CN104714549A - Omni-directional wheel and omni-directional mobile platform - Google Patents
Omni-directional wheel and omni-directional mobile platform Download PDFInfo
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- CN104714549A CN104714549A CN201510102560.2A CN201510102560A CN104714549A CN 104714549 A CN104714549 A CN 104714549A CN 201510102560 A CN201510102560 A CN 201510102560A CN 104714549 A CN104714549 A CN 104714549A
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- wheel
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Abstract
The invention provides an omni-directional wheel. The omni-directional wheel comprises a driving axle and wheel bodies mounted on the driving axle. Each wheel body is integrally formed by a cone frustum located at the lower portion and a circular truncated cone at the upper portion, wherein the side face of the circular truncated cone is a spherical surface; the big circle surface of the cone frustum and the big circle surface of the circular truncated cone are equal in area and are coplanar; the small circle surface at the bottom of the cone frustum is rotatably mounted on the driving axle. The number of the wheel bodies is eight, four wheel bodies form a first wheel group, and the other four wheel bodies form a second wheel group. The four wheel bodies in the first wheel group are distributed in central symmetry about the axis of the driving axle. The side faces of the four cone frustums of the four wheel bodies abut against one another in sequence to form a closed structure. The second wheel group is located on the left side or the right side of the first wheel group. The four wheel bodies in the second wheel group are of the same installation and arrangement structure as the first wheel group. The axes of the four wheel bodies in the first wheel group and the axes of the four wheel bodies in the second wheel group are distributed in a staggered mode by a 45-degree angle difference. The omni-directional wheel is high in bearing capacity, good in obstacle crossing performance and easy and convenient to control.
Description
Technical field
The present invention relates to a kind of wheel body that can freely turn to, particularly a kind of can the wheel body of flexible motion and mobile platform in the plane.
Background technology
In modern society, increasing occasion needs transportation equipment flexibly, motor dolly in such as factory, baggage transport cart in airport, disabled person's automatic wheelchair etc. all needs transportation equipment more flexibly, and be the restriction to tire to the requirement of dirigibility, existing a kind of can the wheel of plane flexible motion namely have in the planes Three Degree Of Freedom claim its can realize planar without constraint omnibearing movable be referred to as directional wheel, its construction features are on main wheel body, be equipped with the wheel body that can move along major axes orientation, can move at constraint direction, and be the mode with point cantact to ground, can rotate around self, this tire is widely used in actual life, current directional wheel is roughly following several: buphthalmos is taken turns, continuous switching wheel, eccentric wheel, the directional wheel such as global wheel and Mecanum wheel, major part is all the directional wheel using wheel body.But above directional wheel exists following problems: 1, poor mechanical property, and the shortcoming of traditional directional wheel has isolated wheel system and caused the unreliable of wheel body axle, and the wheel shaft of wheel body easily lost efficacy, thus cause application limited, load-bearing capacity is poor; 2, in obstacle performance, the obstacle climbing ability of the wheel body of tradition directional wheel is always restricted, and mainly because the diameter of follower is too small, on very little obstacle, passive side may be stuck, these are bottlenecks of traditional directional wheel, also limit the development of directional wheel in some specific use directions; 3, traditional directional wheel controls more complicated.Such as Mecanum wheel, what it adopted is Wheel structure, Mecanum wheel in heavily loaded and passive side all poor to obstacle climbing ability, and control more complicated, main cause is that wheel body is less relative to active wheel body, and it is stressed discrete, acting force on follower is born by driven axle completely, but the size of driven axle is restricted, that can not do is too large, and for Mecanum wheel wheel body also containing passive side to moment, if the excessive ability to bear to its driven axle of power applied and the load Capability Requirement of wheel disc stronger.
Summary of the invention
The goal of the invention of the application be to solve current directional wheel in heavily loaded and passive side all poor and control complicated technical matters to obstacle climbing ability, and provide that a kind of load-bearing capacity is strong, obstacle performance good, control easy directional wheel and omni-directional moving platform.
In order to complete the goal of the invention of the application, the application by the following technical solutions:
Directional wheel of the present invention, comprise driving shaft and be installed on the wheel body on described driving shaft, described wheel body is that the round platform of sphere is made into integration by being positioned at the frustum of a cone of bottom and superposed side, the large discs of the described frustum of a cone and round platform etc. are large and coplanar, the little disc in bottom of the described frustum of a cone is rotatably installed on described driving shaft, the number of described wheel body is 8, wherein four wheel bodys form first group of wheel, remain four wheel bodys and form second group of wheel, four wheel bodys of described first group of wheel to be centrosymmetric distribution about the axis of described driving shaft, the side of the frustum of a cone of described four wheel bodys leans successively and forms enclosed construction, described second group of wheel is positioned at the left or right side of described first group of wheel, four wheel bodys of described second group of wheel arrange that mounting structure is taken turns identical with described first group, the axis of four wheel bodys and the axis of described second group of four wheel body of taking turns of described first group of wheel are interspersed with miter angle degree difference, the outline line that the outer contour of described second group of wheel is formed when being mapped in along drive axis direction on the outer contour of first group of wheel is complete circle.
