CN103568699A - Omni-directionally moving wheel - Google Patents
Omni-directionally moving wheel Download PDFInfo
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- CN103568699A CN103568699A CN201210259091.1A CN201210259091A CN103568699A CN 103568699 A CN103568699 A CN 103568699A CN 201210259091 A CN201210259091 A CN 201210259091A CN 103568699 A CN103568699 A CN 103568699A
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- wheel
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- wheel body
- axis
- rolling wheels
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Abstract
The invention discloses an omni-directionally moving wheel. The omni-directionally moving wheel comprises a wheel body; a plurality of obliquely arranged small rolling wheels are installed on the circumference of the wheel body; outer contour lines of the small rolling wheels are coincided with the theoretical circumference of the wheel body; 45-degree angles are formed between axes of the small rolling wheels and an axis of the wheel body. According to the omni-directionally moving wheel, every rolling wheel which has three degrees of freedom can rotate around a self-axis, the axis of the wheel body and contact points of the rolling wheels and the ground, so that the omni-directionally moving wheel which has three degrees of freedom can rotate around a wheel shaft, horizontally move along vertical line directions of the axes of the rolling wheels and rotate around the contact points of the rolling wheels and the ground, and omni-directional movement of a platform is achieved due to accurate control of the rotating speed and the rotating direction of every omni-directionally moving wheel.
Description
Technical field
The present invention relates to a kind of mobile platform, specifically refer to a kind of wheel of Omni-mobile.
Background technology
Tradition mobile platform is generally divided into wheel moving platform, guide rail type movable platform, crawler-type mobile platform according to move mode.Wheel moving platform and crawler-type mobile platform turn radius when work is large, therefore all requires to have larger space, and use occasion is limited.Guide rail type movable platform, owing to being subject to the restriction of laid guide rail, can only move according to fixing route, only the applicable relatively-stationary occasion of operating path.
The travel mechanism of wheel moving platform is comprised of drive wheel (two-wheeled or four-wheel) and wheel flutter substantially, drive wheel is used for providing power to the movement of platform, wheel flutter is controlled the moving direction of platform, and according to platform wheelspan and wheelbase, platform has different turn radiuss.Move more flexible.
The travel mechanism of guide rail type movable platform is comprised of drive wheel and support wheel, drive wheel provides power to platform movement, and support wheel supports whole platform, and rotates with the rotation of drive wheel, drive wheel and support wheel all rotate on the track of laying in advance, and the moving direction of platform is determined by track.
Travel mechanism's driving wheel driving of crawler-type mobile platform, bearing wheed, inducer, carrier wheel, crawler belt form, and crawler belt is driven by driving wheel.Crawler-type mobile platform turns to the friction speed by two crawler belts to realize, and the contact surface on crawler belt and ground has larger cliding friction, very serious to the wearing and tearing of crawler belt.Driving efficiency is not high simultaneously.
Summary of the invention
The object of the present invention is to provide a kind of wheel of Omni-mobile, after being arranged on mobile platform, solving in existing mobile platform working process requires mobile space larger, mobile dumb, position accessibility is poor, use occasion is limited, the problem that can not use under narrow space, complex environment.
Object of the present invention is achieved through the following technical solutions:
A wheel for Omni-mobile, comprises wheel body, and a plurality of trundles that diagonally distribute are installed on the circumference of wheel body, and the outer contour of trundle overlaps with the theoretical circumference of wheel body, the axis shape angle at 45 ° of the axis of trundle and wheel body.Omni-mobile wheel is the critical component of omni-directional moving platform, wheel body circumference a plurality of trundles that diagonally distributing, the theoretical circumference of the profile of these trundles and wheel body coincides, and trundle can rotate freely along self axis, the axis of trundle and the axis of wheel body angle at 45 °, trundle has 3 degree of freedom: when rotating, self axis can rotate around wheel body axis again, and can also be around trundle and the rotation of ground contact point.This makes Omni-mobile wheel also possess 3 degree of freedom: around the rotation of wheel shaft, along the translation of roller axis vertical line direction with around the rotation of roller and ground contact point.So, when Omni-mobile wheel has active drive ability in one direction, in another one direction, also there is the characteristic moving freely.When four wheel individual drive, under the combined action of friction force and propulsive effort, platform can be realized all-around mobile.The corresponding relation of typical platform sense of motion and each wheel drive direction, the rotating speed by each Omni-mobile wheel of accurate control with turn to, all-around mobile that just can implementation platform.After wheel is arranged on mobile platform, can realize any motion track in plane, there is very high alerting ability, position accessibility is better, use occasion is unrestricted, can under narrow space, complex environment, use, working space requires greatly to reduce, and substantially can meet the operating needs of various occasions.
