CN102700358A - Multi-row type omnidirectional wheel - Google Patents
Multi-row type omnidirectional wheel Download PDFInfo
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- CN102700358A CN102700358A CN2012102023780A CN201210202378A CN102700358A CN 102700358 A CN102700358 A CN 102700358A CN 2012102023780 A CN2012102023780 A CN 2012102023780A CN 201210202378 A CN201210202378 A CN 201210202378A CN 102700358 A CN102700358 A CN 102700358A
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- wheel hub
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- wheel
- pivot shaft
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Abstract
The invention discloses a multi-row type omnidirectional wheel. The multi-row type omnidirectional wheel comprises hubs and driven wheels, wherein the hubs are arranged in a manner of two or more rows inside and outside and are alternately staggered at an angle of 22.5 degrees to ensure that at least one small wheel of the omnidirectional wheel is in contact with the ground surface. An outer hub bracket and an inner hub bracket are directly matched and connected through a hub center. A support shaft is mounted in a U-shaped groove of each hub; each two support shafts are connected with each other to form a regular octagonal shaft chain; each support shaft is provided with a spindle body driven wheel; and the joints of the shaft chains are fixed through cover plates with barbs. Each driven wheel adopts an integral structure of vulcanizing each bearing sleeve and rubber at the outer ring of each spindle body, so that motion precision of the omnidirectional wheel is guaranteed. According to the invention, insertion type structures are designed on the inner hubs and the outer hubs, so that multi-row parallel installation can be realized, bearing capability of the omnidirectional wheel is improved efficiently. The multi-row type omnidirectional wheel, disclosed by the invention, has the advantages of overcoming the defect of an overlarge gap between adjacent small wheels of the traditional omnidirectional wheel, improving driving smoothness of driving wheels and guaranteeing vibration precision of a robot at runtime.
Description
Technical field
The present invention relates to the robot movement field, relate in particular to a kind of many rows formula omnidirectional wheel.
Background technology
Omnidirectional's wheel is employed in the big driving wheel frame mode of the some steamboats of rectangular distribution on every side mostly at present; Driving wheel is by motor-driven; Steamboat can freely roll; What make that robot receives when the driving wheel vertical direction is breakked away is friction of rolling, has reduced friction drag, plays good rolling effect.Omnidirectional's wheel generally is made up of 2 interior outer wheel hubs; And have a certain degree and stagger; Contact the stationarity that keeps driving wheel to rotate in turn with ground through the steamboat on the different wheel hubs, but the angular clearances between the common adjacent steamboat is bigger, has influenced the stationarity that driving wheel rolls.
Summary of the invention
It is excessive to the objective of the invention is to overcome the angular clearances that present omnidirectional takes turns between the adjacent steamboat, the problem that the rolling continuity is relatively poor.Be staggered into inside and outside design-calculated omnidirectional of institute wheel supporting part adopts 22.5 degree angles inside and outside two-layer or two-layer more than complementary wheel hub structure; Be evenly distributed with 8 flower wheel wheels around every layer of wheel hub; Reduce the angular clearances between the adjacent flower wheel, interior outer wheel hub support Design becomes plug formula structure, can realize that many rows of omnidirectional's wheel install; Thereby bigger load-carrying capacity and good wheel ground contact continuity are provided, improve the stability of rotation property of omnidirectional's wheel.
The technical scheme that technical solution problem of the present invention is taked is following:
The present invention includes the outer wheel hub support, inner wheel hub support, pivot shaft, spindle flower wheel, fastening cover plate.
All there is the ladder boss structure wheel hub center of outer wheel hub support of the present invention and inner wheel hub support, and the front end boss of inner wheel hub support can extend into the rear end boss of outer wheel hub support, forms assembling and positioning relation.Outer wheel hub support and inner wheel hub support be 4 cylinder boss structures of rectangular distribution on the support circumference; The cylinder boss locations complementary; The outer wheel hub support directly cooperates connection with the inner wheel hub support through these 4 cylinder boss structures; And use bolt, back outer wheel hub support and inner wheel hub support are installed are 22.5 ° of angles.The edge of outer wheel hub support and inner wheel hub support all has U type groove, is used to install pivot shaft, and U type groove is inner all to have screw with wheel hub holder tip, is used for fixing pivot shaft and fastening cover plate respectively.
