CN109760472A - Omni-directional wheel with more terrain adaptabilities - Google Patents
Omni-directional wheel with more terrain adaptabilities Download PDFInfo
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- CN109760472A CN109760472A CN201910239351.0A CN201910239351A CN109760472A CN 109760472 A CN109760472 A CN 109760472A CN 201910239351 A CN201910239351 A CN 201910239351A CN 109760472 A CN109760472 A CN 109760472A
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- terrain
- adaptabilities
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- 238000005096 rolling process Methods 0.000 claims abstract description 114
- 230000002093 peripheral effect Effects 0.000 claims abstract description 11
- 238000010276 construction Methods 0.000 claims description 5
- 230000004308 accommodation Effects 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 6
- 239000000428 dust Substances 0.000 description 10
- 238000009434 installation Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 241000222712 Kinetoplastida Species 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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- