• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a spherical wheel for moving a vehicle and a vehicle implementing the wheel. The wheel (10) comprises two caps (15, 16) whose surface follows the spherical surface of the wheel (10), the caps (15, 16) being articulated each by means of a pivot connection (19, 20) by relative to a tree (12). The wheel (10) further comprises two rollers (28, 29) each disposed in an opening (54) of each of the caps (15, 16), the opening (54) being centered about the axis (21, 22). ) of the corresponding pivot link (19, 20), each wheel (28, 29) being arranged in the extension of the pivot connection (19, 20) of the cap (15, 16). Each wheel (28, 29) provides a rolling at the spherical surface. A rolling line (51, 52) of the rollers (28, 29) occupying an angular sector (β) centered on the center of the spherical wheel (10) is greater than 35 °.
    公开号:FR3015358A1
    申请号:FR1363339
    申请日:2013-12-20
    公开日:2015-06-26
    发明作者:Vincent Clerc；Philippe Roux
    申请人:Aldebaran Robotics SA；
    IPC主号:
    专利说明:

    [0001] The invention relates to a spherical wheel intended to move a vehicle and a vehicle implementing the wheel. Conventionally four-wheeled vehicles are equipped with directional wheels allowing them to change direction. The wheels are connected to the vehicle by means of pivot links and in the case of directional wheels an additional degree of freedom in rotation is added. When the directional wheels are driving, cardan joints allow to drive the wheels while allowing to change the orientation of the axis of the pivot connection. This type of configuration does not make it possible to achieve low turning radii. In other words, it is impossible to rotate the vehicle on the spot without speed. In addition, an attempt has been made to make a vehicle having spherical wheels that can each pivot on itself. An example of such an embodiment is described in the patent application published under number JP 2007-210576. This document describes a wheel comprising two hemispheres. The wheel is actuated by a horizontal motor shaft which causes rotation, a support carrying the two hemispheres. These are mounted on the support, each via a pivot connection. The two pivot links are aligned. Their common axis is perpendicular to the axis of rotation of the motor shaft. A vehicle, such as a robot, may be equipped with four wheels as described in JP 2007-210576. We then have the axes of four-wheel drive shafts perpendicular to each other. The wheels are then aligned in pairs. The driving of two wheels of a first pair makes it possible to move the vehicle in a direction perpendicular to the common axis of this pair of wheels. For the second pair of wheels, the hemispheres rotate freely around their pivot link. A movement of the robot in a perpendicular direction is obtained by driving the wheels of the second pair. Combined movements are of course possible. This allows the vehicle to move in any direction and even to turn on itself. The drive shaft of a wheel enters the wheel by an equatorial plane of the wheel, located between the two hemispheres. The equatorial plane is defined by analogy with the terrestrial sphere. This plan separates the two hemispheres, which can be likened to the northern and southern terrestrial hemispheres. The motor shaft must have a certain rigidity which imposes a minimum diameter. The two hemispheres are therefore at least distant from this diameter. In practice, it is necessary to add to the diameter of the shaft a functional play avoiding that the hemispheres do not rub against the motor shaft. We thus obtain two hemispheres each limited by a plane. The planes of the two hemispheres are parallel and arranged at a distance that can not be reduced without risking harming the rigidity of the motor shaft.
