US20040200645A1 - Propulsion mechanism having spherical ball - Google Patents
Propulsion mechanism having spherical ball Download PDFInfo
- Publication number
- US20040200645A1 US20040200645A1 US10/409,733 US40973303A US2004200645A1 US 20040200645 A1 US20040200645 A1 US 20040200645A1 US 40973303 A US40973303 A US 40973303A US 2004200645 A1 US2004200645 A1 US 2004200645A1
- Authority
- US
- United States
- Prior art keywords
- spherical ball
- drive member
- powered
- vehicle
- frame
- 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.)
- Granted
Links
Images
Classifications
-
- 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
Definitions
- the present invention generally relates to a vehicle drive system and, more particularly, to a surface engaging propulsion mechanism for driving and steering a vehicle.
- Self-propelled land-based vehicles such as automotive vehicles and robots, typically employ a power unit, such as an internal combustion engine or electric motor, a drivetrain for transferring power to one or more drive axles, and a plurality of wheels for frictionally engaging a ground surface to propel the vehicle in a steered direction.
- a power unit such as an internal combustion engine or electric motor
- a drivetrain for transferring power to one or more drive axles
- a plurality of wheels for frictionally engaging a ground surface to propel the vehicle in a steered direction.
- Conventional wheeled vehicles include rotatable drive wheels that frictionally engage the ground and are used as the propulsion mechanism to drive and steer the vehicle in a desired direction.
- the wheels are actuated by the power driven axle to turn about the rotary drive axis, and the wheels are turned left and right within a steering range to control directivity of the vehicle.
- a steered wheel has a limited range of angular movement.
- Some vehicles employ independently rotatable drive wheels as the propulsion mechanisms to provide enhanced turning ability.
- four wheel steering systems have been introduced which allow all four wheels on a passenger vehicle to be turned to steer the vehicle.
- Other examples of independently steered wheels are found on robotic vehicles which employ propulsion mechanisms commonly referred to as swerve or crab steering.
- propulsion mechanism for driving a ground operated vehicle, which offers reduced time to steer the vehicle, reduced components, and reduced cost. It is further desirable to provide for such a propulsion mechanism which may be employed on any of a number of mobile vehicles.
- a propulsion mechanism for driving a vehicle having a frame and a socket provided in the frame.
- the propulsion mechanism includes a spherical ball disposed within the socket and adapted to frictionally engage a surface.
- a first powered drive member is frictionally engaged with the spherical ball and is powered to rotate the spherical ball to propel the vehicle.
- a second powered drive member is frictionally engaged with the spherical ball and is powered to rotate the spherical ball to propel the vehicle.
- the first powered drive member drives the spherical ball in a first axis and the second powered drive member drives the spherical ball in a second axis.
- the propulsion mechanism includes a spherical ball disposed in the socket of the frame, and a friction reducing load member disposed between the spherical ball and the frame for allowing the spherical ball to rotate relative to the frame.
- the propulsion mechanism further includes a powered drive member frictionally engaged with the spherical ball. The drive member is powered to rotate the spherical ball to drive the vehicle.
- the propulsion mechanism of the present invention advantageously drives and steers a vehicle by employing a spherical ball frictionally engaged by drive members.
- the first and second drive members are controllably actuated so as to provide controlled steering of the vehicle in any of a number of directions.
- FIG. 1 is a perspective view of a mobile robot vehicle employing a pair of propulsion mechanisms according to the present invention
- FIG. 2 is an enlarged perspective view of one of the propulsion mechanisms with the ball partially cut-away;
- FIG. 3 is a partial perspective view of the propulsion mechanism shown in FIG. 2, rotated ninety degrees (90°);
- FIG. 4 is a top view of the propulsion mechanism
- FIG. 5 is a side view of the propulsion mechanism.
- a ground-based mobile vehicle 10 is generally illustrated employing first and second propulsion mechanisms 20 for driving and steering the vehicle 10 according to the present invention.
- the mobile vehicle 10 is generally shown in one embodiment as a robot.
- the mobile vehicle 10 may include any of a number of powered and steerable ground-based vehicles, including but not limited to automotive passenger transport vehicles, light and heavy industrial machinery, and robots, which require a propulsion mechanism to drive and steer the vehicle in a desired direction.
- powered and steerable ground-based vehicles including but not limited to automotive passenger transport vehicles, light and heavy industrial machinery, and robots, which require a propulsion mechanism to drive and steer the vehicle in a desired direction.
