CN107310329B - A kind of spherical omnidirectional's wheel of multicomponent and vehicle using the wheel - Google Patents
A kind of spherical omnidirectional's wheel of multicomponent and vehicle using the wheel Download PDFInfo
- Publication number
- CN107310329B CN107310329B CN201710429560.2A CN201710429560A CN107310329B CN 107310329 B CN107310329 B CN 107310329B CN 201710429560 A CN201710429560 A CN 201710429560A CN 107310329 B CN107310329 B CN 107310329B
- Authority
- CN
- China
- Prior art keywords
- driven wheel
- wheel
- omni
- big
- small
- 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.)
- Expired - Fee Related
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/06—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Pulleys (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of omni-directional wheel of multicomponent and use the vehicle or mobile platform of the omni-directional wheel.The omni-directional wheel is made of the identical component of three structure types, and each component is made of (1) big driven wheel, (2) small driven wheel, (3) small follower shaft, (4) big driven wheel support；Wherein first assembly is made of (1-1) (2-1) (3-1) (4-1), wherein the second component is made of (1-2) (2-2) (3-2) (4-2), wherein third component is made of (1-3) (2-3) (3-3) (4-3).Three components are all connected to (5) rigid backbone.(5) rigid backbone and power (6) transmission shaft are rigidly connected.Constitute omni-directional wheel (10).Wherein (7-1,7-2,7-3) jante et perpendiculaire of three (1) big driven wheel in any and the point fall in on the rotation axis (8) of (6) transmission shaft.(1) outer surface of big driven wheel is O with the centre of sphere at spherical surface, and the spherical surface that radius is R is overlapped.(2) small driven wheel can be rotated around the central axis of (3) small follower shaft, and the outer surface of (2) small driven wheel and the centre of sphere are O, and radius is that the spherical surface of R is tangent.
Description
Technical field
The present invention relates to a kind of spherical omni-directional wheel of multicomponent, which is used for can be with the vehicle or machine of omnidirectional running
People's mobile platform.
Background technique
Current three-wheel and four-wheel car, direction controlling realize the driving of front-wheel by rudder.This direction controlling
Mode there are biggish turning radius, can not original place rotation, and turning speed needs severely limited with anti-rollover, and center of gravity is inclined
High vehicle turning speed will be slower, and turning radius is bigger.
Common service robot, sweeping robot, industrial circle the mobile platforms such as AGV platform use the differential machine of two-wheel
Zero turning radius may be implemented in structure.But along when being arbitrarily designated direction linear motion, designated parties must be rotated in place first
To then could being moved along assigned direction.Short distance position is adjusted, it appears movement is cumbersome, and movement range is big.
The differential storage robot platform of certain two-wheels carries the biggish shelf of length, in order to guarantee that shelf direction does not occur
Changing, increasing a rotatable platform above, the angular displacement generated when for offsetting on-rectilinear movement increases the same of cost
When increase the complexity of entire mechanical system.
Above-mentioned three kinds of motion platforms can not be moved really while not generating rotation along arbitrary curve.
The omni-directional wheel mentioned in 2855792 Y of common Mecanum wheel and CN can be achieved omnidirectional moving, but take turns
The trundle of edge is easily involved in the sundries such as hair, influences its service performance.
The wheel as described in patent JP 2007-210576 has double semiglobes, improves and above-mentioned is involved in asking for sundries
Topic.But there are certain defects for the wheel of its description.Each omni-directional wheel includes two hemisphere driven wheels for having parallel cut, transmission
Axis is from the incoming spherical wheel in the gap among two hemispheres.All it is self-possessed since transmission shaft undertakes car body, to realize enough hold
Carry power, it is necessary to which certain enough gaps are set between two hemisphere, it is ensured that have axis heavy in section enough that can penetrate ball wheel.Ensuring
In the case that drive shaft has safe bending stiffness, which cannot be reduced, and the every rotation of wheel one week, gap-contact ground
Twice, very big noise will be generated when driving in normal speed.
Summary of the invention
The method that the invention proposes a kind of to eliminate ball wheel gap from principle, and ball wheel shaft can be greatly promoted
Rigidity.
