CN105984274A - Double-rowed universal wheel - Google Patents
Double-rowed universal wheel Download PDFInfo
- Publication number
- CN105984274A CN105984274A CN201610386070.4A CN201610386070A CN105984274A CN 105984274 A CN105984274 A CN 105984274A CN 201610386070 A CN201610386070 A CN 201610386070A CN 105984274 A CN105984274 A CN 105984274A
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- CN
- China
- Prior art keywords
- omni
- directional wheel
- wheel
- trundle
- pin
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Tires In General (AREA)
Abstract
The invention relates to a double-rowed universal wheel. The universal wheel is composed of a wheel hub 1, a universal wheel rolling wheel assembly 4 and a universal wheel fixing block, wherein the rolling wheel assembly is also composed of a small rolling wheel 5, small rolling wheel bearings 6, a universal wheel pin 8 and a cushion block 7; one small rolling wheel bearing 6 is pressed into the inner side of each of the two ends of the small rolling wheel 5; the small rolling wheel bearings 6 sleeve the universal wheel pin 8; an outer ring is clamped into hard rubber in the small rolling wheel 5; the outer side of a bearing inner ring also ejects against the cushion block 7 which sleeves the universal wheel pin 8; the two ends of the universal wheel pin 8 are fixedly arranged on the wheel hub 1 and are locked by a self-tapping screw and a stopping block. The double-rowed universal wheel provided by the invention can rotate around the wheel hub and the small rolling wheel can also rotate around a self wheel shaft, so that the universal wheel can roll from front to back and can also slide along the lateral direction. Compared with existing other double-rowed universal wheels, the universal wheel has the advantages that noises are greatly reduced, a jolting phenomenon is reduced, the rolling performance is improved and the service life is prolonged; the universal wheel is convenient to mount and dismount.
Description
Technical field
The invention belongs to Industrial Robot Technology field and automotive field, be specifically related to a kind of double omni-directional wheel.
Background technology
At present China carries out the development of Robot industry energetically, and omni-directional wheel due to himself can scroll forward and backward and the advantage of sideslip simultaneously, it is at some special car, and with bottom train for the robot driven in application more and more universal.
Current double omni-directional wheel uses two groups of single omni-directional wheels to combine mostly, and single omni-directional wheel therein is then clipped the wheel pin of all of single omni-directional wheel trundle by two boards shape wheel hub, is inserted directly into wheel pin after trundle inner sleeve copper sheathing.Single wheel hub by lag bolt nut fixing after, two row's omni-directional wheels at a certain angle staggered be grouped together after be secured together with stay bolt nut.
The structure of above-mentioned omni-directional wheel is capable of the lateral sliding of omni-directional wheel, but due to its all-in-one-piece installation, need first all to be dismantled by whole omni-directional wheel when certain trundle is replaced by needs when, it is then peeled off two row's omni-directional wheels, after more single wheel hub being dismantled completely, can change trundle, step is the most loaded down with trivial details.The inner side copper sheathing of trundle is sold with wheel and is directly contacted, and after rolling time is permanent, easily accumulates dust impurity, can make a big impact trundle rolling effect between copper sheathing and wheel pin.
When double omni-directional wheel is relatively large in diameter, the when of needing to use more trundle, the wheel rim of current trundle is mostly straight line and designs without radian, and trundle material is used mostly hard plastic glue.
During use, owing to the wheel rim of trundle is straight line, so can inevitably there is the situation of jolting in the cylindrical of the omni-directional wheel of an all trundle matchings the most complete circle but a polygon in omni-directional wheel traveling process.And owing to trundle uses ebonite, along with contact point switches between two row's trundles, trundle and the contact impact on ground when switching can be bigger, thus cause bigger noise and turbulent conditions, it is also possible to can leave a trace on the ground.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, on the premise of ensureing omni-directional wheel self-characteristic, to provide one more steady, sliding capability is more preferable, and noise is less, and the life-span is longer, easily facilitates the double omni-directional wheel installed and change parts.
