CN112118966B - Omnidirectional wheel, power device and movable platform - Google Patents
Omnidirectional wheel, power device and movable platform Download PDFInfo
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- CN112118966B CN112118966B CN201980030128.3A CN201980030128A CN112118966B CN 112118966 B CN112118966 B CN 112118966B CN 201980030128 A CN201980030128 A CN 201980030128A CN 112118966 B CN112118966 B CN 112118966B
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- wheel seat
- omni
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Hydraulic Turbines (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
An omni wheel (1), a power device and a movable platform, wherein the omni wheel (1) comprises: the wheel seat (11), the wheel seat (11) is used for connecting the connecting part of the driving piece; and a plurality of blades (12) provided on the outer peripheral surface (111) of the wheel seat (11) and arranged at intervals in the circumferential direction of the wheel seat (11); the blade comprises a blade root part (121) connected with the outer peripheral surface (111) of the wheel seat (11) and a blade top part (122) arranged opposite to the blade root part (121) and protruding out of the outer peripheral surface (111) of the wheel seat (11), wherein the blade top part (122) is obliquely arranged relative to the central axis of the wheel seat (11). The omnidirectional wheel (1) is used for obliquely arranging the top (122) of the blade (12), and based on the principle of Mecanum wheels, the omnidirectional wheel (1) can generate a motion component in a transverse moving direction on loose fluid, so that plane five-dimensional motion of a movable platform on the loose fluid such as water surface, sand beach and the like can be realized.
Description
Technical Field
The application relates to the technical field of mobile devices, in particular to an omnidirectional wheel, a power device and a movable platform.
Background
The mecanum wheels may be mounted on a robot or mobile cart to enable omnidirectional movement of such movable platforms, but the use scenarios of conventional mecanum wheels are limited to level ground. In order to meet the requirements of more application scenes, such as non-flat scenes like water surface or sand beach, the traditional mecanum wheels need to be improved to realize omnidirectional motion of the movable platform under the scenes, namely, 3-dimensional free motion of front and back, left and right and rotation.
Content of application
Accordingly, there is a need for an omni-directional wheel, a power device and a movable platform that can solve at least one of the above problems.
An omni wheel, comprising: the wheel seat is provided with a connecting part for connecting the driving part; the blades are arranged on the peripheral surface of the wheel seat and are arranged at intervals along the circumferential direction of the wheel seat; the blade comprises a blade root part connected with the outer peripheral surface of the wheel seat and a blade top part which is arranged opposite to the blade root part and protrudes out of the outer peripheral surface of the wheel seat, and the blade top part is obliquely arranged relative to the central axis of the wheel seat.
A power plant, comprising: a chassis; a driving member mounted on the chassis; the omnidirectional wheel is connected with the driving piece and used for driving the chassis to move; the omni wheel includes: the wheel seat is provided with a connecting part for connecting the driving part; the blades are arranged on the peripheral surface of the wheel seat and are arranged at intervals along the circumferential direction of the wheel seat; the blade comprises a blade root part connected with the outer peripheral surface of the wheel seat and a blade top part which is arranged opposite to the blade root part and protrudes out of the outer peripheral surface of the wheel seat, and the blade top part is obliquely arranged relative to the central axis of the wheel seat.
A movable platform, comprising: a body; and the power device according to any one of the second technical scheme, which is connected with the bottom of the machine body.
Compared with the prior art, the method has the following beneficial technical effects: the omnidirectional wheel is based on the principle of a Mecanum wheel, the top of the blade is obliquely arranged, the same mechanical principle is utilized, the omnidirectional wheel can generate motion components in the transverse moving direction on loose fluid, and plane five-dimensional motion of the movable platform on the loose fluid such as water surface, sand beach and the like can be realized through the same chassis control principle (namely, the planar five-dimensional motion of the movable platform on the ground is realized by utilizing the Mecanum wheel), so that the omnidirectional motion of the movable platform is extended to the application scenes of the loose fluid such as the water surface, the sand beach and the like, and the use requirements of users in different fields can be met.
Additional aspects and advantages of the present application will be set forth in part in the description which follows, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic perspective view of a left-handed omni wheel according to an embodiment of the present application;
FIG. 2 is a schematic front view of the left-handed omni wheel of FIG. 1;
FIG. 3 is a rear view of the left-handed omni wheel of FIG. 1;
FIG. 4 is a schematic top view of the left hand omni wheel of FIG. 1;
fig. 5 is a schematic perspective view of a right-hand omni wheel according to an embodiment of the present application;
FIG. 6 is a schematic front view of the right-hand omni wheel of FIG. 5;
FIG. 7 is a rear view of the right-hand omni wheel of FIG. 5;
FIG. 8 is a schematic top view of the right-hand omni wheel of FIG. 5;
FIG. 9 is a schematic view of an omni-wheel configuration of the power plant according to one embodiment of the present application;
FIG. 10 is an exploded view of a movable platform according to one embodiment of the present application;
FIG. 11 is a schematic top view of the mobile platform of FIG. 10 assembled;
FIG. 12 is a schematic diagram of the assembled right side view of the movable platform of FIG. 10;
fig. 13 is a rear view of the mobile platform of fig. 10 assembled.
Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 13 is:
the structure of the wind turbine comprises an omnidirectional wheel 1, a wheel seat 11, a 111 outer peripheral surface, a 112 shaft hole, a 113 mounting groove, a 114 connecting hole, a blade 12, a 121 blade root, a 122 blade top, a 123 front edge part, a 124 rear edge part, a 13 left-handed omnidirectional wheel, a 14 right-handed omnidirectional wheel, a chassis 2, a motor 3, a 4 mounting seat, a 41 radiating fin, a 5 connecting piece and a 6 machine body.
Detailed Description
In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.
At present, the application products of a water surface camera, a water surface fighting robot, a beach moving trolley, a water moving trolley, an underwater moving trolley or other toys or professional fields are more and more. Loose fluids such as water and sand are different from the ground and are easy to drift under the action of inertia. To the drive of surface of water robot, some products adopt propeller device or propeller etc. under water to drive, and the structure is comparatively complicated, and control effect is also relatively poor. The movable platform is extended to loose fluids such as water surfaces and sand beaches based on the principle of a Mircon master wheel, and the same mechanical principle is utilized, and through a specially designed wheel set, the movable platform can generate a motion component in a transverse moving direction on the loose fluids; on the basis, the planar five-dimensional motion of the movable platform on loose fluids such as water surface, sand beach and the like is realized by the same chassis control principle as that of the master wheel of the Minna, and the use requirement of the movable platform on the loose fluids such as water surface, sand beach and the like for omnidirectional movement is met.
An omni wheel 1, a power plant and a movable platform according to some embodiments of the present application are described below with reference to fig. 1 to 13.
An embodiment of the first aspect of the present application provides an omni wheel 1, including: a wheel base 11 and a plurality of blades 12, as shown in fig. 1 and 5.
Specifically, the wheel seat 11 is provided with a connecting portion for connecting a driving member. The plurality of blades 12 are provided on the outer peripheral surface 111 of the wheel holder 11 at intervals in the circumferential direction of the wheel holder 11, as shown in fig. 1 and 5.
The blade 12 includes a blade root 121 connected to the outer circumferential surface 111 of the wheel base 11, and a blade tip 122 disposed opposite to the blade root 121 and protruding from the outer circumferential surface 111 of the wheel base 11, where the blade tip 122 is disposed obliquely with respect to the central axis of the wheel base 11, as shown in fig. 4 and 8.
