CN106004232A - Omnidirectional wheel, omnidirectional wheel set and carrier cart using omnidirectional wheel or omnidirectional wheel set - Google Patents
Omnidirectional wheel, omnidirectional wheel set and carrier cart using omnidirectional wheel or omnidirectional wheel set Download PDFInfo
- Publication number
- CN106004232A CN106004232A CN201610415845.6A CN201610415845A CN106004232A CN 106004232 A CN106004232 A CN 106004232A CN 201610415845 A CN201610415845 A CN 201610415845A CN 106004232 A CN106004232 A CN 106004232A
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- China
- Prior art keywords
- omni
- mounting groove
- wheel
- tooth
- wheel hub
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B60B19/003—Multidirectional wheels
Abstract
The invention provides an omnidirectional wheel, an omnidirectional wheel set and a carrier cart using the omnidirectional wheel or the omnidirectional wheel set. The omnidirectional wheel comprises driven wheels, a hub and lateral pressing pieces. The driven wheels are cylindrical. A driven wheel shaft extends out from the two ends of each driven wheel in the axis direction of the driven wheel. A plurality of mounting teeth are arranged on the periphery of the hub. Each mounting tooth is provided with two mounting slots. Each driven wheel is arranged between every two adjacent mounting teeth, and each driven wheel shaft is arranged in the corresponding mounting slot. The number of the lateral pressing pieces is two or more. The lateral pressing pieces are fixedly connected with the side faces of the hub, so that the driven wheel shafts are limited in the mounting slots. According to the omnidirectional wheel, by the adoption of the lateral pressing pieces, the driven wheels are convenient to mount, demount and maintain.
Description
Technical field
The present invention relates to a kind of omni-directional wheel, omnidirectional's wheels and use the loading of this omni-directional wheel or omnidirectional's wheels little
Car, be specifically related to a kind of have the omni-directional wheel of side laminate structures, omnidirectional's wheels and use this omni-directional wheel or
The loading dolly of omnidirectional's wheels.
Background technology
Traditional omni-directional wheel includes that boss plate, side panel and driven pulley, both sides side panel are monolithic devices, needs
Dismantle, time a driven pulley is installed, it is necessary to monoblock side panel is pulled down, now, all of driven pulley
All probably due to side panel is pulled down the follower shaft not fixing in driven pulley and tumbled, therefore, from
Inconvenience dismounting, the I&M when that driving wheel being broken, the most cumbersome during removing and installing.
Summary of the invention
Present invention aims to the drawbacks described above of prior art, propose a kind of omni-directional wheel, eliminate
All-in-one-piece side panel, uses side pressure part, can more easily install omni-directional wheel, easy to maintenance.
For achieving the above object, the present invention provides following technical scheme:
A kind of omni-directional wheel, including driven pulley, described driven pulley be cylindrical, and edge, driven pulley two ends from
Driving wheel axis direction extends follower shaft.
Also including wheel hub, described wheel hub periphery is provided with some installation teeth, each installation is provided with two on tooth
Individual mounting groove, described driven pulley is placed between two installation teeth, and described follower shaft is placed in described mounting groove
In.
Also include that the first side pressure part, described side pressure number of packages amount are 2 or more than 2, described first side pressure
Part is fixing with described wheel hub side to be connected, and makes described follower shaft be limited in described mounting groove.
Further, wheel hub includes: boss plate, and described boss plate periphery is evenly arranged with some installations
Tooth, each two flank of tooth installing tooth are provided with mounting groove, and described mounting groove runs through the both sides of described boss plate
Face；
Also including side panel, described side panel is fixing with described boss plate to be connected, and described side panel covers
The opening of mounting groove plate on the side side.
Further, described mounting groove is separately positioned on each installation tooth two flank of tooth, runs through the two of described wheel hub
Side.
Further, described mounting groove is separately positioned on each installation tooth two flank of tooth, described mounting groove one end seal
Close.
Further, wheel hub includes: boss plate, and described boss plate periphery is evenly arranged with some installations
Tooth, each two flank of tooth installing tooth are provided with mounting groove, and described mounting groove runs through the both sides of described boss plate
Face；
Also including the second side pressure part, described second side pressure part is fixing with described boss plate to be connected, and described the
Two side pressure parts cover mounting groove and are positioned at the opening of the second side pressure part side.
Further, described first side pressure part rivets with wheel hub, is threadably secured or bolts and nuts
Connect the modes such as receipts are fixing.