A theme of the invention is a kind of global wheel for Omni-mobile vehicle, it is characterised in that: ball wheel passes through biography
Power is transferred to ball wheel itself by motor 11 by moving axis 6, and transmission shaft 6 undertakes the load moment of flexure of car body weight generation simultaneously；It passes
Moving axis 6 and rigid backbone 5 are rigidly connected, and rigid backbone 5 is made of three components, and each component includes 1 He of big driven wheel
One small driven wheel 2；They are hinged respectively at rigid backbone 5；Big 1 outer surface of driven wheel is overlapped with the spherical surface that a radius is R,
The outer surface of small driven wheel 2 and the spherical surface are tangential on one section of circular arc；The rotation axis 7-1,7-2,7-3 of big driven wheel 1 meets at circle
Heart O, the rotation axis 14-1,14-2,14-3 of small driven wheel 2 are in the same plane.The small driven wheel of big driven wheel 1 and same group
2 rotation axis is vertical.The quantity of component can be more than three groups, and the circular conical surface corner angle for defining big driven wheel 1 accordingly is
360/N, wherein N is group number.The implementation of above-mentioned this mechanism eliminates the interhemicerebral gap of ball wheel from principle, reduces
Vibration, and can greatly improve the rigidity of ball wheel shaft.
Another theme of the invention is to include at least the omni-directional wheel that 3 present invention introduce using the vehicle of this omni-directional wheel.
Detailed description of the invention
The present invention illustrates a kind of design method for eliminating ball wheel gap by one embodiment, can be with by consulting attached drawing
The characteristics of being easier to understand the concrete methods of realizing proposed in the present invention and invention, the same part is in different views with identical
Serial number indicate that wherein 1 represents big driven wheel, 1-1,1-2,1-3 respectively represents the different a of big driven wheel 1 in different components
Body, similarly serial number 2,3,4,7,9,10,11,13,14 Different Individual also occur with the form of A-B respectively, and wherein A represents zero
Piece number, B represent individual number.
Fig. 1 shows the front view of the embodiment of the present invention.
Fig. 2 shows the embodiment of the present invention along the cross-sectional view of section C.
Fig. 3 shows the right view of the embodiment of the present invention.
Fig. 4 shows the perspective view of the embodiment of the present invention.
The embodiment that Fig. 5 Fig. 6 shows global wheel of the present invention is applied to the schematic diagram of a move vehicle embodiment.
Fig. 7 Fig. 8 is the schematic diagram of another embodiment of ball wheel of the present invention.
Specific embodiment
According to Fig. 1, Fig. 2, Fig. 3 omni-directional wheel 10 is used as main frame by rigid backbone 5, and three big driven wheel 1 is cut with scissors by bearing 4
It is connected to rigid backbone 5, is preferably distributed at 120 degree；Similarly, small driven wheel 2 by small follower shaft 3 and small bearing hinge connection in
Rigid backbone 5 is preferably distributed at 120 degree.The outer surface of big driven wheel 1 is overlapped with the spherical surface that radius is R, small driven wheel 2
Outside face and the spherical surface are tangential on one section of circular arc on the C of section.
According to Fig. 1, Fig. 2 is it is found that ideally, the outer profile of big driven wheel 1 and small driven wheel 2 that the section C is intercepted
Line is that ball wheel revolves the line to turn around with the point composition of ground face contact around axis 8.As shown in Figure 2, between big driven wheel 1 and greatly from
There are gaps with small driven wheel 2 for driving wheel 1, and having Fig. 2 to can be seen that the gap can continue to optimize, and be theoretically close to zero.
The outer surface of big driven wheel 1 is be located at the spherical surface that the conical surface that center of circle O apex angle is 120 degree defines by vertex one
Part, there are a circular opens for arranging small driven wheel 2 at the spherical calotte center.
The rotation axis 7-1,7-2,7-3 of driven wheel 1-1,1-2,1-3 three big intersect at a centre of sphere O, small driven wheel 2
Rotation axis 14-1,14-2,14-3 are in the same plane；Respectively with 14-1, the axis of 14-2,14-3 is vertical by 7-1,7-2,7-3.
Preferably, the rotation axis 7-1 of driven wheel 1-1,1-2,1-3 three big, 7-2,7-3 is in the same plane, hangs down
Directly in omni-directional wheel rotation axis 8.
Preferably, the component count being made of big driven wheel 1 and small driven wheel 2 can be more than three groups.Fig. 7, Fig. 8 give
Omnidirectional wheel structure when N=4.Wherein N is component count.The vertebra face apex angle for defining the outer surface of big driven wheel 1 at this time is 90 degree.
According to Fig. 3,6 section maximum region of wheel drive axis may be considered the equilateral triangle in the middle part of Fig. 3, if selecting circle
The transmission shaft of tee section, it is preferable that the section theoretical maximum radius of transmission shaft 6 is above-mentioned inscribed circle of a triangle radius, is
0.5R.Similarly, according to Fig. 8, square inscribed circle radius, about 0.707R centered on the theoretical maximum radius of transmission shaft 6.It can
See, group number is more, and available transmission shaft 6 is thicker, and bearing capacity is stronger.
According to Fig. 1, the spherical surface that the outer surface of big dust cover 9 and small dust cover 11 is O according to the centre of sphere, due in big driven wheel
Have the flexible covering material of increasing friction force on 1, deform in its stress, therefore big dust cover 9 and small dust cover 11
Ectosphere radius surface should select to be less than R, in order to avoid be in contact with the obstacle on ground or ground.
