CN104354525B - Double; two spherical crown differential type all-round wheel in parallel - Google Patents
Double; two spherical crown differential type all-round wheel in parallel Download PDFInfo
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- CN104354525B CN104354525B CN201410559048.6A CN201410559048A CN104354525B CN 104354525 B CN104354525 B CN 104354525B CN 201410559048 A CN201410559048 A CN 201410559048A CN 104354525 B CN104354525 B CN 104354525B
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Abstract
The present invention relates to a kind of directional wheel, in particular to a kind of double; two spherical crown differential type all-round wheels in parallel, it is mainly used as the direction movement wheel of robot, service robot and similar application, it is taken turns a and ball wheel b and constitutes by ball, ball wheel a and ball wheel b is connected on support respectively through the driving shaft of cross axle, and two ball wheels transmit power by gear train；Its simple in construction, motion is flexibly；The two spheroids spherical crown in motor process relying on and being unified into corner difference 45 ° realizes easy motion with alternately contacting continuously of ground, and bearing capacity is strong, it is easy to controls, is particularly suitable as the universal wheel of robot movement platform.In motor process, ball wheel a alternately realizes the seriality of whole driving process with ball wheel b with earth surface.
Description
Technical field
The present invention relates to a kind of directional wheel, in particular to a kind of double; two spherical crown differential type all-round wheels in parallel, it is mainly used as the direction movement wheel of robot, service robot and similar application.
Background technology
At present, directional wheel is roughly divided into two kinds: one is to adopt special wheel construction, and another kind is application conventional wheel structure.The design concept of most special wheel constructions is: has constraint on a direction of wheel to obtain driving force, and removes constraint in the other directions to realize passive exercise.As special classical being designed as taken turns: install a series of follower on the circumference of a conventional wheel structure, the rotating shaft of these passive rollers is vertical or favours the rotating shaft of conventional wheel.Such as: the design of Mecanum wheel, the design of other special wheel construction includes orthogonal wheel construction and ball wheel construction.The Universal mobile robot of special wheel construction has very strong kinematic dexterity and stability, and can highly precisely realize track following.But such Universal mobile robot is except mechanism is more complicated, there is also obstacle climbing ability poor, and bearing capacity is low, passive roller is easily caused by shortcomings such as body oscillatings.Ball wheel construction driving mechanism and motor control are more complicated, apply less.Mainly adopt based on all directionally movable robot of conventional wheel structure and turn to and rotate the Castor structure all with independent driving, although this mechanism bearing capacity is strong, simultaneously that the requirement of movement environment is relatively low, it is possible to cross over little barrier, but kinematic dexterity and less stable.Although the differential type all-round wheel patent before us solves above-mentioned most of shortcoming, but owing to the defect of spherical cap structure causes that spheroid is imperfect, spheroid is made vibrations to occur in motor process and easily sandwich object.
Summary of the invention
In view of prior art Problems existing, the invention aims to provide a kind of double; two spherical crown differential type all-round wheels with differential enclosed construction in parallel, it relies on and is unified into two spheroids of phase 45 ° spherical crown in motor process and realizes easy motion with alternately contacting continuously of ground, bearing capacity is strong, easily controllable, and on wheel body, not easily sandwich wisp, it is particularly suitable as robot movement platform.
To achieve these goals, the technical solution adopted in the present invention is a kind of double; two spherical crown differential type all-round wheels in parallel, it is taken turns a and ball wheel b and constitutes by ball, and ball wheel a and ball wheel b is connected on support respectively through the driving shaft of cross axle, and two ball wheels transmit power by gear train；Described ball wheel a includes two spherical crowns with circular cone bench-type groove and two frustums of a cone；Two spherical crowns with circular cone bench-type groove and two frustums of a cone cooperate, two spherical crowns and two frustums of a cone connect into the mutual transmitting movement of internal closing and the difference structure of power by the axle that connects of cross axle so that overall structure improves a lot in bearing capacity；The structure of described ball wheel b is identical with ball wheel a, and ball wheel b and ball are taken turns a and be unified into the differential enclosed construction of phase 45 degree.
The diameter of the described frustum of a cone is consistent with the diameter of the circular cone bench-type groove within spherical crown and tapering with tapering, and the frustum of a cone is in close contact with spherical crown；In motor process harmonious, mutually support transmitting movement.
Two spherical crowns of described ball wheel a or ball wheel b are connected by the connection axle of cross axle, and two spherical crowns are not directly contacted with, and have distance between the two.
The work process of the present invention is: this directional wheel active exercise direction is the direction of rotation of wheel, and namely two balls are taken turns by motor-driven gear constant speed rotation to drive the driving shaft of cross axle to rotate to obtain ground driving force；The connection axle of cross axle 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 of ball wheel a and ball wheel b replaces and earth surface, and the spherical crown gabarit of two-wheeled defines complete wheel structure and serves the effect of Continuous Drive；The reaction force acts on ground is simultaneously communicating in the enclosed construction being made up of circular cone bench-type groove and the frustum of a cone of spherical crown on spherical crown and is absorbed by this enclosed construction；Unloaded around the moving of axle that connect of cross axle along the axial active force of active of cross axle by spherical crown simultaneously；In motor process, the spherical crown of ball wheel a and ball wheel b alternately realizes the seriality of whole driving process with earth surface.
