CN100443312C - omni wheel - Google Patents

Abstract

The invention relates to an all-round wheel, which includes a large wheel, several identical small wheels, steel pipe rings and steel pipe installation parts. There are a number of grooves at equal intervals on the periphery of the large wheel for installing the small wheel. The outer ring of the large wheel There is a semicircular groove on the end surface, and the steel pipe ring is inserted into the semicircular groove and fixed on the big wheel through the steel pipe mounting parts, and several small wheels connected to the steel pipe ring are respectively embedded in the grooves on the periphery of the big wheel , the axis of the small wheel is perpendicular to the axis of the large wheel, and there is a movable gap between the small wheel and the large wheel. The invention is easy to manufacture and low in cost. The robot equipped with the omnidirectional wheel of the invention can not only move forward in the direction of rotation of the big wheel, but also move laterally by virtue of the sideways rolling of the small wheel. These two movements can be combined into any The movement in the same direction can reduce the vibration generated by the omni-directional wheel movement by adjusting the number of small wheels, which has more practical application value.

Description

omni wheel

technical field

The invention relates to an omnidirectional wheel, which is used for an omnidirectional mobile robot, and can realize translation and rotation of the robot in any direction, so that the robot has three degrees of freedom when moving on a two-dimensional plane, and its motion performance is better than that of a traditional mobile robot. It belongs to the field of robot technology.

Background technique

Wheeled mobile robots have been widely used in human production and life practice due to their simple control and flexible movement. For example, two-wheel differential mobile robots are the most widely used mobile mode; The restraint system adopts a special mechanism such as an omnidirectional wheel, which has 3 degrees of freedom on a 2-dimensional plane, and can perform translation and rotation in any direction at the same time, and can complete movement in any direction while maintaining the same posture , it is very suitable for working in the occasions where the space is narrow and limited, and the mobility of the robot is high. It is precisely because the omnidirectional mobile robot has more flexible motion performance than the two-wheel differential, and has been used in many fields, such as omnidirectional Mobile wheelchairs, RoboCup competitions (Robot Soccer World Cup), etc.

The mobile robot is composed of a mobile mechanism, a sensor and a controller. The mobile mechanism is the basis of the movement of the mobile robot, and as a mobile mechanism to realize the special motion performance of the omnidirectional mobile robot - the design of the omnidirectional wheel is the research of the omnidirectional mobile robot. a key technology. Since the robot needs to move smoothly in many occasions, it is required that the omni-directional wheels minimize radial and axial vibrations during the movement to meet the requirements. The quality of the omni-directional wheel directly affects the control of the robot and the final motion effect.

Existing omnidirectional wheels include spherical wheels, eccentric wheels, orthogonal wheels, Mecanum wheels, etc. In order to improve the performance of the wheels during movement, the design of traditional omnidirectional wheels is very complicated, which affects the value of actual use and hinders Promotion and application of all-round mobile robot technology.

Contents of the invention

The purpose of the present invention is to provide a new type of omni-directional wheel for the deficiencies of the prior art, which can enable the mobile robot to quickly and flexibly translate and rotate, and reduce vibration during movement.

In order to achieve this purpose, the omnidirectional wheel designed by the present invention includes a bull wheel, several identical small wheels, steel rings and steel pipe mounting parts. There are several grooves for installing the small wheel. There is a semicircular groove on the end surface of the outer ring of the big wheel. The radius of the semicircular groove is equal to the radius of the steel ring. The steel ring is inserted into the semicircular groove through the steel pipe mounting parts. Fixed on the big wheel, several small wheels strung on the steel ring are respectively embedded in the grooves on the periphery of the big wheel. The axis of the small wheel is perpendicular to the axis of the big wheel, and the envelope of the outer ring of the small wheel is a circle. , There is an active gap between the small wheel and the big wheel.

In the present invention, the steel pipe mounting part is used as a mounting assembly of the bull wheel and the steel pipe ring for fixing the steel pipe ring. After the small wheel is strung on the steel ring, insert the steel ring into the semicircular groove on the end surface of the outer ring of the big wheel, and insert the small wheel into the grooves at equal intervals on the outer circumference of the big wheel, so that the steel ring reaches the The purpose of fixing the small wheel is also the rotation axis of the small wheel simultaneously. The use of steel pipe mounting parts can ensure that the steel pipe ring is more firm, and can separate each small wheel. In order for the small wheel to run flexibly, it should be ensured that there is a certain gap between the small wheel and the big wheel.