Beneficial effect:
Traditional omni-directional wheel installation side panel, both sides installation side panel is all monolithic devices, and driven pulley is necessary
Installation after once assembling is fixed on boss plate, after installation, demolition and maintenance are inconvenient.According to of the present invention
Omni-directional wheel driven pulley side pressure part coordinate wheel hub fastening, mounting means is simple, easy care after installation.
Meanwhile, the present invention also provides for a kind of omnidirectional wheels, including: two or more described complete
To wheel；Also including connector, described connector is fixing connects above-mentioned omni-directional wheel.
Further, described wheel hub is provided with axis hole and some first fixing holes；Described connector is for even
Spindle, it is relative with the first fixing hole on described wheel hub that described connector includes that the shaft shoulder, the described shaft shoulder are provided with
Some second fixing holes answered, described connecting bushing in described axis hole, described wheel hub and described connecting shaft
By the first corresponding fixing hole and the second fixing hole with riveting or to be screwed or with bolt
Nut connects the modes such as receipts are fixing.
Further, described connecting shaft is provided with through hole centrally along axis direction.
Beneficial effect:
Traditional omnidirectional's wheels seating side plate, both sides installation side panel is all monolithic devices, and driven pulley must
Must once assemble installation after being fixed on boss plate, after installation, demolition and maintenance are inconvenient.According to institute of the present invention
The omnidirectional's wheels driven pulley side pressure part stated coordinates wheel hub fastening, and mounting means is simple, easy care after installation.
Meanwhile, the present invention also provides for a kind of loading dolly, including loading vehicle frame and omni-directional wheel or omni-directional wheel
Group, wherein said omni-directional wheel or omnidirectional's wheels are fixedly mounted on below described loading vehicle frame so that loading is little
Car can omnidirectional's walking on the ground.
Beneficial effect:
The omni-directional wheel of traditional loading dolly using omni-directional wheel or omnidirectional's wheels or omnidirectional's wheels seating side
Plate, both sides installation side panel is all monolithic devices, and driven pulley must once assemble after being fixed on boss plate
Installing, after installation, demolition and maintenance are inconvenient.Coordinate according to omni-directional wheel driven pulley side pressure part of the present invention
Wheel hub fastening, mounting means is simple, easy care after installation.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of omni-directional wheel first embodiment of the present invention.
Fig. 2 is that omni-directional wheel first embodiment of the present invention assembles schematic diagram.
Fig. 3 is the subassembly schematic diagram of omni-directional wheel first embodiment of the present invention.
Fig. 4 is the driven pulley schematic diagram of omni-directional wheel first embodiment of the present invention.
Fig. 5 is the schematic diagram of omnidirectional of the present invention wheels the second embodiment.
Fig. 6 is the driven pulley assembling schematic diagram of omnidirectional of the present invention wheels the second embodiment.
Fig. 7 is the schematic diagram that is linked and packed of omnidirectional of the present invention wheels the second embodiment.
(note: the shown structure in accompanying drawing, simply to illustrate that the signal of feature of present invention, is not intended to
According to structure shown in accompanying drawing.)
In figure, 1, connector, 2, side panel, 3, follower shaft, 4, driven pulley, 5, spacer, 6,
Boss plate, 7, wheel hub, the 8, first side pressure part, 9, bearing, 10, driven wheel body, the 11, first peace
Dress hole, the 12, second fixing hole, 13, axis hole, 14 first fixing holes.
Detailed description of the invention
According to omni-directional wheel of the present invention, omnidirectional's wheels can be formed, and be applied to loading dolly.
First embodiment
The present embodiment specifically introduces a kind of omni-directional wheel.
With reference to Fig. 1-4, a kind of omni-directional wheel includes driven pulley 4, wheel hub 7 and the first side pressure part 8.
Described driven pulley 4 is cylindrical, and driven pulley is extended along driven pulley axis direction in driven pulley two ends
Axle 3.
In the present embodiment, with reference to Fig. 4, driven pulley 4 includes driven wheel body 10, spacer 5 and with driven
The bearing 9 that wheel shaft 3 matches.Wherein, spacer 5 is arranged between follower shaft 3 and bearing 9, axle
Hold 9 outer for driven wheel body 10.Thus the inner ring that realizes follower shaft 3, spacer 5 and bearing 9 is relative
Motionless, outer ring and the driven wheel body 10 of bearing 9 relatively rotate, thus realize the rotation of driven pulley 4.