The omnidirectional wheel 1 provided by the embodiment of the first aspect of the present application is based on the principle of a mecanum wheel, the blade tops 122 of the blades 12 are obliquely arranged, and the same mechanical principle is utilized, so that the omnidirectional wheel 1 can generate a motion component in a lateral moving direction on the loose fluid, and then the planar five-dimensional motion of the movable platform on the loose fluid such as the water surface and the sand beach can be realized through the same control principle of the chassis 2 (namely, the planar five-dimensional motion of the movable platform on the ground is realized by utilizing a mecanum wheel), so that the omnidirectional movement of the movable platform is extended to the application scenes of the loose fluid such as the water surface and the sand beach, and the use requirements of users in different fields can be met.
Specifically, the omni wheel 1 includes a wheel base 11 and a plurality of blades 12, and the wheel base 11 is provided with a connecting portion to which a driving member can be connected and driven by the driving member to rotate about its central axis. The plurality of blades 12 are provided on the outer circumferential surface 111 of the wheel base 11 and are arranged at intervals in the circumferential direction of the wheel base 11, so that the omni wheel 1 is formed in the form of an impeller, and in the rotating process of the wheel base 11, the blades 12 can be embedded into loose fluid such as water, sand and the like, thereby enabling the omni wheel 1 to generate rotary displacement. The blade 12 comprises a blade root 121 and a blade top 122, the blade root 121 is connected with the outer circumferential surface 111 of the wheel seat 11, and the connecting function of the blade 12 and the wheel seat 11 is realized; the blade top 122 is disposed opposite to the blade root 121 and protrudes from the outer circumferential surface 111 of the wheel base 11, and can contact with loose fluid such as water, sand, etc. and generate an interaction force, so as to realize the movement of the omni wheel 1. The blade top part 122 is obliquely arranged relative to the central axis of the wheel seat 11, so that component force in the transverse moving direction can be generated in the contact process of the blade top part 122 and loose fluids such as water surface, sand beach and the like, a plurality of omnidirectional wheels 1 are reasonably arranged and reasonably controlled, the resultant force vector of the omnidirectional wheels 1 can be controlled to any one of three dimensions of front-back, left-right and rotation, and five-dimensional omnidirectional motion of the movable platform on the loose fluids such as water surface, sand beach and the like is realized.
In some embodiments of the present application, the angle α between the tip portion 122 and the central axis of the wheel block 11 is in the range of 30 ° to 60 °.
The included angle alpha between the blade top part 122 and the central axis of the wheel seat 11 is limited within the range of 30 degrees to 60 degrees, so that the included angle between the blade top part 122 and the central axis of the wheel seat 11 can be prevented from being too large or too small, the component force difference between the two directions of the blade top part 122 is prevented from being too large, the power difference when the driving piece drives the omnidirectional wheel 1 to move towards different directions is favorably reduced, and the power requirement on the driving piece is reduced.
In one embodiment of the present application, the angle α between the tip portion 122 and the center axis of the wheel block 11 is 45 °.
The included angle alpha between the blade top part 122 and the wheel seat 11 on the central axis is limited to 45 degrees, so that the component forces of the blade top part 122 in two directions can be kept equal, which is beneficial to improving the power uniformity when the driving piece drives the omnidirectional wheel 1 to move in different directions, and further reducing the power requirement on the driving piece.
In one embodiment of the present application, the projection of the blade 12 onto the outer circumferential surface 111 of the wheel base 11 coincides with the blade root 121, as shown in fig. 4 and 8.
The projection of the blade 12 on the outer circumferential surface 111 of the wheel seat 11 is overlapped with the blade root part 121, so that the whole blade 12 is perpendicular to the outer circumferential surface 111 of the wheel seat 11, and the whole blade 12 is obliquely arranged relative to the central axis of the wheel seat 11, so that the structure of the blade 12 is more regular and the blade is convenient to machine and form; the acting force on the blade top 122 is also transmitted to the wheel seat 11 as much as possible, so that the strength of the blade 12 is improved, the risk that the blade 12 cracks or even breaks is reduced, and the use reliability of the omnidirectional wheel 1 is improved; meanwhile, the resistance to the forward rotation and the reverse rotation of the wheel seat 11 can be reduced.
Of course, the shape of the blades 12 may also be irregular or otherwise. Such as: the blade 12 is curved in its width direction to have a certain curvature; or the blade 12 has a bent portion; or the blade top 122 and the blade root 121 are rotationally staggered, and at this time, the projection of the blade top 122 on the outer circumferential surface 111 of the wheel seat 11 is not overlapped with the blade root 121; or otherwise.
Further, the blade 12 includes a leading edge portion 123 and a trailing edge portion 124 between the blade root portion 121 and the blade tip portion 122, and the leading edge portion 123 and the trailing edge portion 124 are spaced apart in the rotation direction of the wheel base 11, as shown in fig. 1 and 5. Both ends of leading edge 123 are connected to one end of blade root 121 and one end of blade tip 122, respectively, and both ends of trailing edge 124 are connected to the other end of blade root 121 and the other end of blade tip 122, respectively.
The blade 12 includes a leading edge portion 123 and a trailing edge portion 124, and the leading edge portion 123, the tip portion 122, the trailing edge portion 124 and the root portion 121 correspond to the outer peripheral surface of the blade 12, and may be considered as the side edge of the blade 12 if the thickness of the blade 12 is ignored. Since the entire blade 12 is disposed obliquely with respect to the center axis of the wheel base 11, both ends of the blade 12 in the longitudinal direction thereof are spaced forward and backward in the rotational direction of the wheel base 11. With reference to the direction of rotation of the wheel base 11 when the movable platform moves forward, the leading edge 123 is located downstream of the trailing edge 124, the leading end of the blade tip 122 is located downstream of the trailing end, and the leading end of the blade root 121 is located downstream of the trailing end. Therefore, both ends of the leading edge portion 123 are connected to the leading end of the blade root portion 121 and the leading end of the blade tip portion 122, respectively, and both ends of the trailing edge portion 124 are connected to the trailing end of the blade root portion 121 and the trailing end of the blade tip portion 122, respectively.
It is understood that since the wheel seat 11 can rotate in the forward direction and the reverse direction, the front and rear of the front edge portion 123 and the rear edge portion 124 are opposite to each other, and the front and rear positions of the front edge portion 123 and the rear edge portion 124 are changed when the wheel seat 11 rotates in different directions.
Further, leading edge 123 is disposed obliquely with respect to root portion 121 and tip portion 122, as shown in fig. 3 and 7, and leading edge 123 forms a first acute angle with root portion 121, and leading edge 123 forms a first obtuse angle with tip portion 122, as shown in fig. 1 and 5; the trailing edge portion 124 is disposed obliquely with respect to the blade root portion 121 and the blade tip portion 122, as shown in fig. 2 and 6, and a second acute angle is formed between the trailing edge portion 124 and the blade root portion 121, and a second obtuse angle is formed between the trailing edge portion 124 and the blade tip portion 122, as shown in fig. 1 and 5.
The front edge part 123 is obliquely arranged relative to the blade root part 121 and the blade top part 122, a first acute angle is formed between the front edge part 123 and the blade root part 121, and a first obtuse angle is formed between the front edge part 123 and the blade top part 122, so that the front end of the blade top part 122 is properly back relative to the front end of the blade root part 121, or the front end of the blade root part 121 is properly protruded out of the front end of the blade top part 122, which is beneficial to improving the strength of the front end of the blade 12, improving the use reliability of the blade 12 and improving the aesthetic degree of products.