Driven wheel 1 and 2 surface of small driven wheel select suitable striped type according to the road surface of work greatly, due to big driven wheel
1 and small driven wheel 2 there is the revolution around axis 8 and rotation around respective rotation axis 7 and 14, therefore its outer surface should
Select isotropic method for arranging.
Vehicle embodiments of the present invention, according to Fig. 5, Fig. 6, it is preferable that three wheels are evenly arranged in 12 bottom of chassis,
Each wheel 10 is driven by motor 11, and the rotary axis direction of three ball wheels is not parallel；When three 11 direction of rotation of motor are identical, chassis
12 original place rotations；When three 11 direction of rotation differences of motor, axial rub can be generated on the direction of three rotation axis 8
It is freely rotated in big driven wheel 1 and small driven wheel 2 in power, the frictional force alternating action, and driven wheel is around rotation axis 8
The synthesis of revolution and its rotation moves ball wheel along a direction on the ground.
Claims (10)
1. a kind of omni-directional wheel for vehicle, which rotates around the axis of transmission shaft, it is characterised in that: the omni-directional wheel is by N
A identical component is constituted, and N is the integer more than or equal to three, and each component is made of big driven wheel, small driven wheel respectively；By rigid
Property main frame of the skeleton as entire omni-directional wheel, rigid backbone and transmission shaft are rigidly connected；N number of big driven wheel and N number of small driven
Wheel is hingedly connected to rigid backbone；Big driven wheel outer surface and the centre of sphere are O, and the spherical surface that radius is R is overlapped；Each big driven wheel by
One is defined by centre of sphere O, apex angle for the circular conical surface of 360/N degree；And there are one at the center of the spherical outer surface of big driven wheel
A circular open, for arranging small driven wheel；The rotation axis of small driven wheel is vertical with the rotation axis of big driven wheel；It is small driven
The outer surface of wheel and the centre of sphere are O, and radius is that the spherical surface of R is tangential on one section of circular arc, and the both ends of small driven wheel are defined by two planes.
2. omni-directional wheel according to claim 1, it is characterised in that: the jante et perpendiculaire of N number of big driven wheel is in centre of sphere O.
3. omni-directional wheel according to claim 1 or 2, it is characterised in that: the rotation axis of N number of small driven wheel is in same plane
On.
4. omni-directional wheel according to claim 1 or 2, it is characterised in that: big driven wheel and the component of small driven wheel composition are
Three groups or four groups.
5. omni-directional wheel according to claim 1 or 2, it is characterised in that: the main body of big driven wheel and small driven wheel is rigid
Property structure, outer surface using rubber as outer cover.
6. the omni-directional wheel required according to claim 5, it is characterised in that: exist between the rigid structure and outer cover and increase the two
Between adhesive force groove or adhesive.
7. omni-directional wheel according to claim 1 or 2, it is characterised in that: the cross sectional shape of transmission shaft be regular polygon or
It is round.
8. omni-directional wheel according to claim 1 or 2, it is characterised in that: the space that do not cover between each big driven wheel is set
It is equipped with big dust cover.
9. omni-directional wheel according to claim 1 or 2, it is characterised in that: not covering between big driven wheel and small driven wheel
Space is provided with small dust cover.
