CN106696598B - Omnidirectional wheel without lateral swing - Google Patents

Omnidirectional wheel without lateral swing Download PDF

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Publication number
CN106696598B
CN106696598B CN201611206050.0A CN201611206050A CN106696598B CN 106696598 B CN106696598 B CN 106696598B CN 201611206050 A CN201611206050 A CN 201611206050A CN 106696598 B CN106696598 B CN 106696598B
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China
Prior art keywords
wheel
hub
ball
wheel hub
supporting
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CN201611206050.0A
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Chinese (zh)
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CN106696598A (en
Inventor
黄用华
余记华
杨炼
庄未
匡兵
黄美发
孙永厚
宋宜梅
钟永全
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Guilin University of Electronic Technology
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Guilin University of Electronic Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/0028—Construction of wheels; methods of assembling on axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/0036—Castors in general; Anti-clogging castors characterised by type of wheels
    • B60B33/0042—Double or twin wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/02—Castors in general; Anti-clogging castors with disengageable swivel action, i.e. comprising a swivel locking mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2200/00—Type of product being used or applied
    • B60B2200/40—Articles of daily use
    • B60B2200/43—Carts
    • B60B2200/434—Wheel barrows
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/86—Optimisation of rolling resistance, e.g. weight reduction 

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)
  • Toys (AREA)

Abstract

The invention discloses an omnidirectional wheel without lateral swing, which comprises a left wheel hub and a right wheel hub which are coaxially and fixedly installed and rotate front and back, wherein the left wheel hub and the right wheel hub are uniformly distributed on the circumference of each wheel hub, the positions of the pitch wheels on the left wheel hub and the right wheel hub are staggered, one or more than two supporting balls along the circumferential direction are arranged at intervals of the pitch wheels on the same wheel hub, each supporting ball is arranged in a corresponding ball hole of a ball seat in a rolling manner, the ball seat is fixedly installed on the wheel hub at the interval, and the exposed top of each supporting ball and the outline of each pitch wheel are positioned on the same circumference. When the omnidirectional wheel is in pure rolling, the supporting ball and the pitch wheel are always in contact with the ground, so that the problem of unbalanced operation caused by only contacting the pitch wheel with the ground is solved, the rolling stability of the omnidirectional wheel is improved, and the adaptability of the omnidirectional wheel to a dynamic complex environment is enhanced.

