CN101323231A - Oblique sphere type all-directional mobile wheel and uses thereof - Google Patents
Oblique sphere type all-directional mobile wheel and uses thereof Download PDFInfo
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- CN101323231A CN101323231A CNA2008100118489A CN200810011848A CN101323231A CN 101323231 A CN101323231 A CN 101323231A CN A2008100118489 A CNA2008100118489 A CN A2008100118489A CN 200810011848 A CN200810011848 A CN 200810011848A CN 101323231 A CN101323231 A CN 101323231A
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Abstract
The invention relates to an oblique sphere type all-directional moving wheel and the applications thereof, aiming at solving the defects of comparatively complicated structure, bad obstacle-climbing capacity, low carrying capability, low flexibility and low stability of a plurality of universal wheels in the prior art; the moving wheel is composed of a ball wheel a and a ball wheel b; the ball wheel a and the ball wheel b are fixed on a driving shaft respectively by a driven shaft a and a driven shaft b; the two driven shafts constitute a skew angle in 45 degrees on the vertical surface of the driving shaft to form two skew spherical split-body structures. The applications of the oblique sphere type all-directional moving wheel mainly are: applied to a robot,, an all-directional wheel chair, and assembly and transporting facilities in an automatic assembly line as the universal moving wheels; and the all-directional moving wheel has the advantages of simple structure and flexible moving. Owing to the two skew spherical split-body structures, a continuous contact with a floor is realized; and the driving and passive movements of a wheel body are also realized at the same time. The structure is suitable for messier occasions and free of wheel interference and has strong carrying capability, thereby being easy to control and especially suitable to be used as the universal wheel of the moving platform of a robot.
Description
Technical field:
The present invention relates to a kind of mobile wheel and application thereof, relate in particular to a kind of oblique sphere type all-directional mobile wheel and application thereof.Oblique sphere type all-directional mobile wheel mainly is used as universal mobile wheel, service robot and the application similar with it of robot.
Background technology:
At present, all directionally movable robot roughly is divided into two kinds: a kind of is to adopt special wheel construction, and another kind is to use traditional wheel construction.The design concept of most special wheel constructions is: have constraint to obtain propulsive effort on a direction of wheel, retrain to realize passive movement and remove on another direction.As being designed to of special classics of taking turns: a series of follower is installed on the circumference of a traditional wheel construction, and the S. A. of these passive rollers is vertical or favour the S. A. of tradition wheel.For example: the design of Mecanum wheel, the design of other special wheel construction comprise quadrature wheel construction and ball wheel construction.The universal mobile robot of special wheel construction has very strong kinematic dexterity and stability, and can very accurately realize track following.But such universal mobile robot is except mechanism's more complicated, and it is poor also to exist obstacle climbing ability, and load-carrying capacity is low, and passive roller causes shortcomings such as body oscillating easily.This wheel structure is not suitable for dirty and messy occasion, because the foul body is easy to stir on the S. A. of passive roller, influences the motion of robot.Ball wheel construction driver train and motion control are complicated, use less.Mainly adopt to turn to and rotate based on all directionally movable robot of traditional wheel construction and all have individual drive caster wheel structure, though this mechanism load-carrying capacity is strong, lower to the requirement of movement environment simultaneously, can cross over little obstacle, but kinematic dexterity and less stable.
Summary of the invention:
For solve above-mentioned existing several cardan wheels in various degree have a structure more complicated, obstacle climbing ability is poor, and load-carrying capacity is low, deficiencies such as alerting ability and less stable, a kind of oblique sphere type all-directional mobile wheel is provided, and it takes turns a (8) by ball and ball wheel b (9) constitutes; Described ball wheel a (8) and ball wheel b (9) are fixed on the imput shaft (7) by driven axle a (10) and driven axle b (11) respectively, and two driven axles are 45 ° of bias angles on the vertical plane of imput shaft (7), constitute heterotropic two spherical body structures that divide.
Oblique sphere type all-directional mobile wheel is mainly used in:
Be used as the application of the universal mobile wheel of robot;
Be used as the application of the universal mobile wheel of comprehensive wheelchair;
Application and similar field as the universal mobile wheel of assembling on the automated assembly line and transportation device.
The concrete scheme that adopts is: three universal oblique sphere type all-directional mobile wheels (1) are 120 degree distributions by moving shaft bolster (3) mutually along the disk contour are fixed under the described platform disk (5), three are moved wheel (1) by being with synchronously and synchronous pulley (2), be in transmission connection with separately DC servo motor (4) respectively, three DC servo motor (4) are fixed on the platform disk (5) by motor pressing plate (6).