- the vehicle 10 is generally depicted having a rigid structural frame 12 , generally supported by a pair of rear wheels 14 and the pair of powered front steerable propulsion mechanisms 20 .
- the rear wheels 14 are each rotatable about an axle, 16 , and are shown driven by powered rear drive linkage 18 . While a pair of rear wheels 14 are shown for supporting the rear end of the vehicle 10 , it should be appreciated that any of a number of various types of rear support structures may be employed to support the vehicle 10 .
- the rear wheels 14 or other supportive structures may be driven as shown or may, alternatively, not be driven.
- the first and second propulsion mechanisms 20 are generally provided near the left and right front corners of the vehicle 10 .
- Each propulsion mechanism 20 includes a spherical ball 22 generally disposed within a socket 24 formed within the vehicle frame 12 .
- the spherical ball 22 protrudes out the bottom of the socket 24 and is adapted to engage the ground surface and support and drive the vehicle 10 on the ground surface.
- the socket 24 may include any of a number of open or closed sockets that include an opening cavity formed in the frame 12 .
- each socket 24 includes an open socket generally defined by an opening in the frame 12 and further defined by the area between upstanding support members 26 and upper support member 28 .
- the propulsion mechanism 20 is further illustrated in greater detail in FIG. 2 and is also shown rotated ninety degrees (90°) in FIG. 3.
- the spherical ball 22 is shown disposed within socket 24 and in frictional engagement with a first drive member 30 and a second drive member 40 .
- the spherical ball 22 includes a hollow ball having a frictional surface for engaging with a pair of drive members, for engaging the ground surface, and for further engaging friction reducing load members as described herein.
- the spherical ball 22 may include a hollow metal ball having a high-traction material (e.g., rubber) coated on the outer surface to provide an enhanced friction surface. Accordingly, the spherical ball 22 is able to rotate in any of a number of steerable directions within the socket 24 as controlled by the first and second drive members 30 and 40 to drive and steer the vehicle 10 .
- the first drive member 30 may include a first drive wheel oriented vertically and connected to a drive shaft 36 which, in turn, is coupled to a gearbox assembly 34 driven by an electric motor 32 .
- the gearbox assembly 34 may include multiple gears arranged to operate as a transmission. The first drive member 30 frictionally engages the spherical ball 22 to drive the spherical ball 22 in a first direction in response to actuation from electric motor 32 .
- the second powered drive mechanism 40 is located substantially orthogonal (i.e., 90°) to the first powered drive mechanism 30 and may include a vertically oriented second drive wheel frictionally engaging the spherical ball 22 .
- the second powered drive mechanism 40 is driven by a drive chain 42 which, in turn, is connected to a coupler 44 and a gearbox assembly 48 .
- the gearbox assembly 48 may include multiple gears arranged to operate as a transmission.
- the gearbox assembly 48 is driven by a second electric motor 50 . Accordingly, the second drive member 40 frictionally engages the spherical ball 22 and is powered by electric motor 50 so as to rotate the spherical ball 22 in a second direction substantially orthogonal to the first direction of the first drive mechanism 30 .
- the propulsion mechanism 20 includes friction reducing load members that support the positioning of the spherical ball 22 within socket 24 and allow rotational movement relative thereto.
- a first friction reducing load member 60 is located substantially on the opposite side (i.e., 180°) of the spherical ball 22 from the first drive member 30 .
- the first friction reducing load member 60 may include a vertically oriented load wheel in frictional contact with spherical ball 22 .
- the first friction reducing load wheel 60 is connected to an inwardly biased support arm 66 which is biased inward from a rigidly mounted bracket 62 via a bias spring 64 . Accordingly, the first friction reducing load member 60 is biased radially inward towards the spherical ball 22 so as to preload the spherical ball 22 .
- a second friction reducing load member 70 is located substantially on the opposite side (i.e., 180°) of the spherical ball 22 from the second drive member 40 .
- the second friction reducing load member 70 may likewise include a vertically oriented wheel frictionally engaging the spherical ball 22 .
- the second friction reducing load member 70 is likewise connected to a support arm 76 which is biased inward from a rigidly mounted bracket 72 via bias spring 74 . Accordingly, the second friction reducing load member 70 is biased radially inward towards the spherical ball 22 so as to preload the spherical ball 22 .