The side of wheel body of the present invention is that the round platform of sphere is actually by complete spheroid, after cutting the spheroid of the spherical cap portion other end corresponding with spherical crown, the remaining special round platform of one, the side of this round platform is sphere, frictional interference during wheel body kiss the earth can be reduced, first group of wheel and second group of wheel be combined with each other, the outline line that the outer contour of second group of wheel is formed when being mapped in along drive axis direction on the outer contour of first group of wheel is complete circle, in rotation process, directional wheel can not jolt like this, and traditional directional wheel, if switch wheel continuously, as long as there is gap little a little just can beat, and the design of the good Mecanum wheel of continuity is too complicated, be not easy to manufacture and assembling.
On the sphere of frustum cone side of the present invention, cover has Anti-slip cover.
Wheel body of the present invention is arranged on described driving shaft by pin, have the mounting hole run through along axis direction in the middle part of described wheel body, described driving shaft has fixed orifice, described mounting hole is stepped hole, the pin cap of described pin is resisted against on the step of stepped hole, the pin member of described pin is inserted in the fixed orifice on driving shaft through stepped hole, and described pin rod and fixed orifice are interference fit, and wheel body freely can rotate relative to pin rod.
Wheel body of the present invention adopts nylon material to make, and described driving shaft adopts No. 45 steel to make.
The present invention also provides a kind of omni-directional moving platform, use above-mentioned directional wheel, comprise mobile platform and be positioned at three described directional wheels below mobile platform, the axes intersect of three described directional wheel driving shafts forms three equal angles in a bit, described driving shaft is rotatably fixed on the below of described mobile platform, three described driving shafts are respectively by three driven by servomotor of fixing on a mobile platform, and described three servomotors are connected with controller.
The below of mobile platform of the present invention is provided with the axle bed for installing described driving shaft and the motor cabinet for installing described servomotor, described driving shaft is installed in rotation on described axle bed, one end of described driving shaft is provided with engaged wheel, described servomotor spindle is provided with driving wheel, described driving wheel is connected with described engaged wheel by belt pulley, and described servomotor spindle axis is parallel with the drive axis of its driving.
The below of mobile platform of the present invention is provided with the axle bed for installing described driving shaft, described driving shaft is installed in rotation on described axle bed, the top of described mobile platform is provided with the motor cabinet for installing described servomotor, described servomotor spindle is provided with driving wheel, one end of described driving shaft is provided with engaged wheel, and described driving wheel is connected with described engaged wheel by belt pulley.
Above-mentioned mobile platform has the through hole passed for described belt pulley, described servomotor spindle axis is parallel with the drive axis of its driving.
Directional wheel of the present invention and omni-directional moving platform are compared with prior art distinguished and are: be directed to traditional directional wheel and isolate wheel system and cause the technical matters that unreliable, the easy generation of wheel body axle was lost efficacy, the present invention adopts the combination wheel body of mechanics enclosed construction, each like this wheel body must be stressed separately, but it is overall stressed, singlely can not bear larger moment, avoid Problem of Failure occurs, improve the load-bearing capacity of wheel body.
For the technical matters of traditional directional wheel obstacle climbing ability difference, the radius of wheel body of the present invention increases, its obstacle performance improves, and its lateral surface is sphere, wheel body axle and stuck can not be exceeded because of obstacle when impacting obstacle detouring, in addition, no longer place in the mode on parallel ground at the axis of passive side's wheel body upwards, but with ground at angle, utilize the characteristic of wheel body round platform side sphere to make its passive side improve nearly 3 times to obstacle climbing ability compared to the traditional directional wheel with wheel footpath, thus solve directional wheel in passive side's problem that upwards obstacle climbing ability is weak.
