CN201633467U - Novel all-directional wheel - Google Patents
Novel all-directional wheel Download PDFInfo
- Publication number
- CN201633467U CN201633467U CN2009202126460U CN200920212646U CN201633467U CN 201633467 U CN201633467 U CN 201633467U CN 2009202126460 U CN2009202126460 U CN 2009202126460U CN 200920212646 U CN200920212646 U CN 200920212646U CN 201633467 U CN201633467 U CN 201633467U
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- China
- Prior art keywords
- wheel
- omnidirectional
- wheel disc
- core print
- backward
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 230000033001 locomotion Effects 0.000 description 11
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 5
- 229910052802 copper Inorganic materials 0.000 description 5
- 239000010949 copper Substances 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 229910000989 Alclad Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
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Abstract
The utility model discloses a novel all-directional wheel which is characterized by comprising a front single-wheel disc, a rear single-wheel disc and a wheel core seat; the front single-wheel disc and the rear single-wheel disc comprise wheel hubs and driven wheels; at least three Y-shaped branches are uniformly distributed on the circumference of each wheel hub; a concentric circular hole is respectively arranged between every two adjacent Y-shaped branches; a small wheel shaft passes through between the two circular holes; the driven wheels pass through the small wheel shafts; the radius of the front single-wheel disc ad the rear single-wheel disc is equal to the radius of the circular arc of the axial cross section outline of the driven wheels; the wheel core seat comprises a central hole; and wherein a plurality of fasteners stagger the front and the rear wheel discs in 30 degrees and fix the same onto the wheel core seat. The novel all-directional wheel has the advantages of simple and compact structure, low cost, good bearing capacity and strong ground gripping capability, and is particularly applicable to design schemes used by robot competition platforms.
Description
Technical field
The utility model relates to a kind of new omnidirectional wheel.
Background technology
The common configuration characteristics that present commercially available omnidirectional wheel has are: be distributed with the driven small wheels that can freely rotate that a series of axle center are not orthogonal to the wheel hub end face around omnidirectional's wheel circumference of hub.The movement characteristic of omnidirectional's wheel is: wheel driven small wheels when rolling forward can reach the effect that omnidirectional's wheel rolls along oblique line around self center shaft rolling under ground reaction force when these two motions are synthesized to together.Therefore these characteristics can have a lot of application, for example: when constituting the mobile chassis mechanism of robot by three or a plurality of omnidirectional wheel, just can realize that robot does not rotate at body any time to move to any direction when moving.Make that the robot transposition is flexible, be not subject to motion space.Based on these characteristics, omnidirectional takes turns on the warehouse homework and other motion platform that can also be applied to such as electric wheelchair, space compactness, and application prospect is boundless.
The existing omnidirectional's wheel that uses above-mentioned principle have two kinds a kind of be the monolithic wheel hub structure, a kind of is the biplate wheel hub structure.The omnidirectional of monolithic wheel hub structure wheel exists between the driven small wheels and has the gap, cause contact to earth discontinuous, the problem of robust motion difference.The two-piece type forward wheels adopts the mode of the driven steamboat complementation of two circles to solve the ground-surface problem of uninterrupted contact, and robust motion increases.But the omnidirectional of two wheel hub structure formulas wheel ubiquity complex structure on the market, installation and maintenance trouble, the problem that load-carrying capacity is low, the life-span is not high.What have is plastic construction, and the robust motion difference is easily skidded when being used for the robot competition platform, and is fragile, can not satisfy operating needs.
Summary of the invention
The utility model is specially at robot competition platform environment for use, provide a kind of simple and compact for structure, cost is low, load-carrying capacity good, grab the ground ability strong, be particularly suitable for and design plan that the robot competition platform uses.The improvement of matter has been arranged on the motion characteristics of this forward wheels.