It is an advantage of the current invention that: its simple in construction, motion is flexibly；The two spheroids spherical crown in motor process relying on and being unified into corner difference 45 ° realizes easy motion with alternately contacting continuously of ground, and bearing capacity is strong, it is easy to controls, is particularly suitable as the universal wheel of robot movement platform.In motor process, ball wheel a alternately realizes the seriality of whole driving process with ball wheel b with earth surface.The design of the internal differential enclosed construction of wheel adds the intensity of the axle supporting spherical crown, makes universal wheel bearing capacity strengthen, avoids wheel body simultaneously and clamp other object in motor process.
Accompanying drawing explanation
The structural representation of Fig. 1 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 train 5；
In figure: 1, cross axle, 2, ball wheel a, 3, ball wheel b, 4, support, 5, gear train, 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, ball take turns a and ball wheel b and constitute.Two-wheeled is connected to support 4 respectively through the driving shaft of cross axle, and by gear train 5 transmitting movement；Described ball wheel a and ball wheel b has identical structure, is made up of two inside spherical crown 6 with the frustum of a cone and two frustums of a cone 7, and the connection axle respectively through cross axle connects into internal enclosed construction.
The work process of the present invention is: this directional wheel active exercise direction is the direction of rotation of wheel, and namely two ball wheels drive gear 5 constant speed rotation to drive the driving shaft of cross axle to rotate to obtain ground driving force by motor 8；The connection axle of cross axle 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 of ball wheel a and ball wheel b replaces and earth surface, and the spherical crown gabarit of two-wheeled defines complete wheel structure and serves the effect of Continuous Drive；The reaction force acts on ground is simultaneously communicating in the enclosed construction being made up of circular cone bench-type groove and the frustum of a cone of spherical crown on spherical crown and is absorbed by this enclosed construction；Unloaded around the moving of axle that connect of cross axle along the axial active force of active of cross axle by spherical crown simultaneously；In motor process, the spherical crown of ball wheel a and ball wheel b alternately realizes the seriality of whole driving process with earth surface.Each wheel owing to constituting mobile platform is universal wheel, so the three degree of freedom that three universal wheels just can drive platform to complete plane moves and realizes direction movement.
May apply on the mobile chassis of family's sweeping robot, it is also possible to be applied on comprehensive wheelchair, it is possible to be applied to the assembling on automated assembly line and on transporting equipment.
Claims (1)
1. double; two spherical crown differential type all-round wheel in parallel, it is taken turns a and ball wheel b and constitutes by ball, and ball wheel a and ball wheel b is connected on support respectively through the driving shaft of cross axle, and two ball wheels transmit power by gear train；It is characterized in that: described ball wheel a includes two spherical crowns with circular cone bench-type groove and two frustums of a cone；Two spherical crowns with circular cone bench-type groove and two frustums of a cone cooperate, two spherical crowns and two frustums of a cone connect into the mutual transmitting movement of internal closing and the difference structure of power by the axle that connects of cross axle, the structure of described ball wheel b is identical with ball wheel a, and ball wheel b and ball are taken turns a and be unified into the differential enclosed construction of phase 45 degree；The diameter of the described frustum of a cone is consistent with the diameter of the circular cone bench-type groove within spherical crown and tapering with tapering, and the frustum of a cone is in close contact with spherical crown；In motor process harmonious, mutually support transmitting movement；Two spherical crowns of described ball wheel a or ball wheel b are connected by the connection axle of cross axle, and two spherical crowns are not directly contacted with, and have distance between the two；Described in parallel double; two spherical crown differential type all-round wheels, its work process is as follows: this directional wheel active exercise direction is the direction of rotation of wheel, and namely two balls are taken turns by motor-driven gear constant speed rotation to drive the driving shaft of cross axle to rotate to obtain ground driving force；The connection axle of cross axle 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 of ball wheel a and ball wheel b replaces and earth surface, and the spherical crown gabarit of two-wheeled forms complete wheel structure Continuous Drive；The reaction force acts on ground is simultaneously communicating in the enclosed construction being made up of circular cone bench-type groove and the frustum of a cone of spherical crown on spherical crown and is absorbed by this enclosed construction；Unloaded around the moving of axle that connect of cross axle along the axial active force of active of cross axle by spherical crown simultaneously；In motor process, the spherical crown of ball wheel a and ball wheel b alternately realizes the seriality of 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104354525A CN104354525A (en) | 2015-02-18 |
| CN104354525B true 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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Families Citing this family (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 |
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 |
|---|
| 差动式全方位轮的结构设计与强度分析;叶长孔，郭豹子，马国静，马书根;《机器人》;20140731;第36卷(第4期);第498-502页 * |
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| CN104354525A (en) | 2015-02-18 |
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