When platform moves, imput shaft (7) realizes the driving action of vertical paper in rotary course, and the motion of other direction, promptly along the ball wheel a (8) of the motion of imput shaft (7) axis direction around driven axle a (10) rotate freely or ball wheel b (9) uninstalls around rotating freely of driven axle b (11); In motion process, ball is taken turns a (8) and is alternately contacted the continuity that realizes whole driving process with ground with ball wheel b (9), and two driven axles become (being) 45 degree obliques layouts to realize continuous transmission on the vertical plane of imput shaft (7); Three cardan wheels drive platform and finish the three degree of freedom on plane and move and realize universal moving.
Beneficial effect of the present invention: simple in structure, motion flexibly.Rely on heterotropic two spherical body structures that divide to realize and ground-surface uninterrupted contact, realize the driving and the passive movement of wheel body simultaneously.Based on this wheel body constructional feature, designed comprehensive mobile platform.This kind wheel structure is suitable for more dirty and messy occasion, the difficult wheel phenomenon of stirring, and load-carrying capacity is strong, is easy to control, is particularly suitable as robot motion's flat-bed cardan wheel.
In motion process, ball is taken turns a and is alternately contacted the continuity that realizes whole driving process with ground with ball wheel b, and two driven axles are 45 degree obliques layouts and have realized continuous transmission on the vertical plane of imput shaft.This design has increased the intensity of imput shaft and driven axle when realizing motion continuity, the cardan wheel load-carrying capacity is strengthened.Because each that constitutes mobile platform taken turns and is cardan wheel, thus three cardan wheels just can drive platform finish the three degree of freedom on plane move realize universal mobile.The alerting ability and the stability of motion have been strengthened.
Description of drawings:
Fig. 1 structural representation of the present invention
Fig. 2 construction profile scheme drawing of the present invention
Fig. 3 is the structure scheme drawing of Fig. 1
Fig. 4 and Fig. 5 are the oblique sphere type all-directional mobile wheel structural representations
Fig. 6 is the right TV structure scheme drawing of Fig. 4
Fig. 7 is the left TV structure scheme drawing of Fig. 4
The specific embodiment:
Referring to Fig. 1-Fig. 7, oblique sphere type all-directional mobile wheel, it is made of ball wheel a8 and ball wheel b9; Described ball wheel a8 and ball wheel b9 are fixed on the imput shaft 7 by driven axle a10 and driven axle b11 respectively, and two driven axles are 45 ° of bias angles on the vertical plane of imput shaft 7, constitute heterotropic two spherical body structures that divide.
Described ball wheel a8 and ball wheel b9 constitute by two spheroids of removing the part of spherical crown and spheroid, connect into the spheroid part by driven axle a10 and driven axle b11 respectively, and are fixed on the imput shaft 7; The spheroid part of two ball wheels has constituted whole spheroid wheel construction jointly, has formed a complete circular projection in the vertical plane projection of imput shaft 7.
Described oblique sphere type all-directional mobile wheel 1 is as the application of the universal mobile wheel of robot.
Described oblique sphere type all-directional mobile wheel 1 is as the application of the universal mobile wheel of comprehensive wheelchair.
Described oblique sphere type all-directional mobile wheel 1 is as the application of the universal mobile wheel of assembling on the automated assembly line and transportation device.
The concrete scheme that adopts is: three universal oblique sphere type all-directional mobile wheels 1 are 120 degree distributions by moving shaft bolster 3 mutually along the disk contour are fixed on described platform disk 5 times, three are moved wheel 1 by being with synchronously and synchronous pulley 2, be in transmission connection with separately DC servo motor 4 respectively, three DC servo motor 4 are fixed on the platform disk 5 by motor pressing plate 6.
Principle of work: three oblique sphere type all-directional mobile wheels 1 are 120 degree to be arranged by bearing frame 3 and is connected to below the terraced garden dish 5, and oblique sphere type all-directional mobile wheel 8 drives by three DC servo motor 4 is with 2 to drive and realize moving wheel 8 motions synchronously.Three motor 4 usefulness motor pressing plates 6 are fixed on above the terraced garden dish.Imput shaft 7 realizes the driving action of vertical paper in rotary course, and the motion of other direction, promptly along the imput shaft axis direction move by ball wheel a around driven axle a rotate freely or ball wheel b uninstalls around rotating freely of driven axle b.In motion process, ball is taken turns a and is alternately contacted the continuity that realizes whole driving process with ground with ball wheel b, and two driven axles are 45 degree obliques layouts and have realized continuous transmission on the vertical plane of imput shaft 7.This design has increased the intensity of imput shaft and driven axle when realizing motion continuity, the load-carrying capacity of cardan wheel is obviously increased.Because each that constitutes mobile platform taken turns and is cardan wheel, thus three cardan wheels just can drive platform finish the three degree of freedom on plane move realize universal mobile.