The utility model has disclosed a kind of new omnidirectional wheel, it is characterized in that, comprise: forward and backward single-wheel dish, form by wheel hub and flower wheel, at least three Y shapes of rectangular distribution branch on the circumference of described wheel hub is respectively offered a concentric circular hole between the adjacent in twos described Y shape branch, and a little wheel shaft is located between described two circular holes, described flower wheel is located on the described little wheel shaft, and the radius of described forward and backward single-wheel dish equals the axial cross section profile arc radius of described flower wheel; The wheel core print seat comprises a centre hole; Wherein, some fasteners are taken turns described forward and backward wheel disc 10 °～60 ° fixed angle that stagger mutually on the core print seat described.
Reasonable is that described forward and backward wheel disc staggers 30 ° mutually.
Reasonablely be, described wheel hub is an Alclad, and described flower wheel is the rubber material, and described little wheel shaft is a stainless steel.
Reasonable is that described omnidirectional wheel further comprises: copper sheathing and two pads, and described copper sheathing is set on the described little wheel shaft, and described two pad branches are located between described little wheel shaft and the described Y shape branch.
Reasonablely be, offer a keyway in the described centre hole of taking turns core print seat, be used for location and installation.
Reasonablely be, described fastener comprises some screws and some pins, and the wheel hub of described forward and backward single-wheel dish and the described core print seat of taking turns be by described pin location, and by described screw lock.
Contact the flower wheel seamless switching with ground when wheel design of the present utility model is satisfied rotation in theory, can not cause vibration; The good precision height of Al-alloy metal wheel hub light weight intensity, aesthetic in appearance; Rubber steamboat (flower wheel) motion characteristics is good, and friction force is big, and is wear-resisting.
Description of drawings
Below, with reference to accompanying drawing, for those skilled in the art that, to the detailed description of the present utility model, above-mentioned and other purposes of the present utility model, feature and advantage will be apparent.
Fig. 1 is a decomposition texture scheme drawing of the present utility model;
Fig. 2 provides the sectional structure chart of single- wheel dish 10 or 20;
Fig. 3 is a combination of the present utility model back structural representation.
The specific embodiment
See also shown in Figure 1, omnidirectional of the present utility model wheel is by two identical single- wheel dishes 10 and 20 and be arranged on two wheel core print seats 30 between the single-wheel dish and combine, some pins 40,50 wore two single- wheel dishes 10 and 20 and wheel core print seat 30 on default some holes, finally be combined into one.
During combination, two single- wheel dishes 10,20, the 30 ° of angles of staggering mutually are fixed on the wheel core print seat 30.
Fig. 2 provides the sectional structure chart of single-wheel dish (is example with 10).Each single-wheel dish 10 is evenly distributed with six the rubber small wheels 12 that can freely rotate by a slice wheel hub 11 and constitutes on circumference.Rubber small wheels 12 embedded copper sheathings 13, by a steamboat axle 14 and about two pads 15 and 16 be fixed on two concentric on every Y shape branch 110 and 111 in twos on the wheel hub 11 circular holes.Omnidirectional's wheel shaft is continuous complete circle to the projection outline, and omnidirectional's wheel radius equals rubber steamboat 12 (flower wheel) axial cross section profile arc radius.
Above-mentioned steamboat axle 14 adopts stainless steel, and two ends are provided with taper hole, and it is fastening to be used for expanding.
Above-mentioned wheel hub 11 is provided with three or three above Y shape branch 13, and the rubber steamboat of installing between every adjacent two Y shape branch 110 and 111 12 is as flower wheel, and the center shaft of this rubber steamboat 12 is vertical with wheel hub 11 center shafts; The position of the circular hole on the Y shape branch 110 and 111 is provided with and need meets the following conditions: promptly steamboat axle 14 can enter circular hole with the concentric state of circular hole and not interfere with wheel hub 11.
The above-mentioned core print seat 30 of taking turns is provided with centre hole 301 and keyway 302 as auxiliary mounting structure.