Compared with traditional directional wheel platform, above-mentioned omni-directional moving platform control is more simple and reliable, and wheel body is assembled and keeped in repair all very convenient, and wheel body quantity is few and making is simple, has saved the funds of manufacture and maintenance thereof.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of directional wheel of the present invention;
Fig. 2 is the wheel body cut-open view of the directional wheel in Fig. 1;
Fig. 3 is the front view of the directional wheel in Fig. 1;
Fig. 4 is the front sectional view of the directional wheel in Fig. 1;
Fig. 5 is the left view of the directional wheel in Fig. 3;
Fig. 6 is the assembling schematic diagram of the directional wheel in Fig. 1;
Fig. 7 is the one-piece construction schematic diagram of omni-directional moving platform of the present invention;
Fig. 8 is the upward view of the omni-directional moving platform in Fig. 7.
Embodiment
As shown in Figure 1-2, the directional wheel of the present embodiment, the wheel body 2 comprising driving shaft 1 and be arranged on driving shaft 1, wheel body 2 is that the round platform 22 of sphere is made into integration by being positioned at the frustum of a cone 21 of bottom and superposed side, side is that the round platform 22 of sphere is actually and cuts the special round platform of one remaining after the spheroid of the spherical cap portion other end corresponding with spherical crown by complete spheroid, the side of this round platform 22 is sphere, frictional interference during wheel body 2 kiss the earth can being reduced, wheel body axle and stuck can not be exceeded because of obstacle when impacting obstacle detouring.
As seen in figs, the large discs of the frustum of a cone 21 and round platform 22 etc. are large and coplanar, wheel body 2 is rotatably installed on driving shaft 1 by pin 23, the little disc in bottom of the frustum of a cone 21 can rotate on driving shaft 1, particularly, have the mounting hole 24 run through along axis direction in the middle part of wheel body 2, driving shaft 1 has fixed orifice 11, mounting hole 24 is stepped hole, the pin cap of pin 23 is resisted against on the step of stepped hole, the pin member of pin 23 is inserted in the fixed orifice 11 on driving shaft 1 through stepped hole, pin rod and fixed orifice 11 are interference fit, wheel body 2 freely can rotate relative to pin rod.
As in Figure 3-5, the number of wheel body 2 is 8, wherein four wheel bodys 2 form first group of wheel 3, remain four wheel bodys 2 and form second group of wheel 4, see Fig. 5, four wheel bodys 2 of first group of wheel 3 to be centrosymmetric distribution about the axis of driving shaft 1, the side of the frustum of a cone 21 of four wheel bodys 2 leans successively and forms enclosed construction 5, adopt the combination wheel body 2 of mechanics enclosed construction 5, each like this wheel body 2 must be stressed separately, but overall stressed, singlely can not bear larger moment, avoid Problem of Failure occurs, improve the load-bearing capacity of wheel body 2.
As in Figure 3-5, second group of wheel 4 is positioned at the left side (or right side) of first group of wheel 3, four wheel bodys 2 of second group of wheel 4 arrange that mounting structure is taken turns 3 identical with first group, axis and second group of axis of taking turns four wheel bodys 2 of 4 of four wheel bodys 2 of first group of wheel 3 are interspersed with miter angle degree difference, see Fig. 5, the outline line that the outer contour of second group of wheel 4 is formed when being mapped in along driving shaft 1 axis direction on the outer contour of first group of wheel 3 is complete circle, in rotation process, directional wheel can not jolt like this, if and traditional directional wheel switches wheel continuously, as long as there is gap little a little just can beat, and no longer place in the mode on parallel ground at the axis of passive side's wheel body 2 upwards, but with ground at angle, the characteristic of wheel body 2 round platform 22 side sphere is utilized to make its passive side improve nearly 3 times to obstacle climbing ability compared to the traditional directional wheel with wheel footpath, thus solve directional wheel in passive side's problem that upwards obstacle climbing ability is weak.
Preferably, on the sphere of round platform 22 side, cover has Anti-slip cover, and wheel body 2 adopts nylon material to make, and driving shaft 1 adopts No. 45 steel to make.
As Figure 7-8, the omni-directional moving platform of the present embodiment, three directional wheels comprising mobile platform 6 and be positioned at below mobile platform 6, the axes intersect of three directional wheel driving shafts 1 forms three equal angles in a bit, driving shaft 1 is rotatably fixed on the below of mobile platform 6, three driving shafts 1 are driven by three servomotors 7 be fixed on mobile platform 6 respectively, three servomotors 7 are connected with controller (not shown), particularly, the top of mobile platform 6 is provided with the motor cabinet 71 for installing servomotor 7, servomotor 7 main shaft is provided with driving wheel 72, one end of driving shaft 1 is provided with engaged wheel 13, driving wheel 72 is connected with engaged wheel 13 by belt pulley, mobile platform 6 has the through hole passed for belt pulley, driving shaft 1 axis being parallel of servomotor 7 main-shaft axis and its driving.