- an upper friction reducing member 52 is disposed below the upper support 28 to provide a friction reducing contact point on top of the spherical ball 22 .
- the upper friction reducing load member 52 may include a ball transfer caster having a ball that is free to rotate within a caster assembly and, thus, allows for rotation of spherical ball 22 relative to frame 12 .
- first and second drive members 30 and 40 are shown oriented in relation to the opposing first and second friction reducing load members 60 and 70 . It should be appreciated that the first and second friction reducing load members 60 and 70 preload the spherical ball 22 to maintain the position of the spherical ball 22 centrally located within socket 24 and provide an opposing bias force to force the spherical ball 22 against first and second drive members 30 and 40 while allowing low friction rotation of the spherical ball 22 .
- the spherical ball 22 may be driven by one of the first and second drive members 30 and 40 to drive and steer the vehicle 10 in a first direction or a second direction.
- the first and second drive members 30 and 40 may also be controllably operated simultaneously to drive the vehicle 10 in any of a number of directions to achieve an omni-directional propulsion mechanism 20 according to the present invention.
- the speed and direction of rotation of the spherical ball 22 may be controlled and, hence, the direction of travel of the vehicle 10 is controlled.
- the propulsion mechanism 20 is omni-directional in that it may be steered in any direction three hundred sixty degrees (360°) relative to the horizontal ground reference plane. In doing so, it should be appreciated that each of the drive members 30 and 40 may be rotated in either clockwise or counterclockwise directions to achieve controlled omni-directional steering of the propulsion mechanism 20 .
- the friction reducing load members 70 and upper friction reducing caster assembly 52 are further illustrated for positioning the spherical ball 22 within the frame 12 in a low friction arrangement.
- the drive wheel 40 shown has a diameter about thirty percent (30%) of the diameter of the spherical ball 22 .
- the friction reducing load member 70 is preloaded to contact the spherical ball 22 one hundred eighty degrees (180°) on the opposite side from the drive wheel 40 .
- the drive wheel 30 and load wheel 60 are of similar size and are similarly located, but rotated by ninety degrees (90°).
- the drive wheels 30 and 40 and load wheels 60 and 70 are positioned to contact the spherical ball 22 at or near the equator of the ball 22 .
- the upper friction reducing member 52 includes a lower extending freely rotatable ball 54 held within a caster assembly for engaging the upper surface of spherical ball 22 . Ball 54 allows spherical ball 22 to rotate freely in any direction.
- first and second drive wheels 30 and 40 are shown and described herein for actuating the spherical ball 22 in any of a number of directions, it should be appreciated that other drive members, such as spherical balls, may be employed to rotate the spherical ball 22 . While friction reducing load members 60 and 70 are shown and described herein, it should be appreciated that other load members may be employed, such as biased caster assemblies. According to another embodiment, the load members 60 and 70 may be powered drive members similar to drive wheels 30 and 40 .
- the propulsion mechanism 20 of the present invention allows for omni-directional drive and steering of a vehicle 10 , by employing a spherical ball 22 that is rotated and propelled within the socket 24 of the vehicle frame 12 in any direction parallel to the horizontal ground plane. It should be appreciated that the spherical ball 22 may be controlled so as to change direction very quickly, by simply controlling the direction and speed of the drive members 30 and 40 , thus providing a highly mobile drive platform. While first and second propulsion mechanisms 20 are shown and described herein in connection with a robotic vehicle 10 , it should be appreciated that any of a number of one or more drive mechanisms 20 may be employed to drive and steer any vehicle 10 . It should further be appreciated that a number of vehicles may employ one or more of the propulsion mechanisms 20 according to the present invention, including but not limited to passenger vehicles, including cars and scooters, industrial machinery, and robots.
Abstract
Description
- The present invention generally relates to a vehicle drive system and, more particularly, to a surface engaging propulsion mechanism for driving and steering a vehicle.
- Self-propelled land-based vehicles, such as automotive vehicles and robots, typically employ a power unit, such as an internal combustion engine or electric motor, a drivetrain for transferring power to one or more drive axles, and a plurality of wheels for frictionally engaging a ground surface to propel the vehicle in a steered direction. Conventional wheeled vehicles include rotatable drive wheels that frictionally engage the ground and are used as the propulsion mechanism to drive and steer the vehicle in a desired direction. The wheels are actuated by the power driven axle to turn about the rotary drive axis, and the wheels are turned left and right within a steering range to control directivity of the vehicle. In most vehicles, a steered wheel has a limited range of angular movement.