Being provided with some installation teeth on described wheel hub periphery, each installation is provided with two mounting grooves, institute on tooth
State driven pulley 4 to be placed between two installation teeth, and described follower shaft 3 is placed in described mounting groove.
In the present embodiment, with reference to Fig. 1-3, described wheel hub 7 includes boss plate 6 and side panel 2.
Wherein, described boss plate 6 periphery being evenly arranged with some installation teeth, each tooth of installing is provided with the
Three installing holes, each two flank of tooth installing tooth are provided with mounting groove, and described mounting groove runs through described boss plate 6
Two sides.
Being evenly arranged with some installation teeth on described side panel 2 periphery, each tooth of installing is provided with the second installation
Hole, described side panel 2 is installed by described the second corresponding installing hole and the 3rd with described boss plate 6
Hole rivets, or to be screwed, or with bolts and nuts, the modes such as receipts are connected, and described side
Plate 2 covers the mounting groove opening in described first side pressure part 8 side.
Described first side pressure part 8, described first side pressure part 8 quantity is 2 or more than 2, Mei Gesuo
Stating the first side pressure part 8 and be provided with the first installing hole 11, described first side pressure part 8 passes through with described wheel hub 7
Corresponding described first installing hole the 11, second installing hole and the riveting of the 3rd installing hole, or solid with screw thread
Fixed, or with bolt and nut, the modes such as receipts are connected, cover described mounting groove at described first side pressure part 8
The opening of side, makes described follower shaft 3 be limited in described mounting groove.
In the present embodiment, with reference to Fig. 1-3, described first installing hole the 11, second installing hole and the 3rd peace
Dress hole number is 2.
In other embodiments, the first installing hole of matching described in, the second installing hole, the 3rd installing hole
As long as quantity can be connected fixing to described first side pressure part and described wheel hub.
In the present embodiment, with reference to Fig. 1-3, described first side pressure part 8 quantity is preferably and described installation tooth
Quantity is identical, is 9, and now, each described first side pressure part 8 covers respectively installs tooth accordingly
On 2 mounting grooves at the opening of described first side pressure part 8 side, described follower shaft 3 is limited in
In described mounting groove.
In other embodiments, described first side pressure number of packages amount can be 2 times of described installation number of teeth amount,
Now, each described first side pressure part covers corresponding 1 mounting groove installed on tooth respectively described the
The opening of casting die side, side, is limited in described follower shaft in described mounting groove.
In other embodiments, described first side pressure number of packages amount can be with 2,2 described first side pressure parts
Cover the described mounting groove opening in described first this side of side pressure part together, described follower shaft is limited
In described mounting groove.
In other embodiments, described first side pressure number of packages amount is according to the described installation tooth of described boss plate
Quantity, can be multiple, and now, multiple described first side pressure parts cover all of mounting groove described
The opening of this side of casting die, side, is limited in institute together with the side panel of boss plate opposite side by follower shaft
State in mounting groove.
In the present embodiment, with reference to Fig. 2-3, the shape of described first side pressure part 8 matches with described installation tooth
Close.
In other embodiments, the shape of described first side pressure part can be square, circular or other are any
Shape, as long as the described mounting groove opening in described boss plate side can be covered, and does not hinder driven pulley
Rotation.
In the present embodiment, with reference to Fig. 1-3, due to described first side pressure part 8 no longer stress load-bearing, can add
Thick described side panel 2.
In other embodiments, described wheel hub is it can also be provided that only include boss plate, on described boss plate
Being evenly arranged with some installation teeth, each tooth of installing is provided with the second installing hole, on each two flank of tooth installing tooth
Being provided with mounting groove, described mounting groove is closed at described boss plate one side opening, opposite side；Described first
Side pressure part is positioned at the side of described mounting groove opening on described wheel hub, and described first side pressure part is provided with first
Installing hole, described first side pressure part is pacified by corresponding described first installing hole and second with described wheel hub
Dress hole is with riveting, or is screwed or screw bolt connection fixing to modes such as receipts, by described peace
Tankage opening on described wheel hub side covers, thus described follower shaft has been limited to described installation
In groove.
