CN106427390A - Omnidirectional wheel, omnidirectional wheel and mobile robot including robot moving platform - Google Patents
Omnidirectional wheel, omnidirectional wheel and mobile robot including robot moving platform Download PDFInfo
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- CN106427390A CN106427390A CN201610896624.5A CN201610896624A CN106427390A CN 106427390 A CN106427390 A CN 106427390A CN 201610896624 A CN201610896624 A CN 201610896624A CN 106427390 A CN106427390 A CN 106427390A
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- omni
- roller
- wheels
- directional wheel
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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
- B60B19/14—Ball-type wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
An omnidirectional wheel, including robot moving platform of omnidirectional wheel and mobile robot, consists of an omnidirectional wheel axle which makes the omnidirectional wheel link on external. A bracket utilizes for rigid support inside the omnidirectional wheel and connects with the omnidirectional wheel axle. A first round group connects with the omnidirectional wheel axle through the bracket, including two hemispherical rollers symmetrically arranged on both sides of the bracket. A second round group consists of two second rollers symmetrically arranged on the top of the hemispherical rollers in the first round group and connects with the omnidirectional wheel axle through the bracket. A third round group consists of a first shaft related to the first round group, two third rollers symmetrically arranged on both sides of the bracket and connected with the omnidirectional wheel axle through the bracket, wherein the first shaft, the second roller and the second shaft related to the second roller are perpendicular to each other.
Description
Technical field
The present invention relates to omnidirectional's walking mechanism field, more particularly, to a kind of omni-directional wheel, the machine including this omni-directional wheel
People's mobile platform and mobile robot.
Background technology
The unconfined motion in the environment of mobile robot needs a robot being capable of Omni-mobile and rotation
Mobile platform.Existing robot moving platform uses the structure on chassis and omni-directional wheel combination mostly, to realize mobile robot
The translation of any direction and rotation.
The advantage of omni-directional wheel is to be capable of robot moving platform at narrow and small sky with pivot stud and transverse shifting
Interior flexible motion.Specific to the structure of omni-directional wheel, common predominantly two kinds, one is Mecanum wheel：On its wheel rim tiltedly
To being dispersed with many small rollers, when wheel rotates around fixing wheel arbor, the envelope of each small roller is the face of cylinder, institute
With this, take turns can rolls forward continuously；Simultaneously because the effect of small roller, wheel can be with horizontal sliding；By multiple wheels
The Vector modulation of (common for four) driving force, it is achieved the pivot stud of mobile platform and transverse shifting.
Another kind is Omni wheel, and on its wheel rim, cross direction profiles many small rollers, when wheel turns around fixing wheel arbor
When dynamic, the envelope of each small roller is also the face of cylinder, thus this take turns can rolls forward continuously；Simultaneously because small roller
Effect, it is possible to achieve horizontal passive movement；By the Vector modulation of multiple wheels (common for three or four) driving force,
Realize pivot stud and the transverse shifting of mobile platform.
The advantage of both the above omni-directional wheel is compact conformation, but has multiple roller on wheel, when wheel rolls, and rolling
Son can contact with ground successively, owing to the contact surface of roller and ground is not continuous print, can occur during each roller contact ground
Vibration.And in order to reduce vibration, both the above omnidirectional wheel structure often increases roller quantity in use as far as possible, due to each
Roller needs pair of bearings, and multiple rollers can cause assembling complexity, relatively costly.Therefore conventional omni-directional wheel is caused to assemble complexity,
Relatively costly.
The information being disclosed in background of invention part is merely intended to deepen the reason of the general background technology to the present invention
Solve, and be not construed as recognizing or imply in any form known to those skilled in the art existing of this information structure
Technology.
Content of the invention
The purpose of the present invention is to propose to a kind of omni-directional wheel, the shortcoming that described omni-directional wheel can overcome prior art, it is achieved shake
Move little, easy to assembly, the effect of low cost.The present invention also aims to provide a kind of robot including this omni-directional wheel to move
Platform and mobile robot.