    [0002] When the equatorial plane of the wheel is in a vertical position relative to the ground, which is assumed horizontal, a discontinuity of the support of the wheel on the ground appears. More specifically, when the wheel is driving, the equatorial plane of the wheel comes to each wheel turn in contact with the ground and causes a passage of the support on the ground from one hemisphere to another and therefore a plan from one hemisphere to another. When passing through this discontinuity, a loss of adhesion may occur, the sphericity of the wheel is momentarily lost and at high speed noise occurs at each passage. In the French patent application FR 12-53981 filed April 30, 2012 in the name of the applicant, another spherical wheel, similar to that described in JP 2007-210576, has been proposed. This other spherical wheel reduces the disadvantage of the discontinuity in the passage through the equatorial plane of the wheel by making intersecting planes limiting the two hemispheres. In practice, the name "hemisphere" can no longer be used and is replaced by the term cap to define the two wheel parts, each of the surfaces following the spherical surface of the wheel. The caps are articulated each by means of a pivot connection relative to the drive shaft of the wheel. The two caps are each limited by a plane and the two planes are intersecting. In other words, the axes of the two pivot links are no longer aligned. These two embodiments have a singularity when the axis of one of the pivot links is perpendicular to the ground. In this configuration, if the vehicle implementing the wheel has a speed vector not perpendicular to the motor axis of the wheel considered, it slides at its point of contact with the ground. To avoid this sliding, each cap (or hemisphere) comprises a wheel disposed in the extension of the pivot connection of the cap considered and ensuring a rolling at the spherical surface. The rollers have a degree of freedom in rotation about an axis perpendicular to the motor axis of the wheel. This rotational movement is sufficient to prevent the wheel from sliding in a singularity configuration. The rollers each have a rolling line which follows the spherical surface of the wheel. In JP 2007-210576 as well as in the French patent application FR 12-53981, the rollers are as small as possible in order to preserve the largest possible cap surfaces for the wheel. Indeed, the wheel can be driving only when it is in contact on the ground on the surface of its caps. It is therefore urged to minimize the size of the wheels, in particular to reduce as much as possible the circular opening made in each of the caps to wear the rollers respective. Tests carried out internally by the Applicant have shown that during passage through the singularity, the rotational speed of the cap considered evolving very significantly, which has a disadvantage due to the inertia of the cap. More specifically, for a constant linear speed of the vehicle, the speed of rotation of a cap in contact with the ground can change by a minimum value when the rotation of the cap is at the plane which limits it to a maximum value when the rotation of the cap is at the edge of the opening for the passage of the wheel. Always for a constant linear speed of the vehicle, one can have a sequence linking various points of contact with the ground: - contact with the ground on the plane limiting the cap, - passage by the edge of the opening, - rolling on the roulette - passing again by the edge of the opening, - and finally return to the plane limiting the cap. During the first passage through the edge of the opening, the speed of rotation of the cap around its pivot connection is in a direction which must be reversed at the time of the second passage by the edge of the opening to avoid any friction of the cap on the ground. The inertia of the cap can interfere with this inversion of direction of rotation. This discomfort is all the more important as the dimensions of the opening are small because of the high rotational speeds achieved by the cap. This discomfort is further amplified with an increase in the linear speed of the vehicle. Indeed, this increase in linear speed tends to increase the speed of rotation of the cap and reduce the time available for the reversal of rotational speed in the vicinity of the singularity. These abrupt changes in speed for the cap require, as for the wheel, a significant amount of kinetic energy input and can generate risks of friction between the wheel and the ground. The invention aims to reduce the speed of rotation of the cap in the vicinity of the singularity. For this purpose, the subject of the invention is a spherical wheel of radius R intended to move a vehicle, the wheel being motorized in rotation by a shaft rotatable about an axis, the wheel comprising two caps whose surface follows the spherical surface of the wheel and each limited by a plane, the caps being articulated each by means of a pivot connection relative to the shaft about an axis 20 perpendicular to the plane of the cap considered, the wheel further comprising two rollers each disposed in an opening of each of the caps, the opening being circular and centered around the axis of the corresponding pivot connection, each wheel being disposed in the extension of the pivot connection of the cap considered, each wheel being free in rotation about an axis perpendicular to the axis of the shaft, each roller providing a rolling at the spherical surface, characterized in that a rolling line of r oulettes occupy an angular sector centered on the center of the spherical wheel and in that the angular sector (13) is greater than 35 °. The invention also relates to a vehicle comprising at least three wheels according to the invention. The shafts of the shafts of at least two wheels are not aligned.
