CN104354525A - Parallel double-spherical-crown differential type all-directional wheel - Google Patents
Parallel double-spherical-crown differential type all-directional wheel Download PDFInfo
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- CN104354525A CN104354525A CN201410559048.6A CN201410559048A CN104354525A CN 104354525 A CN104354525 A CN 104354525A CN 201410559048 A CN201410559048 A CN 201410559048A CN 104354525 A CN104354525 A CN 104354525A
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Abstract
The invention relates to an all-directional wheel, in particular to a parallel double-spherical-crown differential type all-directional wheel. The parallel double-spherical-crown differential type all-directional wheel is mainly used as a universal moving wheel of a robot and is applied to the field of service robots and the similar application fields. The parallel double-spherical-crown differential type all-directional wheel is composed of a spherical wheel (a) and a spherical wheel (b), wherein the spherical wheel (a) and the spherical wheel (b) are connected to a bracket through a driving wheel of a cross shaft respectively and transfer power through a gear group. The parallel double-spherical-crown differential type all-directional wheel is simple in structure and flexible to move; steady movement is realized by alternate continuous contact between spherical crowns of two spheres in the movement process and the ground, wherein the two spheres are connected in parallel, and the difference between rotating angles is 45 degrees; the parallel double-spherical-crown differential type all-directional wheel is high in carrying capacity, easy to control, and particularly suitable for serving as a universal wheel of a robot movement platform. In the movement process, the spherical wheel (a) and the spherical wheel (b) are in alternate contact with the ground, so that the continuity of the whole driving process is realized.
Description
Technical field
The present invention relates to a kind of directional wheel, specifically relate to a kind of in parallel two spherical crown differential type all-round wheel, its direction movement mainly as robot is taken turns, service robot and similar application.
Background technology
At present, directional wheel is roughly divided into two kinds: one adopts special wheel construction, and another kind is the traditional wheel construction of application.The design concept of most special wheel constructions is: on a direction of wheel, have constraint to obtain propulsive effort, and remove constraint in the other directions to realize passive movement.As special classical being designed to taken turns: at a series of follower of circumferentially installation of a traditional wheel construction, the rotational axis vertical of these passive rollers or favour the S. A. of tradition wheel.Such as: the design of Mecanum wheel, the design of other special wheel construction comprises orthogonal wheel construction and ball wheel construction.The Universal mobile robot of special wheel construction has very strong kinematic dexterity and stability, and very accurately can realize track following.But such Universal mobile robot is except mechanism's more complicated, also there is obstacle climbing ability difference, load-carrying capacity is low, and passive roller easily causes the shortcomings such as body oscillating.Ball wheel construction driver train and motion control more complicated, apply less.All directionally movable robot based on traditional wheel construction mainly adopts the Castor structure turning to and rotate and all have individual drive, although this mechanism load-carrying capacity is strong, simultaneously lower to the requirement of movement environment, little obstacle can be crossed over, but kinematic dexterity and less stable.Although the differential type all-round wheel patent before us solves above-mentioned most of shortcoming, the defect due to spherical cap structure causes spheroid imperfect, makes spheroid vibrations occur in motion process and easily sandwich object.
Summary of the invention
In view of prior art Problems existing, the object of the invention is to provide a kind of two spherical crown differential type all-round wheels with differential enclosed construction in parallel, it relies on and the alternately uninterrupted contact on two spheroids being unified into phase 45 ° spherical crown and ground in motion process realizes easy motion, load-carrying capacity is strong, be easy to control, and not easily on wheel body, sandwich wisp, be particularly suitable as robot movement platform.
To achieve these goals, the technical solution adopted in the present invention is a kind of two spherical crown differential type all-round wheel in parallel, it takes turns a by ball and ball wheel b is formed, and ball wheel a and ball wheel b is connected on support respectively by the driving wheel of center cross, and two balls wheels are by gear cluster transferring power; Described ball wheel a comprises spherical crown and two frustums of a cone that two have circular cone bench-type groove; Two spherical crowns with circular cone bench-type groove and two frustums of a cone cooperatively interact, two spherical crowns and two frustums of a cone connect into the mutual of enclose inside by the adapter shaft of center cross and transmit motion and the difference structure of power, and integral structure is improved a lot on load-carrying capacity; It is identical that a take turns by structure and the ball of described ball wheel b, and b taken turns by ball and ball is taken turns a and is unified into the differential enclosed construction of phase 45 degree.
Diameter and the tapering of the diameter of the described frustum of a cone and tapering and the circular cone bench-type groove of spherical crown inside are consistent, the frustum of a cone and spherical crown close contact; Harmonious in motion process, mutually support and transmit motion.