An aspect of of the present present invention proposes a kind of omni-directional wheel, including：
Omnidirectional's wheel shaft, for carrying out external connection by described omni-directional wheel；
Support, for carrying out non-yielding prop inside described omni-directional wheel, is connected to described omnidirectional wheel shaft；
First wheels, described first wheels are connected to described omnidirectional wheel shaft by support, are arranged at institute including be respectively symmetrically
State two hemispherical rollers of support both sides；
Second wheels, described second wheels include being respectively symmetrically the hemispherical roller top being arranged at described first wheels
Two the second rollers, and it is connected to described omnidirectional wheel shaft by described support；
Third round group, described third round group includes being respectively symmetrically setting relative to corresponding first rotating shaft of described first wheels
It in two the 3rd rollers of the both sides of described support, and is connected to described omnidirectional wheel shaft by described support；
Wherein, described omnidirectional wheel shaft, described first rotating shaft and corresponding second rotating shaft of described second roller are perpendicular to one another.
Preferably, the corresponding 3rd coplanar setting of rotating shaft of described first rotating shaft, described second rotating shaft and described 3rd roller.
Preferably, described first rotating shaft, described second rotating shaft, described 3rd rotating shaft place plane on, described first
The outline combination of wheels, described second wheels and described third round group forms circle.
Preferably, described first shaft parallel is in described 3rd rotating shaft.
Preferably, described second roller, described 3rd roller are spindle, and described second roller, described 3rd rolling
Take turns corresponding radian radian corresponding with described hemispherical roller respectively consistent.
Preferably, described first wheels, described second wheels and described third round group are connected to described respectively by bearing
Support.
Preferably, at least one of appearance of described hemispherical roller, described second roller and described 3rd roller
Face is made up of rubber, silica gel or nylon.
Preferably, the top of described hemispherical roller forms end face, and described second roller is arranged at described end.
Preferably, described hemispherical roller can be around described first axis of rotation, and described second roller can be around described
Two axis of rotation, described 3rd roller can be around described 3rd corresponding 3rd axis of rotation of roller.
Another aspect of the present invention provides a kind of robot moving platform, including chassis and be arranged at described chassis at least
Three above-mentioned omni-directional wheels.
Preferably, the number of described omni-directional wheel is three, and three omni-directional wheels are distributed in the bottom on described chassis.
Preferably, each omni-directional wheel is respectively connecting to a driving means, and described driving means is used for driving described omnidirectional
Omnidirectional's wheel shaft of wheel rotates.
Preferably, described robot moving platform also includes：
Computing module, for based on the current location of described robot moving platform and attitude and target location and attitude
Calculate target motion vectors；
Control module, is driven for controlling every driving means respectively according to described target motion vectors.
Preferably, described target motion vectors is calculated by below equation：
Wherein,Represent described target motion vectors, xt、ytRepresent the target location of described robot moving platform respectively
Horizontal x coordinate and y-coordinate, θtRepresent the angle on target around vertical direction of described robot moving platform, x0、y0Table respectively
Show horizontal x coordinate and y-coordinate, the θ of the current location of described robot moving platform0Represent described robot moving platform around
The current angular of vertical direction.
Preferably, described control module controls every driving means respectively according to described target motion vectors and is driven
When, described target motion vectors is converted into the corresponding velocity of rotation of every driving means and rotation direction.
Preferably, described control module controls every driving means respectively according to described target motion vectors and is driven
When, drive two omni-directional wheels towards or away from rolling respectively by described driving means, according to the rolling speed of two omni-directional wheels
The described robot moving platform of force difference control producing carries out moving horizontally on said two omni-directional wheel correspondence direction, logical
Crossing described driving means drives three omni-directional wheels to roll the rotation carrying out the axis around described robot moving platform in the same direction respectively.
Another aspect of the invention provides one mobile robot, including above-mentioned robot moving platform.
Compared with prior art, the beneficial effects of the present invention is：
Realized that by being connected to three wheels of omnidirectional's wheel shaft the omnidirectional of omni-directional wheel rotates and mobile, simple in construction, it is simple to
Assemble；
The coplanar setting of geometry rotary shaft of the roller of the first wheels of omni-directional wheel, the second wheels and third round group, puts down at this
On face, the outline combination of the first wheels, the second wheels and third round group forms circle so that the contact surface on omni-directional wheel and ground
It is a subcontinuous sphere, only have at 8s discontinuous at wheels intersection, but its discontinuous distance is less, thus permissible
Reduce vibration during work；
The roller number that omni-directional wheel uses is less, greatly reduces manufacturing cost；
The robot moving platform using omni-directional wheel of the present invention can conveniently realize the linear motion of any direction, around flat
The rotary motion of platform axis and the compound movement being synthesized by straight line and rotary motion.