During installation, former and later two single- wheel dishes 10 and 20 are plugged on the centre hole (axle) 301 of wheel core print seat 30 by center shaft (hole) 101,201 respectively, fixing by pin 40 and screw 50, the embedded copper sheathing 13 in rubber steamboat 12 centers, supported on Y shape branch 110 and 111 by steamboat axle 14, rubber steamboat 12 and copper sheathing 13 can rotate flexibly around steamboat axle 14; The rubber steamboat 12 axial cross section profile circular arc centers of circle overlap with the wheel hub center; Two single- wheel dishes 10 and 20 certain angle that staggers makes the Y shape branch 110 of rubber steamboat 12 on another single-wheel dish 20 on the single-wheel dish 10, pin 40 location, screw 50 lockings; The final omnidirectional's wheel shaft that forms is the complete circle that a radius equals rubber steamboat 12 axial cross section profile arc radius to the projection outline.
Omnidirectional of the present utility model wheel as the movable parts characteristics is: wheel is in the process of rolling forward, rubber steamboat (flower wheel) can reach the effect that omnidirectional's wheel rolls along oblique line under external force around self center shaft rolling when these two motions are synthesized to together simultaneously.Because of these characteristics can have a lot of application, for example: when constituting Chinese character pin-shaped structure by three omnidirectionals wheel, can accomplish that chassis any time moves to any direction as the chassis of dolly.
The characteristics of the utility model omnidirectional wheel structure are: contact the flower wheel seamless switching with ground when the wheel design is satisfied rotation in theory, can not cause vibration; The good precision height of Al-alloy metal wheel hub light weight intensity, aesthetic in appearance; Rubber steamboat (flower wheel) motion characteristics is good, and friction force is big, and is wear-resisting.
More than all embodiment only for the explanation the utility model usefulness, but not to restriction of the present utility model, person skilled in the relevant technique, under the situation that does not break away from spirit and scope of the present utility model, can also make various conversion or variation, so all technical schemes that are equal to also should belong to category of the present utility model and should be limited by each claim.
Claims (6)
1. new omnidirectional's wheel is characterized in that, comprising:
Forward and backward single-wheel dish, form by wheel hub and flower wheel, at least three Y shapes of rectangular distribution branch on the circumference of described wheel hub, respectively offer a concentric circular hole between the adjacent in twos described Y shape branch, one little wheel shaft is located between described two circular holes, described flower wheel is located on the described little wheel shaft, and the radius of described forward and backward single-wheel dish equals the axial cross section profile arc radius of described flower wheel;
The wheel core print seat comprises a centre hole;
Wherein, some fasteners stagger described forward and backward wheel disc mutually 10 °～60 ° and are fixed on described the wheel on the core print seat.
2. omnidirectional according to claim 1 wheel is characterized in that,
Described forward and backward wheel disc staggers 30 ° mutually.
3. omnidirectional according to claim 2 wheel is characterized in that,
Described wheel hub is an Alclad, and described flower wheel is the rubber material, and described little wheel shaft is a stainless steel.
4. according to claim 2 or 3 described omnidirectional wheels, it is characterized in that described omnidirectional wheel further comprises:
Copper sheathing and two pads, described copper sheathing is set on the described little wheel shaft, and described two pad branches are located between described little wheel shaft and the described Y shape branch.
5. omnidirectional according to claim 4 wheel is characterized in that,
Offer a keyway in the described centre hole of taking turns core print seat, be used for location and installation.