Description

Omnidirectional wheel without lateral swing
Technical Field
The invention relates to a wheel type walking mechanism component, in particular to an omnidirectional wheel without lateral swing.
Background
The omnidirectional wheel is a supporting element of a common wheel type road walking mechanism, can realize longitudinal and transverse omnidirectional free movement, has the characteristics of simple structure, flexible rotation and the like, and is widely applied to occasions such as factories, hospitals, markets and the like in the forms of trolleys, conveyors, freight vehicles, luggage trucks and the like.
The existing omnidirectional wheel can be roughly divided into two types, one type is a single-hub structure, such as a Mecanum omnidirectional wheel, the omnidirectional wheel consists of a single hub and a plurality of small rolling wheels (joint wheels) which are attached to the circumference of the hub and form an included angle of 45 degrees with a rotating shaft of the hub, and the omnidirectional movement can be realized through the matching of the hub and the small rolling wheels; the other type is a double-hub structure, such as a Fulai universal wheel, the omnidirectional wheel consists of a double hub and a plurality of small rollers (joint wheels) which are staggered with each other on the circumferences of the two hubs and form an included angle of 90 degrees with a hub rotating shaft, and the small rollers on the two hubs can be contacted with the ground in a staggered mode according to the sequence when the omnidirectional wheel rotates, so that the omnidirectional wheel can freely move in the longitudinal direction and the transverse direction.
For the two omnidirectional wheels, the small rollers of the latter (double-hub structure) are respectively contacted with the ground, so that the continuity and the stability of the longitudinal movement of the omnidirectional wheels can be maintained. However, the outline of the small roller is different from the edge of the hub in height, when the omnidirectional wheel moves, the grounding part can be switched between the small rollers on the two hubs, and the height difference between the outline of the small roller and the edge of the hub is easy to generate side left and right swinging, so that the transverse movement of the omnidirectional wheel is unstable, and the phenomenon becomes more obvious as the span of the small rollers becomes larger.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an omnidirectional wheel without lateral swinging.
The invention relates to an omnidirectional wheel without lateral swing, which adopts the technical scheme that a left hub and a right hub which rotate front and back are coaxially and fixedly installed, a left rotating pitch wheel and a right rotating pitch wheel are uniformly distributed on the circumference of each hub, the positions of the pitch wheels on the left hub and the right hub are staggered, the difference is that one or more than two supporting balls along the circumferential direction are arranged at the interval of the pitch wheels on the same hub, each supporting ball is arranged in a corresponding ball hole of a ball seat in a rolling manner, the ball seat is fixedly installed on the hub at the interval, and the exposed top of each supporting ball and the outline of each pitch wheel are positioned on the same circumference.
One structure of the ball seat comprises a left side plate, a right side plate and a top plate connected to the tops of the left side plate and the right side plate, the supporting balls are arranged in ball holes formed in the top plate in a rolling mode, and the ball seat is installed on a hub through a left side plate and a right side plate and fixed in position through a set screw.
The number of the supporting balls depends on the spacing distance (span) of the pitch wheel (the spacing width is small, one or two supporting balls are set, and the spacing width is large, a plurality of supporting balls are set), and the spacing distance of the pitch wheel depends on the diameter of the hub.
The invention has the beneficial effects that:
1. the omnidirectional wheel without lateral swing adopts a mode that the supporting balls and the pitch wheels are distributed in a staggered mode, and the omnidirectional wheel is ensured to run stably by reducing the generation of unbalanced moment.
2. The invention adopts the clamped ball seat to install the supporting ball, has simple structure and convenient installation, and can ensure that the supporting ball is contacted with the ground while avoiding the falling of the supporting ball.
Drawings
Fig. 1 is a perspective view of one embodiment of the present invention.
Fig. 2 is a front elevational view of the embodiment of fig. 1.
Fig. 3 (a) is a side view of fig. 2.
Fig. 3 (b) is a schematic structural view of the ball seat in fig. 1, 2 and 3.
And (3) identifying the figure number: 1. tightening the screw; 2. a ball seat; 2-1, side plates; 2-2, a top plate; 3. a hub; 4. a segment wheel; 5. supporting the balls; 6. a hexagon socket head cap screw; 7. a bead hole; 8. a shaft sleeve.
Detailed Description
The technical solution of the present invention will be further explained with reference to the embodiments shown in the drawings.
The invention has no side swing omniwheel, its wheel body includes left, right wheel nave 3, left, right wheel nave 3 is coaxially mounted and fixed axially with the circumferentially equispaced many hexagon socket head bolts 6 on the axle sleeve 8, the bore of the said axle sleeve 8 is the output shaft mounting hole of the omniwheel drive motor, there are notches on the circumference of top of every wheel nave 3 evenly at intervals, install the nodal wheel 4 that can rotate left and right in the said notch, the outline diameter of the said nodal wheel 4 is greater than the diameter of the wheel nave 3, the nodal wheel 4 on the left, right wheel nave 3 is staggered in position, as shown in fig. 1, fig. 2, fig. 3 (a).
The hub body at the interval of every two segment wheels 4 on the same hub 3 is provided with a U-shaped ball seat 2, the ball seat 2 is clamped on the hub body by depending on left and right side plates 2-1, a top plate 2-2 (connected to the top of the left and right side plates 2-1) of the ball seat 2 is attached to the circumference surface of the top of the hub 3, the left and right side plates 2-1 are fastened on the hub 3 by a fastening screw 1, the center of the top plate 2-2 of the ball seat 2 is provided with a ball hole 7, a supporting ball 5 is arranged in the ball hole 7 in a rolling way, the top of each supporting ball 5 exposed out of the top plate 2-2 and the outline of each segment wheel 4 are positioned on the same circumference, as shown in figures 1, 2, 3 (a) and 3 (b).
The number of the supporting balls 5 depends on the distance of the pitch wheels 4, and the distance of the pitch wheels 4 is set according to the diameter of the hub 3.
The walking mode of the invention is as follows:
the output shaft of the omnidirectional wheel driving motor drives the left hub 3 and the right hub 3 to synchronously rotate and advance or retreat, the pitch wheel 4 and the supporting ball 5 on the hub 3 rotate along with the rotation, and because each supporting ball 5 and each pitch wheel 4 are positioned on the same circumference, one pitch wheel 4 and one supporting ball 5 are always in contact with the ground on the left hub 3 and the right hub 3, so that the aim of stable operation is fulfilled, the adaptability of the omnidirectional wheel to a dynamic complex environment is enhanced, the problem of unbalanced operation caused by the fact that only one pitch wheel 4 is in contact with the ground in a traditional structure is avoided, and the stability of mechanism operation is ensured.

