CN102180064A - Differential type omnibearing wheel - Google Patents
Differential type omnibearing wheel Download PDFInfo
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- CN102180064A CN102180064A CN2011100932040A CN201110093204A CN102180064A CN 102180064 A CN102180064 A CN 102180064A CN 2011100932040 A CN2011100932040 A CN 2011100932040A CN 201110093204 A CN201110093204 A CN 201110093204A CN 102180064 A CN102180064 A CN 102180064A
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- wheel
- spherical
- differential type
- ball wheel
- type omnibearing
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Abstract
The invention relates to a differential type omnibearing wheel which consists of a spherical wheel a and a spherical wheel b which are same in the structure, wherein the spherical wheel a and the spherical wheel b are respectively connected to form a spherical body through a driven shaft a and a driven shaft b and fixed on a driving shaft; and the spherical wheel a is of a closed structure formed by four bevel gears with spherical crowns. The differential type omnibearing wheel has the advantages of simple structure and motion flexibility. By means of two spherical split structures which are obliquely crossed, the differential type omnibearing wheel is in continuous contact with the ground, has strong bearing capability and is easy to control and especially suitable for being used as a universal wheel of a robot motion platform.
Description
Technical field:
The present invention relates to a kind of differential all-directional wheel, mainly be used as universal mobile wheel, service robot and the application similar of robot with it.
Background technology:
At present, directional wheel 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.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, load-carrying capacity is low, deficiencies such as alerting ability and less stable provide a kind of differential all-directional wheel.
For achieving the above object, the technical solution used in the present invention is: a kind of all-directional mobile wheel, constitute by ball wheel a with same structure and ball wheel b, and ball wheel a and ball wheel b connect into spheroid by driven axle a and driven axle b respectively, and are fixed on the imput shaft.Ball wheel a forms the osed top structure by four finishing bevel gear cuters that have spherical crown.
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 that load-carrying capacity is strong, be easy to control, be particularly suitable as robot motion's flat-bed cardan wheel.
In motion process, ball wheel a alternately contacts the continuity that realizes whole driving process with ball wheel b with ground.This design has increased the intensity of imput shaft and driven axle when realizing motion continuity, the cardan wheel load-carrying capacity is strengthened.
Description of drawings:
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the right elevation of Fig. 1.
Fig. 3 is Fig. 2 generalized section.
Fig. 4 is the structural representation of finishing bevel gear cuter.
The specific embodiment:
As Fig. 1-shown in Figure 4, a kind of all-directional mobile wheel is made of ball wheel a2 with same structure and ball wheel b3, and ball wheel a2 and ball wheel b3 connect into spheroid by driven axle a5 and driven axle b4 respectively, and are fixed on the imput shaft 1.Ball wheel a2 forms the osed top structure by four finishing bevel gear cuters that have spherical crown.Angle between each finishing bevel gear cuter is 45 °, and eight finishing bevel gear cuters just in time surround 360 ° sphere.
Principle of work: imput shaft 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 wheel a alternately contacts the continuity that realizes whole driving process with ball wheel b with ground.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.
Can be applied on the mobile chassis of family's sweeping robot, also can be applied on the comprehensive wheelchair, can be applied in the assembling and transportation device on the automated assembly line.