The trailing edge portion 124 is disposed obliquely with respect to the blade root portion 121 and the blade tip portion 122, a second acute angle is formed between the trailing edge portion 124 and the blade root portion 121, and a second obtuse angle is formed between the trailing edge portion 124 and the blade tip portion 122, so that the trailing end of the blade tip portion 122 is forward with respect to the trailing end of the blade root portion 121, or the trailing end of the blade root portion 121 protrudes out of the trailing end of the blade tip portion 122, which is beneficial to improving the strength of the trailing end of the blade 12, thereby improving the reliability of the blade 12 in use, and also beneficial to improving the aesthetic degree of the product.
Optionally, the first acute angle is equal to the second acute angle and the first obtuse angle is equal to the second obtuse angle.
First acute angle equals the second acute angle, and first obtuse angle equals the second obtuse angle, therefore blade 12 itself forms symmetrical structure for blade 12's structure is more regular, and the machine-shaping of being convenient for more also is favorable to wheel seat 11 when just reversing, and blade 12 homoenergetic plays better effect.
Further, leading edge 123 is smoothly connected with blade root 121 and blade tip 122, as shown in fig. 1 and 5; trailing edge portion 124 is smoothly connected to blade root portion 121 and blade tip portion 122, as shown in fig. 1 and 5.
The front edge part 123 is smoothly connected with the blade root part 121 and the blade top part 122, which is not only convenient for processing and forming, but also beneficial for reducing the probability of the blade 12 being stuck with other structures in the moving process of the omnidirectional wheel 1, thereby improving the use reliability of products and simultaneously preventing the blade 12 from scratching users.
Similarly, the trailing edge 124 is smoothly connected to the blade root 121 and the blade tip 122, which is not only convenient for machining and forming, but also beneficial for reducing the probability of the blade 12 being stuck with other structures in the moving process of the omni wheel 1, thereby improving the reliability of the product, and simultaneously preventing the blade 12 from scratching users.
Further, the leading edge 123 and the blade root 121 are smoothly connected through a first fillet, the leading edge 123 and the blade tip 122 are smoothly connected through a second fillet, the center of the first fillet and the center of the second fillet are respectively located at two sides of the leading edge 123, and the radius of the first fillet is smaller than that of the second fillet, as shown in fig. 1 and 5.
The trailing edge portion 124 and the blade root portion 121 are smoothly connected through a third fillet, the trailing edge portion 124 and the blade tip portion 122 are smoothly connected through a fourth fillet, the center of the third fillet and the center of the fourth fillet are respectively arranged on two sides of the trailing edge portion 124, and the radius of the third fillet is smaller than that of the fourth fillet, as shown in fig. 1 and 5.
Therefore, the front end and the rear end of the blade root 121 are firmer, which is beneficial to improving the strength of the blade 12, thereby further improving the use reliability of the blade 12; the front and rear ends of the blade tip portion 122 are relatively gentle, which is beneficial to improving the aesthetic degree of the product.
In some embodiments of the present application, optionally, the blade top portion 122 is linear, and the central axis of the blade top portion 122 and the central axis of the wheel seat 11 are coplanar and linear.
The tip portion 122 is linear (in this case, the thickness of the blade 12 is neglected), and the central axes of the tip portion 122 and the wheel seat 11 are coplanar and linear, that is: the tip portion 122 is neither parallel to nor intersects the central axis of the wheel base 11. The contact area between the omnidirectional wheel 1 and the carrier in the moving process is increased, the stability of the omnidirectional wheel 1 in the moving process is improved, the probability of inclination of the omnidirectional wheel 1 is reduced, and the use reliability of the product is further improved.
In some embodiments of the present application, root portion 121 optionally has a thickness greater than a thickness of tip portion 122, as shown in fig. 1 and 5.
The thickness of blade root 121 is greater than the thickness of blade tip 122, which is not only beneficial to improving the strength of blade 12, but also beneficial to improving the connection strength between blade 12 and wheel seat 11, and further improves the use reliability of omni wheel 1.
Further, the thickness of the root portion 121 is gradually reduced in a direction near the tip portion 122, as shown in fig. 1 and 5, and the root portion 121 smoothly meets the main body portion of the blade 12.
Along the direction close to the blade top 122, the thickness of the blade root 121 is gradually reduced, and then the cross section of the blade root 121 forms a structure similar to a triangle or a trapezoid, so that the blade root can play a role of a triangular reinforcing rib, and the strength of the blade 12 and the connection strength of the blade 12 and the wheel seat 11 are further improved; and the blade root 121 is smoothly connected with the main body of the blade 12, so that stress concentration at the connecting part of the blade root 121 and the main body of the blade 12 can be prevented, the probability of cracks and even fracture at the connecting part of the blade root 121 and the main body is prevented, and the use reliability of the blade 12 is further improved.
In some embodiments of the present application, blade root 121 optionally has a length greater than a length of blade tip 122, as shown in fig. 1 and 5.
The length of the blade root part 121 is greater than that of the blade tip part 122, which is beneficial to improving the strength of the blade 12 and the connection strength of the blade 12 and the wheel seat 11, thereby improving the use reliability of the omni wheel 1.
In some embodiments of the present application, optionally, two adjacent blades 12 partially overlap in projection on a plane perpendicular to the central axis of the wheel base 11, as shown in fig. 2, 3, 5 and 6.
In a projection on a plane perpendicular to the central axis of wheel base 11, two adjacent blades 12 partially overlap, which is advantageous for increasing the number of blades 12, thereby improving the dynamic effect of omni wheel 1 and improving the control accuracy when controlling the movement of the movable platform.
In some embodiments of the present application, optionally, the outer peripheral surface 111 of the wheel seat 11 is a rotating surface, and a generatrix of the rotating surface is a convex curved section, as shown in fig. 1 and 5, and the curved section is a mirror-symmetric structure.
The outer peripheral surface 111 of the wheel seat 11 is a rotating surface, that is: the outer circumferential surface 111 is formed by the bus bar rotating once around the central axis of the wheel base 11 with a fixed radius, which is advantageous for ensuring smooth rotation of the omni wheel 1. The generatrix of the rotating surface is a convex curve section, and the curve section is of a mirror symmetry structure, so that the wheel seat 11 forms a structure similar to a structure with thick middle and thin two ends, which is beneficial to reducing the weight of the omnidirectional wheel 1, thereby reducing the depth (such as draft depth, sand eating depth and the like) of the movable platform immersed in loose fluid and being beneficial to the flexible motion of the movable platform; and is beneficial to prolonging the length of the blade 12, further improving the interaction force between the blade 12 and the loose fluid and being beneficial to the flexible movement of the movable platform.
In some embodiments of the present application, the connecting portion includes a shaft hole 112 disposed at a central portion of the wheel seat 11, as shown in fig. 1, 2, 5 and 6, and the shaft hole 112 is used for connecting with a rotating shaft of the driving member.
The connecting portion includes a shaft hole 112, the shaft hole 112 is disposed at the center of the wheel seat 11, and the rotating shaft of the driving member is inserted into the shaft hole 112, so that the omni wheel 1 can be driven to rotate.
Further, the connecting portion further includes a mounting groove 113 disposed on an axial end surface of the wheel seat 11 away from the driving member, as shown in fig. 1, 2, 5 and 6, the mounting groove 113 is used for mounting the connecting member 5, so as to fixedly connect the wheel seat 11 with the rotating shaft by using the connecting member 5.
Connecting portion still include mounting groove 113, and mounting groove 113 is established on the axial terminal surface that the driving piece was kept away from to wheel seat 11, then during the assembly, the axial both sides of wheel seat 11 are separated in connecting piece 5 and driving piece, and connecting piece 5 is packed into in mounting groove 113, can be in the same place the pivot of driving piece with wheel seat 11 and pivot fixed connection, prevents that pivot and wheel seat 11 from taking place relative motion to guarantee the reliable drive of driving piece to omniwheel 1.