Assembly of the invention has other characteristic and an advantage, these characteristics and advantage from the accompanying drawing being incorporated herein and with
After specific embodiment in will be apparent from, or will enter in the accompanying drawing being incorporated herein and specific embodiment subsequently
Row statement in detail, these the drawings and specific embodiments are provided commonly for explaining the certain principles of the present invention.
Brief description
By combining accompanying drawing, exemplary embodiment of the present is described in more detail, the present invention above-mentioned and other
Purpose, feature and advantage will be apparent from, and wherein, in exemplary embodiments of the present invention, identical reference number is usual
Represent same parts.
Fig. 1 shows the top view of omni-directional wheel according to an exemplary embodiment of the present invention；
Fig. 2 shows that omni-directional wheel is along the profile of section 7 according to an exemplary embodiment of the present invention；
Fig. 3 shows the stereogram of omni-directional wheel according to an exemplary embodiment of the present invention；
Fig. 4 shows the stereogram of robot moving platform according to an exemplary embodiment of the present invention；
Fig. 5 shows the linear motion schematic diagram of robot moving platform according to an exemplary embodiment of the present invention；
Fig. 6 shows the rotary motion schematic diagram of robot moving platform according to an exemplary embodiment of the present invention.
Main Reference Numerals explanation：
1st, the first wheels；101st, hemispherical roller；102nd, proximal end face；103rd, end face；2nd, the second wheels；3rd, third round group；
4th, the first rotating shaft；5th, the second rotating shaft；6th, the 3rd rotating shaft；7th, section；8th, omnidirectional's wheel shaft；9th, support；2001st, omni-directional wheel；2002nd, complete
To wheel；2003rd, omni-directional wheel；201st, driving means；202nd, chassis；203rd, axis.
Detailed description of the invention
It is more fully described the present invention below with reference to accompanying drawings.Although accompanying drawing shows the preferred embodiments of the present invention,
However, it is to be appreciated that may be realized in various forms the present invention and should not limited by embodiments set forth here.On the contrary, provide
These embodiments are to make the present invention more thorough and complete, and can will fully convey the scope of the invention to ability
The technical staff in territory.
The embodiment of the present invention provides a kind of omni-directional wheel, including：
Omnidirectional's wheel shaft, for carrying out external connection by omni-directional wheel；
Support, for carrying out non-yielding prop inside omni-directional wheel, is connected to omnidirectional's wheel shaft；
First wheels, the first wheels are connected to omnidirectional's wheel shaft by support, are arranged at support both sides including be respectively symmetrically
Two hemispherical rollers；
Second wheels, the second wheels include be respectively symmetrically the hemispherical roller top being arranged at the first wheels two second
Roller, and it is connected to omnidirectional's wheel shaft by support；
Third round group, third round group includes that first rotating shaft corresponding relative to the first wheels is respectively symmetrically and is arranged at support
Two the 3rd rollers of both sides, and it is connected to omnidirectional's wheel shaft by support；
Wherein, corresponding second rotating shaft of omnidirectional's wheel shaft, the first rotating shaft and the second roller is perpendicular to one another.
Omnidirectional's wheel shaft and each wheels position as described in the embodiment of the present invention is arranged, and omni-directional wheel can be around omnidirectional's wheel shaft rolling
Dynamic, the roller of three wheels also passively can roll around respective geometry rotary shaft, such that it is able to realize omni-directional wheel along each
The rolling in direction.
Preferably, the corresponding 3rd coplanar setting of rotating shaft of the first rotating shaft, the second rotating shaft and the 3rd roller, to improve
Roll efficiency.
Preferably, the first shaft parallel is in the 3rd rotating shaft, and the more conducively omnidirectional of omni-directional wheel rotates and mobile.