In other embodiments, described wheel hub is it can also be provided that include boss plate and the second side pressure part.Institute
Stating and be evenly arranged with some installation teeth on boss plate, each tooth of installing is provided with the second installing hole, respectively installs tooth
Two flank of tooth on be provided with mounting groove, described mounting groove runs through the two sides of described boss plate.Described side pressure
Part is positioned at the side of boss plate, and quantity is 2 or more than 2, and described side pressure part is provided with the 3rd installation
Hole, described side pressure part and described boss plate by the second corresponding installing hole, the 3rd installing hole with riveting,
Or it is screwed, or bolt thread connects the modes such as receipts are fixing, covers described mounting groove described
The opening of side pressure part side.
Described first side pressure part is positioned at the opposite side of described boss plate, and quantity is 2 or more than 2, institute
Stating the first side pressure part and be provided with the first installing hole, described first side pressure part passes through corresponding with described wheel hub
First installing hole, the second installing hole, the 3rd installing hole are with riveting, or are screwed, or screw thread spiral shell
Bolt connects the modes such as receipts are fixing, covers the described mounting groove opening in described first side pressure part side pair,
Thus described follower shaft 3 has been limited in described mounting groove.
Described hub centre is provided with axis hole.
Second embodiment
With reference to Fig. 5-7, the present embodiment specifically introduces a kind of omnidirectional wheels, including: 2 or more than 2
Omni-directional wheel described in first embodiment, also includes connector 1.
In the present embodiment, with reference to Fig. 7, described connector 1 is connecting shaft, and described connecting shaft includes the shaft shoulder,
The described shaft shoulder is provided with some second fixing holes 12, and described omni-directional wheel hub centre is provided with and connecting shaft
The axis hole 13 matched, is additionally provided with some first fixing holes 14 corresponding with the second fixing hole 12, institute
Stating connecting shaft to be inserted in described axis hole 13, described wheel hub is fixed by corresponding first with described connecting shaft
Hole 14 is fixing with the second fixing hole 12 to be connected.
In other embodiments, described omnidirectional wheels could be arranged to include N number of described omnidirectional as required
Wheel and N-1 described connector 1, wherein N >=3.
In the present embodiment, as it is shown in fig. 7, described connecting shaft is hollow axle, described connecting shaft centrally along
Axis direction is provided with through hole.
In other examples, the quantity of described first fixing hole can be 2 or more than 2, only
Wanting described connecting shaft to be inserted in described axis hole, the second fixing hole that the described shaft shoulder sets sets on described wheel hub
The first fixing hole corresponding, it is possible to make described connector by described the first corresponding fixing hole, the
Two fixing holes are connected with described omni-directional wheel, and described connector does not affect the rotation of described omni-directional wheel.
In the present embodiment, as it is shown in fig. 7, described connector 1 is provided with 6 the second fixing holes 12, institute
State wheel hub and be provided with corresponding 6 the first fixing hole 14, be additionally provided with and the described company of described connector 1
The axis hole 13 that spindle matches.
Described omni-directional wheel can rivet with described connector, it is also possible to is threadably secured, or with bolt
Nut connects the modes such as receipts are fixing.
In the present embodiment, with reference to Fig. 5-7, according to the mounting means of omnidirectional of the present invention wheels it is: institute
State connector 1 by axis hole the 13, first fixing hole the 14, second fixing hole 12 of matching with riveting,
Or to be screwed, or with bolt and nut, the modes such as receipts are connected respectively 2 described omni-directional wheels.Peace
In process of assembling, boss plate 6 covers described mounting groove at described side panel when installing to omni-directional wheel side panel 2
The opening of 2 sides, driven pulley 4 can rotate relative to follower shaft 3 and spacer 5, driven pulley 4 internal junction
Structure has bearing 9, follower shaft 3 to embed boss plate 6 mounting groove, and spacer 5 is pressed in outside mounting groove, separately
Driven pulley 4 it is pressed in internal at one.Set respectively on first side pressure part 8, omni-directional wheel side panel 2, boss plate 6
First installing hole the 11, second installing hole, the 3rd installing hole quantity put are 2, and described first installs
Hole the 11, second installing hole and the 3rd installing hole are not limited to through hole or screwed hole, when the first side pressure part 8,
Omni-directional wheel side panel 2, boss plate 6 are with riveting, or to be screwed, or with bolt and nut to receipts
It is fixed when connecting etc. mode, it is ensured that follower shaft 3 will not be run out of.Follower shaft 3 other end
Mounting means is identical.After compression, follower shaft 3 is pressed against motionless, and spacer 5 is pressed against motionless,
Driven pulley 4 relatively rotates.
3rd embodiment
The present embodiment specifically introduces use described in omni-directional wheel described in first embodiment or the second embodiment complete
To the loading dolly of wheels.