The servomotor 7 of the present embodiment also can be arranged on the below of mobile platform 6, particularly, the below of mobile platform 6 is provided with the axle bed 12 for installing driving shaft 1 and the motor cabinet 71 for installing servomotor 7, driving shaft 1 is installed in rotation on axle bed 12, one end of driving shaft 1 is provided with engaged wheel 13, servomotor 7 main shaft is provided with driving wheel 72, and driving wheel 72 is connected with engaged wheel 13 by belt pulley, driving shaft 1 axis being parallel of servomotor 7 main-shaft axis and its driving.
For proving that the omni-directional moving platform 6 of the present embodiment can omnibearingly move, this platform is carried out to the foundation of kinematics model, for the mobile platform 6 of employing three directional wheels, the geometrical constraint of its each directional wheel is for shown in following equations:
x
1＝x
O+Lcos(μ)
y
1＝y
O+Lsin(μ)
Wherein O is the geometric center of omni-directional moving platform 6, (x
o, y
o, μ) and be the position coordinates of platform, (x
1, y
1), (x
2, y
2), (x
3, y
3) be respectively the coordinate of directional wheel and ground contact points; L be the contact point on directional wheel and ground to Platform center distance, this distance changes with the change of the contact point of wheel body 2.
Because the velocity reversal of each directional wheel must perpendicular to driving shaft 1, therefore the constraint of velocity of each wheel body 2 is following formula:
-X
1′sinθ+Y
1′cosθ＝RΦ
1′
Wherein R is the spherical radius of the round platform 22 of wheel body 2, can show that the equation of motion of omni-directional moving platform 6 is by above equation:
Jω′＝RΦ′
This omni-directional moving platform 6 can in plane arbitrary motion as shown in the above.
This platform reaches necessary requirement through experimental verification, and its manipulation is simple, and three directional wheels only need three-channel 2.4G remote style controller to manipulate, and in addition Single-chip Controlling box combined high precision servomotor 7 controls, and can realize various track.
More than describing is explanation of the invention, and be not the restriction to invention, limited range of the present invention is see claim, and when without prejudice to spirit of the present invention, the present invention can do any type of amendment.
Claims (8)
1. a directional wheel, comprise driving shaft (1) and be installed on the wheel body (2) on described driving shaft (1), it is characterized in that: described wheel body (2) is that the round platform (22) being sphere by the frustum of a cone being positioned at bottom (21) and superposed side is made into integration, the large discs of the described frustum of a cone (21) and round platform (22) etc. are large and coplanar, the little disc in bottom of the described frustum of a cone (21) is rotatably installed on described driving shaft (1), the number of described wheel body (2) is 8, wherein four wheel bodys (2) form first group of wheel (3), remain four wheel bodys (2) and form second group of wheel (4), four wheel bodys (2) of described first group of wheel (3) to be centrosymmetric distribution about the axis of described driving shaft (1), the side of the frustum of a cone (21) of described four wheel bodys (2) leans successively and forms enclosed construction (5), described second group of wheel (4) is positioned at the left or right side of described first group of wheel (3), four wheel bodys (2) of described second group of wheel (4) arrange mounting structures with described first group take turns (3) identical, axis and described second group of axis of taking turns four wheel bodys (2) of (4) of four wheel bodys (2) of described first group of wheel (3) are interspersed with miter angle degree difference, the outline line formed when the outer contour of described second group of wheel (4) is mapped in along driving shaft (1) axis direction on the outer contour of first group of wheel (3) is complete circle.
2. directional wheel as claimed in claim 1, is characterized in that: on the sphere of described round platform (22) side, cover has Anti-slip cover.
3. directional wheel as claimed in claim 2, it is characterized in that: described wheel body (2) is arranged on described driving shaft (1) by pin (23), described wheel body (2) middle part has along axis direction the mounting hole (24) run through, described driving shaft (1) has fixed orifice (11), described mounting hole (24) is stepped hole, the pin cap of described pin (23) is resisted against on the step of stepped hole, the pin member of described pin (23) is inserted in the fixed orifice (11) on driving shaft (1) through stepped hole, described pin rod and fixed orifice (11) are interference fit, described wheel body freely can rotate relative to pin rod.
4. directional wheel as claimed in claim 2 or claim 3, is characterized in that: described wheel body (2) adopts nylon material to make, and described driving shaft (1) adopts No. 45 steel to make.