The present invention is by the following technical programs, it is achieved above-mentioned purpose:
A kind of double omni-directional wheel, by wheel hub 1, omni-directional wheel fixed block B, omni-directional wheel fixed block A and omni-directional wheel roller sub-component 4 form, described omni-directional wheel roller sub-component 4 includes trundle 5, two trundle bearings 6, two cushion blocks 7 and omni-directional wheel pin 8, described trundle 5 is made up of the internal ebonite of outside soft rubber encapsulated, the wheel rim of trundle 5 is arc, two trundle bearings 6 lay respectively at inside the two ends of trundle 5, the inner ring of trundle bearing 6 is enclosed within omni-directional wheel pin 8, outer ring is fastened in the ebonite within trundle 5, cushion block 7 is enclosed within omni-directional wheel pin 8, and withstand outside the inner ring by trundle bearing 6, trundle 5 rotates around omni-directional wheel pin 8, omni-directional wheel roller sub-component 4 is fixed on wheel hub 1.
Further, described omni-directional wheel roller sub-component 4 has 12, is divided into two row's arrangements, often arranges 6 groups, be evenly distributed, and between two adjacent roller sub-components 4, angle is 60 °, becomes 30 ° of interlaced arrangements in angle between two rows.
Further, described omni-directional wheel fixed block B and omni-directional wheel fixed block A is respectively arranged on the both sides of omni-directional wheel, is fixed on wheel hub 1 from the both sides of wheel hub by self-tapping screw between omni-directional wheel pin 8 and omni-directional wheel fixed block B and omni-directional wheel fixed block A.
Further, described trundle 5 has 12, and the wheel rim of two 12 trundles of row fits to a complete circle, and as the cylindrical of omni-directional wheel.
Further, described trundle bearing 6 is inserted in the ebonite hole within trundle 5 both sides, and the outer ring of trundle bearing 6 ebonite internal with trundle 5 both sides becomes interference fits, trundle bearing 6 inner ring to become interference fits with omni-directional wheel pin 8.
Further, cushion block 7 is enclosed within omni-directional wheel pin 8, becomes matched in clearance, cushion block 7 to be arranged between trundle bearing 6 and wheel hub 1 with omni-directional wheel pin 8, and trundle bearing 6 inner ring is withstood in one end, and the other end withstands wheel hub 1 and fixed block.
Compared with existing technical pattern, the method have the benefit that: (1) dramatically reduces the problem of jolting during existing omni-directional wheel is advanced；(2) produced noise during existing omni-directional wheel is advanced is considerably reduced；(3) improve the rolling characteristics of omni-directional wheel trundle；(4) improve the rolling life-span of trundle；(5) greatly reduce the use of bolt and nut, improve omni-directional wheel integral installation efficiency；(6) dismounting and change can be carried out individually for some trundle.
Accompanying drawing explanation
Fig. 1 is the perspective view of the double omni-directional wheel of the present invention:
Fig. 2 is the decomposition texture schematic diagram of omni-directional wheel roller sub-component in the present invention；
Fig. 3 is the front view of the double omni-directional wheel of the present invention；
Fig. 4 is the top view of the double omni-directional wheel of the present invention；
Wherein, 1-wheel hub；2-omni-directional wheel fixed block B；3-omni-directional wheel fixed block A；4-omni-directional wheel roller sub-component；5-trundle；6-trundle bearing；7-cushion block；8-omni-directional wheel pin.
Detailed description of the invention
Below in conjunction with accompanying drawing, further describe the detailed description of the invention of the present invention.
nullRefer to Fig. 1、Fig. 2、Fig. 3、Fig. 4，A kind of double omni-directional wheel of the present invention，By wheel hub 1、Omni-directional wheel fixed block B、Omni-directional wheel fixed block A and omni-directional wheel roller sub-component 4 form，Wherein，Omni-directional wheel roller sub-component 4 includes trundle 5、Two trundle bearings 6、Two cushion blocks 7 and omni-directional wheel pin 8，Trundle 5 is made up of the internal ebonite of outside soft rubber encapsulated，The wheel rim of trundle 5 is arc，Two trundle bearings 6 lay respectively at inside the two ends of trundle 5，Trundle bearing 6 is made up of inner ring and outer ring two parts，Inner ring is enclosed within omni-directional wheel pin 8，Outer ring is then fastened in the ebonite within trundle 5，Cushion block 7 is enclosed within omni-directional wheel pin 8，And withstand outside the inner ring by trundle bearing 6，Trundle 5 can rotate around omni-directional wheel pin 8，Omni-directional wheel roller sub-component 4 is fixed on wheel hub 1.
