CN104015556A - Omni wheel - Google Patents
Omni wheel Download PDFInfo
- Publication number
- CN104015556A CN104015556A CN201410271410.XA CN201410271410A CN104015556A CN 104015556 A CN104015556 A CN 104015556A CN 201410271410 A CN201410271410 A CN 201410271410A CN 104015556 A CN104015556 A CN 104015556A
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- hub
- roller
- lower hub
- omni
- wheel hub
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Abstract
The invention discloses an omni wheel. The omni wheel comprises an upper hub and a lower hub. A cushion cover is connected to the middle of the upper hub and the middle of the lower hub, and the upper hub, the lower hub and the cushion cover are fixedly arranged together. A plurality of rollers are arranged between the upper hub and the lower hub and rotatably connected between the upper hub and the lower hub through bearings and bolts. Each roller is of a hollow cylindrical structure with the two ends small and the middle large and made of stainless steel material, and a 45-degree angle is formed by the central axis of each roller and the central axis of the upper hub or the lower hub. The omni wheel is very flexible in movement process due to the structural composition and can achieve the omni-movement effect well; next, the shock-proof performance of the structure of the roller is high, generated impact force is small, and thus the work efficiency of a driven effective load is high.
Description
Technical field
The present invention relates to a kind of wheel, relate in particular to a kind of omni-directional wheel.
Background technology
Omni-directional wheel is a kind of wheel that can move towards any direction.Omni-directional wheel is to be uniformly distributed some flower wheels around a larger wheels, and under the driving of larger wheels, flower wheel can freely rotate towards any direction.
Current omnidirectional wheel structure compactness, installs complexity, can only in the situation that moving surface is more smooth, could realize preferably the effect of omnidirectional moving, and in motion process, easily causes omnidirectional moving to lose efficacy; Secondly, this kind of omni-directional wheel load-bearing is larger, larger with the friction force on ground, thus motion underaction; Finally, this kind of omni-directional wheel is mainly used in the mechanism research aspect of robot, and its structure adopts the fixing mode in running roller termination more, easily produces and beats like this on hub spindle, and running roller is produced to impulsive force, thereby loss driving power reduces the capacity weight driving.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of omni-directional wheel is provided, the structure composition of this omni-directional wheel is very flexible in motion process, can realize well the effect of omnidirectional moving; Secondly, the structure shock-absorbing of roller is strong, and the impulsive force of generation is little, and the capacity weight mechanical efficiency driving is like this high.
In order to solve the problems of the technologies described above, the present invention is solved by following technical proposals:
A kind of omni-directional wheel, comprise wheel hub, lower hub, described upper wheel hub, lower hub middle part are connected with cushion cover, described upper wheel hub, lower hub and cushion cover are solid-located, between described upper wheel hub, lower hub, be provided with some rollers, described roller is rotatably connected between upper wheel hub, lower hub by bearing and bolt, described roller is the hollow cylindrical structure being small at both ends and big in the middle, described roller is that stainless steel material manufacture forms, the angle at 45 °, axis of the axis of described roller and upper wheel hub or lower hub.
In technique scheme, between described upper wheel hub, lower hub, be respectively equipped with the draw-in groove of putting roller, in the draw-in groove that described roller is rotatably connected between upper wheel hub, lower hub by bearing and bolt by the through hole between upper wheel hub, lower hub.
In technique scheme, the number that is provided with roller between described upper wheel hub, lower hub is 8, and described 8 rollers are evenly distributed between wheel hub, lower hub.
In technique scheme, described cushion cover is provided with tapped bore, and described upper wheel hub, lower hub and cushion cover are fixed together by the tapped bore on screw and cushion cover.
Beneficial effect: compared with prior art, it has following beneficial effect in the present invention:
The structure composition of omni-directional wheel of the present invention is very flexible in motion process, can realize well the effect of omnidirectional moving; Secondly, the structure shock-absorbing of roller is strong, and the impulsive force of generation is little, and the capacity weight mechanical efficiency driving is like this high.
Brief description of the drawings
Fig. 1 is the front view of omni-directional wheel.
Fig. 2 is the left view of omni-directional wheel.
Fig. 3 is omni-directional wheel middle roller topology view.
Fig. 4 is the coordinated movement of various economic factors schematic diagram of omni-directional wheel travel mechanism.
