular member is made of elastomeric material.

4. The omni-directional drive device according to claim 1, wherein the main wheel comprises an annular member and a plurality of discrete sleeves fitted on the annular member each in a freely rotatable manner.

5. The omni-directional drive device according to claim 1, wherein each sleeve is in rolling engagement with at least one of the first free rollers and one of the second free rollers at all times.

6. The omni-directional drive device according to claim 4, wherein the numbers of the first and second free rollers are each greater than that of the number of the sleeves of the main wheel.

7. The omni-directional drive device according to claim 1, wherein the first and second free rollers engage an inner circumferential part of the main wheel from oblique directions.

8. The omni-directional drive device according to claim 1, further comprising a resilient device for urging the first and second power transmitting members toward the main wheel.

9. The omni-directional drive device according to claim 1, wherein the main wheel engages a road surface or a floor surface.

10. The omni-directional drive device according to claim 1, further comprising a ball engaged by the main wheel, the ball in turn engaging a road surface or a floor surface.

11. The omni-directional drive device according to claim 1, wherein the base includes a payload supporting part.

12. The omni-directional drive device according to claim 1, further comprising:

a third power transmitting member and a fourth power transmitting member rotatably supported by the base in a mutually coaxial relationship;

a third drive unit and a second drive unit for rotatively actuating the third and fourth power transmitting members, respectively;

a plurality of third free rollers rotatably supported by the third power transmitting member and arranged along a third concentric circle, each third free roller having a rotation axis which is related to a rotation axis of the third power transmitting member as skew lines; and

a plurality of fourth free rollers rotatably supported by the fourth power transmitting member and arranged along a fourth concentric circle, each fourth free roller having a rotation axis which is related to a rotation axis of the fourth power transmitting member as skew lines; and

the main wheel being additionally engaged by the third and fourth free rollers in such a manner that a lateral force of each free roller is transmitted to the main wheel so as to cause a circumferential movement of the main wheel along a circumference thereof and a rotational movement of the annular member around the cross sectional center line thereof.

15. An omni-directional vehicle, comprising the omni-directional device according to claim 1, wherein the base includes a payload supporting part.

16. The omni-directional vehicle according to claim 15, wherein the main wheel engages a road surface or a floor surface as the driving object.

17. The omni-directional vehicle according to claim 15, wherein the main wheel engages a road surface or a floor surface via a ball that serves as the driving object.

13. An omni-directional drive device, comprising:

a base;

a power transmitting member rotatably supported by the base;

a drive unit for rotatively actuating the power transmitting member;

a plurality of free rollers rotatably supported by the power transmitting member and arranged along a concentric circle, each free roller having a rotation axis which is related a rotation axis of the first power transmitting member as skew lines; and

a main wheel including an annular member which is engaged by the free rollers in such a manner that a rotational force of the power transmitting member is transmitted to the main wheel via a lateral force of each free roller.

14. The omni-directional drive device according to claim 13, wherein the main wheel is coaxially disposed in relation to the power transmitting member.