In one embodiment of the invention, omni-directional wheel roller sub-component 4 one has 12 groups, and point two rows are arranged in the both sides of wheel hub 1, one row 6 groups, being evenly distributed, between two adjacent omni-directional wheel roller sub-components 4, angle is 60 °, and two row's trundle sub-components 4 are in 30 ° of angles and are staggered.Such arrangement architecture can make 12 omni-directional wheel roller sub-components be evenly distributed on wheel hub, simultaneously because the wheel rim of trundle 5 is circular arc, this arrangement is so that the wheel rim of 12 trundles 5 fits to the cylindrical of omni-directional wheel.
The motor section split-phase that wheel hub 1 center drives with it is connected, after motor drives, omni-directional wheel rotates around wheel hub 1 central shaft, and now, omni-directional wheel and ground contact points constantly switch between two row's omni-directional wheels, in the present invention, trundle 5 wheel rim is circular arc, collective fits to into the cylindrical of omni-directional wheel so that between omni-directional wheel two row's omni-directional wheel roller sub-component 4, contact point switching can be more steady, make omni-directional wheel roll more smoothly, dramatically reduce the problem of jolting during omni-directional wheel is advanced.
When omni-directional wheel the direction of motion and its wheel hub 1 be rotationally advancing direction have certain angle when, omni-directional wheel is except wheel hub 1 is in addition to its axle center rotates, the omni-directional wheel roller sub-component 4 on contact ground also can rotate around himself corresponding omni-directional wheel pin 8, to realize omni-directional wheel motion the most in all directions simultaneously.
When trundle 5 rotates around the omni-directional wheel pin 8 of self when, trundle 5 connects trundle bearing 6 outer ring and rotates, and trundle bearing 6 inner ring and omni-directional wheel pin 8 and cushion block 7 are fixed on wheel hub 1, with the motion campaign of wheel hub 1.
In the present invention, omni-directional wheel fixed block B and omni-directional wheel fixed block A is respectively arranged on the both sides of omni-directional wheel, it is fixed on wheel hub 1 from the both sides of wheel hub by self-tapping screw between omni-directional wheel pin 8 and omni-directional wheel fixed block B and omni-directional wheel fixed block A, and be fixed by baffle plate, when maintenance, only need to baffle plate and self-tapping screw be unloaded, omni-directional wheel roller sub-component 4 splits away off from omni-directional wheel fixed block B and omni-directional wheel fixed block A, it is achieved thereby that carry out the purpose of dismounting and change individually for some trundle.
Trundle bearing 6 is inserted in the ebonite hole within trundle 5 both sides, and the outer ring of trundle bearing 6 ebonite internal with trundle 5 both sides becomes interference fits, trundle bearing 6 inner ring to become interference fits with omni-directional wheel pin 8；Cushion block 7 is enclosed within omni-directional wheel pin 8, becomes matched in clearance, cushion block 7 to be arranged between trundle bearing 6 and wheel hub 1 with omni-directional wheel pin 8, and trundle bearing 6 inner ring is withstood in one end, and the other end withstands wheel hub 1 and fixed block.Such structure ensure that the stability in omni-directional wheel running, improve the rolling characteristics of omni-directional wheel trundle 5, cushion block 7 acts primarily as fixing and cushioning effect, dispersibles pressure experienced and frictional force in trundle 5 rolling process, can be effectively improved the rolling life-span of trundle 5.Trundle 5 is made up of the internal ebonite of outside soft rubber encapsulated, and during omni-directional wheel motion, the part that trundle 5 contacts with ground is flexible glue, can greatly reduce produced noise during omni-directional wheel is advanced.
These are only presently preferred embodiments of the present invention, not in order to limit the present invention, protection scope of the present invention is as the criterion with claims, and other its structures all and principle are same or like with the present invention, should be included within the scope of the present invention.
Claims (6)
- null1. a double omni-directional wheel，By wheel hub (1)、Omni-directional wheel fixed block B(2)、Omni-directional wheel fixed block A(3) and omni-directional wheel roller sub-component (4) composition，It is characterized in that，Described omni-directional wheel roller sub-component (4) includes trundle (5)、Two trundle bearings (6)、Two cushion blocks (7) and omni-directional wheel pin (8)，Described trundle (5) is made up of the internal ebonite of outside soft rubber encapsulated，The wheel rim of trundle (5) is arc，Two trundle bearings (6) lay respectively at inside the two ends of trundle (5)，The inner ring of trundle bearing (6) is enclosed within omni-directional wheel pin (8)，Outer ring is fastened in the ebonite that trundle (5) is internal，Cushion block (7) is enclosed within omni-directional wheel pin (8)，And withstand outside the inner ring by trundle bearing (6)，Trundle (5) rotates around omni-directional wheel pin (8)，Omni-directional wheel roller sub-component (4) is fixed on wheel hub (1).