10. a kind of vehicle, 3 omni-directional wheels according to claim 1 to 9 are included at least, and each omni-directional wheel
Pivot center is not all parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710429560.2A CN107310329B (en) | 2017-06-09 | 2017-06-09 | A kind of spherical omnidirectional's wheel of multicomponent and vehicle using the wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710429560.2A CN107310329B (en) | 2017-06-09 | 2017-06-09 | A kind of spherical omnidirectional's wheel of multicomponent and vehicle using the wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107310329A CN107310329A (en) | 2017-11-03 |
| CN107310329B true CN107310329B (en) | 2019-09-20 |
Family
ID=60181833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710429560.2A Expired - Fee Related CN107310329B (en) | 2017-06-09 | 2017-06-09 | A kind of spherical omnidirectional's wheel of multicomponent and vehicle using the wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107310329B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3659817B1 (en) * | 2017-07-27 | 2022-09-28 | Beijing Orion Star Technology Co., Ltd. | Omnidirectional ball wheel |
| GB2588084B (en) * | 2019-09-24 | 2023-06-21 | Randle Engineering Solutions Ltd | A wheeled propulsion and directional control system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201440793U (en) * | 2009-06-18 | 2010-04-28 | 郭立春 | Micro multifunctional corn planting machine |
| CN106004232A (en) * | 2016-06-08 | 2016-10-12 | 哈尔滨工大服务机器人有限公司 | Omnidirectional wheel, omnidirectional wheel set and carrier cart using omnidirectional wheel or omnidirectional wheel set |
| EP2763859B1 (en) * | 2011-10-06 | 2017-01-18 | Commissariat à l'Énergie Atomique et aux Énergies Alternatives | Omnidirectional wheel that can be driven by a motor, and vehicle provided therewith |
| CN205951608U (en) * | 2016-06-29 | 2017-02-15 | 成都电科创品机器人科技有限公司 | Omnidirectional movement device |
| CN206067368U (en) * | 2016-10-13 | 2017-04-05 | 北京智能管家科技有限公司 | Omni-directional wheel, including the robot moving platform and mobile robot of omni-directional wheel |
| CN106696594A (en) * | 2017-03-01 | 2017-05-24 | 李建文 | Spherical wheel structure |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1073636A (en) * | 1991-12-24 | 1993-06-30 | 黄建军 | Multi-directional moving vehicle and wheels thereof |
| CN201061980Y (en) * | 2007-06-25 | 2008-05-21 | 黄长江 | Universal electric wheel |
| CN201257874Y (en) * | 2008-06-13 | 2009-06-17 | 沈阳航空工业学院 | Motion platform with oblique sphere type omnidirectional moving wheel |
| CN102180064A (en) * | 2011-04-14 | 2011-09-14 | 沈阳航空航天大学 | Differential type omnibearing wheel |
| CN203832155U (en) * | 2014-05-15 | 2014-09-17 | 谭旭东 | Spherical omnidirectional wheel |
-
2017
- 2017-06-09 CN CN201710429560.2A patent/CN107310329B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201440793U (en) * | 2009-06-18 | 2010-04-28 | 郭立春 | Micro multifunctional corn planting machine |
| EP2763859B1 (en) * | 2011-10-06 | 2017-01-18 | Commissariat à l'Énergie Atomique et aux Énergies Alternatives | Omnidirectional wheel that can be driven by a motor, and vehicle provided therewith |
| CN106004232A (en) * | 2016-06-08 | 2016-10-12 | 哈尔滨工大服务机器人有限公司 | Omnidirectional wheel, omnidirectional wheel set and carrier cart using omnidirectional wheel or omnidirectional wheel set |
| CN205951608U (en) * | 2016-06-29 | 2017-02-15 | 成都电科创品机器人科技有限公司 | Omnidirectional movement device |
| CN206067368U (en) * | 2016-10-13 | 2017-04-05 | 北京智能管家科技有限公司 | Omni-directional wheel, including the robot moving platform and mobile robot of omni-directional wheel |
| CN106696594A (en) * | 2017-03-01 | 2017-05-24 | 李建文 | Spherical wheel structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107310329A (en) | 2017-11-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9004202B2 (en) | Omnidirectional wheel that can be driven by a motor and vehicle provided therewith | |
| RU2657140C1 (en) | Spherical wheel for providing vehicle movement and containing wheel vehicle | |
| US8028775B2 (en) | Spherical mobility mechanism | |
| JP6424131B2 (en) | Friction type traveling device | |
| JP5292242B2 (en) | Friction type driving device and inverted pendulum type moving body | |
| JP5484009B2 (en) | Friction type driving device and inverted pendulum type moving body using the same | |
| CN107310329B (en) | A kind of spherical omnidirectional's wheel of multicomponent and vehicle using the wheel | |
| JPWO2008132779A1 (en) | Omnidirectional drive device and omnidirectional vehicle using the same | |
| CN102245397A (en) | Friction-type drive device and omnidirectional movable body using same | |
| WO2011033587A1 (en) | Frictional drive device and inverted-pendulum-type movable body | |
| CN107215403B (en) | Ball shape robot | |
| CN208088065U (en) | road roller | |
| CN107139646B (en) | A kind of omni-directional wheel of spherical shape and vehicle using the wheel | |
| WO2012160992A1 (en) | Trochoid drive mechanism and mobile body | |
| CN107054489B (en) | Ball shape robot | |
| JP2016049921A (en) | Wheel driving device | |
| CN103144691B (en) | Six degree of freedom rolling mechanism | |
| JP2013189068A (en) | Omni wheel | |
| CN210821698U (en) | Omnidirectional driving wheel set with elastic suspension function | |
| CN204263837U (en) | A kind of two spherical crown differential type all-round wheel in parallel | |
| CN104354525A (en) | Parallel double-spherical-crown differential type all-directional wheel | |
| JP4427956B2 (en) | Mobile device | |
| CN110834494B (en) | Universal wheel and carrier with same | |
| JP2011063246A (en) | Friction type driving device and inverted pendulum type mobile body using the same | |
| JP4756360B2 (en) | Ball wheel drive mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190920 Termination date: 20210609 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |