CN106926639B

CN106926639B - Omnidirectional wheel and omnidirectional wheel mechanism

Info

Publication number: CN106926639B
Application number: CN201710286647.9A
Authority: CN
Inventors: 孙泽波; 单明明
Original assignee: Shenzhen Aiframe Power Technology Development Co ltd
Current assignee: Shenzhen Aiframe Power Technology Development Co ltd
Priority date: 2017-04-27
Filing date: 2017-04-27
Publication date: 2023-09-08
Anticipated expiration: 2037-04-27
Also published as: CN106926639A

Abstract

The invention provides an omnidirectional wheel which comprises a wheel body and a fixed shaft fixed on the wheel body, wherein the wheel body is a rotating body and is composed of a plurality of arc-shaped bulges taking the fixed shaft as a central annular array, and the longitudinal section of each arc-shaped bulge is coplanar with the fixed shaft. Compared with the prior art, the omnidirectional wheel has the advantages that the overall structure is simple, the volume is small, one or two arc-shaped bulges are used for being in contact with the ground, the friction force is reduced, the omnidirectional wheel mechanism manufactured by the omnidirectional wheel can complete forward and backward movement and left and right turning, can complete left and right translation, and is widely applicable to robots, carts, transfer conveyors, freight vehicles, baggage and the like.

Description

Omnidirectional wheel and omnidirectional wheel mechanism

Technical Field

The present invention relates to an omni-directional mobile device, and more particularly to an omni-directional wheel and an omni-directional wheel mechanism.

Background

The omnidirectional wheel is a wheel capable of being used for building an omnidirectional mobile platform, the ordinary omnidirectional wheel comprises a driving wheel driven by a motor, a plurality of driven wheels capable of freely rotating are evenly distributed along the circumference of the driving wheel, the axial direction of the driving wheel is different from the axial direction of the driven wheels, the whole wheel can realize rolling and lateral sliding, when the plurality of omnidirectional wheels are matched for use, the platform can be moved in any direction through speed control among the wheels, and the omnidirectional wheel has very high movement flexibility and is suitable for movement in a narrow space.

The existing omni-wheel is usually an omega wheel and a Mecanum wheel, a plurality of small rollers are obliquely distributed on the rim of the main wheel, the rotating shafts of the small rollers and the rotating shaft of the main wheel form a certain angle, and the small rollers increase one degree of freedom in the axial direction, so that the wheel can transversely slide. When in use, the European Mi Nilun needs 3 groups or 4 groups to be matched for use so as to form a complete mobile platform; whereas the Mecanum wheel has only a group of 4 modes and has left and right divisions, the small rollers on the left and right wheels are distributed in mirror image relationship. However, the two omni-wheels of the prior art have the following disadvantages: 1) The materials adopted by each part are different, the processing technology is different, and the production and manufacturing costs are high; the structure is complex, and the maintenance difficulty is high; 2) The number of parts is large, the whole volume is large, and miniaturization is impossible; 3) The structure is relatively precise, and the structure is easy to be damaged due to the influence of external force; 4) The manufacturing process of the wheel is complex, and the production period is long.

Disclosure of Invention

Aiming at the problems, the invention provides the omnidirectional wheel which has the advantages of simple structure, small volume, simple manufacturing process and short production period.

The invention adopts the technical scheme that:

the utility model provides an omnidirectional wheel, includes the wheel body and fixes the fixed axle on the wheel body, and the wheel body is the rotator, and the wheel body comprises a plurality of arc protruding of taking the fixed axle as central annular array, and the bellied longitudinal section of every arc is the coplanar with the fixed axle.

Preferably, the length of the outer side edge is smaller than the length of the inner side edge in the cross section of each arc-shaped protrusion.

Preferably, each arcuate projection has a triangular or trapezoidal cross section.

Preferably, the fixed shaft is provided with a mounting hole.

The invention also provides an omnidirectional wheel mechanism, which comprises a mounting plate and three supporting legs fixed below the mounting plate, wherein the space included angles of two adjacent supporting legs are the same, an omnidirectional wheel is arranged below each supporting leg, a driving motor for driving the omnidirectional wheel is arranged in each supporting leg, and a control system for controlling the rotating speed and the steering of each driving motor is arranged on the mounting plate.

Preferably, the included angle between each supporting leg and the horizontal plane is 0-75 degrees.

The invention also provides an omnidirectional wheel mechanism, which comprises a mounting plate and four supporting legs fixed below the mounting plate, wherein the space included angles of two adjacent supporting legs are the same, an omnidirectional wheel is arranged below each supporting leg, a driving motor for driving the omnidirectional wheel is arranged in each supporting leg, and a control system for controlling the rotating speed and the steering of each driving motor is arranged on the mounting plate.

Compared with the prior art, the invention has the beneficial effects that: the invention provides an omnidirectional wheel, which has a simple integral structure and a small volume, is contacted with the ground by using one or two arc-shaped bulges, reduces friction force, can complete forward and backward and left and right turning, can complete left and right translation, and is widely applicable to robots, carts, transfer conveyors, freight vehicles, baggage and the like.