The robot equipped with the omni-directional wheel of the present invention can move forward in the direction in which the big wheel rotates, and can also move laterally by virtue of the sideways rolling of the small wheel, and these two motions can be combined into motion in any direction.

On the premise of satisfying the performance of the omnidirectional mobile robot, the omnidirectional wheel designed by the invention is simple to manufacture, low in cost, and has more practical application value. Component parts such as stainless steel pipe rings (bent by steel pipes), small wheels, etc. are all general accessories circulating on the market, which improves the universality of use of the omnidirectional wheel. At the same time, because the small wheels are installed through steel rings, the number of small wheels can be adjusted and changed easily. For example, when the vibration of the wheels is required, small wheels can be added to reduce the vibration of the omni-directional wheels during motion. A robot driven by a plurality of omnidirectional wheels of the present invention can realize omnidirectional movement, and is especially suitable for situations such as soccer robot competitions that require robots to be lightweight, dexterous, and change direction quickly.

Description of drawings

Fig. 1 is a structural schematic diagram of the omnidirectional wheel of the present invention.

In Fig. 1, 1 is a bull wheel, 2 is a steamboat, 3 is a steel pipe ring, 4 is a steel pipe installation part, and 5 is a movable gap between the steamboat and the bullwheel.

Fig. 2 is a schematic diagram of an omnidirectional wheel of the present invention applied to an omnidirectional robot.

On the left of Figure 2, the robot achieves translation. Figure 2 right, the robot realizes the rotation.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

The omni-directional wheel front view of the present invention is as shown in Figure 1, comprises big wheel 1, several identical small wheels 2, steel pipe ring 3 and steel pipe mounting part 4, and the axle hole of big wheel 1 is connected with drive shaft, and is connected with driving shaft in big wheel 1 There are several grooves at equal intervals on the outer circumference of the outer ring for installing small wheels. There are semicircular grooves on the end face of the outer ring of the big wheel 1. The radius of the semicircular grooves is equal to the radius of the steel pipe ring 3. Through the steel pipe mounting parts 4. Insert the steel ring 3 into the semi-circular groove and fix it on the big wheel 1. Several small wheels 2 connected in series on the steel ring 3 are respectively embedded in the grooves on the periphery of the big wheel 1. The axis of the small wheel 2 and the big wheel The axis of 1 is vertical, and activity gap 5 is left between steamboat 2 and bull wheel 1.

After the small wheel is strung on the steel ring, the small wheel is embedded in the groove, and the steel ring is embedded in the semicircular groove, so that the steel ring not only achieves the purpose of fixing the small wheel, but also serves as the rotation axis of the small wheel . In order to ensure that the steel ring is more firm, a steel pipe installation piece is installed between the small wheel and the small wheel, and simultaneously for the flexible operation of the small wheel, it is ensured that a certain gap is left between the small wheel and the large wheel.

In the present invention, the steel pipe mounting part 4 is used as the mounting assembly of the large wheel 1 and the steel pipe ring 3, and is used to fix the steel pipe ring 3. After the small wheel 2 is strung on the steel pipe ring 3, the steel pipe ring 3 is embedded in the end surface of the outer ring of the large wheel 1. In the semicircular groove on the top. After being installed, there is a certain gap between the small wheel 2 and the bull wheel 1, and the small wheel 2 takes the steel ring 3 as the axis for driven rotation during motion. The effect of steel pipe mounting part 4 has two: a) steel pipe ring 3 is installed on the bull wheel 1; b) separates for each small wheel 2.

The application mode of the omnidirectional wheel of the present invention is as shown in Figure 2:

The omnidirectional mobile robot shown in Fig. 2 has used four omnidirectional wheels of the present invention.

In the left middle of Fig. 2, the four wheels rotate at different speeds, which can realize the translation of the robot with unchanged attitude.

In the middle right of Fig. 2, another coordination of the four-wheel rotation speed can realize the robot's self-rotation.

According to the analysis, it is only necessary to change the rotation speed of the four wheels to change the translation direction and attitude of the robot. Therefore, with the cooperation of different speeds of the four wheels, 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).

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