Four circular holes are all arranged on inner wheel hub support according to the invention and the outer wheel hub support, and saving in material under the situation that does not reduce structural strength reduces weight, and the wheel hub timbering material can replace aluminum alloy by the highstrenghtpiston, the saving cost.
Pivot shaft of the present invention two ends are flats; And have screw, and can be end to end in twos, 8 pivot shafts are interconnected to form octagon axle chain structure; Angle between the adjacent supports axle is 135 degree; Pivot shaft pressure in the U type groove of wheel hub holder, can be shared by the octagon axle chain structure that pivot shaft is formed through the M1.6 screw retention in the junction of pivot shaft and pivot shaft, improves the single-piece structural strength.
Fastening cover plate of the present invention is fan-shaped, and has overhead structure, and the barb place is connected with the distal end of wheel hub holder; The narrow end of fastening cover plate has through hole; On the wheel hub holder, fastening cover plate can be pushed down pivot shaft, prevents that pivot shaft from dropping in U type groove through the M3 screw retention.
Spindle steamboat of the present invention is by plain bearing, bearing carrier ring, and the spindle outer ring is formed; Pivot shaft is connected with plain bearing, plain bearing adapter shaft bearing sleeve, and bearing carrier ring links to each other with the spindle outer ring; Spindle outer ring and bearing carrier ring adopt vulcanization of rubber integrative-structure; Both sides, spindle outer ring contact with the rib of plain bearing respectively, guarantee that it can not produce longitudinal travel, and the antifriction rubber material is adopted in the spindle outer ring.
Compared with prior art, beneficial effect of the present invention:
(1) interior outer wheel hub support directly cooperates connection through the boss structure on wheel hub center and the circumference, and realizes the Fast Installation of many row's wheels through the modular design of wheel hub, but not is confined to the installation of two row's wheel hubs, has enlarged the carrying scope of omnidirectional's wheel.
(2) interior outer wheel hub support adopts the fluting design, and octagon axle chain is embedded in the U type groove of wheel hub, fixes through the fastening cover plate that has barb, and the flower wheel convenient disassembly is convenient to safeguard.
(3) 8 pivot shaft head and the tail are connected to form octagon axle chain with screw, and are fixed in the U type groove of interior outer wheel hub support, and structure is more firm.When single flower wheel landed, adjacent two pivot shafts can play the effect of the power of sharing.
(4) each wheel hub is distributed with 8 steamboats, has reduced the angular clearances of adjacent flower wheel, has strengthened the continuity that flower wheel contacts with ground, thereby improves the robust motion of omnidirectional's wheel.
Description of drawings
Fig. 1 is the omnidirectional wheel structure scheme drawing;
Fig. 2 is omnidirectional's wheel assembling semisectional view;
Fig. 3 is an outer wheel hub support scheme drawing;
Fig. 4 is an octagon axle chain scheme drawing;
Fig. 5 is fastening cover plate scheme drawing;
Fig. 6 is a spindle flower wheel cutaway view;
Fig. 7 is three row omnidirectional wheel scheme drawings;
Among the figure: 1. outer wheel hub support, 2. inner wheel hub support, 3. pivot shaft, 4. spindle flower wheel, 5. fastening cover plate, 6.M3 screw, 7.M1.6 screw, 8. plain bearing, 9. bearing carrier ring, 10. spindle outer ring.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to Fig. 1, shown in Figure 2, omnidirectional of the present invention takes turns by outer wheel hub support 1, inner wheel hub support 2, and pivot shaft 3, spindle flower wheel 4, fastening cover plate 5, M3 screw 6, M1.6 screw 7 is formed.Outer wheel hub support 1, stagger in 2 one-tenth 22.5 degree angles of inner wheel hub support, through the boss at wheel hub center and on circumference 4 cylinder boss of well-distributed directly cooperate connection, use bolt (totally 4) to pass the cylinder boss hole again and fix.Pivot shaft 3 is installed in the U type groove of wheel hub holder, and spindle flower wheel 4 is installed on the pivot shaft 3, can freely rotate around pivot shaft 3.The spindle flower wheel alternately landed when the omnidirectional wheel radial rotated, and the spindle flower wheel laterally rolls when moving axially, remain with ground be friction of rolling.
