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 Title: |
US6408230:
Omnidirectional vehicle and method of controlling the same
[ Derwent Title ]
>> View Certificate of Correction for this publication
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| Country: |
US United States of America
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| Inventor: |
Wada, Masayoshi; Kanagawa, Japan
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| Assignee: |
Fuji Electric Co., Ltd., Kawasaki, Japan
other patents from FUJI ELECTRIC CO., LTD. (210715) (approx. 1,495)
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| Published / Filed: |
2002-06-18
/ 2001-01-16
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| Application Number: |
US2001000759370
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| IPC Code: |
Advanced:
B62D 5/04;
B62D 6/00;
B62D 7/14;
G05D 1/02;
Core:
more...
IPC-7:
B62D 7/08;
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| ECLA Code: |
G05D1/02E14D;
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| U.S. Class: |
701/001;
180/006.2;
180/006.5;
180/252;
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| Field of Search: |
701/001,41,23
180/6.2,6.24,6.28,6.48,6.5,6.6,6.62,252,253,263,264,265,402,408,411
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| Priority Number: |
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| Abstract: |
An omnidirectional vehicle includes a body, and a plurality of units, each unit including a bearing rotatably supporting a steering shaft around a vertical axis with a rotor plate, and a driving wheel axially supported by a supporter fixed to the rotor plate. The driving wheel is positioned at a location spaced apart for a first offset distance from the steering shaft in the rolling direction of the driving wheel and spaced apart for a second offset distance from the steering shaft in the direction perpendicular to the rolling direction of the driving wheel. A first motor is fixed to the body for driving the steering shaft, and a second motor is fixed to the body for rotating the driving wheel. In the holonomic omnidirectional vehicle, the control system and the driving system are simplified, and interference therebetween is prevented. Also, it is possible to reduce the capacities of the actuators, the electric power for driving the vehicle and the manufacturing costs.
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| Attorney, Agent or Firm: |
Kanesaka & Takeuchi ;
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| Primary / Asst. Examiners: |
Cuchlinski, Jr., William A.; Hernandez, Olga
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| Maintenance Status: |
CC Certificate of Correction issued
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| INPADOC Legal Status: |
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Family Legal Status Report
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| Designated Country: |
DE FR GB
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| Family: |
Show 10 known family members
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First Claim:
Show all 13 claims |
What is claimed is:
1. An omnidirectional vehicle comprising:
- a body;
- at least one driving unit fixed to the body and including a steering shaft, a first actuator fixed to the body for driving the steering shaft, a driving wheel having a shaft, and a second actuator fixed to the body for driving the shaft of the driving wheel;
- a bearing fixed to the body for axially supporting the steering shaft;
- first power transmitting means for transmitting a power from the first actuator to the steering shaft to drive the steering shaft;
- second power transmitting means for transmitting a power from the second actuator to the driving wheel to thereby drive the driving wheel; and
- supporting means having a bearing and positioned below the steering shaft for axially supporting the driving wheel via the bearing to thereby rotate the driving wheel together with the steering shaft around a vertical axis of the body;
- wherein said driving wheel is positioned in a first plane including the shaft of the driving wheel which is perpendicular to a second plane including a rotation axis of the steering shaft, said driving wheel located in the first plane being spaced apart for a first predetermined distance (d) from the second plane, said first plane being spaced apart for a second predetermined distance (s) from the rotation axis of the steering shaft at a point intersecting the second plane to thereby freely rotate the driving wheel around a horizontal axis, and said shaft of the driving wheel and the steering shaft do not cross each other.
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| Background / Summary: |
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| Drawing Descriptions: |
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| Description: |
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| Forward References: |
Show 17 U.S. patent(s) that reference this one
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