Two spherical crowns of described ball wheel a or ball wheel b are connected by the adapter shaft of center cross, and two spherical crowns directly do not contact, and have distance between the two.
Working process of the present invention is: this directional wheel active movement direction is the hand of rotation of wheel, and namely two ball wheels are rotated to obtain ground propulsive effort to drive the imput shaft of center cross by motor-driven gear constant speed rotation; The adapter shaft of center cross drives spherical crown to rotate together with the frustum of a cone, namely drives ball wheel a and ball wheel b to rotate; The spherical crown that b taken turns by ball wheel a and ball replaces and earth surface, and the spherical crown gabarit of two-wheeled defines the effect that complete wheel structure serves continuous drive; The reaction force acts on ground to be delivered in the enclosed construction be made up of circular cone bench-type groove and the frustum of a cone of spherical crown simultaneously and to be absorbed by this enclosed construction on spherical crown; The axial application force of active simultaneously along center cross unloaded by the moving of adapter shaft of spherical crown around center cross; In motion process, the spherical crown that b taken turns by ball wheel a and ball replaces the continuity realizing whole driving process with earth surface.
The invention has the advantages that: its structure is simple, motion flexibly; Rely on and the alternately uninterrupted contact being unified into two spheroids spherical crown and the ground in motion process that corner differs 45 ° realizes easy motion, load-carrying capacity is strong, is easy to control, and is particularly suitable as the cardan wheel of robot movement platform.In motion process, b alternately realizes whole driving process continuity with earth surface taken turns by ball wheel a and ball.The design taking turns inner differential enclosed construction adds the intensity of the axle supporting spherical crown, cardan wheel load-carrying capacity is strengthened, avoids wheel body simultaneously in motion process, clamp other object.
Accompanying drawing explanation
Fig. 1 structural representation of the present invention;
Fig. 2 is the right TV structure schematic diagram of Fig. 1;
Fig. 3 is the upper TV structure schematic diagram of Fig. 1;
Fig. 4 is the generalized section of Fig. 3 structure;
Fig. 5 is the generalized section of Fig. 2 structure;
Fig. 6 is the schematic diagram of gear cluster 5;
In figure: 1, center cross, 2, ball wheel a, 3, ball wheel b, 4, support, 5, gear cluster, 6, spherical crown, 7, the frustum of a cone.
Detailed description of the invention
Referring to Fig. 1-Fig. 5, described pair of spherical crown differential all-directional movable pulley, takes turns a by ball and ball wheel b is formed.Two-wheeled is connected to support 4 respectively by the imput shaft of center cross, and transmits motion by gear cluster 5; Described ball wheel a and ball wheel b has same structure, is made up of, and connects into enclose inside structure respectively by the adapter shaft of center cross two inside with the spherical crown 6 of the frustum of a cone and two frustums of a cone 7.
Working process of the present invention is: this directional wheel active movement direction is the hand of rotation of wheel, and namely two ball wheels are rotated to obtain ground propulsive effort to drive the imput shaft of center cross by motor 8 driven wheel 5 constant speed rotation; The adapter shaft of center cross drives spherical crown 6 to rotate together with the frustum of a cone 7, namely drives ball wheel a and ball wheel b to rotate; The spherical crown that b taken turns by ball wheel a and ball replaces and earth surface, and the spherical crown gabarit of two-wheeled defines the effect that complete wheel structure serves continuous drive; The reaction force acts on ground to be delivered in the enclosed construction be made up of circular cone bench-type groove and the frustum of a cone of spherical crown simultaneously and to be absorbed by this enclosed construction on spherical crown; The axial application force of active simultaneously along center cross unloaded by the moving of adapter shaft of spherical crown around center cross; In motion process, the spherical crown that b taken turns by ball wheel a and ball replaces the continuity realizing whole driving process with earth surface.Cardan wheel is, so the three degree of freedom that three cardan wheels just can drive platform to complete plane moves realize direction movement owing to forming each wheel of mobile platform.
Can be applied on the mobile chassis of family's sweeping robot, also can be applied on comprehensive wheelchair, can be applied on assembling on automated assembly line and transportation device.
Claims (4)
1. two spherical crown differential type all-round wheel in parallel, it takes turns a by ball and ball wheel b is formed, and ball wheel a and ball wheel b is connected on support respectively by the driving wheel of center cross, and two ball wheels are by gear cluster transferring power; It is characterized in that: described ball wheel a comprises spherical crown and two frustums of a cone that two have circular cone bench-type groove; Two spherical crowns with circular cone bench-type groove and two frustums of a cone cooperatively interact, two spherical crowns and two frustums of a cone connect into the mutual of enclose inside by the adapter shaft of center cross and transmit the difference structure moved with power, it is identical that a take turns by structure and the ball of described ball wheel b, and b taken turns by ball and ball is taken turns a and is unified into the differential enclosed construction of phase 45 degree.