    [0003] Other tests carried out internally by the applicant have shown that when passing through the singularity a small diameter of the wheel causes an increase in its angular velocity for the same linear speed of the vehicle. The wheel is not motorized and being free around its axis of rotation, it is the movement of the vehicle that must drive the wheel. When passing through the singularity, the roulette must go from a zero speed to a high speed. Due to the inertia of the wheel, friction can appear between the wheel and the ground. In addition, the rapid evolution of the speed of rotation of the wheel also requires a kinetic energy input in a very short time at the moment when the contact of the wheel on the ground leaves the cap to be on roulette. This energy supply can generate jolts in the movement of the vehicle. Since the kinetic energy is a function of the square of the rotational speed of the wheel, the invention advantageously aims at reducing this energy supply by increasing the diameter of the wheel which results in a reduction in the kinetic energy required to drive the wheel. roulette. The invention makes it possible, of course, to reduce the risks of friction that may appear during the rotational drive of the wheel. The invention has significant utility at high speeds of the vehicle. For this purpose, a larger radius r of each of the rollers about its respective axis is greater than a quarter of the radius R of the spherical wheel. This feature concerning the radius r of the rollers already has an advantage even if the angular sector defined above and occupied by the rollers is less than 35 °. The invention will be better understood and other advantages will become apparent upon reading the detailed description of an exemplary embodiment, which is illustrated by the accompanying drawing in which: FIGS. 1 and 2 represent a first spherical wheel variant according to the invention; FIG. 3 represents a second spherical wheel variant according to the invention; FIG. 4 is a partial sectional view of the wheel of FIGS. 1 and 2; Figure 5 shows another external view of the wheel of Figures 1 and 2; Figure 6 shows in perspective and in partial section the wheel of Figures 1 and 2; FIG. 7 represents an example of a vehicle equipped with several wheels of FIGS. 1 and 2. For the sake of clarity, the same elements will bear the same references in the different figures.
    [0004] Figures 1 and 2 show a spherical wheel 10 of radius R intended to move a vehicle 11. Figure 1 is shown in profile and Figure 2 in perspective. The wheel 10 is motorized in rotation by a shaft 12. The vehicle 11 is represented by its body and the shaft 12 is connected to the body by a pivot connection 13. The axis of rotation of the shaft 12 is marked 14 .
    [0005] The wheel 10 comprises two caps 15 and 16 whose outer surface follows the spherical surface of the wheel 10. The cap 15 is bounded by a plane 17 and the cap 16 is bounded by a plane 18. The caps 15 and 16 are articulated each by means of a pivot connection, respectively 19 and 20 relative to the shaft 12. The axis 21 of the pivot connection 19 is perpendicular to the plane 17 of the cap 15 and the axis 22 of the pivot connection 20 is perpendicular the plane 18 of the cap 16. The two pivot links 19 and 20 are disposed within their respective cap and will be detailed later. It is possible to make different caps 15 and 16, but advantageously, the latter are identical and arranged symmetrically with respect to the shaft 12. In other words, the planes 17 and 18 are intersecting along a straight line having a point of intersection 23 with the axis 14 of the shaft 12. In this configuration, the axes 21 and 22 of the two pivot links 19 and 20 are intersecting form a non-zero angle between them.
    [0006] The wheel 10 is intended to roll on the ground marked 25 in Figures 1 and 2. One of the two caps 15 or 16 is in contact with the ground 25. When the shaft 12 drives the wheel 10, it maintains a contact with the ground 25 along a circle 26 of the spherical surface of the wheel 10. In this movement, the vehicle has a velocity vector perpendicular to the axis 14 at the point of intersection 27 between the axis 14 and a plane containing the circle 26.
    [0007] When the velocity vector of the vehicle 11, applied at the point 26 is not perpendicular to the axis 14, the cap which is in contact with the ground starts to rotate freely around its pivot connection. In other words, the cap in contact with the ground 25 can be driven by two movements: a first driving rotation about the axis 14 and a second rotation about the axis of its pivot connection. The two rotations can of course be combined according to the direction of the vehicle speed vector at point 26.