Preferably, the first rotating shaft, the second rotating shaft, the 3rd rotating shaft place plane on, the first wheels, second take turns
The outline combination of group and third round group forms circle so that omni-directional wheel is a continuous print sphere with the contact surface on ground, only
Have at 8s discontinuous at wheels intersection, but its discontinuous distance is less, thus can reduce vibration during work, worked
Journey is more smooth and easy.
Preferably, the second roller, the 3rd roller are spindle, and the second roller, the 3rd corresponding arc of roller
Degree radian corresponding with hemispherical roller respectively is consistent, it is easy to roll.
Preferably, the first wheels, the second wheels and third round group are connected to support by bearing respectively, each rolling
Wheel can use two bearings.Compared with existing omni-directional wheel, the bearing that the omni-directional wheel of the embodiment of the present invention uses is relatively fewer, can
It is greatly saved cost.
Preferably, hemispherical roller, the second roller, the outer surface of the 3rd roller can use rubber, silica gel, Buddhist nun
The materials such as dragon, are prevented from pulley.
Preferably, the top of hemispherical roller forms end face, and the second roller is arranged at end, in order to hemisphere
The combination of shape roller forms continuous sphere.
Preferably, hemispherical roller can around the first axis of rotation, the second roller can around the second axis of rotation,
3rd roller can be around the 3rd corresponding 3rd axis of rotation of roller such that it is able to realizes omni-directional wheel omnidirectional's rolling in all directions
Dynamic.
The embodiment of the present invention also provides a kind of robot moving platform, including chassis is complete with at least three being arranged at chassis
To wheel.It such robot moving platform simple in construction, is easy to assemble, and be capable of omnidirectional and rotate and mobile.Preferably, entirely
Number to wheel is three, and three omni-directional wheels are distributed in the bottom on chassis.
Each omni-directional wheel is connectable to a driving means, and driving means is used for driving omnidirectional's wheel shaft of omni-directional wheel to rotate,
Thus drive omni-directional wheel to rotate with omnidirectional's wheel shaft for rotating shaft.Driving means e.g. motor.
Preferably, robot moving platform also includes：
Computing module, for based on the current location of robot moving platform and attitude and target location and Attitude Calculation
Target motion vectors；
Control module, is driven for controlling every driving means respectively according to target motion vectors.
In the case of the current location determining robot moving platform and attitude and target location and attitude, calculate
Module can calculate target motion vectors, and it is for representing the target direction of motion of robot moving platform.Target motion vectors
The target location of robot moving platform and the phasor difference of attitude and current location and attitude can be expressed as, such as below equation
Shown in：
Wherein,Represent target motion vectors, xt、yt、ztRepresent that the x of the target location of robot moving platform sits respectively
Mark, y-coordinate, z coordinate, αt、βt、θtRespectively represent robot moving platform around x-axis direction, y-axis direction, the target in z-axis direction
Angle, x0、y0、z0Represent the x coordinate of current location of robot moving platform, y-coordinate, z coordinate, α respectively0、β0、θ0Table respectively
Show robot moving platform around x-axis direction, y-axis direction, the current angular in z-axis direction.
According to target motion vectors, control module controls the driving of every driving means respectively, so that robot moves
Moving platform moves along the direction of motion specified, and reaches target location and attitude.According to target motion vectors, move based on robot
The omni-directional wheel layout of moving platform, calculates the driving direction of the driving means corresponding to each omni-directional wheel and actuating speed and carries out phase
The control answered, belongs to ordinary skill in the art means, and it is not the emphasis of the present invention, does not repeats them here.
In most of the cases, robot moving platform moves in horizontal plane and rotates, therefore, control module by with
Lower formula calculates target motion vectors：
Wherein,Represent target motion vectors, xt、ytRepresent that the horizontal x of the target location of robot moving platform sits respectively
Mark and y-coordinate, θtRepresent the angle on target around vertical direction of robot moving platform, x0、y0Represent that robot moves flat respectively
The horizontal x coordinate of the current location of platform and y-coordinate, θ0Represent the current angular around vertical direction of robot moving platform.
In this case, for modal robot moving platform structure, i.e. robot moving platform includes three
During uniform omni-directional wheel, control module is according to target motion vectorsControl every driving means respectively when being driven, by driving
Dynamic device drives the force difference that two omni-directional wheels produce towards or away from rolling, the rolling speed according to two omni-directional wheels respectively
Control robot moving platform carries out moving horizontally on two omni-directional wheel correspondence directions, is driven three respectively by driving means
Omni-directional wheel rolls the rotation carrying out the axis around robot moving platform in the same direction.