Detailed description of the invention
Participate in Fig. 1～3, a kind of omni-directional wheel, comprises wheel hub 100, lower hub 200, and as preferably, upper wheel hub 100, lower hub 200 are used steel plate punched moulding, like this omni-directional wheel strong and lightweight more.
Described upper wheel hub 100, lower hub 200 middle parts are connected with cushion cover 300, described upper wheel hub 100, lower hub 200 and cushion cover 300 are solid-located, between described upper wheel hub 100, lower hub 200, be provided with some rollers 20, described roller 20 is rotatably connected between upper wheel hub 100, lower hub 200 by bearing 30 and bolt 40, thereby make the structure shock-absorbing of roller strong, the impulsive force producing is little, and the capacity weight mechanical efficiency driving is like this high; The hollow cylindrical structure of described roller 20 for being small at both ends and big in the middle, outer image waist-drum-shaped.More convenient like this rolling, omni-directional wheel is very flexible in motion process, can realize well the effect of omnidirectional moving.
Described roller 20 forms for stainless steel material manufacture, as preferably, chromium-austenitic stainless steel that the stainless steel material adopting is 316, this corrosion-resistant steel is widely used steel grade, there is better resisting chlorides corrosive power, the angle at 45 °, axis of the axis of described roller 20 and upper wheel hub 100 or lower hub 200.Roller 20 has three degree of freedom, in rotating around self, can rotate around axletree again, can also the rotation with ground contact point around roller 20.This makes wheel body itself also possess three degree of freedom: around the rotation of wheel shaft with along the translation of roller 20 axis vertical line directions and the rotation with ground contact point around roller 20.Like this, when drive wheel has active drive ability in one direction, another one direction also has the motion characteristics that moves freely (passive movement).The circumference of wheel is not made up of common tire, but many rollers 20 that distributed, the theoretical circumference of the profile of these rollers 20 and wheel coincides, and roller 20 can rotate freely.In the time that power wheel rotates, wheel advances along the direction perpendicular to axle drive shaft in normal way, and the roller 20 of wheel periphery rotates freely along its axis separately simultaneously.Several this wheels suitably combine and just can form and have in the plane three degree of freedom the omni-directional moving mechanism of (directions X translation, Y-direction translation, around the rotation of central vertical shaft Z)
As preferably, between described upper wheel hub 100, lower hub 200, be respectively equipped with the draw-in groove 101,201 of putting roller 20, in the draw-in groove 101,201 that described roller 20 is rotatably connected between upper wheel hub 100, lower hub 200 by bearing 30 and bolt 40 by the through hole between upper wheel hub 100, lower hub 200.Roller 20 can be between upper wheel hub 100, lower hub 200 like this draw-in groove 101,201 is interior freely to rotate, and can not depart from the scope of wheel hub 100, lower hub 200.
The number that is provided with roller 20 between described upper wheel hub 100, lower hub 200 is 8, and described 8 rollers 20 are evenly distributed between wheel hub 100, lower hub 200.The benefit of doing is like this that the rolling of roller 20 is more smooth.
Described cushion cover 300 is provided with tapped bore 301, and described upper wheel hub 100, lower hub 200 and cushion cover 300 are fixed together by screw 10 and the tapped bore 301 on cushion cover 300.Be convenient for changing like this or keep in repair roller 20.
Consult Fig. 4, the Omni-mobile mechanism being combined by four omni-directional wheels.Little oblique line in wheel represent the to contact to earth axis direction of roller 20, two kinds of point left-handed and dextrorotation.Each omni-directional wheel is by a DC machine individual drive, turn to by the rotating speed of four omni-directional wheels appropriately combined, can the implementation platform all-around mobile of three degree of freedom in the plane, formed in some way by multiple omni-directional wheels, motion will be very flexible.
In sum, the structure composition of omni-directional wheel of the present invention is very flexible in motion process, can realize well the effect of omnidirectional moving; Secondly, the structure shock-absorbing of roller is strong, and the impulsive force of generation is little, and the capacity weight mechanical efficiency driving is like this high.
Embodiment recited above is described the preferred embodiment of the present invention, not the spirit and scope of the present invention is limited.Do not departing under the prerequisite of design concept of the present invention; various modification and improvement that this area ordinary person makes technical scheme of the present invention; all should drop into protection scope of the present invention, the technology contents of request protection of the present invention, has all been documented in claims.