    [0008] FIG. 3 represents a variant of spherical wheel 30 motorized in rotation by a shaft 12 coming out of a vehicle 11. The wheel 30 comprises two caps 31 and 32 whose surface follows the spherical surface of the wheel 30. The cap 31 is limited by a plane 33 and the cap 32 is limited by a plane 34. Unlike the wheel 10, the planes 33 and 34 are parallel to each other and parallel to the axis 14 of the shaft 12. In this variant, the The axis 12 is parallel to the ground 25, assuming that the ground 25 is plane. In the operation of the wheels 10 and 30 a singularity appears when the cap in contact with the ground 25, the cap 16 in Figure 1 or the cap 32 in Figure 3, has its plane, respectively 18 and 34 horizontal. In this configuration, if the vehicle of Figure 1 has a vector applied to the point 27 not perpendicular to the axis 14, then the cap 16 can not rotate around its pivot connection 20 and slides on the ground 25. 25 To avoid this sliding, the wheel 10 comprises two wheels 28 and 29, a wheel being associated with each of the caps. Each wheel is arranged in the extension of the pivot connection of the cap in question and ensures a rolling at the spherical surface of the wheel 10. More specifically, the cap 15 is equipped with the wheel 28 and the cap 16 of the wheel 29. The rollers 28 and 29 may have a single degree of freedom in rotation about an axis perpendicular to the axis 14. This rotational movement is sufficient to prevent the wheel from sliding in a singularity configuration. The rollers each have a rolling line which follows the spherical surface of the wheel 10.
    [0009] It is the same for the wheel 30 which comprises two rollers 37 and 38, a wheel associated with each of the caps, respectively 31 and 32. The following description is made with respect to the wheel variant 5 10 shown in FIGS. 1 and 3. The characteristics which are presented also apply to the wheel 30. FIG. 4 shows in partial section the wheel 10 in a plane containing the axes of rotation of the two rollers 28 and 29. Only the cap 10 is cut off. . The wheel 10 comprises a support 40 secured to the shaft 12. The support 40 rotates about the axis 14 with the shaft 12. The pivot connection 19 connects the support 40 and the cap 15. The pivot connection 19 is formed of 42. Similarly, the pivot connection 20, masked in FIG. 4, connects the support 40 and the cap 16. It is of course possible to implement several bearings per cap depending on the rigidity desired for the wheel. 10. In this embodiment, the bearing 42 is formed by means of a spacer 43 interposed between the support 40 and the cap 15. The spacer 43 is for example made of a material to obtain a low coefficient friction. For example, polytetrafluoroethylene may be used. The two pivot links 19 and 20 are advantageously identical. Other embodiments of the bearings are possible. Rolling bearings can for example be used to limit the resisting torque in the rotation of the pivot connections 19 and 20. A pivot connection 44 connects the roller 28 and the shaft 12 via the support 40. The pivot connection 44 allows the wheel 28 to rotate freely about an axis 47. The pivot connection 44 is for example made by means of a shaft 45 carried at both ends by the support 40. The wheel 28 is traversed by the shaft 45 The roller 28 rotates freely relative to the shaft 45. Pads may be placed between the shaft 45 and the roller 28. As for the spacer 43, the bearings may be made of a material having a low coefficient of friction. as for example polytetrafluoroethylene. Similarly a pivot connection 48, similar to the pivot connection 44 and masked in Figure 4 connects the roller 29 and the shaft 12 through the support 40. This pivot connection allows the wheel 29 to rotate freely around 49. The rollers 28 and 29 are barrel-shaped so that their respective rolling lines 51 and 52, visible in FIG. 4, follow the spherical shape of the wheel 10. A running line 51 or 52 is a curve formed on the surface of a wheel 28 or 29, curve farthest from the axis 14. On a wheel, the rolling line moves on the surface of the wheel according to its rotation. The rolling line of a wheel is a portion of a circle formed on the spherical surface of the wheel 10. The running line 51 is located in a plane perpendicular to the plane 17 limiting the cap 15. Likewise the rolling line 52 is located in a plane perpendicular to the plane 18 limiting the cap 16. Figure 5 shows a view of the wheel 10, the view being centered on one of the wheels, for example the wheel 28. The wheel 28 appears 15 in a circular opening 54 performed in the cap 15 and centered on the axis 21. The opening of each cap has a radius S about the axis of its corresponding pivot connection. To avoid sudden changes in speed for the cap 15 when the support of the wheel 10 on the ground leaves the cap 15, is on the wheel 28 and finally returns to the cap 15, we increase the length of the line 51 and the diameter S of the opening 54. The rolling line 51 or 52 of each of the rollers 28 and 29 occupy an angular sector 13 centered on the center of the spherical wheel. Advantageously, the angular sector 13 is greater than 35 °. In-house testing has shown that an optimum angular sector value is between 45 ° and 50 °. By construction, it is possible to achieve a maximum angular sector of 130 °. The value used depends on the inertia of the different moving parts and the friction between these different parts. The largest radius of each of the rollers 28 and 29 about their axis 47 and 49, respectively, is denoted r. In order to limit the speed of rotation of the rollers 28 and 29, the radius r of the rollers 28 and 29 can be increased. Tests in-house have shown that when the radius r of each of the rollers 28 and 29 is greater than a quarter of the radius R of the spherical wheel 35 10, the speed reduction of the wheels is already noticeable.
