CN105946547A - Omni wheel - Google Patents
Omni wheel Download PDFInfo
- Publication number
- CN105946547A CN105946547A CN201610278093.3A CN201610278093A CN105946547A CN 105946547 A CN105946547 A CN 105946547A CN 201610278093 A CN201610278093 A CN 201610278093A CN 105946547 A CN105946547 A CN 105946547A
- Authority
- CN
- China
- Prior art keywords
- wheel
- hubs
- hub
- wheel hub
- omni
- 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.)
- Pending
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Classifications
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention provides an omni wheel. The omni wheel comprises first hubs, second hubs, a plurality of mounting teeth, driven wheels, a motor, inner stators, windings and an encoder, wherein the first hubs and the second hubs are arranged at intervals in a parallel manner; fixing holes are respectively formed in each of the first hubs and each of the second hubs; the mounting teeth are arranged on the outer edges of the first hubs and the second hubs; a mounting groove is formed between every two adjacent mounting teeth; each driven wheel is arranged in the corresponding mounting groove; the normal line of the cross section of each driven wheel is perpendicular to that of the plane on which the first hubs and the second hubs are arranged; the motor is inserted into the fixing holes through outer rotors, and is connected to the outer sides of the first hubs and the second hubs; the inner stators are arranged in the motor, and each of the inner stators is connected with the corresponding first hub and the corresponding second hub; each of the windings is arranged on the corresponding inner stator; the encoder is arranged on the inner stators. Compared with the prior art, the omni wheel disclosed by the invention has the following advantages of being low in occupied space, convenient to mount and simple to maintain, a high space utilization ratio can be obtained, the transmission efficiency is improved, and high-precision control on the omni wheel is realized.
Description
Technical field
The present invention relates to mechanical field, a kind of omni-directional wheel.
Background technology
Omni-directional wheel is a kind of wheel that may be used for building omni-directional moving platform.Its feature is the week in larger wheels
Enclose and with bull wheel angled steamboat is distributed.Bull wheel can be as drivewheel or driven pulley, and steamboat is as driven
Wheel.If bull wheel rotates as drivewheel, omni-directional wheel just only can be supplied to frame along steamboat axially on power, at steamboat
The most slidably.Existing omni-directional wheel is usually an independent wheel, needs when in use to add to power on
Support, motor, reduction box, bearing, shaft coupling, many parts such as encoder together with the use of, owing to relating to
Multistage connection, actual control accuracy is poor.
Summary of the invention
For defect of the prior art, present invention aim at providing a kind of convenient use, that control accuracy is high is complete
To wheel.
For solving above-mentioned technical problem, the present invention provides a kind of omni-directional wheel, including: first wheel and the second wheel hub,
Described first wheel and described second wheel hub parallel interval are arranged, and are provided with solid on described first wheel and described second wheel hub
Determine hole；Installing tooth, several described installation teeth are arranged on described first wheel and the outer rim of described second wheel hub, adjacent
Described installation tooth between be provided with mounting groove；Driven pulley, described driven pulley is arranged in described mounting groove, described driven pulley
The normal of cross section is vertical with the normal of described first wheel and described second wheel hub place plane；Motor, described motor leads to
Cross in the outer rotor described fixing hole of insertion and be connected to described first wheel and the outside of described second wheel hub；Inner stator, described
Inner stator is arranged in described motor, and described inner stator connects described first wheel and described second wheel hub；Winding, described
Winding is arranged on described inner stator；Encoder, described encoder is arranged on described inner stator.
Preferably, the installation tooth on described first wheel and described second wheel hub is for being crisscross arranged.
Preferably, described omni-directional wheel includes that connecting shaft, described connecting shaft are arranged in described first wheel and described second wheel hub,
Described connecting shaft and described first wheel and the normal parallel of described second wheel hub place plane.
Compared with prior art, the invention have the advantages that take up room little, it is possible to obtain preferably space availability ratio,
Improve transmission efficiency, easy for installation, safeguard simple, it is achieved the high accuracy of omni-directional wheel is controlled.
Accompanying drawing explanation
The detailed description with reference to the following drawings, non-limiting example made by reading, the further feature of the present invention.
Purpose and advantage will become more apparent upon.
