CN100443312C - Directional wheel - Google Patents
Directional wheel Download PDFInfo
- Publication number
- CN100443312C CN100443312C CNB2006100242773A CN200610024277A CN100443312C CN 100443312 C CN100443312 C CN 100443312C CN B2006100242773 A CNB2006100242773 A CN B2006100242773A CN 200610024277 A CN200610024277 A CN 200610024277A CN 100443312 C CN100443312 C CN 100443312C
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- Prior art keywords
- steel pipe
- wheel
- small wheels
- bull wheel
- large wheel
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Abstract
The present invention relates to an omnidirectional wheel, which comprises a large wheel, a plurality of identical small wheels, a steel pipe ring and steel pipe installation parts, wherein a plurality of grooves for installing the small wheels are arranged on the peripheral circumference of the large wheel in equal distances, and a semicircular groove is arranged on the end surface of the outer ring of the large wheel; the steel pipe ring is embedded into the semicircular groove and fixed to the large wheel via the steel pipe installation parts; a plurality of small wheels which are strung on the steel pipe ring are respectively embedded in the grooves on the periphery of the large wheel, the axes of the small wheels are vertical with the axis of the large wheel, and free gaps are formed between the small wheels and the large wheel. The present invention has the advantages of simple manufacture and low cost. A robot on which the omnidirectional wheel of the present invention is installed not only can move forward along the rotating direction of the large wheel, but also can move in a lateral direction by the lateral rolling of the small wheels, and the two kinds of movement can be combined into movement to any direction; simultaneously, by adjusting the amount of the small wheels, the vibration generated in the movement of the omnidirectional wheel can be decreased, and the practical application value is larger.
Description
Technical field
The present invention relates to a kind of directional wheel, be used for all directionally movable robot, can realize the translation and the rotation of robot any direction, make robot have three degree of freedom when moving on two dimensional surface, exercise performance is better than traditional mobile robot.Belong to the Robotics field.
Background technology
Wheeled mobile robot has been widely used in Human's production, the practical experience of life because control is simple, flexibly mobile, such as two-wheel differential mobile robot, is wherein most widely used a kind of move mode; And all directionally movable robot is as systems with holonomic constraints, adopt this special mechanism of directional wheel, on 2 dimensional planes, have 3 degree of freedom, can do translation and rotation simultaneously along any direction, keeping under the attitude unmodified situation, can finish moving of any direction, it is limited that it is fit to be operated in narrow space very much, in the high occasion of the maneuverability requirement of robot, have than two-wheel differential exercise performance more flexibly just because of all directionally movable robot, many fields have been applied to, as the all-directional mobile wheel chair, RoboCup match (robot soccer World Cup Competition) etc.
The mobile robot is made up of travel mechanism, sensor and controller etc. and wherein travel mechanism is the basis of moveable robot movement, and as the travel mechanism that realizes all directionally movable robot peculair motion performance---the design of directional wheel is a gordian technique of all directionally movable robot research.Owing to need the robot easy motion in a lot of occasions, therefore require directional wheel in motion process, reduce radially, axial vibration, to meet the demands as far as possible.The quality of directional wheel directly influences ROBOT CONTROL and final movement effects.
Existing directional wheel comprises ball wheel, eccentric wheel, quadrature wheel, Mai Kanamu wheel etc., performance when moving in order to improve wheel, the design of tradition directional wheel is very complicated, thereby has influenced the value of actual use, has hindered applying of all directionally movable robot technology.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of directional wheel of new structure be provided, can make the mobile robot fast, translation flexibly and rotation, the vibration when reducing motion.
For realizing this purpose, design-calculated directional wheel of the present invention, comprise bull wheel, some identical steamboats, steel pipe circle and steel pipe fabricated section, the axis hole of bull wheel is connected with axle drive shaft, have some grooves equally spacedly in the bull wheel peripheral circumferential and be used to install steamboat, have semi-circular recesses on the cycle surface of bull wheel, the semi-circular recesses radius equates with steel pipe circle radius, by the steel pipe fabricated section steel pipe circle being embedded semi-circular recesses is fixed on the bull wheel, the some steamboats of string on the steel pipe circle then be embedded in respectively the bull wheel periphery groove in, the axis of steamboat and the axis normal of bull wheel, steamboat outer ring intrinsic curve is a circle simultaneously, leaves the free gap between steamboat and the bull wheel.