The embodiment of the present invention also provides a kind of mobile robot, including above-mentioned robot moving platform.
Embodiment
Fig. 1 shows the top view of omni-directional wheel according to an exemplary embodiment of the present invention, and Fig. 2 shows and shows according to the present invention
The omni-directional wheel of example embodiment is along the profile of section 7, and Fig. 3 shows the vertical of omni-directional wheel according to an exemplary embodiment of the present invention
Body figure.
As Figure 1-3, the geometrically symmetric face that section 7 is omni-directional wheel, is perpendicular to omnidirectional's wheel shaft 8, the hemisphere of the first wheels 1
Corresponding second rotating shaft 5 of second roller of corresponding first rotating shaft of shape roller 101 the 4th, the second wheels 2 and the 3rd of third round group 3 the
Corresponding 3rd rotating shaft 6 of roller is respectively positioned on section 7.Cut the profile that can obtain omni-directional wheel along section 7.
Include according to the omni-directional wheel of exemplary embodiment：
Omnidirectional's wheel shaft 8, for omni-directional wheel is carried out external connection, for example, is connectable to the chassis of robot moving platform；
Support 9, for carrying out non-yielding prop inside omni-directional wheel, it is rotatably connected at omnidirectional's wheel shaft 8；
First wheels 1, the first wheels 1 are connected to omnidirectional's wheel shaft 8 by support 9, and the first wheels 1 include being respectively symmetrically setting
In two hemispherical rollers 101 of support 9 both sides, the top of hemispherical roller 101 forms end face 103, hemispherical roller 101 energy
Enough rotate around the first rotating shaft 4；
Second wheels 2, the second wheels 2 include being respectively arranged at two the second rollers at the end face 103 of the first wheels 1,
And second wheels 2 be connected to omnidirectional's wheel shaft 8 by support 9, the second roller can rotate around the second rotating shaft 5, outside the second roller
Surface forms subcontinuous circular arc with the outer surface of hemispherical roller 101, reduces vibration when being conducive to working；
Third round group 3, third round group 3 includes be respectively symmetrically the both sides being arranged at support 9 relative to the first rotating shaft 4 two
3rd roller, and third round group 3 is connected to omnidirectional's wheel shaft 8 by support 9, the 3rd roller can rotate around the 3rd rotating shaft 6, and the 3rd
Roller is arranged at proximal end face 102 (proximal end face 102 is the relative end face of two hemispherical rollers 101) place, the appearance of the 3rd roller
Face forms subcontinuous circular arc with the outer surface of hemispherical roller 101, it is possible to reduce vibration during work；
Wherein, omnidirectional's wheel shaft the 8th, the first rotating shaft 4 and the second rotating shaft 5 is perpendicular to one another.
As it is shown on figure 3, the second roller and the 3rd roller are spindle, the outer surface of the second roller and the 3rd roller is permissible
Use the materials such as rubber, silica gel, nylon, anti-limited slip wheel.
The outer surface combination of the first wheels the 1st, the second wheels 2 and third round group 3 forms spherical outer surface, in other words, first
The outline of wheels the 1st, the second wheels 2 and third round group 3 combines formation circle on section 7.First wheels the 1st, the second wheels are the 2nd,
Third round group 3 is all connected to support 9 by bearing.
Fig. 4 shows the stereogram of robot moving platform according to an exemplary embodiment of the present invention, and Fig. 5 shows basis
The linear motion schematic diagram of the robot moving platform of exemplary embodiment of the present, Fig. 6 shows according to the present invention exemplary
The rotary motion schematic diagram of the robot moving platform of embodiment.