    [0010] It is possible to reach a radius r equal to half the radius R of the spherical wheel 10 by means of a particular arrangement of the shaft 12 and the support 40. The shaft 12 would then have an end not reaching the center of the sphere. In the configuration where the radius r is equal to half the radius R, the two rollers 28 and 29 touch each other. This increases the inertia of the wheel which is in contact with the ground 25. More specifically, when one of the wheels comes into contact with the ground, its rotation causes the other wheel. The inertia obtained is substantially doubled with respect to the inertia of a single wheel.
    [0011] Other intermediate values of proportions between the r and R rays are also envisaged. If from a radius r equal to a quarter of the radius R of the sphere the reduction of the speed of rotation of the wheel is already interesting, it has been found that when the maximum radius r of each of the wheels 28 and 29 around its respective axis 47 and 49 is greater than one third of the radius R the reduction of the rotational speed of the wheel is particularly interesting. It is of course possible to make this same structure for the rollers 27 and 38 of the spherical wheel 30. The radius r of the rollers and the angular sector 13 occupied by the rolling line of the rollers can be optimized independently of one of the other. Furthermore, the radius S of the opening 54 is connected to the angular sector 13 in order to minimize the functional clearance between the wheel and its opening. It is advantageous to balance the forces required to drive a cap and a corresponding wheel when the wheel 10 passes from a ground support of a cap at the edge of its opening to a ground support on the corresponding wheel and vice versa. This makes it possible to avoid sudden variations in the force between the wheel 10 and the ground at the moment of transition, such a variation of effort resulting in a jerk on the shaft 12 and thus on the vehicle equipped with the wheel 10.
    [0012] Once the materials have been chosen, the balancing of the forces is mainly done by means of the relative dimensions of the radius S of the aperture and the radius r of the corresponding wheel. More concisely, the spokes S of the opening of each cap and r of the corresponding wheel are defined so as to substantially balance the forces required to drive a cap and the corresponding wheel when the wheel passes from a ground support on a cap at the edge of the opening to a support on the ground on the corresponding wheel. For each cap it is possible to define a friction torque Cfc at the pivot connection between the cap considered and the shaft 12 and more precisely with the support 40. Similarly, it is possible to define for each wheel a pair of Cfr friction at its freedom in rotation relative to the shaft 12. It is advantageous to obtain a static balancing of the friction forces due to the two pivot links 19 and 44 or 20 and 48. The static balancing is obtained by defining the radii S of the opening of the cap and r of the corresponding wheel so that the following equality is substantially respected: Cfc / S = Cfr / r Moreover, it is advantageous to obtain a dynamic equilibration of efforts. Efforts are a function of the inertia of the cap and the corresponding wheel. These two inertia are a function of the materials and dimensions of the cap and the corresponding wheel. The caps and wheels are defined to substantially balance the kinetic energies of a cap and the corresponding caster when the wheel passes from a support on the ground on the cap at the edge of the opening to a ground support on the roulette. More specifically, for each cap a moment of inertia is defined around the axis of its pivot connection between the cap and the tree. For each wheel a moment of inertia Ir is defined around the axis its freedom in rotation with respect to the drive shaft 12 of the wheel 10. The dimensions and materials of the caps 15 and 16 and the rollers 28 and 29 are defined so that the following equality is substantially respected: ic.00c InCOr = 2 2 wc representing the speed of rotation of the cap when the wheel is supported on the ground on the cap at the edge of the opening and wr representing the rotational speed the wheel when the wheel passes from a support on the ground on the cap at the edge of the opening to a support on the ground on the wheel.