- Some vehicles employ independently rotatable drive wheels as the propulsion mechanisms to provide enhanced turning ability. For example, four wheel steering systems have been introduced which allow all four wheels on a passenger vehicle to be turned to steer the vehicle. Other examples of independently steered wheels are found on robotic vehicles which employ propulsion mechanisms commonly referred to as swerve or crab steering.
- While conventional wheeled propulsion mechanisms are widely used on automotive vehicles and robots, there exists a number of shortcomings in some of these wheeled vehicle designs. The steering assembly mechanism required to turn the wheels typically requires numerous components. Additionally, the steering control systems that are generally required to turn the wheels are complex and generally require many sensors and a great amount of software development. Thus, sophisticated steered wheel systems are generally expensive. Further, conventional steered wheel propulsion mechanisms generally experience a time delay to turn the wheels toward the path of the desired direction, due to the fact that the wheels may be turned throughout a wide turning radius.
- It is therefore desirable to provide for a propulsion mechanism for driving a ground operated vehicle, which offers reduced time to steer the vehicle, reduced components, and reduced cost. It is further desirable to provide for such a propulsion mechanism which may be employed on any of a number of mobile vehicles.
- In accordance with the teachings of the present invention, a propulsion mechanism is provided for driving a vehicle having a frame and a socket provided in the frame. According to one aspect of the present invention, the propulsion mechanism includes a spherical ball disposed within the socket and adapted to frictionally engage a surface. A first powered drive member is frictionally engaged with the spherical ball and is powered to rotate the spherical ball to propel the vehicle. A second powered drive member is frictionally engaged with the spherical ball and is powered to rotate the spherical ball to propel the vehicle. The first powered drive member drives the spherical ball in a first axis and the second powered drive member drives the spherical ball in a second axis.
- According to another aspect of the present invention, the propulsion mechanism includes a spherical ball disposed in the socket of the frame, and a friction reducing load member disposed between the spherical ball and the frame for allowing the spherical ball to rotate relative to the frame. The propulsion mechanism further includes a powered drive member frictionally engaged with the spherical ball. The drive member is powered to rotate the spherical ball to drive the vehicle.
- Accordingly, the propulsion mechanism of the present invention advantageously drives and steers a vehicle by employing a spherical ball frictionally engaged by drive members. According to a further aspect, the first and second drive members are controllably actuated so as to provide controlled steering of the vehicle in any of a number of directions.
- These and other features, advantages and objects of the present invention will be further understood and appreciated by those skilled in the art by reference to the following specification, claims and appended drawings.
- The present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
- FIG. 1 is a perspective view of a mobile robot vehicle employing a pair of propulsion mechanisms according to the present invention;
- FIG. 2 is an enlarged perspective view of one of the propulsion mechanisms with the ball partially cut-away;
- FIG. 3 is a partial perspective view of the propulsion mechanism shown in FIG. 2, rotated ninety degrees (90°);
- FIG. 4 is a top view of the propulsion mechanism; and
- FIG. 5 is a side view of the propulsion mechanism.