The trundle in described each wheel body outside is 7, and 7 trundles are evenly distributed on wheel body outside.According to calculating, to learn, the better performances when angle that each trundle occupies is 50 ° of left and right, therefore that adopt 7 trundles and design.
The present invention compared with prior art, has following advantage and beneficial effect:
The wheel of a kind of Omni-mobile of the present invention, wheel body circumference a plurality of trundles that diagonally distributing, the theoretical circumference of the profile of these trundles and wheel body coincides, and trundle can rotate freely along self axis, the axis of trundle and the axis of wheel body angle at 45 °, trundle has 3 degree of freedom: when self axis rotates, can rotate around wheel body axis again, can also rotate around trundle and ground contact point, this makes Omni-mobile wheel also possess 3 degree of freedom: around the rotation of wheel shaft, along the translation of roller axis vertical line direction with around the rotation of roller and ground contact point, so, when Omni-mobile wheel has active drive ability in one direction, in another one direction, also there is the characteristic moving freely, when four wheel individual drive, under the combined action of friction force and propulsive effort, platform can be realized all-around mobile, the corresponding relation of typical platform sense of motion and each wheel drive direction, rotating speed by each Omni-mobile of accurate control wheel and turning to, all-around mobile that just can implementation platform.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Mark and corresponding parts title in accompanying drawing:
8-wheel body, 9-trundle.
The specific embodiment
Below in conjunction with embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment
As shown in Figure 1, the wheel of a kind of Omni-mobile of the present invention, comprises wheel body 8, and 7 oblique well-distributed trundles 9 are installed on the circumference of wheel body 8, the outer contour of trundle 9 overlaps with the theoretical circumference of wheel body 8, the axis shape angle at 45 ° of the axis of trundle 9 and wheel body 8.
The above, be only preferred embodiment of the present invention, not the present invention done to any pro forma restriction, and any simple modification, the equivalent variations in every foundation technical spirit of the present invention, above embodiment done, within all falling into protection scope of the present invention.
Claims (2)
1. the wheel of an Omni-mobile, comprise wheel body (8), it is characterized in that: a plurality of trundles that diagonally distribute (9) are installed on the circumference of wheel body (8), the outer contour of trundle (9) overlaps with the theoretical circumference of wheel body (8), the axis shape angle at 45 ° of the axis of trundle (9) and wheel body (8).
2. the wheel of a kind of Omni-mobile according to claim 1, is characterized in that: the trundle (9) in described each wheel body (8) outside is 7, and 7 trundles (9) are evenly distributed on wheel body (8) outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210259091.1A CN103568699A (en) | 2012-07-25 | 2012-07-25 | Omni-directionally moving wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210259091.1A CN103568699A (en) | 2012-07-25 | 2012-07-25 | Omni-directionally moving wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103568699A true CN103568699A (en) | 2014-02-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210259091.1A Pending CN103568699A (en) | 2012-07-25 | 2012-07-25 | Omni-directionally moving wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103568699A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104570579A (en) * | 2014-12-31 | 2015-04-29 | 中国科学院深圳先进技术研究院 | Three-wheeled movable C arm X-ray machine |
-
2012
- 2012-07-25 CN CN201210259091.1A patent/CN103568699A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104570579A (en) * | 2014-12-31 | 2015-04-29 | 中国科学院深圳先进技术研究院 | Three-wheeled movable C arm X-ray machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140212 |