TW201430241A - Face-to-face arrangement omnidirectional wheel transmission device - Google Patents

Abstract

A face-to-face arrangement omnidirectional wheel transmission device comprises a spherical wheel and a pair of first-direction omnidirectional wheels that is arranged on two opposite sides of a reference point of the spherical wheel in such a manner as to be spaced from each other by a predetermined distance and arranged face to face with the reference point as a mirror image point. Each of the first-direction omnidirectional wheels comprises a main wheel and a plurality of guide rollers arranged in recesses formed in an outer circumference of the main wheel. Each of the guide rollers is rotatable in the recess of the main wheel about a center defined by a guide roller central axis in a direction perpendicular to a rotation direction of the main wheel. When the omnidirectional wheel rotates in the rotation direction relative to the spherical wheel, the outer roller circumference of each guide roller sequentially and abuttingly contacts a spherical surface of the spherical wheel.

Description

Face-to-face configuration of omnidirectional gearing

This invention relates to a transmission, and more particularly to a face-to-face configuration of an omnidirectional transmission.

With the rapid development of technology, the use of robots has become increasingly popular. There are many types of robotic transmissions, the most common being wheeled robots that use wheels. Conventional wheeled robots are typically designed with three, four or more wheels in order to maintain static and dynamic balance. It is a pity that in the case of more wheels, a large radius of gyration is often required for steering. If it is used in an outdoor environment, it is acceptable, but when it is used in an indoor home environment, it is available in the environment. The path of movement is usually too narrow and complicated, causing inconvenience when the robot moves.

In order to enable the robot to smoothly move in narrow and complex paths, a two-wheeled robot applying the principle of inverted pendulum and a single-wheeled robot moving with a single-axis driven elliptical wheel have appeared. Later, a single-wheeled robot driven by a counter-rat ball was also designed and achieved a static and dynamic balance.

The two-wheel design can use two wheels to rotate in place, but it is limited by the fixed direction of the wheel. It is difficult to change the direction of travel in an instant, and it is often necessary to pre-rotate to the direction to be moved in order to advance in new directions. Move in the direction.

The single-wheeled robot is displaced by a Spherical Wheel, which, as the name implies, is a spherical wheel, which is vertically disposed in a spherical shape. The wheel is driven by a drive shaft that contacts the spherical surface of the spherical wheel to roll the spherical wheel in two directions. Corresponding to each drive shaft (Driver Roller) is also provided with an idler shaft (Idler Roller), so that the spherical wheel is positioned between the drive shaft and the idler shaft so as not to come out, so that the drive shaft maintains contact with the spherical wheel to smoothly drive the spherical wheel.

When one of the transmission shafts is driven, the spherical wheel is driven by the transmission shaft to roll on the ground to generate displacement. The transmission shaft and the idle shaft perpendicular to the transmission shaft are in contact with the spherical wheel, but the angular relationship makes it impossible to The rolling direction of the spherical wheel maintains the forward rotation and is fixed, and slips with the spherical wheel. In order for the spherical wheel to smoothly roll, the spherical wheel must have a high friction force to assist the transmission shaft to drive, and a lower friction force is required to take into account the mutual slip between the spherical wheel and the other transmission shaft and the idle shaft. Generally, it is generally desirable to have a high friction between the spherical wheel and the ground during the design to avoid slipping when moving, but it is difficult to slip between the spherical wheel and the drive shaft and the idler shaft, which affects the transmission effect.

In view of the above, there are many problems in the design of the robot transmission. Although it is easier to stabilize the balance when using more than three wheels, the space required for the movement is often large, and it is not suitable for use in an indoor home environment. . Although the two-wheel design has a short radius of gyration, it can be rotated in situ using two wheels, but each time the direction of travel is changed, the pre-rotation must be performed before moving to the new direction of travel. Although the single-wheel design can solve the problem of space and steering at the same time, the single-wheel type spherical wheel has different frictional force between the transmission shaft, the idle shaft and the ground, and the spherical wheel cannot have high and low friction at the same time. It is difficult to have a good transmission effect.

Accordingly, it is an object of the present invention to provide an omnidirectional gear transmission in a face-to-face configuration for achieving a good transmission between a spherical wheel and an omnidirectional wheel. Dynamic effect.