    [0013] Advantageously, the wheel comprises two covers 56 associated with each wheel and fixed to the shaft 12 via the support 40. Figures 5 and 6 illustrate the two covers 56 associated with the wheel 28. The 5 covers 56 each have the a flat crescent parallel to the plane 17. The covers 56 partially cover the wheel 28 from the opening 54. The covers 56 both extend symmetrically with respect to the raceway 51. The covers 56 are The covers 56 make it possible to limit the penetration of particles into the wheel 10 through the opening 54. However, there is a functional clearance between the covers 56 and the cap 15 to allow the cap 15 to rotate around its pivot connection 19 without rubbing against the covers 56. FIG. 7 shows a vehicle 11 equipped with three wheels 10 according to the invention. This vehicle is for example a robot. The invention can also be implemented for vehicles comprising more than three wheels. For example for a four-wheeled vehicle, the axes of opposite wheels are located in the same vertical plane relative to a horizontal ground, thus forming two pairs of wheels. The planes containing the axes 20 of the two pairs of wheels are perpendicular. More generally, the axes of the shafts of at least two wheels are not arranged in the same plane, which allows the vehicle to move in all directions while keeping its wheels 10 on the ground 25 by means of a adapted steering.
    权利要求:
    Claims (12)
    [0001]
    REVENDICATIONS1. Spherical wheel of radius R intended to move a vehicle (11), the wheel (10, 30) being motorized in rotation by a shaft (12) rotatable about an axis (14), the wheel (10, 30) comprising two caps (15, 16, 31, 32) whose surface follows the spherical surface of the wheel (10, 30) and each of which is bounded by a plane (17, 18, 33, 34), the caps (15, 16; , 32) being each hinged by means of a pivot connection (19, 20) with respect to the shaft (12) about an axis (21, 22) perpendicular to the plane (17, 18, 33, 34) of the cap (15, 16; 31, 32), the wheel (10, 30) further comprising two wheels (28, 29; 37, 38) each disposed in an opening (54) of each of the caps (15, 16). 31, 32), the opening (54) being circular and centered around the axis (21, 22) of the corresponding pivot connection (19, 20), each wheel (28, 29; 37, 38) being arranged in the extension of the pivot connection (19, 20) of the relevant cap (15, 16; 31, 32) each wheel (28, 29; 37, 38) being free to rotate about an axis (47, 49) perpendicular to the axis (14) of the shaft (12), each roller (28, 29; of the spherical surface, characterized in that a rolling line (51, 52) of the rollers (28, 29; 37, 38) occupies an angular sector (13) centered on the center of the spherical wheel (10; 30) and in that the angular sector (13) is greater than 35 °.
    [0002]
    2. Wheel according to claim 1, characterized in that the angular sector (13) is less than 125 °.
    [0003]
    3. Wheel according to one of the preceding claims, characterized in that the angular sector (13) is between 45 ° and 50 °.
    [0004]
    4. Wheel according to one of the preceding claims, characterized in that a larger radius r of each of the rollers (28, 29; 37, 38) about its respective axis (47, 49) is greater than a quarter of the radius R of the spherical wheel (10, 30).
    [0005]
    5. Wheel according to claim 4, characterized in that a larger radius r of each wheel (28, 29; 37, 38) around itsespective axer (47, 49) is greater than one third of the radius R of the wheel spherical (10, 30).
    [0006]
    6. Wheel according to claim 5, characterized in that a larger radius r of each of the rollers (28, 29; 37, 38) about its respective axis (47, 49) is equal to half of the radius R of the spherical wheel (10, 30).