- Referring to FIG. 1, a ground-based
mobile vehicle 10 is generally illustrated employing first andsecond propulsion mechanisms 20 for driving and steering thevehicle 10 according to the present invention. Themobile vehicle 10 is generally shown in one embodiment as a robot. - However, the
mobile vehicle 10 may include any of a number of powered and steerable ground-based vehicles, including but not limited to automotive passenger transport vehicles, light and heavy industrial machinery, and robots, which require a propulsion mechanism to drive and steer the vehicle in a desired direction. - The
vehicle 10 is generally depicted having a rigidstructural frame 12, generally supported by a pair ofrear wheels 14 and the pair of powered frontsteerable propulsion mechanisms 20. Therear wheels 14 are each rotatable about an axle, 16, and are shown driven by poweredrear drive linkage 18. While a pair ofrear wheels 14 are shown for supporting the rear end of thevehicle 10, it should be appreciated that any of a number of various types of rear support structures may be employed to support thevehicle 10. Therear wheels 14 or other supportive structures may be driven as shown or may, alternatively, not be driven. - The first and
second propulsion mechanisms 20 are generally provided near the left and right front corners of thevehicle 10. Eachpropulsion mechanism 20 includes aspherical ball 22 generally disposed within asocket 24 formed within thevehicle frame 12. Thespherical ball 22 protrudes out the bottom of thesocket 24 and is adapted to engage the ground surface and support and drive thevehicle 10 on the ground surface. Thesocket 24 may include any of a number of open or closed sockets that include an opening cavity formed in theframe 12. In the example shown, eachsocket 24 includes an open socket generally defined by an opening in theframe 12 and further defined by the area betweenupstanding support members 26 andupper support member 28. - The
propulsion mechanism 20 is further illustrated in greater detail in FIG. 2 and is also shown rotated ninety degrees (90°) in FIG. 3. Thespherical ball 22 is shown disposed withinsocket 24 and in frictional engagement with afirst drive member 30 and asecond drive member 40. Thespherical ball 22 includes a hollow ball having a frictional surface for engaging with a pair of drive members, for engaging the ground surface, and for further engaging friction reducing load members as described herein. Thespherical ball 22 may include a hollow metal ball having a high-traction material (e.g., rubber) coated on the outer surface to provide an enhanced friction surface. Accordingly, thespherical ball 22 is able to rotate in any of a number of steerable directions within thesocket 24 as controlled by the first andsecond drive members vehicle 10. - The
first drive member 30 may include a first drive wheel oriented vertically and connected to adrive shaft 36 which, in turn, is coupled to agearbox assembly 34 driven by anelectric motor 32. In one embodiment, thegearbox assembly 34 may include multiple gears arranged to operate as a transmission. Thefirst drive member 30 frictionally engages thespherical ball 22 to drive thespherical ball 22 in a first direction in response to actuation fromelectric motor 32. - The second powered
drive mechanism 40 is located substantially orthogonal (i.e., 90°) to the first powereddrive mechanism 30 and may include a vertically oriented second drive wheel frictionally engaging thespherical ball 22. The second powereddrive mechanism 40 is driven by adrive chain 42 which, in turn, is connected to acoupler 44 and agearbox assembly 48. In one embodiment, thegearbox assembly 48 may include multiple gears arranged to operate as a transmission. Thegearbox assembly 48, in turn, is driven by a secondelectric motor 50. Accordingly, thesecond drive member 40 frictionally engages thespherical ball 22 and is powered byelectric motor 50 so as to rotate thespherical ball 22 in a second direction substantially orthogonal to the first direction of thefirst drive mechanism 30. - To allow for reduced friction rotational movement of the
spherical ball 22 relative to thevehicle frame 12 and upper supportingstructures propulsion mechanism 20 includes friction reducing load members that support the positioning of thespherical ball 22 withinsocket 24 and allow rotational movement relative thereto. A first friction reducingload member 60 is located substantially on the opposite side (i.e., 180°) of thespherical ball 22 from thefirst drive member 30. The first friction reducingload member 60 may include a vertically oriented load wheel in frictional contact withspherical ball 22. The first friction reducingload wheel 60 is connected to an inwardly biasedsupport arm 66 which is biased inward from a rigidly mountedbracket 62 via abias spring 64. Accordingly, the first friction reducingload member 60 is biased radially inward towards thespherical ball 22 so as to preload thespherical ball 22. - A second friction reducing