Further, the connecting portion further includes a connecting hole 114 provided on an axial end surface of the wheel seat 11 near the driving member, as shown in fig. 1, 3, 5 and 7, the connecting hole 114 being for connecting with a rotor portion of the driving member.
The connecting part further comprises a connecting hole 114, the connecting hole 114 is formed in the axial end face, close to the driving part, of the wheel seat 11, the rotating shaft of the driving part is inserted into the shaft hole 112 and fixedly connected with the connecting part 5 during assembly, and fasteners such as screws penetrate through the connecting hole 114 to fixedly connect the rotor part of the driving part with the wheel seat 11, so that the connecting reliability of the omnidirectional wheel 1 and the driving part can be further improved, and the driving part can be further driven reliably to the omnidirectional wheel 1.
The number of the connecting holes 114 is plural, and the plural connecting holes 114 are distributed at intervals along the circumferential direction of the wheel seat 11 and surround the shaft hole 112, as shown in fig. 3 and 7.
The plurality of connecting holes 114 are distributed at intervals, for example, uniformly distributed, along the circumferential direction of the wheel seat 11, and the plurality of connecting holes 114 surround the shaft hole 112, so that the stress balance between the driving member and the wheel seat 11 is facilitated, and the connection reliability of the omni wheel 1 and the driving member is further improved.
Alternatively, the number of the connecting holes 114 is three, and the three connecting holes 114 are uniformly distributed along the circumferential direction of the wheel seat 11, as shown in fig. 3 and 7.
Embodiments of the second aspect of the present application provide a power plant comprising: chassis 2, drive member and omni wheel 1.
In particular, the drive is mounted on the chassis 2; the omnidirectional wheel 1 is connected with the driving piece and used for driving the chassis 2 to move. The omni wheel 1 includes: a wheel base 11 and a plurality of blades 12, as shown in fig. 1 and 5.
Wherein the wheel seat 11 is provided with a connecting portion for connecting a driving member. The plurality of blades 12 are provided on the outer peripheral surface 111 of the wheel holder 11 at intervals in the circumferential direction of the wheel holder 11, as shown in fig. 1 and 5. The blade 12 includes a blade root portion 121 connected to the outer peripheral surface 111 of the wheel base 11 and a blade tip portion 122 disposed opposite to the blade root portion 121 and protruding from the outer peripheral surface 111 of the wheel base 11, the blade tip portion 122 being disposed obliquely with respect to the central axis of the wheel base 11, as shown in fig. 4 and 8.
In the power device provided by the embodiment of the second aspect of the present application, the omnidirectional wheel 1 is based on the principle of a mecanum wheel, the blade top 122 of the blade 12 is obliquely arranged, the same mechanical principle is utilized, so that the omnidirectional wheel 1 can generate a motion component in a lateral moving direction on the loose fluid, and then the planar five-dimensional motion of the movable platform on the loose fluid such as the water surface, the sand beach and the like can be realized through the same control principle of the chassis 2 (namely, the planar five-dimensional motion of the movable platform on the ground is realized by utilizing a master wheel of a mecanum), so that the omnidirectional movement of the movable platform is applied to the application scenes of the loose fluid such as the water surface, the sand beach and the like, and the use requirements of users in different fields can be met.
Specifically, the power plant comprises a chassis 2, a driving member and an omni wheel 1, wherein the chassis 2 is used as a mounting carrier of the driving member and the omni wheel 1 and is used for mounting other structures of a movable platform, such as a vehicle body. The omni wheel 1 comprises a wheel seat 11 and a plurality of blades 12, wherein the wheel seat 11 is provided with a connecting part which can be connected with a driving part and can rotate around the central axis of the driving part under the driving of the driving part. The plurality of blades 12 are provided on the outer circumferential surface 111 of the wheel base 11 and are arranged at intervals in the circumferential direction of the wheel base 11, so that the omni wheel 1 is formed in the form of an impeller, and in the rotating process of the wheel base 11, the blades 12 can be embedded into loose fluid such as water, sand and the like, thereby enabling the omni wheel 1 to generate rotary displacement. The blade 12 comprises a blade root 121 and a blade top 122, the blade root 121 is connected with the outer circumferential surface 111 of the wheel seat 11, and the connecting function of the blade 12 and the wheel seat 11 is realized; the blade top 122 is disposed opposite to the blade root 121 and protrudes from the outer circumferential surface 111 of the wheel base 11, and can contact with loose fluid such as water, sand, etc. and generate an interaction force, so as to realize the movement of the omni wheel 1. The blade top part 122 is obliquely arranged relative to the central axis of the wheel seat 11, so that component force in the transverse moving direction can be generated in the contact process of the blade top part 122 and loose fluids such as water surface, sand beach and the like, a plurality of omnidirectional wheels 1 are reasonably arranged and reasonably controlled, the resultant force vector of the omnidirectional wheels 1 can be controlled to any one of three dimensions of front-back, left-right and rotation, and five-dimensional omnidirectional motion of the movable platform on the loose fluids such as water surface, sand beach and the like is realized.
In some embodiments of the present application, the angle α between the tip portion 122 and the central axis of the wheel block 11 is in the range of 30 ° to 60 °.
The included angle alpha between the blade top part 122 and the central axis of the wheel seat 11 is limited within the range of 30 degrees to 60 degrees, so that the included angle between the blade top part 122 and the central axis of the wheel seat 11 can be prevented from being too large or too small, the component force difference between the two directions of the blade top part 122 is prevented from being too large, the power difference when the driving piece drives the omnidirectional wheel 1 to move towards different directions is favorably reduced, and the power requirement on the driving piece is reduced.
In one embodiment of the present application, the angle α between the tip portion 122 and the center axis of the wheel block 11 is 45 °.
The included angle alpha between the blade top part 122 and the wheel seat 11 on the central axis is limited to 45 degrees, so that the component forces of the blade top part 122 in two directions can be kept equal, which is beneficial to improving the power uniformity when the driving piece drives the omnidirectional wheel 1 to move in different directions, and further reducing the power requirement on the driving piece.
In one embodiment of the present application, the projection of the blade 12 onto the outer circumferential surface 111 of the wheel base 11 coincides with the blade root 121, as shown in fig. 4 and 8.
The projection of the blade 12 on the outer circumferential surface 111 of the wheel seat 11 is overlapped with the blade root part 121, so that the whole blade 12 is perpendicular to the outer circumferential surface 111 of the wheel seat 11, and the whole blade 12 is obliquely arranged relative to the central axis of the wheel seat 11, so that the structure of the blade 12 is more regular and the blade is convenient to machine and form; the acting force on the blade top 122 is also transmitted to the wheel seat 11 as much as possible, so that the strength of the blade 12 is improved, the risk that the blade 12 cracks or even breaks is reduced, and the use reliability of the omnidirectional wheel 1 is improved; meanwhile, the resistance to the forward rotation and the reverse rotation of the wheel seat 11 can be reduced.
Of course, the shape of the blades 12 may also be irregular or otherwise. Such as: the blade 12 is curved in its width direction to have a certain curvature; or the blade 12 has a bent portion; or the blade top 122 and the blade root 121 are rotationally staggered, and at this time, the projection of the blade top 122 on the outer circumferential surface 111 of the wheel seat 11 is not overlapped with the blade root 121; or otherwise.