    [0007]
    7. Wheel according to one of the preceding claims, characterized in that the opening (54) of each cap (15, 16; 31, 32) has a radius S about the connecting axis (21, 22). pivot (19, 20), in that the spokes S of the opening (54) of each cap (15, 16; 31, 32) and r of the corresponding wheel (28, 29; 37, 38) are defined by in order to substantially balance the forces necessary to drive a cap (15, 16; 31, 32) and the corresponding caster (28, 29; 37, 38) when the wheel (10, 30) passes from a ground support on a cap (15, 16; 31, 32) at the edge of the opening (54) to a ground support on the corresponding wheel (28, 29; 37, 38). 20
    [0008]
    8. Wheel according to claim 7, characterized in that for each cap (15, 16; 31, 32) a friction torque Cfc is defined at the pivot connection (19, 20) between the cap in question (15, 16). 31, 32) and the shaft (12), in that for each wheel (28, 29; 37, 38) a friction torque Cfr is defined at its freedom in rotation with respect to the shaft ( 12), in that the spokes S of the opening (54) of the cap (15, 16; 31, 32) and r of the wheel (28, 29; 37, 38) are defined in such a way that the following equality is substantially respected: Cfc / S = Cf r / r 30
    [0009]
    9. Wheel according to one of the preceding claims, characterized in that the caps (15, 16; 31, 32) and the rollers (28, 29; 37, 38) are defined so as to substantially balance the kinetic energies of a cap (15, 16; 31, 32) and the corresponding roller (28, 29; 37, 38) when the wheel (10, 30 passes from a support on the ground to the cap (15, 16; 31, 32 ) At the edge of the opening (54) to a ground support on the wheel (28, 29; 37, 38).
    [0010]
    10. Wheel according to claim 9, characterized in that for each cap (15, 16; 31, 32) a moment of inertia is defined around the axis of its pivot connection between the cap (15, 16; 31, 32) and the shaft (12), in that for each wheel (28, 29; 37, 38) a moment of inertia Ir is defined around the axis (47, 49) its freedom in rotation by relative to the shaft (12), and in that the dimensions and materials of the caps (15, 16; 31, 32) and rollers (28, 29; 37, 38) are defined so that the next substantially respected: ic.00c ir.COr = 2 2 wc representing the speed of rotation of the cap when the wheel is supported on the ground on the cap (15, 16; 31, 32) at the edge of the opening (54); wr represents the speed of rotation of the wheel (28, 29; 37, 38) when the wheel passes from a support on the ground on the cap (15, 16; 31, 32) to the edge of the opening (54) to a ground support on the wheel (28, 29; 37, 38).
    [0011]
    11. Wheel according to one of the preceding claims, characterized in that it comprises two covers (56) associated with each wheel (28, 29; 37, 38) and fixed to the shaft (12), in that the caches (56) form a spherical surface portion extending from the spherical surface of the cap (15, 16; 31, 32) at the opening (54) through which said roller (28, 29; 38) is arranged, in that the covers (56) partially cover said wheel (28, 29; 37, 38) from said opening (54) and that the covers (56) both extend symmetrically. relative to a rolling line (51, 52) of the respective wheel (28, 29; 37, 38).
    [0012]
    12. Vehicle characterized in that it comprises at least three wheels (10, 30) according to one of the preceding claims and in that the axes 30 (14) of the shafts (12) of at least two wheels (10). are not arranged in the same plane.