5. an omni-directional moving platform, use the directional wheel as described in claim 1-4 any one, it is characterized in that: comprise mobile platform (6) and be positioned at three described directional wheels below mobile platform (6), the axes intersect of three described directional wheel driving shafts (1) forms three equal angles in a bit, described driving shaft (1) is rotatably fixed on the below of described mobile platform (6), three described driving shafts (1) are driven by three servomotors (7) be fixed on mobile platform (6) respectively, described three servomotors (7) are connected with controller.
6. directional wheel as claimed in claim 5, it is characterized in that: the below of described mobile platform (6) is provided with the axle bed (12) for installing described driving shaft (1) and the motor cabinet (71) for installing described servomotor (7), described driving shaft (1) is installed in rotation on described axle bed (12), one end of described driving shaft (1) is provided with engaged wheel (13), described servomotor (7) main shaft is provided with driving wheel (72), described driving wheel (72) is connected with described engaged wheel (13) by belt pulley, driving shaft (1) axis being parallel of described servomotor (7) main-shaft axis and its driving.
7. directional wheel as claimed in claim 5, it is characterized in that: the below of described mobile platform (6) is provided with the axle bed (12) for installing described driving shaft (1), described driving shaft (1) is installed in rotation on described axle bed (12), the top of described mobile platform (6) is provided with the motor cabinet (71) for installing described servomotor (7), described servomotor (7) main shaft is provided with driving wheel (72), one end of described driving shaft (1) is provided with engaged wheel (13), described driving wheel (72) is connected with described engaged wheel (13) by belt pulley.
8. directional wheel as claimed in claim 7, it is characterized in that: (6) have the through hole passed for described belt pulley to described mobile platform, driving shaft (1) axis being parallel of described servomotor (7) main-shaft axis and its driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510102560.2A CN104714549A (en) | 2015-03-09 | 2015-03-09 | Omni-directional wheel and omni-directional mobile platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510102560.2A CN104714549A (en) | 2015-03-09 | 2015-03-09 | Omni-directional wheel and omni-directional mobile platform |
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| CN104714549A true CN104714549A (en) | 2015-06-17 |
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| CN201510102560.2A Pending CN104714549A (en) | 2015-03-09 | 2015-03-09 | Omni-directional wheel and omni-directional mobile platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9809056B1 (en) * | 2015-11-26 | 2017-11-07 | X Development Llc | Roller assemblies for a holonomic base |
| WO2019019538A1 (en) * | 2017-07-27 | 2019-01-31 | 北京猎户星空科技有限公司 | Omnidirectional ball wheel |
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| US5374879A (en) * | 1992-11-04 | 1994-12-20 | Martin Marietta Energy Systems, Inc. | Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom |
| CN101323231A (en) * | 2008-06-13 | 2008-12-17 | 沈阳航空工业学院 | Oblique sphere type all-directional mobile wheel and uses thereof |
| CN201257874Y (en) * | 2008-06-13 | 2009-06-17 | 沈阳航空工业学院 | Motion platform with oblique sphere type omnidirectional moving wheel |
| CN201752996U (en) * | 2010-08-20 | 2011-03-02 | 白怀东 | Combined universal roll wheel |
| CN102180064A (en) * | 2011-04-14 | 2011-09-14 | 沈阳航空航天大学 | Differential type omnibearing wheel |
| CN201980014U (en) * | 2011-04-14 | 2011-09-21 | 沈阳航空航天大学 | Differential type all-round wheel |
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2015
- 2015-03-09 CN CN201510102560.2A patent/CN104714549A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5374879A (en) * | 1992-11-04 | 1994-12-20 | Martin Marietta Energy Systems, Inc. | Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom |
| CN101323231A (en) * | 2008-06-13 | 2008-12-17 | 沈阳航空工业学院 | Oblique sphere type all-directional mobile wheel and uses thereof |
| CN201257874Y (en) * | 2008-06-13 | 2009-06-17 | 沈阳航空工业学院 | Motion platform with oblique sphere type omnidirectional moving wheel |
| CN201752996U (en) * | 2010-08-20 | 2011-03-02 | 白怀东 | Combined universal roll wheel |
| CN102180064A (en) * | 2011-04-14 | 2011-09-14 | 沈阳航空航天大学 | Differential type omnibearing wheel |
| CN201980014U (en) * | 2011-04-14 | 2011-09-21 | 沈阳航空航天大学 | Differential type all-round wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9809056B1 (en) * | 2015-11-26 | 2017-11-07 | X Development Llc | Roller assemblies for a holonomic base |
| US10562344B1 (en) | 2015-11-26 | 2020-02-18 | X Development Llc | Roller assemblies for a holonomic base |
| WO2019019538A1 (en) * | 2017-07-27 | 2019-01-31 | 北京猎户星空科技有限公司 | Omnidirectional ball wheel |
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