Claims (1)
1. an all-directional mobile wheel is made of ball wheel a with same structure and ball wheel b, and ball wheel a and ball wheel b connect into spheroid by driven axle a and driven axle b respectively, and are fixed on the imput shaft, and ball wheel a forms the osed top structure by four finishing bevel gear cuters that have spherical crown.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100932040A CN102180064A (en) | 2011-04-14 | 2011-04-14 | Differential type omnibearing wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100932040A CN102180064A (en) | 2011-04-14 | 2011-04-14 | Differential type omnibearing wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102180064A true CN102180064A (en) | 2011-09-14 |
Family
ID=44566409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100932040A Pending CN102180064A (en) | 2011-04-14 | 2011-04-14 | Differential type omnibearing wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102180064A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354525A (en) * | 2014-10-17 | 2015-02-18 | 沈阳航空航天大学 | Parallel double-spherical-crown differential type all-directional wheel |
| CN104714549A (en) * | 2015-03-09 | 2015-06-17 | 曹人天 | Omni-directional wheel and omni-directional mobile platform |
| CN104887414A (en) * | 2015-06-03 | 2015-09-09 | 北京理工大学 | Omni-directionally movable wheelchair with gravity center adjusting function |
| CN107310329A (en) * | 2017-06-09 | 2017-11-03 | 孙绍华 | A kind of spherical omnidirectional's wheel of multicompartment and the vehicle using the wheel |
| CN107662449A (en) * | 2017-11-06 | 2018-02-06 | 刘彦悌 | Spherical wheel assembly |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007210576A (en) * | 2006-02-07 | 2007-08-23 | Kenjiro Tadakuma | Spherical wheel for omnidirectional moving body and omnidirectional moving body |
| CN101323231A (en) * | 2008-06-13 | 2008-12-17 | 沈阳航空工业学院 | Oblique sphere type all-directional mobile wheel and uses thereof |
| CN201257874Y (en) * | 2008-06-13 | 2009-06-17 | 沈阳航空工业学院 | Motion platform with oblique sphere type omnidirectional moving wheel |
| CN201752996U (en) * | 2010-08-20 | 2011-03-02 | 白怀东 | Combined universal roll wheel |
| DE102009041042A1 (en) * | 2009-09-10 | 2011-03-17 | Fritz, Helmut, Dr. Ing. | Ball wheel for use in wheelchair, furniture, ground conveyor and robots, has two half balls which are connected with axis in polar axis orthogonal to intersecting plane of half balls |
| CN201980014U (en) * | 2011-04-14 | 2011-09-21 | 沈阳航空航天大学 | Differential type all-round wheel |
-
2011
- 2011-04-14 CN CN2011100932040A patent/CN102180064A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007210576A (en) * | 2006-02-07 | 2007-08-23 | Kenjiro Tadakuma | Spherical wheel for omnidirectional moving body and omnidirectional moving body |
| CN101323231A (en) * | 2008-06-13 | 2008-12-17 | 沈阳航空工业学院 | Oblique sphere type all-directional mobile wheel and uses thereof |
| CN201257874Y (en) * | 2008-06-13 | 2009-06-17 | 沈阳航空工业学院 | Motion platform with oblique sphere type omnidirectional moving wheel |
| DE102009041042A1 (en) * | 2009-09-10 | 2011-03-17 | Fritz, Helmut, Dr. Ing. | Ball wheel for use in wheelchair, furniture, ground conveyor and robots, has two half balls which are connected with axis in polar axis orthogonal to intersecting plane of half balls |
| CN201752996U (en) * | 2010-08-20 | 2011-03-02 | 白怀东 | Combined universal roll wheel |
| CN201980014U (en) * | 2011-04-14 | 2011-09-21 | 沈阳航空航天大学 | Differential type all-round wheel |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354525A (en) * | 2014-10-17 | 2015-02-18 | 沈阳航空航天大学 | Parallel double-spherical-crown differential type all-directional wheel |
| CN104354525B (en) * | 2014-10-17 | 2016-06-29 | 沈阳航空航天大学 | Double; two spherical crown differential type all-round wheel in parallel |
| CN104714549A (en) * | 2015-03-09 | 2015-06-17 | 曹人天 | Omni-directional wheel and omni-directional mobile platform |
| CN104887414A (en) * | 2015-06-03 | 2015-09-09 | 北京理工大学 | Omni-directionally movable wheelchair with gravity center adjusting function |
| CN107310329A (en) * | 2017-06-09 | 2017-11-03 | 孙绍华 | A kind of spherical omnidirectional's wheel of multicompartment and the vehicle using the wheel |
| CN107662449A (en) * | 2017-11-06 | 2018-02-06 | 刘彦悌 | Spherical wheel assembly |
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| PB01 | Publication | ||
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| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20110914 |