Among the present invention, the steel pipe fabricated section is used for fixing the steel pipe circle as the installation component of bull wheel and steel pipe circle.Treat that the steamboat string is after on the steel pipe circle, the steel pipe circle is embedded in the semi-circular recesses on the bull wheel cycle surface, small wheels is embedded in the equidistant groove of bull wheel peripheral circumferential, thereby the steel pipe circle both having reached the fixedly purpose of small wheels, also is the turning cylinder of small wheels simultaneously.Adopt the steel pipe fabricated section can guarantee that the steel pipe circle is more firm, and can separate each steamboat.For steamboat goes slick, should guarantee to leave certain interval between steamboat and the bull wheel.
The robot of directional wheel of the present invention has been installed, except the direction forward movement that can rotate along bull wheel, can also have been relied on the side rolling of steamboat and side travel, these two motions just can be combined into the motion of any direction.
Design-calculated directional wheel of the present invention is made simply under the prerequisite that satisfies all directionally movable robot performance, and is with low cost, has more actual application value.Component part such as corrosion-resistant steel pipeloop (being formed by tube bending), steamboat etc. all are the universal accessories that circulates on the market, have improved the use popularization of this directional wheel.Simultaneously, therefore can adjust easily and change steamboat quantity, when the vibration such as to wheel turns the time has requirement, can increase small wheels, reduce the vibration of directional wheel when the motion to reach because steamboat is installed by the steel pipe circle.Adopt a plurality of directional wheels of the present invention can realize omnibearing move as the machine driven people, particularly suitable needs robot to have light-duty dexterity, the occasion of characteristics such as break-in fast in Soccer robot contest etc.
Description of drawings
Fig. 1 is the structural representation of directional wheel of the present invention.
Among Fig. 1,1 is bull wheel, and 2 is steamboat, and 3 is the steel pipe circle, and 4 is the steel pipe fabricated section, and 5 is the free gap between steamboat and the bull wheel.
Fig. 2 is applied to the scheme drawing of comprehensive robot for directional wheel of the present invention.
Fig. 2 left side, robot is realized translation.Fig. 2 right side, robot realize rotating.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
Directional wheel front elevation of the present invention as shown in Figure 1, comprise bull wheel 1, some identical steamboats 2, steel pipe circle 3 and steel pipe fabricated section 4, the axis hole of bull wheel 1 is connected with axle drive shaft, have some grooves equally spacedly in the peripheral circumferential of bull wheel 1 and be used to install steamboat, have semi-circular recesses on the end face of bull wheel 1 outer ring, the semi-circular recesses radius equates with steel pipe circle 3 radiuses, by steel pipe fabricated section 4 steel pipe circle 3 being embedded semi-circular recesses is fixed on the bull wheel 1, the some steamboats 2 of string on steel pipe circle 3 be embedded in respectively bull wheel 1 periphery groove in, the axis normal of the axis of steamboat 2 and bull wheel 1 leaves free gap 5 between steamboat 2 and the bull wheel 1.
Treating that the steamboat substring after on the steel pipe circle, small wheels is embedded in the groove, and the steel pipe circle is embedded in the semi-circular groove, thereby the steel pipe circle had both reached the fixedly purpose of small wheels, also is the turning cylinder of small wheels simultaneously.More firm in order to guarantee the steel pipe circle, between small wheels and small wheels, install the steel pipe fabricated section, go slick for small wheels simultaneously, guarantee to leave certain interval between small wheels and the larger wheels.
Among the present invention, steel pipe fabricated section 4 is used for fixing steel pipe circle 3 as bull wheel 1 installation component with steel pipe circle 3, and steamboat 2 strings are embedded into steel pipe circle 3 in the semi-circular recesses on bull wheel 1 cycle surface after on the steel pipe circle 3.After installing, steamboat 2 has certain interval with bull wheel 1, and steamboat 2 serves as that axle is done driven rotation with steel pipe circle 3 during motion.The effect of steel pipe fabricated section 4 has two: a) steel pipe circle 3 is installed on the bull wheel 1; B) be that each steamboat 2 makes to separate usefulness.
The application mode of directional wheel of the present invention is as shown in Figure 2:
All directionally movable robot shown in Figure 2 has used four directional wheels of the present invention.
In Fig. 2 left side, four-wheel rotates with different speed, can realize the translation of robot pose unmodified.
In Fig. 2 right side, the another kind of four-wheel rotating speed cooperates, and can realize the rotation of robot.
Known to analyzing, the change of the translation direction of robot, the variation of attitude only need to change the rotating speed of four wheels, and therefore 4 different speed of wheel cooperate, and the mobile robot can obtain different motions.