The technical means adopted by the present invention to solve the problems of the prior art includes a spherical wheel in the transmission, a pair of first direction omnidirectional wheels are spaced apart from each other by a predetermined interval, and face reference is used as a mapping point for the reference reference point. On both sides of the reference datum point of the spherical wheel. Each of the first direction omnidirectional wheels includes a main wheel and a plurality of guide wheels disposed in the concave portion of the outer wheel rim of the main wheel, each of the guide wheels being centered on the central axis of the guide wheel and vertically in the concave portion of the main wheel Rotating in the direction of rotation of the main wheel. When the omnidirectional wheel rotates relative to the spherical wheel in the rotational direction, the outer rims of the respective guide wheels sequentially contact the spherical surface of the spherical wheel.

In a preferred embodiment of the present invention, a control circuit includes a processing unit, a driving control circuit electrically connected to the processing unit, and a driving unit electrically connected to the driving control circuit for driving the whole Rotate toward the wheel.

According to the technical means adopted by the present invention, since the omnidirectional transmission includes an omnidirectional wheel having a face-to-face configuration, the omnidirectional wheels are spaced apart from each other by a predetermined interval, and face-to-face with the reference reference point as a mapping point, and configured in the spherical wheel Both sides of the reference point are referenced, so that when the spherical wheel corresponds to a plane such as the ground, there is a relatively stable mechanism correspondence between the omnidirectional wheels and between the omnidirectional wheel and the spherical wheel. When the spherical wheel is driven to rotate, it is naturally possible to achieve stable motion.

Furthermore, the omnidirectional wheel transmission device of the present invention cooperates with the control circuit, and the control circuit can control the individual driving units to rotate independently, so that the spherical wheel rotates in place, or the spherical wheel is controlled to rotate in a single direction (forward and backward). One pair of omnidirectional wheels can be selected as the main transmission wheel to rotate the spherical wheel in one direction, and the other pair of omnidirectional wheels is used as the steering control of the spherical wheel.

The specific embodiments of the present invention will be further described by the following examples and the accompanying drawings.

The specific techniques used in the present invention will be further illustrated by the following examples and the accompanying drawings.

100‧‧‧ Omnidirectional gear transmission

1‧‧‧ spherical wheel

2‧‧‧First direction omnidirectional wheel

21‧‧‧ main round

211‧‧‧ outer rim

212‧‧‧ recess

213‧‧‧Axis

22‧‧‧guide wheel

221‧‧‧guide wheel central axis

222‧‧‧ outer rim

23‧‧‧ drive shaft

3‧‧‧First direction omnidirectional wheel

4‧‧‧Second direction omnidirectional wheel

5‧‧‧Second direction omnidirectional wheel

6, 6a‧‧‧ control circuit

61‧‧‧Processing unit

62‧‧‧Drive Control Circuit

63‧‧‧First direction drive unit

64‧‧‧second direction drive unit

63a, 63b, 64a, 64b‧‧‧ drive units

7a, 7b, 7c‧‧‧ omnidirectional wheels

D‧‧‧ spacing

F‧‧‧ target plane

P‧‧‧ reference point

R1‧‧‧ direction of rotation

S1‧‧‧ drive signal

Fig. 1 is a perspective view showing a first embodiment of the present invention.

Fig. 2 is a side view showing the first embodiment of the present invention.

Figure 3 is a top view showing the first embodiment of the present invention.

Fig. 4 is an enlarged view showing the arrangement relationship between the guide wheel and the main wheel in the present invention.

Figure 5 is a diagram showing the control circuit of the present invention.

Figure 6 is a diagram showing a control circuit of another embodiment of the present invention.

Figure 7 is a perspective view showing a second embodiment of the present invention.

Referring to Figures 1, 2, and 3, there are shown perspective views of a first embodiment of the present invention, a side view of a first embodiment of the present invention, and a top view of a first embodiment of the present invention. As shown, the omnidirectional transmission 100 includes a spherical wheel 1, a pair of first omnidirectional wheels 2, 3, and a pair of second directional wheels 4, 5.

The spherical wheel 1 has a spherical surface 11 which is located on a target plane F. In this embodiment, the spherical wheel train is composed of a rubber material, such as an automobile tire, which can generally roll on the target plane F; the first direction omnidirectional wheel 2, the first direction omnidirectional wheel 3 is spaced apart from each other by a predetermined distance D, face-to-face with a reference reference point P as a mapping point, disposed on both sides of the reference reference point P of the spherical wheel 1; the second direction omnidirectional wheel 4 And the second direction omnidirectional wheel 5 is also spaced apart from each other by a predetermined distance, face-to-face with the reference reference point P as a mapping point, disposed on both sides of the reference reference point P of the spherical wheel 1, and the second direction omnidirectional wheel 4 and The second direction omnidirectional wheel 5 is respectively disposed in the first direction omnidirectional wheel 2 Between the first direction omnidirectional wheel 3.