Further, the blade 12 includes a leading edge portion 123 and a trailing edge portion 124 between the blade root portion 121 and the blade tip portion 122, and the leading edge portion 123 and the trailing edge portion 124 are spaced apart in the rotation direction of the wheel base 11, as shown in fig. 1 and 5. Both ends of leading edge 123 are connected to one end of blade root 121 and one end of blade tip 122, respectively, and both ends of trailing edge 124 are connected to the other end of blade root 121 and the other end of blade tip 122, respectively.
The blade 12 includes a leading edge portion 123 and a trailing edge portion 124, and the leading edge portion 123, the tip portion 122, the trailing edge portion 124 and the root portion 121 correspond to the outer peripheral surface of the blade 12, and may be considered as the side edge of the blade 12 if the thickness of the blade 12 is ignored. Since the entire blade 12 is disposed obliquely with respect to the center axis of the wheel base 11, both ends of the blade 12 in the longitudinal direction thereof are spaced forward and backward in the rotational direction of the wheel base 11. With reference to the direction of rotation of the wheel base 11 when the movable platform moves forward, the leading edge 123 is located downstream of the trailing edge 124, the leading end of the blade tip 122 is located downstream of the trailing end, and the leading end of the blade root 121 is located downstream of the trailing end. Therefore, both ends of the leading edge portion 123 are connected to the leading end of the blade root portion 121 and the leading end of the blade tip portion 122, respectively, and both ends of the trailing edge portion 124 are connected to the trailing end of the blade root portion 121 and the trailing end of the blade tip portion 122, respectively.
It is understood that since the wheel seat 11 can rotate in the forward direction and the reverse direction, the front and rear of the front edge portion 123 and the rear edge portion 124 are opposite to each other, and the front and rear positions of the front edge portion 123 and the rear edge portion 124 are changed when the wheel seat 11 rotates in different directions.
Further, leading edge 123 is disposed obliquely with respect to root portion 121 and tip portion 122, as shown in fig. 3 and 7, and leading edge 123 forms a first acute angle with root portion 121, and leading edge 123 forms a first obtuse angle with tip portion 122, as shown in fig. 1 and 5; the trailing edge portion 124 is disposed obliquely with respect to the blade root portion 121 and the blade tip portion 122, as shown in fig. 2 and 6, and a second acute angle is formed between the trailing edge portion 124 and the blade root portion 121, and a second obtuse angle is formed between the trailing edge portion 124 and the blade tip portion 122, as shown in fig. 1 and 5.
The front edge part 123 is obliquely arranged relative to the blade root part 121 and the blade top part 122, a first acute angle is formed between the front edge part 123 and the blade root part 121, and a first obtuse angle is formed between the front edge part 123 and the blade top part 122, so that the front end of the blade top part 122 is properly back relative to the front end of the blade root part 121, or the front end of the blade root part 121 is properly protruded out of the front end of the blade top part 122, which is beneficial to improving the strength of the front end of the blade 12, improving the use reliability of the blade 12 and improving the aesthetic degree of products.
The trailing edge portion 124 is disposed obliquely with respect to the blade root portion 121 and the blade tip portion 122, a second acute angle is formed between the trailing edge portion 124 and the blade root portion 121, and a second obtuse angle is formed between the trailing edge portion 124 and the blade tip portion 122, so that the trailing end of the blade tip portion 122 is forward with respect to the trailing end of the blade root portion 121, or the trailing end of the blade root portion 121 protrudes out of the trailing end of the blade tip portion 122, which is beneficial to improving the strength of the trailing end of the blade 12, thereby improving the reliability of the blade 12 in use, and also beneficial to improving the aesthetic degree of the product.
Optionally, the first acute angle is equal to the second acute angle and the first obtuse angle is equal to the second obtuse angle.
First acute angle equals the second acute angle, and first obtuse angle equals the second obtuse angle, therefore blade 12 itself forms symmetrical structure for blade 12's structure is more regular, and the machine-shaping of being convenient for more also is favorable to wheel seat 11 when just reversing, and blade 12 homoenergetic plays better effect.
Further, leading edge 123 is smoothly connected with blade root 121 and blade tip 122, as shown in fig. 1 and 5; trailing edge portion 124 is smoothly connected to blade root portion 121 and blade tip portion 122, as shown in fig. 1 and 5.
The front edge part 123 is smoothly connected with the blade root part 121 and the blade top part 122, which is not only convenient for processing and forming, but also beneficial for reducing the probability of the blade 12 being stuck with other structures in the moving process of the omnidirectional wheel 1, thereby improving the use reliability of products and simultaneously preventing the blade 12 from scratching users.
Similarly, the trailing edge 124 is smoothly connected to the blade root 121 and the blade tip 122, which is not only convenient for machining and forming, but also beneficial for reducing the probability of the blade 12 being stuck with other structures in the moving process of the omni wheel 1, thereby improving the reliability of the product, and simultaneously preventing the blade 12 from scratching users.
Further, the leading edge 123 and the blade root 121 are smoothly connected through a first fillet, the leading edge 123 and the blade tip 122 are smoothly connected through a second fillet, the center of the first fillet and the center of the second fillet are respectively located at two sides of the leading edge 123, and the radius of the first fillet is smaller than that of the second fillet, as shown in fig. 1 and 5.
The trailing edge portion 124 and the blade root portion 121 are smoothly connected through a third fillet, the trailing edge portion 124 and the blade tip portion 122 are smoothly connected through a fourth fillet, the center of the third fillet and the center of the fourth fillet are respectively arranged on two sides of the trailing edge portion 124, and the radius of the third fillet is smaller than that of the fourth fillet, as shown in fig. 1 and 5.
Therefore, the front end and the rear end of the blade root 121 are firmer, which is beneficial to improving the strength of the blade 12, thereby further improving the use reliability of the blade 12; the front and rear ends of the blade tip portion 122 are relatively gentle, which is beneficial to improving the aesthetic degree of the product.
In some embodiments of the present application, optionally, the blade top portion 122 is linear, and the central axis of the blade top portion 122 and the central axis of the wheel seat 11 are coplanar and linear.
The tip portion 122 is linear (in this case, the thickness of the blade 12 is neglected), and the central axes of the tip portion 122 and the wheel seat 11 are coplanar and linear, that is: the tip portion 122 is neither parallel to nor intersects the central axis of the wheel base 11. The contact area between the omnidirectional wheel 1 and the carrier in the moving process is increased, the stability of the omnidirectional wheel 1 in the moving process is improved, the probability of inclination of the omnidirectional wheel 1 is reduced, and the use reliability of the product is further improved.
In some embodiments of the present application, root portion 121 optionally has a thickness greater than a thickness of tip portion 122, as shown in fig. 1 and 5.
The thickness of blade root 121 is greater than the thickness of blade tip 122, which is not only beneficial to improving the strength of blade 12, but also beneficial to improving the connection strength between blade 12 and wheel seat 11, and further improves the use reliability of omni wheel 1.
Further, the thickness of the root portion 121 is gradually reduced in a direction near the tip portion 122, as shown in fig. 1 and 5, and the root portion 121 smoothly meets the main body portion of the blade 12.
Along the direction close to the blade top 122, the thickness of the blade root 121 is gradually reduced, and then the cross section of the blade root 121 forms a structure similar to a triangle or a trapezoid, so that the blade root can play a role of a triangular reinforcing rib, and the strength of the blade 12 and the connection strength of the blade 12 and the wheel seat 11 are further improved; and the blade root 121 is smoothly connected with the main body of the blade 12, so that stress concentration at the connecting part of the blade root 121 and the main body of the blade 12 can be prevented, the probability of cracks and even fracture at the connecting part of the blade root 121 and the main body is prevented, and the use reliability of the blade 12 is further improved.