Robot moving platform includes chassis 202 and is distributed in bottom chassis 202 according to an exemplary embodiment of the present invention
Three omni-directional wheels, i.e. omni-directional wheel the 2001st, omni-directional wheel 2002 and omni-directional wheel 2003.Each omni-directional wheel is connected to a driving means
201, driving means 201 can drive omnidirectional's wheel shaft of omni-directional wheel to rotate.Can be based on robot moving platform by controller
Current location and attitude and target location and Attitude Calculation target motion vectors, and control respectively according to target motion vectors
The actuating speed of every driving means and driving direction, be i.e. converted into the corresponding velocity of rotation of every driving means and rotation side
To, thus control rotation direction and the velocity of rotation of omnidirectional's wheel shaft of each omni-directional wheel.Motion vector by three omni-directional wheels
Synthesis, it is possible to achieve the linear motion along any direction for the robot moving platform, the axis of symmetry 203 around robot moving platform
Rotary motion and the compound movement being synthesized by straight line and rotary motion.
Illustrate below with reference to Fig. 4, Fig. 5 and Fig. 6 and control robot moving platform in the exemplary embodiment in level
Movement in face and the method for rotation.
When need robot moving platform along Fig. 5 the direction of arrow (direction is flat with omnidirectional's wheel shaft 8 of omni-directional wheel 2003
OK, now target motion vectors) mobile when, controller is by the driving means being connected with omni-directional wheel 2001
Control omni-directional wheel 2001 rolls along the opposite direction in T1 direction, by the driving means control omni-directional wheel being connected with omni-directional wheel 2002
2002 roll along T2 direction, and both speed are to together.When rolling, the first wheels, second in omni-directional wheel 2001 and 2002 are taken turns
Group, third round group contact with ground respectively according to aforesaid arrangement position；Now, omni-directional wheel 2003 does passive rolling, and it is first years old
One of wheels, the second wheels, third round group or two rollers will contact with ground all the time, and rotate around its rotating shaft.At it
In his embodiment, controller by the driving means that is connected with omni-directional wheel 2001 control omni-directional wheel 2001 along the opposite direction in T1 direction
Rolling, by the driving means that is connected with omni-directional wheel 2002 control omni-directional wheel 2002 along the rolling of T2 direction, omni-directional wheel 2001 is along T1
During the speed that the speed that the opposite direction in direction rolls rolls along T2 direction more than omni-directional wheel 2002, then omni-directional wheel 2001 and ground are produced
The frictional force that raw frictional force produces with ground more than omni-directional wheel 2002, robot moving platform direction of arrow along Fig. 5 is on the lower side
Mobile, concrete angle and both rolling speed difference correlations.
(the now target when needing robot moving platform the direction of arrow rotating around the axis 203 on chassis 202 along Fig. 6
Motion vector), controller by respectively with omni-directional wheel the 2001st, the 2002nd, driving means that 2003 are connected control
The 2002nd, the 2001st, omni-directional wheel 2003 roll respectively along the opposite direction of T1, T2, T3 in the same direction.When rolling, omni-directional wheel is the 2001st,
2002nd, the first wheels in 2003, the second wheels, third round contact with ground respectively according to aforesaid arrangement position.
Other more complicated motions of robot moving platform can be decomposed into the combination of both the above motion, its control mode
It is obvious for those skilled in the art.
It will be understood by those skilled in the art that the purpose of the description to embodiments of the invention above only for exemplarily saying
The beneficial effect of bright embodiments of the invention, is not intended to limit embodiments of the invention to given any example.
Being described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and also
It is not limited to disclosed each embodiment.In the case of the scope and spirit without departing from illustrated each embodiment, for this skill
For the those of ordinary skill in art field, many modifications and changes will be apparent from.The selection of term used herein, purport
Explaining principle, actual application or the improvement to the technology in market of each embodiment best, or making the art
Other those of ordinary skill are understood that each embodiment disclosing herein.
Claims (17)
1. an omni-directional wheel, it is characterised in that include：
Omnidirectional's wheel shaft (8), for carrying out external connection by described omni-directional wheel；
Support (9), for carrying out non-yielding prop inside described omni-directional wheel, is connected to described omnidirectional wheel shaft (8)；
First wheels (1), described first wheels (1) are connected to described omnidirectional wheel shaft (8), including be respectively symmetrically by support (9)
It is arranged at two hemispherical rollers (101) of described support (9) both sides；
Second wheels (2), described second wheels include being respectively symmetrically the hemispherical roller being arranged at described first wheels (1)
(101) two second rollers on top, and it is connected to described omnidirectional wheel shaft (8) by described support (9)；
Third round group (3), it is right respectively relative to corresponding first rotating shaft (4) of described first wheels (1) that described third round group includes
Claim two the 3rd rollers being arranged at the both sides of described support (9), and be connected to described omnidirectional wheel shaft by described support (9)
(8)；
Wherein, described omnidirectional wheel shaft (8), described first rotating shaft (4) and corresponding second rotating shaft of described second roller (5) hang down each other
Directly.