- The double omni-directional wheel of one the most according to claim 1, it is characterised in that described omni-directional wheel roller sub-component (4) has 12, it is divided into two row's arrangements, often arranges 6 groups, be evenly distributed, between two adjacent roller sub-components (4), angle is 60 °, becomes 30 ° of interlaced arrangements in angle between two rows.
- The double omni-directional wheel of one the most according to claim 1, it is characterized in that, described omni-directional wheel fixed block B(2) and omni-directional wheel fixed block A(3) be respectively arranged on the both sides of omni-directional wheel, omni-directional wheel pin (8) and omni-directional wheel fixed block B(2) and omni-directional wheel fixed block A(3) between be fixed on wheel hub (1) from the both sides of wheel hub by self-tapping screw.
- The double omni-directional wheel of one the most according to claim 1, it is characterised in that described trundle (5) has 12, the wheel rim of two 12 trundles of row fits to a complete circle, and as the cylindrical of omni-directional wheel.
- The double omni-directional wheel of one the most according to claim 1, it is characterized in that, described trundle bearing (6) is inserted in the ebonite hole within trundle (5) both sides, the outer ring of trundle bearing (6) ebonite internal with trundle (5) both sides becomes interference fits, trundle bearing (6) inner ring to become interference fits with omni-directional wheel pin (8).
- The double omni-directional wheel of one the most according to claim 1, it is characterized in that, cushion block (7) is enclosed within omni-directional wheel pin (8), matched in clearance is become with omni-directional wheel pin (8), cushion block (7) is arranged between trundle bearing (6) and wheel hub (1), trundle bearing (6) inner ring is withstood in one end, and the other end withstands wheel hub (1) and fixed block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610386070.4A CN105984274A (en) | 2016-06-03 | 2016-06-03 | Double-rowed universal wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610386070.4A CN105984274A (en) | 2016-06-03 | 2016-06-03 | Double-rowed universal wheel |
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| Publication Number | Publication Date |
|---|---|
| CN105984274A true CN105984274A (en) | 2016-10-05 |
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ID=57043995
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610386070.4A Pending CN105984274A (en) | 2016-06-03 | 2016-06-03 | Double-rowed universal wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105984274A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106427396A (en) * | 2016-11-30 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Welded type omnidirectional wheel |
| 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 |
| CN107745608A (en) * | 2017-10-30 | 2018-03-02 | 桂林电子科技大学 | Omnidirectional's wheel load capacity improves structure |
| 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 |
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| CN205736639U (en) * | 2016-06-03 | 2016-11-30 | 旗瀚科技有限公司 | A kind of double omni-directional wheel |
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2016
- 2016-06-03 CN CN201610386070.4A patent/CN105984274A/en active Pending
Patent Citations (12)
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| HK1067341A1 (en) * | 2000-09-21 | 2005-04-08 | Innowheel Pty Ltd | Multiple directional wheel |
| GB2408692A (en) * | 2003-12-02 | 2005-06-08 | Rolling Dynamics Ltd | Rider platform capable of longitudinal and lateral rolling |
| CN101417586A (en) * | 2008-12-02 | 2009-04-29 | 西安交通大学 | Omnidirectional wheel structure |
| KR20120056950A (en) * | 2010-11-26 | 2012-06-05 | 김명국 | Omni-directional Wheel And Manufacturing Method Thereof |
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| US20140232174A1 (en) * | 2011-09-23 | 2014-08-21 | Omniroll Ag | Mecanum wheel and mecanum-wheeled vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106427396A (en) * | 2016-11-30 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Welded type omnidirectional wheel |
| 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 |
| CN107745608A (en) * | 2017-10-30 | 2018-03-02 | 桂林电子科技大学 | Omnidirectional's wheel load capacity improves structure |
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Effective date of registration: 20190613 Address after: 518000 Guangdong 28, Shenzhen, Futian District, Huafu street, No. 5001 Huanggang Road, Shenzhen Industrial upper city (two phase of the Southern District) Applicant after: Shenzhen Sanbao innovation and intelligence Co., Ltd. Address before: 518055 20, Times Technology Building, 7028 Shennan Road, Futian District, Shenzhen, Guangdong. Applicant before: Qihan Technology Co., Ltd. |
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Application publication date: 20161005 |