With reference to shown in Figure 3; (structure of inner wheel hub support 2 is identical with outer wheel hub support 1 for outer wheel hub support 1; 4 boss hole positions that are uniformly distributed with on the circumference are complementary; Being 22.5 degree angles staggers) be equipped with the ladder boss structure at the wheel hub centre bit, the front end boss of inner wheel hub support 2 can extend into the rear end boss of outer wheel hub support 1, forms assembling and positioning relation.Outer wheel hub support 1 is 4 cylinder boss structures of rectangular distribution on the support circumference, the cylinder boss locations complementary, and outer wheel hub support 1 directly cooperates connection with inner wheel hub support 2 through these 4 cylinder boss structures, and uses bolt.The modular design of such wheel hub can realize the Fast Installation of many row's wheels, but not is confined to the installation of two row's wheel hubs.Installation back outer wheel hub support 1 is 22.5 degree angles with inner wheel hub support 2 and staggers.Outer wheel hub support 1 edge has U type groove, is used to install octagon axle chain structure, and U type groove is inner all to have screw with wheel hub holder tip, is used for fixing a chain.The wheel hub holder has four circular holes, but under the situation that does not reduce structural strength saving in material, reduce weight, and the wheel hub timbering material can replace aluminum alloy by the highstrenghtpiston, practice thrift cost.
With reference to shown in Figure 4, pivot shaft 3 two ends are flats, and have screw; Can be end to end in twos; 8 pivot shafts 3 are interconnected to form octagon axle chain structure, and the angle between the adjacent supports axle 3 is 135 degree, and the junction of pivot shaft and pivot shaft is fixed in the U type groove of wheel hub holder through M1.6 screw 7; Octagon axle chain structure by pivot shaft is formed can be shared the pivot shaft pressure, improves the single-piece structural strength.When single flower wheel landed, adjacent two pivot shafts can play the effect of the power of sharing.
With reference to shown in Figure 5, fastening cover plate 5 is fan-shaped, and has overhead structure; The barb place is connected with the distal end of wheel hub holder, and fastening cover plate 5 narrow ends have through hole, is fixed on the wheel hub holder through M3 screw 6; Fastening cover plate 5 can be pushed down pivot shaft 3, prevents that pivot shaft 3 from dropping in U type groove.
With reference to Fig. 6, spindle flower wheel 4 is by plain bearing 8, and bearing carrier ring 9 is formed with spindle outer ring 10.Vulcanization of rubber integrative-structures are adopted with bearing carrier ring 9 in spindle outer ring 10, plain bearing 8 adapter shaft bearing sleeves 9, and bearing carrier ring 9 links to each other with spindle outer ring 10, and spindle outer ring 10 is two-layer to be contacted with the rib of plain bearing 8 respectively, guarantees that it can not produce longitudinal travel.Spindle outer ring 10 adopts antifriction rubber material and bearing carrier ring 9 to carry out sulfuration process together, is integrally formed structure.Each wheel hub is distributed with 8 steamboats, has reduced the angular clearances of adjacent flower wheel, has strengthened the continuity that flower wheel contacts with ground, thereby improves the robust motion of omnidirectional's wheel.
With reference to figure 7, in an embodiment, this omnidirectional wheel structure also goes for three row's wheel constructions, enlarges the carrying scope of omnidirectional's wheel.
Claims (6)
1. many rows formula omnidirectional wheel comprises outer wheel hub support (1), inner wheel hub support (2); Pivot shaft (3); Spindle flower wheel (4) and fastening cover plate (5) is characterized in that: outer wheel hub support (1) becomes 22.5 degree angles to stagger with inner wheel hub support (2), and both directly cooperate connection through the wheel hub central boss; Pivot shaft (3) is installed in the U type groove of outer wheel hub support (1) and inner wheel hub support (2); Pivot shaft (3) is connected to form octagon axle chain in twos, and axle chain junction is fixing through fastening cover plate (5), and every pivot shaft (3) is gone up spindle flower wheel (4) is installed.