In some embodiments of the present application, blade root 121 optionally has a length greater than a length of blade tip 122, as shown in fig. 1 and 5.
The length of the blade root part 121 is greater than that of the blade tip part 122, which is beneficial to improving the strength of the blade 12 and the connection strength of the blade 12 and the wheel seat 11, thereby improving the use reliability of the omni wheel 1.
In some embodiments of the present application, optionally, two adjacent blades 12 partially overlap in projection on a plane perpendicular to the central axis of the wheel base 11, as shown in fig. 2, 3, 5 and 6.
In a projection on a plane perpendicular to the central axis of wheel base 11, two adjacent blades 12 partially overlap, which is advantageous for increasing the number of blades 12, thereby improving the dynamic effect of omni wheel 1 and improving the control accuracy when controlling the movement of the movable platform.
In some embodiments of the present application, optionally, the outer peripheral surface 111 of the wheel seat 11 is a rotating surface, and a generatrix of the rotating surface is a convex curved section, as shown in fig. 1 and 5, and the curved section is a mirror-symmetric structure.
The outer peripheral surface 111 of the wheel seat 11 is a rotating surface, that is: the outer circumferential surface 111 is formed by the bus bar rotating once around the central axis of the wheel base 11 with a fixed radius, which is advantageous for ensuring smooth rotation of the omni wheel 1. The generatrix of the rotating surface is a convex curve section, and the curve section is of a mirror symmetry structure, so that the wheel seat 11 forms a structure similar to a structure with thick middle and thin two ends, which is beneficial to reducing the weight of the omnidirectional wheel 1, thereby reducing the depth (such as draft depth, sand eating depth and the like) of the movable platform immersed in loose fluid and being beneficial to the flexible motion of the movable platform; and is beneficial to prolonging the length of the blade 12, further improving the interaction force between the blade 12 and the loose fluid and being beneficial to the flexible movement of the movable platform.
In some embodiments of the present application, the connecting portion includes a shaft hole 112 disposed at a central portion of the wheel seat 11, as shown in fig. 1, 2, 5 and 6, and the shaft hole 112 is used for connecting with a rotating shaft of the driving member.
The connecting portion includes a shaft hole 112, the shaft hole 112 is disposed at the center of the wheel seat 11, and the rotating shaft of the driving member is inserted into the shaft hole 112, so that the omni wheel 1 can be driven to rotate.
Further, the connecting portion further includes a mounting groove 113 disposed on an axial end surface of the wheel seat 11 away from the driving member, as shown in fig. 1, 2, 5 and 6, the mounting groove 113 is used for mounting the connecting member 5, so as to fixedly connect the wheel seat 11 with the rotating shaft by using the connecting member 5.
Connecting portion still include mounting groove 113, and mounting groove 113 is established on the axial terminal surface that the driving piece was kept away from to wheel seat 11, then during the assembly, the axial both sides of wheel seat 11 are separated in connecting piece 5 and driving piece, and connecting piece 5 is packed into in mounting groove 113, can be in the same place the pivot of driving piece with wheel seat 11 and pivot fixed connection, prevents that pivot and wheel seat 11 from taking place relative motion to guarantee the reliable drive of driving piece to omniwheel 1.
Further, the connecting portion further includes a connecting hole 114 provided on an axial end surface of the wheel seat 11 near the driving member, as shown in fig. 1, 3, 5 and 7, the connecting hole 114 being for connecting with a rotor portion of the driving member.
The connecting part further comprises a connecting hole 114, the connecting hole 114 is formed in the axial end face, close to the driving part, of the wheel seat 11, the rotating shaft of the driving part is inserted into the shaft hole 112 and fixedly connected with the connecting part 5 during assembly, and fasteners such as screws penetrate through the connecting hole 114 to fixedly connect the rotor part of the driving part with the wheel seat 11, so that the connecting reliability of the omnidirectional wheel 1 and the driving part can be further improved, and the driving part can be further driven reliably to the omnidirectional wheel 1.
The number of the connecting holes 114 is plural, and the plural connecting holes 114 are distributed at intervals along the circumferential direction of the wheel seat 11 and surround the shaft hole 112, as shown in fig. 3 and 7.
The plurality of connecting holes 114 are distributed at intervals, for example, uniformly distributed, along the circumferential direction of the wheel seat 11, and the plurality of connecting holes 114 surround the shaft hole 112, so that the stress balance between the driving member and the wheel seat 11 is facilitated, and the connection reliability of the omni wheel 1 and the driving member is further improved.
Alternatively, the number of the connecting holes 114 is three, and the three connecting holes 114 are uniformly distributed along the circumferential direction of the wheel seat 11, as shown in fig. 3 and 7.
In some embodiments of the present application, the number of omni wheels 1 is plural; the number of the driving members is equal to that of the omni wheels 1 and the driving members are correspondingly connected with the omni wheels 1 one by one, as shown in fig. 9, and are used for respectively driving the corresponding omni wheels 1 to rotate.
The plurality of omnidirectional wheels 1 are respectively and independently driven by the plurality of driving pieces, and the degrees of freedom of the chassis 2 in three dimensions of front and back, left and right and rotation can be obtained through the fine control of the rotating speed and the steering of the driving pieces, so that the omnidirectional movement of the movable platform on loose fluids such as water surfaces, sand beaches and the like is realized.
Specifically, the plurality of omnidirectional wheels 1 are divided into a left-handed wheel set and a right-handed wheel set, the omnidirectional wheel 1 of the left-handed wheel set is marked as a left-handed omnidirectional wheel 13, and the omnidirectional wheel 1 of the right-handed wheel set is marked as a right-handed omnidirectional wheel 14; the number of the left-handed omni wheels 13 is equal to that of the right-handed omni wheels 14, and the left-handed omni wheels 13 are in one-to-one correspondence with the right-handed omni wheels 14, and any one of the left-handed omni wheels 13 is mirror-symmetrical to the corresponding right-handed omni wheel 14, as shown in fig. 9, 11, 12 and 13, and is configured to enable the chassis 2 to move omnidirectionally.
The plurality of omni wheels 1 are divided into a left-handed wheel set and a right-handed wheel set, the blades 12 of the left-handed omni wheel 13 and the right-handed omni wheel 14 have different inclination directions, so that component forces in different directions can be generated during rotation, and the component forces in different directions can be mutually superposed or mutually offset, so that the degrees of freedom in three dimensions of front-back, left-right and rotation can be obtained. The specific mechanical principle and control principle are the same as the principle of using the mike-na primary wheel to realize the omnidirectional movement of the movable platform on the ground, and the application of the mike-na primary wheel principle is mature, so the details are not repeated herein.
Specifically, the number of the left-handed omni wheels 13 is two, the number of the right-handed omni wheels 14 is two, and the two left-handed omni wheels 13 are distributed to intersect with the two right-handed omni wheels 14, as shown in fig. 9 and 11.
Of course, the number of the left-handed omni wheels 13 and the right-handed omni wheels 14 is not limited thereto, and the arrangement is not limited thereto. Such as: the two left-handed omni wheels 13 are positioned on the left side, and the two right-handed omni wheels 14 are positioned on the right side; or the two left-handed omni wheels 13 are both located at the front side and the two right-handed omni wheels 14 are both located at the rear side.
For the scheme of realizing the front-back and left-right movement by two groups of mutually orthogonal underwater propeller devices and realizing the rotational freedom by adding a group of propellers distributed along the rotational direction, the stable control of low speed is realized, and each group needs at least two motors, thereby totally needing 6 groups. Because each action is independent, there is the slope disturbance when the drive, so does not adopt four motors to exert force's control mode soft equilibrium simultaneously like this application.