Claims (1)
1, a kind of directional wheel, it is characterized in that comprising bull wheel (1), some identical steamboats (2), steel pipe circle (3) and steel pipe fabricated section (4), the axis hole of bull wheel (1) is connected with axle drive shaft, have some grooves equally spacedly in bull wheel (1) peripheral circumferential and be used to install steamboat (2), have semi-circular recesses on bull wheel (1) cycle surface, the semi-circular recesses radius equates with steel pipe circle (3) radius, by steel pipe fabricated section (4) steel pipe circle (3) being embedded semi-circular recesses is fixed on the bull wheel (1), the some steamboats (2) of string on steel pipe circle (3) be embedded in respectively bull wheel (1) peripheral groove in, the axis normal of the axis of steamboat (2) and bull wheel (1) leaves free gap (5) between steamboat (2) and the bull wheel (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100242773A CN100443312C (en) | 2006-03-02 | 2006-03-02 | Directional wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100242773A CN100443312C (en) | 2006-03-02 | 2006-03-02 | Directional wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1817668A CN1817668A (en) | 2006-08-16 |
| CN100443312C true CN100443312C (en) | 2008-12-17 |
Family
ID=36917939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100242773A Expired - Fee Related CN100443312C (en) | 2006-03-02 | 2006-03-02 | Directional wheel |
Country Status (1)
| Country | Link |
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| CN (1) | CN100443312C (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2689706A1 (en) * | 2009-10-09 | 2011-04-09 | William Liddiard | A fixed wheel that drives in any direction |
| JP5811612B2 (en) * | 2011-06-15 | 2015-11-11 | 株式会社明電舎 | Automated guided vehicle |
| CN102673673A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Novel universal rolling magnet-wheel device for magnetic adsorption climbing robot |
| CN104787142A (en) * | 2014-08-12 | 2015-07-22 | 皖西学院 | Two-way wheel type external pipe climbing robot |
| CN107984967A (en) * | 2017-12-28 | 2018-05-04 | 内江师范学院 | A kind of omni-directional wheel of high accuracy positioning |
| CN108608801A (en) * | 2018-05-21 | 2018-10-02 | 广东工业大学 | A kind of vehicle and its wheel |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3590970A (en) * | 1968-12-09 | 1971-07-06 | Kornylac Co | Conveyor roller |
| US4981203A (en) * | 1989-02-03 | 1991-01-01 | Kornylak Corporation | Multi directional conveyor wheel |
| CN2472991Y (en) * | 2001-03-21 | 2002-01-23 | 哈尔滨海尔哈工大机器人技术有限公司 | Omnibearing castor |
| CN1406802A (en) * | 2001-08-24 | 2003-04-02 | 任治国 | All directional trolley |
| CN1476962A (en) * | 2003-06-12 | 2004-02-25 | 上海交通大学 | Nano-grade all-bearing mobile miniature robot |
-
2006
- 2006-03-02 CN CNB2006100242773A patent/CN100443312C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3590970A (en) * | 1968-12-09 | 1971-07-06 | Kornylac Co | Conveyor roller |
| US4981203A (en) * | 1989-02-03 | 1991-01-01 | Kornylak Corporation | Multi directional conveyor wheel |
| CN2472991Y (en) * | 2001-03-21 | 2002-01-23 | 哈尔滨海尔哈工大机器人技术有限公司 | Omnibearing castor |
| CN1406802A (en) * | 2001-08-24 | 2003-04-02 | 任治国 | All directional trolley |
| CN1476962A (en) * | 2003-06-12 | 2004-02-25 | 上海交通大学 | Nano-grade all-bearing mobile miniature robot |
Non-Patent Citations (6)
| Title |
|---|
| 一种全方位移动机器人的运动分析与控制实现. 张翮，熊蓉，褚健，丁冠英.浙江大学学报，第38卷第12期. 2004 |
| 一种全方位移动机器人的运动分析与控制实现. 张翮，熊蓉，褚健，丁冠英.浙江大学学报，第38卷第12期. 2004 * |
| 一种新型全方位轮式移动机器人的模型研究. 高光敏，张广新，王宇，王勇.长春工程学院学报，第7卷第2期. 2006 |
| 一种新型全方位轮式移动机器人的模型研究. 高光敏，张广新，王宇，王勇.长春工程学院学报，第7卷第2期. 2006 * |
| 全方位轮移动机构的原理和应用. 吕伟文.无锡职业技术学院学报，第4卷第2期. 2005 |
| 全方位轮移动机构的原理和应用. 吕伟文.无锡职业技术学院学报，第4卷第2期. 2005 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1817668A (en) | 2006-08-16 |
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Granted publication date: 20081217 Termination date: 20120302 |