load member 70 is located substantially on the opposite side (i.e., 180°) of thespherical ball 22 from thesecond drive member 40. The second friction reducingload member 70 may likewise include a vertically oriented wheel frictionally engaging thespherical ball 22. The second friction reducingload member 70 is likewise connected to asupport arm 76 which is biased inward from a rigidly mountedbracket 72 viabias spring 74. Accordingly, the second friction reducingload member 70 is biased radially inward towards thespherical ball 22 so as to preload thespherical ball 22. - In addition to providing friction reducing
load members powered drive members friction reducing member 52 is disposed below theupper support 28 to provide a friction reducing contact point on top of thespherical ball 22. The upper friction reducingload member 52 may include a ball transfer caster having a ball that is free to rotate within a caster assembly and, thus, allows for rotation ofspherical ball 22 relative to frame 12. - Referring to FIG. 4, the first and
second drive members load members load members spherical ball 22 to maintain the position of thespherical ball 22 centrally located withinsocket 24 and provide an opposing bias force to force thespherical ball 22 against first andsecond drive members spherical ball 22. Thespherical ball 22 may be driven by one of the first andsecond drive members vehicle 10 in a first direction or a second direction. The first andsecond drive members vehicle 10 in any of a number of directions to achieve an omni-directional propulsion mechanism 20 according to the present invention. - By controlling the amount of drive force applied by each of the first and
second drive members spherical ball 22 may be controlled and, hence, the direction of travel of thevehicle 10 is controlled. Thepropulsion mechanism 20 is omni-directional in that it may be steered in any direction three hundred sixty degrees (360°) relative to the horizontal ground reference plane. In doing so, it should be appreciated that each of thedrive members propulsion mechanism 20. - Referring to FIG. 5, the friction reducing
load members 70 and upper friction reducingcaster assembly 52 are further illustrated for positioning thespherical ball 22 within theframe 12 in a low friction arrangement. Thedrive wheel 40 shown has a diameter about thirty percent (30%) of the diameter of thespherical ball 22. The friction reducingload member 70 is preloaded to contact thespherical ball 22 one hundred eighty degrees (180°) on the opposite side from thedrive wheel 40. Thedrive wheel 30 andload wheel 60 are of similar size and are similarly located, but rotated by ninety degrees (90°). Thedrive wheels load wheels spherical ball 22 at or near the equator of theball 22. As shown, the upperfriction reducing member 52 includes a lower extending freelyrotatable ball 54 held within a caster assembly for engaging the upper surface ofspherical ball 22.Ball 54 allowsspherical ball 22 to rotate freely in any direction. - While first and
second drive wheels spherical ball 22 in any of a number of directions, it should be appreciated that other drive members, such as spherical balls, may be employed to rotate thespherical ball 22. While friction reducingload members load members wheels - Accordingly, the
propulsion mechanism 20 of the present invention allows for omni-directional drive and steering of avehicle 10, by employing aspherical ball 22 that is rotated and propelled within thesocket 24 of thevehicle frame 12 in any direction parallel to the horizontal ground plane. It should be appreciated that thespherical ball 22 may be controlled so as to change direction very quickly, by simply controlling the direction and speed of thedrive members second propulsion mechanisms 20 are shown and described herein in connection with arobotic vehicle 10, it should be appreciated that any of a number of one ormore drive mechanisms 20 may be employed to drive and steer anyvehicle 10. It should further be appreciated that a number of vehicles may employ one or more of thepropulsion mechanisms 20 according to the present invention, including but not limited to passenger vehicles, including cars and scooters, industrial machinery, and robots. - It will be understood by those who practice the invention and those skilled in the art, that various modifications and improvements may be made to the invention without departing from the spirit of the disclosed concept. The scope of protection afforded is to be determined by the claims and by the breadth of interpretation allowed by law.