2. omni-directional wheel according to claim 1, it is characterised in that described first rotating shaft (4), described second rotating shaft (5) and
The corresponding 3rd coplanar setting of rotating shaft (6) of described 3rd roller.
3. omni-directional wheel according to claim 2, it is characterised in that described first rotating shaft (4), described second rotating shaft (5),
In the plane at described 3rd rotating shaft (6) place, described first wheels (1), described second wheels (2) and described third round group (3)
Outline combination formed circle.
4. omni-directional wheel according to claim 2, it is characterised in that described first rotating shaft (4) is parallel to described 3rd rotating shaft
(6).
5. omni-directional wheel according to claim 1, it is characterised in that described second roller, described 3rd roller are spindle
Shape, and described second roller, the described 3rd corresponding radian corresponding radian one with described hemispherical roller (101) respectively of roller
Cause.
6. omni-directional wheel according to claim 1, it is characterised in that described first wheels (1), described second wheels (2) and
Described third round group (3) is connected to described support (9) by bearing respectively.
7. omni-directional wheel according to claim 1, it is characterised in that described hemispherical roller (101), described second roller and
At least one of outer surface of described 3rd roller is made up of rubber, silica gel or nylon.
8. omni-directional wheel according to claim 1, it is characterised in that the top of described hemispherical roller (101) forms end face
(103), described second roller is arranged at described end face (103) place.
9. omni-directional wheel according to claim 1, it is characterised in that described hemispherical roller (101) can be around described first
Rotating shaft (4) rotates, and described second roller can rotate around described second rotating shaft (5), and described 3rd roller can be around the described 3rd
Corresponding 3rd rotating shaft (6) of roller rotates.
10. a robot moving platform, it is characterised in that include chassis and be arranged at least three on described chassis according to power
Profit requires the omni-directional wheel according to any one of 1-9.
11. robot moving platforms according to claim 10, it is characterised in that the number of described omni-directional wheel is three,
And three omni-directional wheels are distributed in the bottom on described chassis.
12. robot moving platforms according to claim 10, it is characterised in that each omni-directional wheel is respectively connecting to one
Driving means, described driving means is used for driving omnidirectional's wheel shaft (8) of described omni-directional wheel, thus drives omni-directional wheel to rotate.
13. robot moving platforms according to claim 12, it is characterised in that also include：
Computing module, for based on the current location of described robot moving platform and attitude and target location and Attitude Calculation
Target motion vectors；
Control module, is driven for controlling every driving means respectively according to described target motion vectors.
14. robot moving platforms according to claim 13, it is characterised in that calculate described target by below equation
Motion vector：
Wherein,Represent described target motion vectors, xt、ytRepresent the level of the target location of described robot moving platform respectively
X coordinate and y-coordinate, θtRepresent the angle on target around vertical direction of described robot moving platform, x0、y0Represent described respectively
The horizontal x coordinate of the current location of robot moving platform and y-coordinate, θ0Represent described robot moving platform around vertical side
To current angular.
15. robot moving platforms according to claim 13, it is characterised in that described control module is according to described target
Motion vector controls every driving means when being driven respectively, and described target motion vectors is converted into every driving means pair
The velocity of rotation answered and rotation direction.
16. robot moving platforms according to claim 15, it is characterised in that described control module is according to described target
Motion vector controls every driving means when being driven respectively, drives two omni-directional wheels respectively in opposite directions by described driving means
Or opposing rolling, the described robot moving platform of force difference control that the rolling speed according to two omni-directional wheels produces carries out institute
State moving horizontally on two omni-directional wheel correspondence directions, drive three omni-directional wheels to be scrolled in the same direction respectively by described driving means
Row is around the rotation of the axis of described robot moving platform.
17. 1 kinds of mobile robots, it is characterised in that include that the robot according to according to any one of claim 10-16 moves
Moving platform.
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