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    同族专利:
    公开号 | 公开日
    SG11201605063XA|2016-07-28|
    AU2014368511A1|2016-08-04|
    JP6351725B2|2018-07-04|
    FR3015358B1|2017-06-16|
    EP3083269A1|2016-10-26|
    EP3083269B1|2021-03-10|
    US20160318337A1|2016-11-03|
    CN106163823A|2016-11-23|
    CA2934625A1|2015-06-25|
    NZ722132A|2017-08-25|
    MX2016008176A|2017-05-04|
    JP2017507056A|2017-03-16|
    AU2014368511B2|2018-02-08|
    WO2015091856A1|2015-06-25|
    CN106163823B|2018-11-23|
    RU2657140C1|2018-06-08|
    RU2016129179A|2018-01-25|
    US9895928B2|2018-02-20|
    CA2934625C|2018-09-04|
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    DE2945325A1|1979-11-09|1981-05-21|Ustav pro výzkum motorových vozidel, Praha|Roller drive for climbing obstacles - has rotating dish shaped supports with dual inclined axes |
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    FR2981008B1|2011-10-06|2013-11-29|Commissariat Energie Atomique|MOTORIZABLE OMNIDIRECTIONAL WHEEL AND VEHICLE EQUIPPED WITH SAME|CN106004237A|2016-06-29|2016-10-12|成都电科创品机器人科技有限公司|Omni-directional mobile device|
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    CN106741262B|2016-12-22|2018-10-12|深圳市智能机器人研究院|A kind of ball shape robot|
    CN107139646B|2017-05-24|2019-09-20|孙绍华|A kind of omni-directional wheel of spherical shape and vehicle using the wheel|
    EP3659817A4|2017-07-27|2021-07-14|Beijing Orion Star Technology Co., Ltd.|Omnidirectional ball wheel|
    CN107364281B|2017-07-31|2021-03-26|熊鹏|Spherical tire driving system and spherical tire automobile with same|
    CN109533748B|2018-09-05|2020-07-03|徐州康泰通讯设备有限公司|Drum-type letter bag box|
    US11267283B2|2019-04-05|2022-03-08|Honda Motor Co., Ltd.|Omni-direction wheel system and methods for controlling the omni-direction wheel system|
    RU2733672C1|2020-06-05|2020-10-06|Вячеслав Сергеевич Перфильев|Spheromobile with gyroscopic support of horizontal position|
    法律状态:
    2015-11-23| PLFP| Fee payment|Year of fee payment: 3 |
    2016-11-28| PLFP| Fee payment|Year of fee payment: 4 |
    2017-11-27| PLFP| Fee payment|Year of fee payment: 5 |
    2019-11-28| PLFP| Fee payment|Year of fee payment: 7 |
    2020-11-25| PLFP| Fee payment|Year of fee payment: 8 |
    2021-11-26| PLFP| Fee payment|Year of fee payment: 9 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1363339A|FR3015358B1|2013-12-20|2013-12-20|SPHERICAL WHEEL FOR MOVING A VEHICLE AND VEHICLE IMPLEMENTING THE WHEEL|FR1363339A| FR3015358B1|2013-12-20|2013-12-20|SPHERICAL WHEEL FOR MOVING A VEHICLE AND VEHICLE IMPLEMENTING THE WHEEL|
    NZ722132A| NZ722132A|2013-12-20|2014-12-18|Spherical wheel intended for moving a vehicle and vehicle using the wheel|
    JP2016541491A| JP6351725B2|2013-12-20|2014-12-18|Spherical wheel for moving vehicle and vehicle using the wheel|
    EP14825311.5A| EP3083269B1|2013-12-20|2014-12-18|Spherical wheel intended for moving a vehicle and vehicle using the wheel|
    RU2016129179A| RU2657140C1|2013-12-20|2014-12-18|Spherical wheel for providing vehicle movement and containing wheel vehicle|
    SG11201605063XA| SG11201605063XA|2013-12-20|2014-12-18|Spherical wheel intended for moving a vehicle and vehicle using the wheel|
    PCT/EP2014/078560| WO2015091856A1|2013-12-20|2014-12-18|Spherical wheel intended for moving a vehicle and vehicle using the wheel|
    US15/106,174| US9895928B2|2013-12-20|2014-12-18|Spherical wheel intended for moving a vehicle and vehicle using the wheel|
    AU2014368511A| AU2014368511B2|2013-12-20|2014-12-18|Spherical wheel intended for moving a vehicle and vehicle using the wheel|
    CN201480073670.4A| CN106163823B|2013-12-20|2014-12-18|Global wheel for keeping vehicle mobile and the vehicle using the wheel|
    CA2934625A| CA2934625C|2013-12-20|2014-12-18|Spherical wheel intended for moving a vehicle and vehicle using the wheel|
    MX2016008176A| MX2016008176A|2013-12-20|2014-12-18|Spherical wheel intended for moving a vehicle and vehicle using the wheel.|
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