The first direction omnidirectional wheel 2 includes a main wheel 21 and a plurality of guide wheels 22. The main wheel 21 has a transmission shaft 23 and an outer rim 211. The main wheel 21 is rotatable about a rotation axis R1 around the transmission shaft 23, and a plurality of mutually spaced recesses 212 are formed in the outer rim 211 of the main wheel 21. And a shaft portion 213 provided in each of the recesses 212.

Referring to FIG. 4, each of the guide wheels 22 has a guide wheel central shaft 221 and an outer rim 222. The respective guide wheels 22 are received one by one in the recess 212 of the main wheel 21, and the central axis of the guide wheel The shaft portion 213 of the concave portion 212 of the main wheel 21 is pivotally disposed 221, so that the respective guide wheels 22 can be centered on the central axis 221 of the guide wheel and in the concave portion 212 of the main wheel 21 to be perpendicular to the main The rotation direction R1 of the wheel 21 rotates, and when the respective guide wheels 22 rotate, they will sequentially correspond to the spherical surface 11 facing the spherical wheel 1, and the outer rim 222 of one of the guide wheels 22 will be twisted into contact with the spherical wheel. 1 of the spherical surface 11.

Similarly, the other first direction omnidirectional wheel 3 also includes the same structure as the aforementioned first direction omnidirectional wheel 3. The second direction omnidirectional wheels 4, 5 also include the same structure as the first direction omnidirectional wheel 3.

In the present embodiment, the rotation direction of each of the first direction omnidirectional wheels 2, 3 and the second direction omnidirectional wheels 4, 5 is perpendicular to the spherical surface 11 of the spherical wheel 1, and may of course be designed The direction of rotation of each of the main wheels is inclined at an angle to the spherical surface 1 of the spherical wheel 1.

Fig. 5 is a view showing a control system diagram between each of the omnidirectional wheels and the control circuit in the present invention. The control circuit 6 includes a processing unit 61, a drive control circuit 62, a first direction driving unit 63, and a second direction driving unit 64. The driving control circuit 62 is electrically connected to the processing unit 61; the first direction driving unit 63 is electrically connected to the driving The control circuit 62 is configured to drive the first direction omnidirectional wheels 2, 3 to rotate; the second direction driving unit 64 is electrically connected to the drive control circuit 62 for driving the second direction omnidirectional wheels 4, 5 to rotate.

The driving signal S1 generated by the processing unit 61 can control the operation of the first direction driving unit 63 via the driving control circuit 62, thereby driving the first direction omnidirectional wheels 2, 3 to rotate. The driving signal S1 generated by the processing unit 61 can also control the operation of the second direction driving unit 64 via the drive control circuit 62 to drive the second direction omnidirectional wheels 4, 5 to rotate.

Fig. 6 is a view showing another control system between the omnidirectional wheels and the control circuit in the present invention. In this embodiment, the control circuit 6a is substantially the same as FIG. 5, except that the control circuit 6a includes four driving units 63a, 63b, 64a, 64b for controlling the first direction omnidirectional wheel 2, respectively. 3 and the rotation of the omnidirectional wheels 4, 5 in the second direction.

By the above control circuit, the four driving units 63a, 63b, 64a, 64b can be controlled to rotate independently, and the spherical wheel 1 can be rotated in the original direction, or the spherical wheel 1 can be controlled to rotate in a single direction (forward and backward). One of the omnidirectional wheels is selected as the main transmission wheel to rotate the spherical wheel 1 in one direction, and the other pair of omnidirectional wheels is used as the steering control of the spherical wheel 1. When the spherical wheel application of the present invention is incorporated in a vehicle such as a car, it is possible to control the car to park into the parking space in a manner parallel to the parking space.

The above embodiment is described by using the symmetrical omnidirectional wheels 2, 3 and the second directional omnidirectional wheels 4, 5 as an embodiment. For example, the three omnidirectional wheels 7a, 7b, 7c can also be used in the present invention. Corresponds to the structure of a spherical wheel 1 (as shown in Fig. 7). Under this architecture, the rotation of the spherical wheel 1 can also be controlled by controlling the rotation of each of the omnidirectional wheels 7a, 7b, 7c by the control circuit.

It can be seen from the above embodiments that the face-to-face configuration provided by the present invention The omnidirectional wheel transmission device has industrial utilization value, so the invention has been in compliance with the requirements of the patent. The above description is only for the preferred embodiment of the present invention, and those skilled in the art can make other various improvements according to the above description, but these changes still belong to the inventive spirit of the present invention and the following definitions. In the scope of patents.