Claims (18)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/409,733 US6802381B1 (en) | 2003-04-09 | 2003-04-09 | Propulsion mechanism having spherical ball |
US10/960,830 US20050039956A1 (en) | 2003-04-09 | 2004-10-07 | Propulsion mechanism having spherical ball |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/409,733 US6802381B1 (en) | 2003-04-09 | 2003-04-09 | Propulsion mechanism having spherical ball |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/960,830 Continuation US20050039956A1 (en) | 2003-04-09 | 2004-10-07 | Propulsion mechanism having spherical ball |
Publications (2)
Publication Number | Publication Date |
---|---|
US6802381B1 US6802381B1 (en) | 2004-10-12 |
US20040200645A1 true US20040200645A1 (en) | 2004-10-14 |
Family
ID=33097859
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/409,733 Expired - Fee Related US6802381B1 (en) | 2003-04-09 | 2003-04-09 | Propulsion mechanism having spherical ball |
US10/960,830 Abandoned US20050039956A1 (en) | 2003-04-09 | 2004-10-07 | Propulsion mechanism having spherical ball |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/960,830 Abandoned US20050039956A1 (en) | 2003-04-09 | 2004-10-07 | Propulsion mechanism having spherical ball |
Country Status (1)
Country | Link |
---|---|
US (2) | US6802381B1 (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NL1033676C2 (en) * | 2007-04-12 | 2008-10-14 | Nedap Nv | Scooter, has driven ball and dynamically controlled lateral stability for balancing scooter in any direction |
US20080283311A1 (en) * | 2006-02-24 | 2008-11-20 | Tianfu Li | Balanced ball vehicle |
EP1942046A3 (en) * | 2007-01-05 | 2009-01-21 | NIKKO Co., Ltd. | Drive type of spherical roller |
US20120034055A1 (en) * | 2009-04-24 | 2012-02-09 | Michael Leonard | Modular transport apparatus |
WO2016091247A1 (en) * | 2014-12-10 | 2016-06-16 | Isel Facility GmbH | Vehicle for passenger and freight transport |
US10589940B2 (en) * | 2017-12-05 | 2020-03-17 | Metal Industries Research & Development Centre | Power wheel and cooperative carrying method thereof |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7226017B2 (en) * | 2003-10-02 | 2007-06-05 | Blevio Sr Henry L | Aerodynamically stable, high-lift, vertical takeoff aircraft |
US8286737B2 (en) * | 2003-10-02 | 2012-10-16 | Blevio Sr Henry L | Ball wheel for an aircraft |
US10173753B1 (en) | 2005-09-07 | 2019-01-08 | SeeScan, Inc. | Flotation devices for high pressure environments |
US7644787B2 (en) * | 2006-07-21 | 2010-01-12 | Phelan James V | Turbofan powered vehicle with spherical wheels |
US7891445B1 (en) * | 2007-02-22 | 2011-02-22 | Marvell International Ltd. | Ball-drive propulsion device |
US20080295595A1 (en) * | 2007-05-31 | 2008-12-04 | Twill Tech, Inc. | Dynamically balanced in-line wheel vehicle |
US20090188729A1 (en) * | 2008-01-24 | 2009-07-30 | Benjamin Lawrence Berry | Track sphere wheel assembly |
US8864150B2 (en) * | 2009-04-08 | 2014-10-21 | Early Rider Ltd. | Foot propelled vehicle |
US8453811B2 (en) * | 2009-12-08 | 2013-06-04 | Lewis Designs, LLC | Spherical braking system |
GB2487709A (en) * | 2010-10-30 | 2012-08-08 | Autoset Production Ltd | Powered omniball |
US9022154B2 (en) * | 2013-01-23 | 2015-05-05 | Kuniaki Sato | One-man riding mobile apparatus |
US8931877B1 (en) | 2013-07-18 | 2015-01-13 | Xerox Corporation | Method and apparatus for controlling printhead motion with a friction track ball |
GB2529387A (en) * | 2014-07-14 | 2016-02-24 | Early Rider Ltd | Vehicle |
CN106515891A (en) * | 2016-12-07 | 2017-03-22 | 北京工业大学 | Friction drive type throwing spherical robot |
US11435100B2 (en) * | 2020-03-27 | 2022-09-06 | NUMA Products, LLC | Personal air system for offices |
CN112937216B (en) * | 2021-03-26 | 2024-01-23 | 吉林大学 | Corn interline operation robot and interline running control method thereof |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2104636A (en) * | 1937-08-27 | 1938-01-04 | Burcham James Russell | Advertising device |
US4861053A (en) * | 1988-06-13 | 1989-08-29 | Yeomans Jr Arthur S | Spherical support apparatus movable over plane surfaces |
US5906247A (en) * | 1996-12-06 | 1999-05-25 | Exedy Corporation | Ball transfer mechanism having a braking mechanism and a vehicle employing the ball transfer mechanism |
US6298934B1 (en) * | 2000-03-27 | 2001-10-09 | David Shteingold | Spherical vehicle |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3070015B2 (en) * | 1990-11-30 | 2000-07-24 | 本田技研工業株式会社 | Travel control system for unstable vehicles |
JP2001061764A (en) | 1999-08-25 | 2001-03-13 | Asahi Optical Co Ltd | Endoscope device |
-
2003
- 2003-04-09 US US10/409,733 patent/US6802381B1/en not_active Expired - Fee Related