To carrying a horizontal axis paddle, the orientation of adjustment paddle realizes all-round all around the left and right sides removal, increases the rotatory scheme of motor control of a direction of rotation again, and its control effect is poor, needs the paddle unanimous with the platform barycenter, otherwise rotates easily and leads to the control confusion, does not adopt the control mode that four motors exert oneself simultaneously good like this application yet.
Further, the chassis 2 is provided with a mounting seat 4, as shown in fig. 10, a driving member is mounted on the mounting seat 4, the driving member is a motor 3, and an output shaft of the motor 3 is inserted into the shaft hole 112 of the omni wheel 1; the mounting groove 113 of the omni wheel 1 is provided with a connecting piece 5, and the connecting piece 5 is fixedly connected with the output shaft, so that the motor 3 is fixedly connected with the omni wheel 1.
During assembly, the motor 3 can be firstly installed on the installation seat 4, then the shaft hole 112 of the omnidirectional wheel 1 is aligned to the output shaft of the motor 3, the output shaft of the motor 3 is inserted into the shaft hole 112 of the omnidirectional wheel 1, and then the connecting piece 5 is installed in the installation groove 113 and is fixedly connected with the output shaft, so that the fixed connection between the motor 3 and the omnidirectional wheel 1 is realized.
Further, the mount 4 is provided with a heat sink 41, as shown in fig. 10.
The mounting seat 4 is provided with the radiating fins 41, so that the motor 3 can be radiated in time, the motor 3 is prevented from being overheated and suffering from adverse effects, and the use reliability of the power device is improved.
As shown in fig. 10 to 13, an embodiment of the third aspect of the present application provides a movable platform, including: the body 6 and the power unit as in any one of the embodiments of the second aspect are attached to the bottom of the body 6.
The movable platform provided in the embodiment of the third aspect of the present application includes the power device in any one of the embodiments of the second aspect, so that all the advantages of any one of the embodiments described above are achieved, and details are not described herein again.
Optionally, a camera may be mounted on the body 6 for performing functions such as water surface photography or real-time video recording; the machine body 6 can also be provided with a shot launching device, an armor module and the like for realizing the fighting function of the robot and the like.
Optionally, the movable platform is a beach trolley or an over-the-water trolley or an under-the-water trolley.
In this application, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In the description of the present application, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (43)
1. An omni wheel, comprising:
the wheel seat is provided with a connecting part for connecting the driving part; and
the blades are arranged on the outer peripheral surface of the wheel seat and are arranged at intervals along the circumferential direction of the wheel seat;
the blade comprises a blade root part connected with the outer peripheral surface of the wheel seat and a blade top part which is arranged opposite to the blade root part and protrudes out of the outer peripheral surface of the wheel seat, and the blade top part is obliquely arranged relative to the central axis of the wheel seat;
the outer peripheral surface of the wheel seat is a rotating surface, a bus of the rotating surface is a convex curve section, and the curve section is of a mirror symmetry structure.
2. The omni wheel of claim 1,
the included angle between the top of the blade and the central axis of the wheel seat is in the range of 30-60 degrees.
3. The omni wheel of claim 2,
the included angle between the top of the blade and the central axis of the wheel seat is 45 degrees.
4. Omni-wheel according to any of the claims 1 to 3, wherein,
the projection of the blade on the peripheral surface of the wheel seat is superposed with the blade root.
5. The omni wheel of claim 4,
the blade comprises a front edge part and a rear edge part between the blade root part and the blade top part, and the front edge part and the rear edge part are distributed at intervals along the rotation direction of the wheel seat;
the two ends of the front edge part are respectively connected with one end of the blade root part and one end of the blade top part, and the two ends of the rear edge part are respectively connected with the other end of the blade root part and the other end of the blade top part.
6. The omni wheel of claim 5,
the leading edge part is obliquely arranged relative to the blade root part and the blade top part, a first acute angle is formed between the leading edge part and the blade root part, and a first obtuse angle is formed between the leading edge part and the blade top part;
the trailing edge portion is obliquely arranged relative to the blade root portion and the blade top portion, a second acute angle is formed between the trailing edge portion and the blade root portion, and a second obtuse angle is formed between the trailing edge portion and the blade top portion.
7. The omni wheel of claim 6,
the first acute angle is equal to the second acute angle, and the first obtuse angle is equal to the second obtuse angle.
8. The omni wheel of claim 5,
the front edge part is smoothly connected with the blade root part and the blade top part;
the trailing edge portion is smoothly connected to the root portion and the tip portion.
9. The omni wheel of claim 8,
the front edge part is smoothly connected with the blade root part through a first fillet, the front edge part is smoothly connected with the blade top part through a second fillet, the circle center of the first fillet and the circle center of the second fillet are arranged on two sides of the front edge part, and the radius of the first fillet is smaller than that of the second fillet;
the rear edge part is connected with the blade root part in a smooth mode through a third fillet, the rear edge part is connected with the blade top part in a smooth mode through a fourth fillet, the circle center of the third fillet and the circle center of the fourth fillet are located on the two sides of the rear edge part, and the radius of the third fillet is smaller than that of the fourth fillet.
10. The omni wheel of claim 1,
the top of each blade is linear, and the top of each blade and the central axis of the wheel seat are in a straight line with different planes.
11. The omni wheel of claim 1,
the thickness of the root of the leaf is greater than the thickness of the tip of the leaf.
12. The omni wheel of claim 11,
the thickness of the blade root part is gradually reduced along the direction close to the blade top part, and the blade root part is smoothly connected with the main body part of the blade.
13. The omni wheel of claim 1,
the length of the root of the leaf is greater than the length of the tip of the leaf.
14. The omni wheel of claim 1,
in a projection on a plane perpendicular to the center axis of the wheel base, two adjacent blades partially overlap.
15. The omni wheel of claim 1,
the connecting portion are including establishing the shaft hole at wheel seat central part, the shaft hole be used for with the pivot of driving piece links to each other.
16. The omni wheel of claim 15,
connecting portion still including establishing the wheel seat is kept away from mounting groove on the axial terminal surface of driving piece, the mounting groove is used for erection joint spare, in order to utilize the connecting piece will the wheel seat with pivot fixed connection.
17. The omni wheel of claim 16,
the connecting portion further comprises a connecting hole formed in the wheel seat and close to the axial end face of the driving piece, and the connecting hole is used for being connected with a rotor portion of the driving piece.
18. The omni wheel of claim 17,
the number of connecting holes is a plurality of, and is a plurality of the connecting hole is followed the circumference direction interval distribution of wheel seat to encircle the shaft hole.
19. A power plant, comprising:
a chassis;
a driving member mounted on the chassis;
the omnidirectional wheel is connected with the driving piece and used for driving the chassis to move;
the omni wheel includes:
the wheel seat is provided with a connecting part for connecting the driving part; and
the blades are arranged on the outer peripheral surface of the wheel seat and are arranged at intervals along the circumferential direction of the wheel seat;
the blade comprises a blade root part connected with the outer peripheral surface of the wheel seat and a blade top part which is arranged opposite to the blade root part and protrudes out of the outer peripheral surface of the wheel seat, and the blade top part is obliquely arranged relative to the central axis of the wheel seat;
the outer peripheral surface of the wheel seat is a rotating surface, a bus of the rotating surface is a convex curve section, and the curve section is of a mirror symmetry structure.