A kind of loading dolly, including loading vehicle frame and described omni-directional wheel or described omnidirectional's wheels, its
Described in omni-directional wheel or omnidirectional's wheels be fixedly mounted on below described loading vehicle frame so that loading dolly can
Omnidirectional's walking on the ground.
The present invention, compared with existing omni-directional wheel, has the advantage that
Traditional omni-directional wheel installation side panel, both sides installation side panel is all monolithic devices, and driven pulley is necessary
Installation after once assembling is fixed on boss plate, after installation, demolition and maintenance are inconvenient.According to of the present invention
Omni-directional wheel driven pulley side pressure part coordinate wheel hub fastening, mounting means is simple, easy care after installation.
The above, only presently preferred embodiments of the present invention, it is not intended to limit the protection of the present invention
Scope, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention,
Should be included within the scope of the present invention.
Claims (11)
1. an omni-directional wheel, it is characterised in that including:
Driven pulley (4), described driven pulley is cylindrical, and driven pulley two ends are prolonged along driven pulley axis direction
Stretch out follower shaft (3)；
Wheel hub (7), described wheel hub (7) periphery is provided with some installation teeth, and each installation is provided with on tooth
Two mounting grooves, described driven pulley (4) is placed between two installation teeth, and described follower shaft (3) is put
In described mounting groove；
First side pressure part (8), described first side pressure number of packages amount is 2 or more than 2, described first side
Casting die (8) is fixing with described wheel hub side to be connected, and makes described follower shaft (3) be limited in described installation
In groove.
A kind of omni-directional wheel the most according to claim 1, it is characterised in that described wheel hub (7) including:
Boss plate (6), described boss plate (6) periphery is evenly arranged with some installation teeth, respectively installs tooth
Two flank of tooth on be provided with mounting groove, described mounting groove runs through the two sides of described boss plate (6)；
Side panel (2), described side panel (2) is fixing with described boss plate (6) to be connected, and described side
Panel (2) covers the opening of mounting groove plate on the side (2) side.
A kind of omni-directional wheel the most according to claim 1, it is characterised in that described mounting groove is separately positioned on
Each installation tooth two flank of tooth, runs through the two sides of described wheel hub.
A kind of omni-directional wheel the most according to claim 1, it is characterised in that described mounting groove is separately positioned on
Each tooth two flank of tooth of installing, the closing of described mounting groove one end.
A kind of omni-directional wheel the most according to claim 1, it is characterised in that described wheel hub includes:
Boss plate, described boss plate periphery is evenly arranged with some installation teeth, each two flank of tooth installing tooth
On be provided with mounting groove, described mounting groove runs through the two sides of described boss plate；
Second side pressure part, described second side pressure part is fixing with described boss plate to be connected, and described second side pressure
Part covers described mounting groove and is positioned at the opening of the second side pressure part side.
A kind of omni-directional wheel the most according to claim 1, it is characterised in that described first side pressure part and wheel hub
Riveting.
A kind of omni-directional wheel the most according to claim 1, it is characterised in that described first side pressure part and wheel hub
It is threadably secured, or the fixing connection of bolt and nut means for closing.
8. omnidirectional's wheels, it is characterised in that including:
The arbitrary described omni-directional wheel of two or more claim 1-7；
Also including connector (1), described connector (1) is fixing connects above-mentioned omni-directional wheel.
A kind of omnidirectional the most according to claim 8 wheels, it is characterised in that
Axis hole (13) and some first fixing holes (14) it are provided with on described wheel hub；
Described connector (1) is connecting shaft, and described connecting shaft includes that the shaft shoulder, the described shaft shoulder are provided with and institute
State some second fixing holes (12) that the first fixing hole (14) on wheel hub is corresponding, described connecting bushing in
In described axis hole (13), described wheel hub passes through corresponding the first fixing hole (14) with described connecting shaft
With the second fixing hole (12) with riveting or to be screwed or with bolt and nut, the modes such as receipts to be fixed
Connect.
A kind of omnidirectional the most according to claim 9 wheels, it is characterised in that described connecting shaft is centrally along axle
Line direction is provided with through hole.