-
2004
- 2004-10-07 US US10/960,830 patent/US20050039956A1/en not_active Abandoned
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2104636A (en) * | 1937-08-27 | 1938-01-04 | Burcham James Russell | Advertising device |
US4861053A (en) * | 1988-06-13 | 1989-08-29 | Yeomans Jr Arthur S | Spherical support apparatus movable over plane surfaces |
US5906247A (en) * | 1996-12-06 | 1999-05-25 | Exedy Corporation | Ball transfer mechanism having a braking mechanism and a vehicle employing the ball transfer mechanism |
US6298934B1 (en) * | 2000-03-27 | 2001-10-09 | David Shteingold | Spherical vehicle |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080283311A1 (en) * | 2006-02-24 | 2008-11-20 | Tianfu Li | Balanced ball vehicle |
EP1942046A3 (en) * | 2007-01-05 | 2009-01-21 | NIKKO Co., Ltd. | Drive type of spherical roller |
NL1033676C2 (en) * | 2007-04-12 | 2008-10-14 | Nedap Nv | Scooter, has driven ball and dynamically controlled lateral stability for balancing scooter in any direction |
US20120034055A1 (en) * | 2009-04-24 | 2012-02-09 | Michael Leonard | Modular transport apparatus |
US8622158B2 (en) * | 2009-04-24 | 2014-01-07 | Michael Leonard | Modular transport apparatus |
WO2016091247A1 (en) * | 2014-12-10 | 2016-06-16 | Isel Facility GmbH | Vehicle for passenger and freight transport |
US10589940B2 (en) * | 2017-12-05 | 2020-03-17 | Metal Industries Research & Development Centre | Power wheel and cooperative carrying method thereof |
Also Published As
Publication number | Publication date |
---|---|
US6802381B1 (en) | 2004-10-12 |
US20050039956A1 (en) | 2005-02-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6802381B1 (en) | Propulsion mechanism having spherical ball | |
US8030873B2 (en) | Walk and roll robot | |
US8201656B2 (en) | Vehicle steering system | |
US10486755B2 (en) | Self-balancing robotic motorcycle | |
Wada et al. | Caster drive mechanisms for holonomic and omnidirectional mobile platforms with no over constraint | |
EP1368223B1 (en) | Floating drive for vehicle | |
US5752710A (en) | Parallel-aligned all-wheel steered vehicle III | |
AU2002248592A1 (en) | Floating drive for vehicle | |
AU2004232672B2 (en) | Floating drive for vehicle | |
Safar | Holonomic and omnidirectional locomotion systems for wheeled mobile robots: A review | |
US11738793B2 (en) | Movable object with steering control | |
CN115397689A (en) | Vehicle drive unit and vehicle with vehicle drive unit | |
KR102512092B1 (en) | Independent steering apparatus | |
US11273883B2 (en) | Tilting structure of mobility device and mobility device including same | |
US20060169514A1 (en) | Axle arrangement for a vehicle | |
US20080053717A1 (en) | Utility vehicle with multiple axle steering | |
KR102597420B1 (en) | Modular dual swivel wheel and platform including the same | |
JPH0723333Y2 (en) | Six-wheel drive vehicle | |
CN211336238U (en) | Automatic guide transport vechicle chassis and automatic guide transport vechicle | |
JPH08310435A (en) | Space search travel car | |
CN116215659A (en) | Steering wheel structure and automatic transfer robot | |
US20220242184A1 (en) | Device with driven wheels having variable inclination | |
Wada | A synchro-caster drive system for holonomic and omnidirectional mobile robots | |
JP2008126998A (en) | Steering device for completely concentrating axle directions of whole wheels | |
CN114348143A (en) | Omnidirectional mobile robot based on Mecanum wheels |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: DELPHI TECHNOLOGIES, INC., MICHIGAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:KOORS, MARK A.;BAKER, ANDREW R.;REEL/FRAME:013953/0753 Effective date: 20030407 |
|
FPAY | Fee payment |
Year of fee payment: 4 |
|
REMI | Maintenance fee reminder mailed | ||
LAPS | Lapse for failure to pay maintenance fees | ||
REIN | Reinstatement after maintenance fee payment confirmed | ||
FEPP | Fee payment procedure |
Free format text: PETITION RELATED TO MAINTENANCE FEES GRANTED (ORIGINAL EVENT CODE: PMFG); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY Free format text: PETITION RELATED TO MAINTENANCE FEES FILED (ORIGINAL EVENT CODE: PMFP); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY |
|
FP | Lapsed due to failure to pay maintenance fee |
Effective date: 20121012 |
|
PRDP | Patent reinstated due to the acceptance of a late maintenance fee |
Effective date: 20130206 |
|
FPAY | Fee payment |
Year of fee payment: 8 |
|
SULP | Surcharge for late payment | ||
REMI | Maintenance fee reminder mailed | ||
LAPS | Lapse for failure to pay maintenance fees | ||
STCH | Information on status: patent discontinuation |
Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362 |
|
FP | Lapsed due to failure to pay maintenance fee |
Effective date: 20161012 |