20. The power plant of claim 19,
the included angle between the top of the blade and the central axis of the wheel seat is in the range of 30-60 degrees.
21. The power plant of claim 20,
the included angle between the top of the blade and the central axis of the wheel seat is 45 degrees.
22. The power plant of any one of claims 19 to 21,
the projection of the blade on the peripheral surface of the wheel seat is superposed with the blade root.
23. The power plant of claim 22,
the blade comprises a front edge part and a rear edge part between the blade root part and the blade top part, and the front edge part and the rear edge part are distributed at intervals along the rotation direction of the wheel seat;
the two ends of the front edge part are respectively connected with one end of the blade root part and one end of the blade top part, and the two ends of the rear edge part are respectively connected with the other end of the blade root part and the other end of the blade top part.
24. The power plant of claim 23,
the leading edge part is obliquely arranged relative to the blade root part and the blade top part, a first acute angle is formed between the leading edge part and the blade root part, and a first obtuse angle is formed between the leading edge part and the blade top part;
the trailing edge portion is obliquely arranged relative to the blade root portion and the blade top portion, a second acute angle is formed between the trailing edge portion and the blade root portion, and a second obtuse angle is formed between the trailing edge portion and the blade top portion.
25. The power plant of claim 24,
the first acute angle is equal to the second acute angle, and the first obtuse angle is equal to the second obtuse angle.
26. The power plant of claim 23,
the front edge part is smoothly connected with the blade root part and the blade top part;
the trailing edge portion is smoothly connected to the root portion and the tip portion.
27. The power plant of claim 26,
the front edge part is smoothly connected with the blade root part through a first fillet, the front edge part is smoothly connected with the blade top part through a second fillet, the circle center of the first fillet and the circle center of the second fillet are arranged on two sides of the front edge part, and the radius of the first fillet is smaller than that of the second fillet;
the rear edge part is connected with the blade root part in a smooth mode through a third fillet, the rear edge part is connected with the blade top part in a smooth mode through a fourth fillet, the circle center of the third fillet and the circle center of the fourth fillet are located on the two sides of the rear edge part, and the radius of the third fillet is smaller than that of the fourth fillet.
28. The power plant of claim 19,
the top of each blade is linear, and the top of each blade and the central axis of the wheel seat are in a straight line with different planes.
29. The power plant of claim 19,
the thickness of the root of the leaf is greater than the thickness of the tip of the leaf.
30. The power plant of claim 29,
the thickness of the blade root part is gradually reduced along the direction close to the blade top part, and the blade root part is smoothly connected with the main body part of the blade.
31. The power plant of claim 19,
the length of the root of the leaf is greater than the length of the tip of the leaf.
32. The power plant of claim 19,
the outer peripheral surface of the wheel seat is a rotating surface, a bus of the rotating surface is a convex curve section, and the curve section is of a mirror symmetry structure.
33. The power plant of claim 19,
the connecting portion are including establishing the shaft hole at wheel seat central part, the shaft hole be used for with the pivot of driving piece links to each other.
34. The power plant of claim 33,
connecting portion still including establishing the wheel seat is kept away from mounting groove on the axial terminal surface of driving piece, the mounting groove is used for erection joint spare, in order to utilize the connecting piece will the wheel seat with pivot fixed connection.
35. The power plant of claim 34,
the connecting portion further comprises a connecting hole formed in the wheel seat and close to the axial end face of the driving piece, and the connecting hole is used for being connected with a rotor portion of the driving piece.
36. The power plant of claim 35,
the number of connecting holes is a plurality of, and is a plurality of the connecting hole is followed the circumference direction interval distribution of wheel seat to encircle the shaft hole.
37. The power plant of claim 19,
the number of the omnidirectional wheels is multiple;
the driving pieces are equal in number to the omnidirectional wheels, are connected in a one-to-one correspondence mode, and are used for driving the corresponding omnidirectional wheels to rotate respectively.
38. The power plant of claim 37,
the omnidirectional wheels are divided into a left-handed wheel set and a right-handed wheel set, the omnidirectional wheels of the left-handed wheel set are marked as left-handed omnidirectional wheels, and the omnidirectional wheels of the right-handed wheel set are marked as right-handed omnidirectional wheels;
the number of the left-handed omni wheels is equal to that of the right-handed omni wheels, the left-handed omni wheels are in one-to-one correspondence with the right-handed omni wheels, and the left-handed omni wheels are in mirror symmetry with the corresponding right-handed omni wheels, so that the chassis can move in an omni-directional manner.
39. The power plant of claim 38,
the number of the left-handed omni wheels is two, the number of the right-handed omni wheels is two, and the two left-handed omni wheels and the two right-handed omni wheels are distributed in a crossed mode.
40. The power plant of claim 19,
the chassis is provided with a mounting seat, the driving piece is mounted on the mounting seat and is a motor, and an output shaft of the motor is inserted into a shaft hole of the omnidirectional wheel;
the mounting groove of the omnidirectional wheel is provided with a connecting piece, and the connecting piece is fixedly connected with the output shaft to fixedly connect the motor with the omnidirectional wheel.
41. The power plant of claim 40,
the mounting seat is provided with a radiating fin.
42. A movable platform, comprising:
a body; and
a powered device according to any of claims 19 to 41, attached to the bottom of the fuselage.
43. The movable platform of claim 42,
the movable platform is a beach moving trolley or an overwater moving trolley or an underwater moving trolley.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/104587 WO2021042337A1 (en) | 2019-09-05 | 2019-09-05 | Omnidirectional wheel, power unit, and movable platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112118966A CN112118966A (en) | 2020-12-22 |
| CN112118966B true CN112118966B (en) | 2022-01-14 |
Family
ID=73799153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980030128.3A Expired - Fee Related CN112118966B (en) | 2019-09-05 | 2019-09-05 | Omnidirectional wheel, power device and movable platform |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112118966B (en) |
| WO (1) | WO2021042337A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313043B (en) * | 2021-12-15 | 2023-06-30 | 珠海格力智能装备有限公司 | Mobile structure, chassis and robot |
| CN115127391A (en) * | 2022-07-29 | 2022-09-30 | 大连大学 | A wheat wheel serving robot |
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| WO2016123180A2 (en) * | 2015-01-27 | 2016-08-04 | Mtd Products Inc | Wheel assemblies with non-pneumatic tires |
| US20160214435A1 (en) * | 2015-01-27 | 2016-07-28 | Mtd Products Inc | Wheel assemblies with non-pneumatic tires |
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- 2019-09-05 CN CN201980030128.3A patent/CN112118966B/en not_active Expired - Fee Related
- 2019-09-05 WO PCT/CN2019/104587 patent/WO2021042337A1/en active Application Filing
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| JPH04163201A (en) * | 1990-10-24 | 1992-06-08 | Ohtsu Tire & Rubber Co Ltd :The | Agricultural wheel |
| CN203818915U (en) * | 2014-05-15 | 2014-09-10 | 成都航发液压工程有限公司 | Omni-directional wheel at 45 degrees and with integrated-formation wheel hub on two sides |
| US10386884B1 (en) * | 2014-08-05 | 2019-08-20 | Hydro-Gear Limited Partnership | Highly maneuverable vehicle with Mecanum wheels |
| CN104228456A (en) * | 2014-10-09 | 2014-12-24 | 中国矿业大学 | Middle supporting type Mecanum wheel hub |
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| CN206885207U (en) * | 2017-03-24 | 2018-01-16 | 桂林电子科技大学 | It is a kind of with can lift structure omni-directional mobile robots chassis |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112118966A (en) | 2020-12-22 |
| WO2021042337A1 (en) | 2021-03-11 |
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