Claims (4)
1. an omni-directional wheel, comprise wheel hub (100), lower hub (200), described upper wheel hub (100), lower hub (200) middle part is connected with cushion cover (300), described upper wheel hub (100), lower hub (200) and cushion cover (300) are solid-located, it is characterized in that, described upper wheel hub (100), between lower hub (200), be provided with some rollers (20), described roller (20) is rotatably connected in upper wheel hub (100) by bearing (30) and bolt (40), between lower hub (200), described roller (20) is that two is little, hollow cylindrical structure broad in the middle, described roller (20) forms for stainless steel material manufacture, the angle at 45 °, axis of the axis of described roller (20) and upper wheel hub (100) or lower hub (200).
2. omni-directional wheel according to claim 1, it is characterized in that, between described upper wheel hub (100), lower hub (200), be respectively equipped with the draw-in groove (101,201) of putting roller (20), in the draw-in groove (101,201) that described roller (20) is rotatably connected between upper wheel hub (100), lower hub (200) by bearing (30) and bolt (40) by the through hole between upper wheel hub (100), lower hub (200).
3. omni-directional wheel according to claim 1, it is characterized in that, the number that is provided with roller (20) between described upper wheel hub (100), lower hub (200) is 8, and described 8 rollers (20) are evenly distributed between wheel hub (100), lower hub (200).
4. according to the omni-directional wheel described in claim 1～3 any one, it is characterized in that, described cushion cover (300) is provided with tapped bore (301), and described upper wheel hub (100), lower hub (200) and cushion cover (300) are fixed together by screw (10) and the tapped bore (301) on cushion cover (300).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410271410.XA CN104015556A (en) | 2014-06-18 | 2014-06-18 | Omni wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410271410.XA CN104015556A (en) | 2014-06-18 | 2014-06-18 | Omni wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104015556A true CN104015556A (en) | 2014-09-03 |
Family
ID=51432676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410271410.XA Pending CN104015556A (en) | 2014-06-18 | 2014-06-18 | Omni wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104015556A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111112942A (en) * | 2018-10-30 | 2020-05-08 | 上海云绅智能科技有限公司 | Mecanum wheel hub machining method and system |
| EP3756744A1 (en) | 2019-06-28 | 2020-12-30 | Shantou Yi Er Le Toy Co., Ltd | An eccentric omnidirectional wheel |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3746112A (en) * | 1970-12-14 | 1973-07-17 | B Ilon | Directionally stable self propelled vehicle |
| US20090065113A1 (en) * | 2005-08-09 | 2009-03-12 | Kuka Roboter Gmbh | Wheel |
| CN101856945A (en) * | 2010-06-14 | 2010-10-13 | 中国海洋大学 | An omnidirectional wheel that simplifies the manufacturing process |
| CN102310712A (en) * | 2011-06-03 | 2012-01-11 | 南京航空航天大学 | Heavy-duty self-driven omnidirectional wheel and design method thereof |
| CN202879149U (en) * | 2012-10-31 | 2013-04-17 | 成都航发液压工程有限公司 | 45-degree omnidirectional wheel |
| CN204149766U (en) * | 2014-06-18 | 2015-02-11 | 昆山市叶茂机电设备有限公司 | A kind of omni-directional wheel |
-
2014
- 2014-06-18 CN CN201410271410.XA patent/CN104015556A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3746112A (en) * | 1970-12-14 | 1973-07-17 | B Ilon | Directionally stable self propelled vehicle |
| US20090065113A1 (en) * | 2005-08-09 | 2009-03-12 | Kuka Roboter Gmbh | Wheel |
| CN101856945A (en) * | 2010-06-14 | 2010-10-13 | 中国海洋大学 | An omnidirectional wheel that simplifies the manufacturing process |
| CN102310712A (en) * | 2011-06-03 | 2012-01-11 | 南京航空航天大学 | Heavy-duty self-driven omnidirectional wheel and design method thereof |
| CN202879149U (en) * | 2012-10-31 | 2013-04-17 | 成都航发液压工程有限公司 | 45-degree omnidirectional wheel |
| CN204149766U (en) * | 2014-06-18 | 2015-02-11 | 昆山市叶茂机电设备有限公司 | A kind of omni-directional wheel |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111112942A (en) * | 2018-10-30 | 2020-05-08 | 上海云绅智能科技有限公司 | Mecanum wheel hub machining method and system |
| EP3756744A1 (en) | 2019-06-28 | 2020-12-30 | Shantou Yi Er Le Toy Co., Ltd | An eccentric omnidirectional wheel |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140903 |