Claims (7)
1, oblique sphere type all-directional mobile wheel, it takes turns a (8) by ball and ball wheel b (9) constitutes; It is characterized in that: described ball wheel a (8) and ball wheel b (9) are fixed on the imput shaft (7) by driven axle a (10) and driven axle b (11) respectively, and two driven axles are 45 ° of bias angles on the vertical plane of imput shaft (7), constitute heterotropic two spherical body structures that divide.
2, oblique sphere type all-directional mobile wheel according to claim 1, it is characterized in that: described ball wheel a (8) and ball wheel b (9) constitute by two spheroids of removing the part of spherical crown and spheroid, connect into the spheroid part by driven axle a (10) and driven axle b (11) respectively; The spheroid part of two ball wheels has constituted whole spheroid wheel construction jointly, has formed a complete circular projection in the vertical plane projection of imput shaft (7).
3, the application of oblique sphere type all-directional mobile wheel is characterized in that: described oblique sphere type all-directional mobile wheel (1) is as the application of the universal mobile wheel of robot.
4, the application of oblique sphere type all-directional mobile wheel is characterized in that: described oblique sphere type all-directional mobile wheel (1) is as the application of the universal mobile wheel of comprehensive wheelchair.
5, the application of oblique sphere type all-directional mobile wheel is characterized in that: described oblique sphere type all-directional mobile wheel (1) is as the application of the universal mobile wheel of assembling on the automated assembly line and transportation device.
6, according to the application of claim 3 or 4 or 5 described oblique sphere type all-directional mobile wheels, it is characterized in that: three universal oblique sphere type all-directional mobile wheels (1) are 120 degree distributions by moving shaft bolster (3) mutually along the disk contour are fixed under the described platform disk (5), three are moved wheel (1) by being with synchronously and synchronous pulley (2), be in transmission connection with separately DC servo motor (4) respectively, three DC servo motor (4) are fixed on the platform disk (5) by motor pressing plate (6).
7, the application of oblique sphere type all-directional mobile wheel according to claim 6, it is characterized in that: imput shaft (7) realizes the driving action of vertical paper in rotary course, and the motion of other direction, promptly along the ball wheel a (8) of the motion of imput shaft (7) axis direction around driven axle a (10) rotate freely or ball wheel b (9) uninstalls around rotating freely of driven axle b (11); In motion process, ball is taken turns a (8) and is alternately contacted the continuity that realizes whole driving process with ground with ball wheel b (9), and two driven axles become (being) 45 degree obliques layouts to realize continuous transmission on the vertical plane of imput shaft (7); Three cardan wheels drive platform and finish the three degree of freedom on plane and move and realize universal moving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100118489A CN101323231A (en) | 2008-06-13 | 2008-06-13 | Oblique sphere type all-directional mobile wheel and uses thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2008100118489A CN101323231A (en) | 2008-06-13 | 2008-06-13 | Oblique sphere type all-directional mobile wheel and uses thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102180064A (en) * | 2011-04-14 | 2011-09-14 | 沈阳航空航天大学 | Differential type omnibearing wheel |
| CN102267504A (en) * | 2011-06-29 | 2011-12-07 | 北京工业大学 | Omnidirectional wheel type mobile robot |
| CN104714549A (en) * | 2015-03-09 | 2015-06-17 | 曹人天 | Omni-directional wheel and omni-directional mobile platform |
| CN106041878A (en) * | 2016-07-01 | 2016-10-26 | 昆明理工大学 | All-terrain robot universal walking mechanism |
| CN106427398A (en) * | 2016-12-23 | 2017-02-22 | 桂林电子科技大学 | All-directional universal wheel |
-
2008
- 2008-06-13 CN CNA2008100118489A patent/CN101323231A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102180064A (en) * | 2011-04-14 | 2011-09-14 | 沈阳航空航天大学 | Differential type omnibearing wheel |
| CN102267504A (en) * | 2011-06-29 | 2011-12-07 | 北京工业大学 | Omnidirectional wheel type mobile robot |
| CN104714549A (en) * | 2015-03-09 | 2015-06-17 | 曹人天 | Omni-directional wheel and omni-directional mobile platform |
| CN106041878A (en) * | 2016-07-01 | 2016-10-26 | 昆明理工大学 | All-terrain robot universal walking mechanism |
| CN106041878B (en) * | 2016-07-01 | 2019-06-07 | 昆明理工大学 | A kind of full ground anthropomorphic robot universal walking mechanism |
| CN106427398A (en) * | 2016-12-23 | 2017-02-22 | 桂林电子科技大学 | All-directional universal wheel |
| CN106427398B (en) * | 2016-12-23 | 2018-06-08 | 桂林电子科技大学 | Can omnibearing movable omni-directional wheel |
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Open date: 20081217 |