6. omnidirectional according to claim 5 wheel is characterized in that,
Described fastener comprises some screws and some pins, and the wheel hub of described forward and backward single-wheel dish and the described core print seat of taking turns are located by described pin, and by described screw lock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202126460U CN201633467U (en) | 2009-12-07 | 2009-12-07 | Novel all-directional wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202126460U CN201633467U (en) | 2009-12-07 | 2009-12-07 | Novel all-directional wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201633467U true CN201633467U (en) | 2010-11-17 |
Family
ID=43077949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202126460U Expired - Fee Related CN201633467U (en) | 2009-12-07 | 2009-12-07 | Novel all-directional wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201633467U (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490547A (en) * | 2011-11-29 | 2012-06-13 | 戴文钟 | Universal wheel and universal wheel set convenient to disassemble and assemble |
| CN102700358A (en) * | 2012-06-19 | 2012-10-03 | 杭州电子科技大学 | Multi-row type omnidirectional wheel |
| CN103935185A (en) * | 2014-05-15 | 2014-07-23 | 谭旭东 | Omni-directional wheel |
| CN105730216A (en) * | 2016-01-12 | 2016-07-06 | 沈阳工业大学 | Integrated universal wheel and control method thereof |
| CN106274276A (en) * | 2016-08-31 | 2017-01-04 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106314022A (en) * | 2016-08-31 | 2017-01-11 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106314023A (en) * | 2016-08-31 | 2017-01-11 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106335318A (en) * | 2016-08-31 | 2017-01-18 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106335319A (en) * | 2016-08-31 | 2017-01-18 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106364258A (en) * | 2016-08-31 | 2017-02-01 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106427398A (en) * | 2016-12-23 | 2017-02-22 | 桂林电子科技大学 | All-directional universal wheel |
| CN107472839A (en) * | 2017-08-28 | 2017-12-15 | 浙江工业大学 | A kind of omnidirectional distributes conveying device |
| CN107745608A (en) * | 2017-10-30 | 2018-03-02 | 桂林电子科技大学 | Omnidirectional's wheel load capacity improves structure |
| CN107811775A (en) * | 2017-04-14 | 2018-03-20 | 常州市吉庆机电有限公司 | Control method and controller for post-assist intelligent driver |
| CN113942341A (en) * | 2020-07-15 | 2022-01-18 | Oppo广东移动通信有限公司 | Omnidirectional wheel |
| CN114275420A (en) * | 2022-02-17 | 2022-04-05 | 陈雪旌 | Intelligent base and garbage can |
-
2009
- 2009-12-07 CN CN2009202126460U patent/CN201633467U/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490547A (en) * | 2011-11-29 | 2012-06-13 | 戴文钟 | Universal wheel and universal wheel set convenient to disassemble and assemble |
| CN102700358A (en) * | 2012-06-19 | 2012-10-03 | 杭州电子科技大学 | Multi-row type omnidirectional wheel |
| CN103935185A (en) * | 2014-05-15 | 2014-07-23 | 谭旭东 | Omni-directional wheel |
| CN103935185B (en) * | 2014-05-15 | 2016-04-06 | 谭旭东 | Omni-directional wheel |
| CN105730216A (en) * | 2016-01-12 | 2016-07-06 | 沈阳工业大学 | Integrated universal wheel and control method thereof |
| CN106335318A (en) * | 2016-08-31 | 2017-01-18 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106314022A (en) * | 2016-08-31 | 2017-01-11 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106314023A (en) * | 2016-08-31 | 2017-01-11 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106274276A (en) * | 2016-08-31 | 2017-01-04 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106335319A (en) * | 2016-08-31 | 2017-01-18 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106364258A (en) * | 2016-08-31 | 2017-02-01 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106427398A (en) * | 2016-12-23 | 2017-02-22 | 桂林电子科技大学 | All-directional universal wheel |
| CN106427398B (en) * | 2016-12-23 | 2018-06-08 | 桂林电子科技大学 | Can omnibearing movable omni-directional wheel |
| CN107811775A (en) * | 2017-04-14 | 2018-03-20 | 常州市吉庆机电有限公司 | Control method and controller for post-assist intelligent driver |
| CN107472839A (en) * | 2017-08-28 | 2017-12-15 | 浙江工业大学 | A kind of omnidirectional distributes conveying device |
| CN107745608A (en) * | 2017-10-30 | 2018-03-02 | 桂林电子科技大学 | Omnidirectional's wheel load capacity improves structure |
| CN113942341A (en) * | 2020-07-15 | 2022-01-18 | Oppo广东移动通信有限公司 | Omnidirectional wheel |
| CN114275420A (en) * | 2022-02-17 | 2022-04-05 | 陈雪旌 | Intelligent base and garbage can |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101117 Termination date: 20161207 |