Fig. 1 is omni-directional wheel front view of the present invention；
Fig. 2 is the A-A sectional view of Fig. 1；
Fig. 3 is that omni-directional wheel of the present invention surveys view；
Fig. 4 is omnidirectional wheel structure schematic diagram of the present invention.
In figure:
1-first wheel 2-the second wheel hub 3-outer rotor
4-installs tooth 5-mounting groove 6-driven pulley
7-wheel hub motor 8-inner stator 9-winding
10-encoder 11-connecting shaft
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in those skilled in the art
Member is further appreciated by the present invention, but limits the present invention the most in any form.It should be pointed out that, the common skill to this area
For art personnel, without departing from the inventive concept of the premise, it is also possible to make some changes and change.
As shown in Figure 1 to 4, the present invention provides a kind of omni-directional wheel, including: the first wheel 1 that parallel interval is arranged
And second wheel hub 2.Outer rim at first wheel 1 and the second wheel hub 2 is respectively equipped with several and installs tooth 4, simultaneously in phase
It is provided with mounting groove 5 and first wheel 1 between adjacent installation tooth 4 to be crisscross arranged with the second wheel hub 2.Driven pulley 6 is just arranged
In mounting groove 5, and the normal of driven pulley 6 cross section and first wheel 1 and the normal of the second wheel hub 2 place plane
Vertically.
Being inserted by outer rotor 3 of wheel hub motor 7 is connected to first wheel 1 and the outside of the second wheel hub 2 in fixing hole,
Power, transmission and brake unit are all incorporated in first wheel 1 and the second wheel hub 2.Wherein, bag in wheel hub motor 7
Include the structures such as outer rotor 3, inner stator 8, winding 9, again because existing wheel hub motor 7 controls owing to not having reduction box,
Its actual control accuracy low precision, is arranged on first wheel 1 and the outer ring of the second wheel hub 2 encoder 10, significantly carries
High encoder 10 resolution, is connected with external equipment by connecting shaft 11.So eliminate great number of driving parts, allow complete
Simpler to wheel construction, it is possible to obtain preferably space availability ratio, transmission efficiency also to exceed much simultaneously, it is simple to installs.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned spy
Determining embodiment, those skilled in the art can make a variety of changes within the scope of the claims or revise, and this is not
Affect the flesh and blood of the present invention.In the case of not conflicting, the feature in embodiments herein and embodiment can
To be arbitrarily mutually combined.
Claims (3)
1. an omni-directional wheel, it is characterised in that including:
First wheel and the second wheel hub, described first wheel and described second wheel hub parallel interval were arranged, in the described first round
Hub and described second wheel hub are provided with fixing hole；
Installing tooth, several described installation teeth are arranged on described first wheel and the outer rim of described second wheel hub, adjacent
It is provided with mounting groove between described installation tooth；
Driven pulley, described driven pulley is arranged in described mounting groove, the normal of described driven pulley cross section and the described first round
The normal of hub and described second wheel hub place plane is vertical；
Motor, described motor is inserted by outer rotor and is connected to described first wheel and described second wheel hub in described fixing hole
Outside；
Inner stator, described inner stator is arranged in described motor, and described inner stator connects described first wheel and described second
Wheel hub；
Winding, described winding is arranged on described inner stator；
Encoder, described encoder is arranged on described inner stator.
Omni-directional wheel the most according to claim 1, it is characterised in that described fixture is strip, the described first round
Installation tooth on hub and described second wheel hub is for being crisscross arranged.