2. many rows formula according to claim 1 omnidirectional wheel; It is characterized in that: outer wheel hub support (1) all has U type groove with the edge of inner wheel hub support (2); Be used to install pivot shaft (3); U type groove inside and inner wheel hub support (2), outer wheel hub support (1) tip all have screw, are used for fixing pivot shaft (3) and fastening cover plate (5) respectively; Outer wheel hub support (1) and inner wheel hub support (2) are equipped with boss structure at the wheel hub centre bit, and the front end boss of inner wheel hub support (2) can extend into the rear end boss of outer wheel hub support (1), form assembling and positioning relation; Outer wheel hub support (1) and inner wheel hub support (2) be four cylinder boss structures of rectangular distribution on the support circumference, and outer wheel hub support (1) directly cooperates connection with inner wheel hub support (2) through these four cylinder boss structures, and uses bolt.
3. many rows formula according to claim 1 omnidirectional wheel is characterized in that: have four circular holes on described outer wheel hub support (1) and the inner wheel hub support (2).
4. many rows formula according to claim 1 omnidirectional wheel; It is characterized in that: described pivot shaft (3) two ends are flats; And have screw, and can be end to end in twos, eight pivot shafts (3) are interconnected to form octagon axle chain structure; Angle between the adjacent supports axle is 135 degree, and pivot shaft (3) is fixed in the U type groove of inner wheel hub support (2), outer wheel hub support (1) through M1.6 screw (7) with the junction of pivot shaft (3).
5. many rows formula according to claim 1 omnidirectional wheel; It is characterized in that: described fastening cover plate (5) is fan-shaped; And have an overhead structure; The barb place is connected with the distal end of wheel hub holder, and the narrow end of fastening cover plate (5) has through hole, is fixed on inner wheel hub support (2), the outer wheel hub support (1) through M3 screw (6).
6. many rows formula according to claim 1 omnidirectional wheel; It is characterized in that: described spindle flower wheel (4) is by plain bearing (8); Bearing carrier ring (9), spindle outer ring (10) are formed, and plain bearing (8) is inboard to be connected with pivot shaft (3); Plain bearing (8) outside adapter shaft bearing sleeve (9); Bearing carrier ring (9) links to each other with spindle outer ring (10), and spindle outer ring (10) and bearing carrier ring (9) adopt vulcanization of rubber integrative-structure, and both sides, spindle outer ring (10) contact with the rib of plain bearing (8) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102023780A CN102700358A (en) | 2012-06-19 | 2012-06-19 | Multi-row type omnidirectional wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102023780A CN102700358A (en) | 2012-06-19 | 2012-06-19 | Multi-row type omnidirectional wheel |
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| CN102700358A true CN102700358A (en) | 2012-10-03 |
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| CN2012102023780A Pending CN102700358A (en) | 2012-06-19 | 2012-06-19 | Multi-row type omnidirectional wheel |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103587347A (en) * | 2013-08-02 | 2014-02-19 | 李军委 | Multi-universal-wheel frame |
| CN104943722A (en) * | 2014-03-24 | 2015-09-30 | 李军委 | Multi-omnidirectional wheel carrier ladder-climbing vehicle |
| US9248698B2 (en) | 2009-10-23 | 2016-02-02 | Rotacaster Wheel Ltd. | Wheel frame |
| CN105984274A (en) * | 2016-06-03 | 2016-10-05 | 旗瀚科技有限公司 | Double-rowed universal wheel |
| CN106004232A (en) * | 2016-06-08 | 2016-10-12 | 哈尔滨工大服务机器人有限公司 | Omnidirectional wheel, omnidirectional wheel set and carrier cart using omnidirectional wheel or omnidirectional wheel set |
| JP2016203681A (en) * | 2015-04-16 | 2016-12-08 | 本田技研工業株式会社 | Wheel, friction type drive unit, and omnidirectional movement device |