2. the two spherical crown differential type all-round wheel of parallel connection according to claim 1, is characterized in that: diameter and the tapering of the diameter of the described frustum of a cone and tapering and the circular cone bench-type groove of spherical crown inside are consistent, the frustum of a cone and spherical crown close contact; Harmonious in motion process, mutually support and transmit motion.
3. the two spherical crown differential type all-round wheel of parallel connection according to claim 1, is characterized in that: two spherical crowns of described ball wheel a or ball wheel b are connected by the adapter shaft of center cross, and two spherical crowns directly do not contact, and have distance between the two.
4. two spherical crown differential type all-round wheel in parallel as claimed in claim 1, its working process is as follows: this directional wheel active movement direction is the hand of rotation of wheel, and namely two ball wheels are rotated to obtain ground propulsive effort to drive the imput shaft of center cross by motor-driven gear constant speed rotation; The adapter shaft of center cross drives spherical crown to rotate together with the frustum of a cone, namely drives ball wheel a and ball wheel b to rotate; The spherical crown that b taken turns by ball wheel a and ball replaces and earth surface, and the spherical crown gabarit of two-wheeled forms complete wheel structure continuous drive; The reaction force acts on ground to be delivered in the enclosed construction be made up of circular cone bench-type groove and the frustum of a cone of spherical crown simultaneously and to be absorbed by this enclosed construction on spherical crown; The axial application force of active simultaneously along center cross unloaded by the moving of adapter shaft of spherical crown around center cross; In motion process, the spherical crown that b taken turns by ball wheel a and ball replaces the continuity realizing whole driving process with earth surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410559048.6A CN104354525B (en) | 2014-10-17 | 2014-10-17 | Double; two spherical crown differential type all-round wheel in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410559048.6A CN104354525B (en) | 2014-10-17 | 2014-10-17 | Double; two spherical crown differential type all-round wheel in parallel |
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| Publication Number | Publication Date |
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| CN104354525A true CN104354525A (en) | 2015-02-18 |
| CN104354525B CN104354525B (en) | 2016-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410559048.6A Active CN104354525B (en) | 2014-10-17 | 2014-10-17 | Double; two spherical crown differential type all-round wheel in parallel |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112978582A (en) * | 2021-01-27 | 2021-06-18 | 中国建筑第八工程局有限公司 | Material conveying device for construction site |
| US11267283B2 (en) | 2019-04-05 | 2022-03-08 | Honda Motor Co., Ltd. | Omni-direction wheel system and methods for controlling the omni-direction wheel system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3040370A (en) * | 1959-04-27 | 1962-06-26 | John Brent & Co Proprietary Lt | Castor wheels |
| EP1942046A2 (en) * | 2007-01-05 | 2008-07-09 | NIKKO Co., Ltd. | Drive type of spherical roller |
| 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 |
| CN102180064A (en) * | 2011-04-14 | 2011-09-14 | 沈阳航空航天大学 | Differential type omnibearing wheel |
| CN204263837U (en) * | 2014-10-17 | 2015-04-15 | 沈阳航空航天大学 | A kind of two spherical crown differential type all-round wheel in parallel |
-
2014
- 2014-10-17 CN CN201410559048.6A patent/CN104354525B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3040370A (en) * | 1959-04-27 | 1962-06-26 | John Brent & Co Proprietary Lt | Castor wheels |
| EP1942046A2 (en) * | 2007-01-05 | 2008-07-09 | NIKKO Co., Ltd. | Drive type of spherical roller |
| 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 |
| CN102180064A (en) * | 2011-04-14 | 2011-09-14 | 沈阳航空航天大学 | Differential type omnibearing wheel |
| CN204263837U (en) * | 2014-10-17 | 2015-04-15 | 沈阳航空航天大学 | A kind of two spherical crown differential type all-round wheel in parallel |
Non-Patent Citations (1)
| Title |
|---|
| 叶长孔，郭豹子，马国静，马书根: "差动式全方位轮的结构设计与强度分析", 《机器人》, vol. 36, no. 4, 31 July 2014 (2014-07-31) * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11267283B2 (en) | 2019-04-05 | 2022-03-08 | Honda Motor Co., Ltd. | Omni-direction wheel system and methods for controlling the omni-direction wheel system |
| CN112978582A (en) * | 2021-01-27 | 2021-06-18 | 中国建筑第八工程局有限公司 | Material conveying device for construction site |
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| Publication number | Publication date |
|---|---|
| CN104354525B (en) | 2016-06-29 |
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