Claims (2)

1. There is not side direction wobbling omniwheel, including coaxial fixed dress preceding, back pivoted left and right wheel hub (3), the circumference equipartition has left and right pivoted festival wheel (4) on each wheel hub (3), and festival wheel (4) on left and right wheel hub (3) position is wrong, its characterized in that: one or more than two supporting balls (5) are arranged at intervals of the segment wheels (4) on the same hub (3), each supporting ball (5) is arranged in a corresponding ball hole (7) of the ball seat (2) in a rolling manner, the ball seats (2) are fixedly arranged on the hub (3) at the intervals, and the exposed top of each supporting ball (5) and the outline of each segment wheel (4) are positioned on the same circumference; the ball seat (2) is U-shaped, the ball seat (2) comprises a left side plate (2-1), a right side plate (2-1) and a top plate (2-2) connected to the tops of the left side plate (2-1) and the right side plate (2-1), the ball seat (2) is clamped on a hub body of the hub (3) by means of the left side plate (2-1) and the right side plate (2-1) and is fixed in position by a set screw (1), the top plate (2-2) is attached to the circumferential surface of the top of the hub (3), and the support balls (5) are arranged in ball holes (7) formed in the top plate (2-2) in a rolling mode.
2. The omni wheel without lateral oscillation of claim 1, wherein: the number of the supporting balls (5) depends on the spacing distance of the pitch wheels (4), and the spacing distance of the pitch wheels (4) depends on the diameter of the hub (3).
CN201611206050.0A 2016-12-23 2016-12-23 Omnidirectional wheel without lateral swing Active CN106696598B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611206050.0A CN106696598B (en) 2016-12-23 2016-12-23 Omnidirectional wheel without lateral swing

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Application Number Priority Date Filing Date Title
CN201611206050.0A CN106696598B (en) 2016-12-23 2016-12-23 Omnidirectional wheel without lateral swing

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CN106696598B true CN106696598B (en) 2023-04-11

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107984967A (en) * 2017-12-28 2018-05-04 内江师范学院 A kind of omni-directional wheel of high accuracy positioning
CN109703288A (en) * 2019-01-02 2019-05-03 中山市海洋丰裕智能科技有限公司 Universal caster wheel
CN110450853A (en) * 2019-08-15 2019-11-15 珠海格力智能装备有限公司 AGV trolley

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013189069A (en) * 2012-03-13 2013-09-26 Tosa Denshi:Kk Omni wheel
CN203957704U (en) * 2013-12-12 2014-11-26 王涛 Single omni-directional wheel
CN204586338U (en) * 2015-02-02 2015-08-26 东莞威信运动用品有限公司 Cardan wheel
CN205524543U (en) * 2016-03-11 2016-08-31 深圳小趴智能科技有限公司 Omniwheel body structure and robot
CN205523384U (en) * 2016-04-25 2016-08-31 成都电科创品机器人科技有限公司 Hinder omniwheel and mobile device more
CN206306730U (en) * 2016-12-23 2017-07-07 桂林电子科技大学 Omni-directional wheel without sideshake

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013189069A (en) * 2012-03-13 2013-09-26 Tosa Denshi:Kk Omni wheel
CN203957704U (en) * 2013-12-12 2014-11-26 王涛 Single omni-directional wheel
CN204586338U (en) * 2015-02-02 2015-08-26 东莞威信运动用品有限公司 Cardan wheel
CN205524543U (en) * 2016-03-11 2016-08-31 深圳小趴智能科技有限公司 Omniwheel body structure and robot
CN205523384U (en) * 2016-04-25 2016-08-31 成都电科创品机器人科技有限公司 Hinder omniwheel and mobile device more
CN206306730U (en) * 2016-12-23 2017-07-07 桂林电子科技大学 Omni-directional wheel without sideshake

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