Omni-directional wheel the most according to claim 1, it is characterised in that described fixture is strip, described omni-directional wheel
Including connecting shaft, described connecting shaft is arranged in described first wheel and described second wheel hub, described connecting shaft and described first
Wheel hub and the normal parallel of described second wheel hub place plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610278093.3A CN105946547A (en) | 2016-04-28 | 2016-04-28 | Omni wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610278093.3A CN105946547A (en) | 2016-04-28 | 2016-04-28 | Omni wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105946547A true CN105946547A (en) | 2016-09-21 |
Family
ID=56916600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610278093.3A Pending CN105946547A (en) | 2016-04-28 | 2016-04-28 | Omni wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105946547A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107031383A (en) * | 2017-04-21 | 2017-08-11 | 南京信息职业技术学院 | A kind of hub driven motor based on Mecanum wheel |
| CN107199551A (en) * | 2017-07-19 | 2017-09-26 | 深圳航天科技创新研究院 | Power-assisting robot |
| CN107310377A (en) * | 2017-07-19 | 2017-11-03 | 深圳航天科技创新研究院 | Rolling in multiple directions device |
| CN107310378A (en) * | 2017-07-19 | 2017-11-03 | 深圳航天科技创新研究院 | Multidirectional motion car body |
| CN107811775A (en) * | 2017-04-14 | 2018-03-20 | 常州市吉庆机电有限公司 | The control method and controller of power-assisted intelligent driver afterwards |
| CN113183749A (en) * | 2021-04-20 | 2021-07-30 | 和杰 | Power fortune comes wheel |
| WO2022236884A1 (en) * | 2021-05-13 | 2022-11-17 | 安捷轮(福州)动力科技有限公司 | Omni-directional wheel having rotor electric motor |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4003082B2 (en) * | 2005-07-15 | 2007-11-07 | 株式会社相愛 | Omni-directional wheel and omni-directional moving device |
| US20120173018A1 (en) * | 2010-12-30 | 2012-07-05 | Irobot Corporation | Mobile Human Interface Robot |
| CN103692429A (en) * | 2013-12-31 | 2014-04-02 | 武汉工程大学 | Household robot capable of helping aged people |
| CN203696998U (en) * | 2013-12-31 | 2014-07-09 | 武汉工程大学 | Household aged-assisted robot |
| CN203714124U (en) * | 2014-02-24 | 2014-07-16 | 东莞易步机器人有限公司 | Self-balancing electric bicycle hub motor |
| CN104097706A (en) * | 2014-04-14 | 2014-10-15 | 上海大学 | Mecanum-wheel-driven type spherical mobile robot |
| CN205523382U (en) * | 2016-03-11 | 2016-08-31 | 深圳小趴智能科技有限公司 | Omniwheel body structure and robot |
-
2016
- 2016-04-28 CN CN201610278093.3A patent/CN105946547A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4003082B2 (en) * | 2005-07-15 | 2007-11-07 | 株式会社相愛 | Omni-directional wheel and omni-directional moving device |
| US20120173018A1 (en) * | 2010-12-30 | 2012-07-05 | Irobot Corporation | Mobile Human Interface Robot |
| CN103692429A (en) * | 2013-12-31 | 2014-04-02 | 武汉工程大学 | Household robot capable of helping aged people |
| CN203696998U (en) * | 2013-12-31 | 2014-07-09 | 武汉工程大学 | Household aged-assisted robot |
| CN203714124U (en) * | 2014-02-24 | 2014-07-16 | 东莞易步机器人有限公司 | Self-balancing electric bicycle hub motor |
| CN104097706A (en) * | 2014-04-14 | 2014-10-15 | 上海大学 | Mecanum-wheel-driven type spherical mobile robot |
| CN205523382U (en) * | 2016-03-11 | 2016-08-31 | 深圳小趴智能科技有限公司 | Omniwheel body structure and robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107811775A (en) * | 2017-04-14 | 2018-03-20 | 常州市吉庆机电有限公司 | The control method and controller of power-assisted intelligent driver afterwards |
| CN107031383A (en) * | 2017-04-21 | 2017-08-11 | 南京信息职业技术学院 | A kind of hub driven motor based on Mecanum wheel |
| CN107031383B (en) * | 2017-04-21 | 2019-11-08 | 南京信息职业技术学院 | A kind of hub driven motor based on Mecanum wheel |
| CN107199551A (en) * | 2017-07-19 | 2017-09-26 | 深圳航天科技创新研究院 | Power-assisting robot |
| CN107310377A (en) * | 2017-07-19 | 2017-11-03 | 深圳航天科技创新研究院 | Rolling in multiple directions device |
| CN107310378A (en) * | 2017-07-19 | 2017-11-03 | 深圳航天科技创新研究院 | Multidirectional motion car body |
| CN113183749A (en) * | 2021-04-20 | 2021-07-30 | 和杰 | Power fortune comes wheel |
| CN113183749B (en) * | 2021-04-20 | 2023-08-25 | 和杰 | Power Fulai wheel |
| WO2022236884A1 (en) * | 2021-05-13 | 2022-11-17 | 安捷轮(福州)动力科技有限公司 | Omni-directional wheel having rotor electric motor |
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Legal Events
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|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160921 |
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| RJ01 | Rejection of invention patent application after publication |