| CN106314022A (en) * | 2016-08-31 | 2017-01-11 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106335319A (en) * | 2016-08-31 | 2017-01-18 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106739782A (en) * | 2017-02-10 | 2017-05-31 | 苏州莱茵电梯股份有限公司 | The Universal wheel of zero radius of turn operation |
| CN106828662A (en) * | 2017-02-10 | 2017-06-13 | 徐志峰 | A kind of intelligent omnidirectional's transfer robot |
| CN107811775A (en) * | 2017-04-14 | 2018-03-20 | 常州市吉庆机电有限公司 | The control method and controller of power-assisted intelligent driver afterwards |
| WO2018058386A1 (en) * | 2016-09-27 | 2018-04-05 | 深圳市工匠社科技有限公司 | Novel omni wheel, metal connection structure thereof, and robot adopting the connection structure |
| CN107984967A (en) * | 2017-12-28 | 2018-05-04 | 内江师范学院 | A kind of omni-directional wheel of high accuracy positioning |
| CN109414956A (en) * | 2016-07-01 | 2019-03-01 | 学校法人东京理科大学 | Omnidirection mobile device and its posture control method |
| TWI667152B (en) * | 2018-10-15 | 2019-08-01 | 魁安達有限公司 | Electric scooter forward wheel structure |
| US10479136B2 (en) | 2015-01-06 | 2019-11-19 | Rotacaster Wheel Limited | Wheel frame component |
| CN111469602A (en) * | 2020-05-08 | 2020-07-31 | 广州市工贸技师学院 | Omnidirectional wheel, omnidirectional wheel assembly and movable device |
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| AU2006222740A1 (en) * | 2000-09-21 | 2006-10-19 | Innowheel Pty Ltd | Multiple roller wheel |
| WO2004014667A1 (en) * | 2002-08-07 | 2004-02-19 | Graham Guile | Multiple directional wheel |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| USD804766S1 (en) | 2009-10-23 | 2017-12-05 | Rotacaster Wheel Ltd | Wheel |
| US9248698B2 (en) | 2009-10-23 | 2016-02-02 | Rotacaster Wheel Ltd. | Wheel frame |
| WO2015014102A1 (en) * | 2013-08-02 | 2015-02-05 | Li Junwei | Multi-omniwheel hub |
| CN103587347A (en) * | 2013-08-02 | 2014-02-19 | 李军委 | Multi-universal-wheel frame |
| CN104943722A (en) * | 2014-03-24 | 2015-09-30 | 李军委 | Multi-omnidirectional wheel carrier ladder-climbing vehicle |
| US10479136B2 (en) | 2015-01-06 | 2019-11-19 | Rotacaster Wheel Limited | Wheel frame component |
| JP2016203681A (en) * | 2015-04-16 | 2016-12-08 | 本田技研工業株式会社 | Wheel, friction type drive unit, and omnidirectional movement device |
| CN105984274A (en) * | 2016-06-03 | 2016-10-05 | 旗瀚科技有限公司 | Double-rowed universal wheel |
| CN106004232A (en) * | 2016-06-08 | 2016-10-12 | 哈尔滨工大服务机器人有限公司 | Omnidirectional wheel, omnidirectional wheel set and carrier cart using omnidirectional wheel or omnidirectional wheel set |
| CN109414956A (en) * | 2016-07-01 | 2019-03-01 | 学校法人东京理科大学 | Omnidirection mobile device and its posture control method |
| CN106335319A (en) * | 2016-08-31 | 2017-01-18 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| CN106314022A (en) * | 2016-08-31 | 2017-01-11 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
| WO2018058386A1 (en) * | 2016-09-27 | 2018-04-05 | 深圳市工匠社科技有限公司 | Novel omni wheel, metal connection structure thereof, and robot adopting the connection structure |
| CN106828662A (en) * | 2017-02-10 | 2017-06-13 | 徐志峰 | A kind of intelligent omnidirectional's transfer robot |
| CN106739782A (en) * | 2017-02-10 | 2017-05-31 | 苏州莱茵电梯股份有限公司 | The Universal wheel of zero radius of turn operation |
| CN107811775A (en) * | 2017-04-14 | 2018-03-20 | 常州市吉庆机电有限公司 | The control method and controller of power-assisted intelligent driver afterwards |
| CN107984967A (en) * | 2017-12-28 | 2018-05-04 | 内江师范学院 | A kind of omni-directional wheel of high accuracy positioning |
| TWI667152B (en) * | 2018-10-15 | 2019-08-01 | 魁安達有限公司 | Electric scooter forward wheel structure |
| CN111469602A (en) * | 2020-05-08 | 2020-07-31 | 广州市工贸技师学院 | Omnidirectional wheel, omnidirectional wheel assembly and movable device |
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Application publication date: 20121003 |