Drawings

Fig. 1 is a perspective view of an omni wheel provided by the present invention;

fig. 2 is a top view of an omni-wheel according to the present invention;

fig. 3 is a perspective view of a first embodiment of an omni wheel mechanism provided by the present invention;

fig. 4 is a top view of a first embodiment of an omni wheel mechanism provided by the present invention;

fig. 5 is a perspective view of a second embodiment of an omni wheel mechanism provided by the present invention;

fig. 6 is a top view of a second embodiment of an omni wheel mechanism provided by the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 to 2 are schematic views of a preferred embodiment of an omni-wheel according to the present invention. As shown in fig. 1 to 2, the omni-directional wheel 100 comprises a wheel body 10 and a fixed shaft 20 fixed on the wheel body 10, wherein the fixed shaft 20 is provided with a mounting hole 21, the wheel body 10 is a rotating body, the wheel body 10 is formed by a plurality of arc-shaped bulges 11 which are annularly arrayed with the fixed shaft 20 as a center, and the longitudinal section of each arc-shaped bulge 11 is coplanar with the fixed shaft 20. The length of the outer side edge is smaller than that of the inner side edge in the cross section of each arc-shaped bulge 11; as a preferred embodiment, each arc-shaped protrusion 11 has a triangular or trapezoidal cross section; thus, when the fixed shaft 20 is in a non-vertical state, the wheel body 10 is stressed differently in each direction by using one or two arc-shaped protrusions 11 to contact with the ground, similar to the mode of contact of a skates with the ground, and the friction force along the axial direction is small and the friction force along the radial direction is large, so that the wheel body 10 can slide on the ground conveniently.

Fig. 3 to 4 are schematic views of a first embodiment of an omni wheel mechanism according to the present invention. As shown in fig. 3 to 4, the omnidirectional mechanism comprises a mounting plate 30 and three supporting legs 40 fixed below the mounting plate 30, wherein the space included angles of two adjacent supporting legs 40 are the same, the included angle between each supporting leg 40 and the horizontal plane is 0-75 degrees, an omnidirectional wheel 100 is arranged below each supporting leg 40, a driving motor (not shown in the figure) for driving the omnidirectional wheel 100 is arranged in each supporting leg 40, and a control system (not shown in the figure) for controlling the rotating speed and the steering of each driving motor is arranged on the mounting plate 30; when the omnidirectional wheel mounting device is used, the mounting plate 30 is mounted below a carrier, 3 omnidirectional wheels 100 are respectively connected with corresponding driving motors through the fixing shafts 20, the omnidirectional wheels 100 are mounted below the supporting legs 40, one or two arc-shaped protrusions 11 are in contact with the ground, the rotating speed and steering of each driving motor are controlled by a control system, the 3 omnidirectional wheels are mutually matched, forward and backward and left and right turning are completed, left and right translation can be completed, and the omnidirectional wheel mounting device is widely applicable to robots, carts, transfer conveyors, freight cars, baggage and the like.

Fig. 5 to 6 are schematic views of a second embodiment of an omni wheel mechanism according to the present invention. As shown in fig. 5 to 6, the omni-directional mechanism comprises a mounting plate 30A and three supporting legs 40A fixed below the mounting plate 30A, wherein the space included angles of two adjacent supporting legs 40A are the same, the included angle between each supporting leg 40A and the horizontal plane is 0-75 degrees, an omni-directional wheel 100 is arranged below each supporting leg 40A, a driving motor (not shown in the figure) for driving the omni-directional wheel 100 is arranged in each supporting leg 40, and a control system (not shown in the figure) for controlling the rotating speed and the steering of each driving motor is arranged on the mounting plate 30A; when the device is used, the mounting plate 30A is mounted below a carrier, one or two arc-shaped bulges 11 are in contact with the ground, 4 omnidirectional wheels 100 are respectively connected with corresponding driving motors through the fixed shafts 20, the omnidirectional wheels 100 are mounted below the supporting feet 40A, the control system is used for controlling the rotating speed and steering of each driving motor, the 4 omnidirectional wheels are mutually matched to finish forward and backward and left and right turning, left and right translation can be finished, and the device is widely applicable to robots, carts, transfer conveyors, freight cars, baggage and the like.

In summary, the technical solution of the present invention can fully and effectively achieve the above-mentioned objects, and the structural and functional principles of the present invention have been fully verified in the embodiments, so as to achieve the intended effects and purposes, and various changes or modifications may be made to the embodiments of the present invention without departing from the principles and spirit of the present invention. Accordingly, this invention includes all modifications encompassed within the scope of the invention as described in the claims and any equivalent thereof that comes within the meaning and range of equivalents of the claims.

Claims

1. The omnidirectional wheel is characterized by comprising a wheel body and a fixed shaft fixed on the wheel body, wherein the wheel body is a rotating body and consists of a plurality of arc-shaped bulges taking the fixed shaft as a central annular array, and the longitudinal section of each arc-shaped bulge is coplanar with the fixed shaft;

the length of the outer side edge in the cross section of each arc-shaped bulge is smaller than that of the inner side edge; the cross section of each arc-shaped bulge is triangular or trapezoidal; the fixed shaft is provided with a mounting hole.

2. An omni wheel mechanism comprising the omni wheel of claim 1, comprising: the device comprises a mounting plate and three supporting legs fixed below the mounting plate, wherein the space included angles of two adjacent supporting legs are the same, an omnidirectional wheel is arranged below each supporting leg, a driving motor for driving the omnidirectional wheel is arranged in each supporting leg, and a control system for controlling the rotating speed and the steering of each driving motor is arranged on the mounting plate.

3. The omni wheel mechanism according to claim 2, wherein: the included angle between each supporting leg and the horizontal plane is 0-75 degrees.

4. An omni wheel mechanism comprising the omni wheel of claim 1, comprising: the device comprises a mounting plate and four supporting feet fixed below the mounting plate, wherein the space included angles of two adjacent supporting feet are the same, an omnidirectional wheel is arranged below each supporting foot, a driving motor for driving the omnidirectional wheel is arranged in each supporting foot, and a control system for controlling the rotating speed and the steering of each driving motor is arranged on the mounting plate.

5. The omni wheel mechanism of claim 4 wherein: the included angle between each supporting leg and the horizontal plane is 0-75 degrees.