100‧‧‧ Omnidirectional gear transmission

1‧‧‧ spherical wheel

2‧‧‧First direction omnidirectional wheel

21‧‧‧ main round

211‧‧‧ outer rim

22‧‧‧guide wheel

23‧‧‧ drive shaft

3‧‧‧First direction omnidirectional wheel

4‧‧‧Second direction omnidirectional wheel

5‧‧‧Second direction omnidirectional wheel

P‧‧‧ reference point

R1‧‧‧ direction of rotation

Claims (9)

An omnidirectional wheel transmission device with a face-to-face configuration, comprising: a spherical wheel having a spherical surface and a reference reference point; a pair of first direction omnidirectional wheels, the pair of first direction omnidirectional wheels being spaced apart from each other by a predetermined distance, face to face The reference datum point is a mapping point disposed on both sides of the reference datum point of the spherical wheel; each of the first direction omnidirectional wheels includes: a main wheel having a transmission shaft and an outer rim, wherein the main wheel has a transmission shaft and an outer rim The main wheel can be rotated in a rotation direction centering on the transmission shaft, and the outer rim of the main wheel is provided with a plurality of mutually spaced concave portions and shaft portions disposed in the respective concave portions; a plurality of guide wheels each having a guide wheel a guide wheel central shaft and an outer rim, the respective guide wheels are respectively accommodated in the concave portion of the main wheel, and are pivotally arranged on the shaft portion of the concave portion of the main wheel by the central axis of the guide wheel The respective guide wheels may be centered on the central axis of the guide wheel and rotate in a direction perpendicular to the rotation direction of the main wheel in the concave portion of the main wheel; when the pair of first direction omnidirectional wheels are opposite to the spherical body in the rotational direction When turning wheel, the respective guide wheels Manufactured by sequentially contacting the outer rim category of risk of the spherical surface of the spherical wheel. The omnidirectional wheel transmission of the face-to-face configuration of claim 1, wherein the direction of rotation of the main wheel is at a perpendicular angle to the spherical surface of the spherical wheel. The omnidirectional wheel transmission of the face-to-face configuration of claim 1, wherein the direction of rotation of the main wheel is at an oblique angle to the spherical surface of the spherical wheel. The omnidirectional wheel transmission of the face-to-face configuration of claim 1, wherein the spherical wheel train is formed of a rubber material. The omnidirectional gear transmission of the face-to-face configuration as described in claim 1 of the patent application, The control circuit includes a processing unit for generating a driving signal, a driving control circuit electrically connected to the processing unit, and a driving unit. Electrically connected to the driving control circuit, the driving signal generated by the processing unit controls the driving unit to operate by the driving control circuit, thereby driving the pair of first direction omni wheel rotation. The omnidirectional wheel transmission device of the face-to-face configuration according to claim 1, further comprising: a pair of second direction omnidirectional wheels spaced apart from each other by a predetermined distance, face to face with the reference The reference point is a mapping point disposed on both sides of the reference reference point of the spherical wheel, and the pair of second direction omnidirectional wheel trains are respectively disposed between the pair of first direction omnidirectional wheels; each of the second direction is completely The steering wheel includes: a main wheel having a transmission shaft and an outer rim, the main wheel being rotatable in a rotation direction centering on the transmission shaft, and a plurality of mutually spaced apart openings on the outer rim of the main wheel a recessed portion and a shaft portion disposed in each of the recessed portions; a plurality of guide wheels each having a guide wheel central shaft and an outer rim, wherein the respective guide wheels are accommodated one by one in the recess of the main wheel The central axis of the guide wheel is pivotally arranged on the shaft portion of the concave portion of the main wheel, so that the respective guide wheels can be centered on the central axis of the guide wheel and rotate in the concave portion of the main wheel to be perpendicular to the main wheel. Rotate in the direction; when the pair of second direction omnidirectional wheels turn When the moving direction rotates relative to the spherical wheel, the outer rims of the respective guide wheels sequentially contact the spherical surface of the spherical wheel. The omnidirectional wheel transmission of the face-to-face configuration of claim 5, wherein the direction of rotation of the main wheel is at a perpendicular angle to the spherical surface of the spherical wheel. The omnidirectional gear transmission of the face-to-face configuration according to claim 5, wherein the rotation direction of the main wheel is at an oblique angle to the spherical surface of the spherical wheel. The omnidirectional gear transmission of the face-to-face configuration according to claim 5, wherein the spherical wheel train is composed of a rubber material.