11. 1 kinds of loading dollies, it is characterised in that including:
Omni-directional wheel described in any one of claim 1-7 or the omni-directional wheel described in any one of claim 8-10
Group, and also include loading vehicle frame, described omni-directional wheel or omnidirectional's wheels are fixedly mounted on described loading vehicle frame
Lower section so that loading dolly can omnidirectional's walking on the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610415845.6A CN106004232A (en) | 2016-06-08 | 2016-06-08 | Omnidirectional wheel, omnidirectional wheel set and carrier cart using omnidirectional wheel or omnidirectional wheel set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610415845.6A CN106004232A (en) | 2016-06-08 | 2016-06-08 | Omnidirectional wheel, omnidirectional wheel set and carrier cart using omnidirectional wheel or omnidirectional wheel set |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106004232A true CN106004232A (en) | 2016-10-12 |
Family
ID=57087516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610415845.6A Pending CN106004232A (en) | 2016-06-08 | 2016-06-08 | Omnidirectional wheel, omnidirectional wheel set and carrier cart using omnidirectional wheel or omnidirectional wheel set |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106004232A (en) |
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| CN107310329A (en) * | 2017-06-09 | 2017-11-03 | 孙绍华 | A kind of spherical omnidirectional's wheel of multicompartment and the vehicle using the wheel |
| CN108357293A (en) * | 2018-03-22 | 2018-08-03 | 安徽理工大学 | A kind of attached wheel of stair climbing with shock-absorbing function |
| CN110040451A (en) * | 2019-04-26 | 2019-07-23 | 南通大学 | A kind of automobile-used walking mechanism of track take-away dispatching |
| TWI667152B (en) * | 2018-10-15 | 2019-08-01 | 魁安達有限公司 | Electric scooter forward wheel structure |
| CN110466634A (en) * | 2019-08-29 | 2019-11-19 | 华南理工大学 | A kind of omni-directional wheel and three wheel robot chassis of rubber tire combined type |
| CN113942341A (en) * | 2020-07-15 | 2022-01-18 | Oppo广东移动通信有限公司 | Omnidirectional wheel |
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| CN202011305U (en) * | 2011-04-22 | 2011-10-19 | 成都航发液压工程有限公司 | Novel omni-directional wheel |
| CN202115264U (en) * | 2011-04-22 | 2012-01-18 | 成都航发液压工程有限公司 | Omnidirectional wheel |
| CN102700358A (en) * | 2012-06-19 | 2012-10-03 | 杭州电子科技大学 | Multi-row type omnidirectional wheel |
| US20130257138A1 (en) * | 2012-03-29 | 2013-10-03 | Feng-Jung Chang | Multi-directional driving mechanism of a spheric wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20110146736A1 (en) * | 2009-12-22 | 2011-06-23 | Pfafflin Ellen S | Walker |
| CN202011305U (en) * | 2011-04-22 | 2011-10-19 | 成都航发液压工程有限公司 | Novel omni-directional wheel |
| CN202115264U (en) * | 2011-04-22 | 2012-01-18 | 成都航发液压工程有限公司 | Omnidirectional wheel |
| US20130257138A1 (en) * | 2012-03-29 | 2013-10-03 | Feng-Jung Chang | Multi-directional driving mechanism of a spheric wheel |
| CN102700358A (en) * | 2012-06-19 | 2012-10-03 | 杭州电子科技大学 | Multi-row type omnidirectional wheel |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310329A (en) * | 2017-06-09 | 2017-11-03 | 孙绍华 | A kind of spherical omnidirectional's wheel of multicompartment and the vehicle using the wheel |
| CN107310329B (en) * | 2017-06-09 | 2019-09-20 | 孙绍华 | A kind of spherical omnidirectional's wheel of multicomponent and vehicle using the wheel |
| CN108357293A (en) * | 2018-03-22 | 2018-08-03 | 安徽理工大学 | A kind of attached wheel of stair climbing with shock-absorbing function |
| CN108357293B (en) * | 2018-03-22 | 2024-01-12 | 安徽理工大学 | Stair climbing auxiliary wheel with damping function |
| TWI667152B (en) * | 2018-10-15 | 2019-08-01 | 魁安達有限公司 | Electric scooter forward wheel structure |
| CN110040451A (en) * | 2019-04-26 | 2019-07-23 | 南通大学 | A kind of automobile-used walking mechanism of track take-away dispatching |
| CN110466634A (en) * | 2019-08-29 | 2019-11-19 | 华南理工大学 | A kind of omni-directional wheel and three wheel robot chassis of rubber tire combined type |
| CN113942341A (en) * | 2020-07-15 | 2022-01-18 | Oppo广东移动通信有限公司 | Omnidirectional wheel |
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Application publication date: 20161012 |
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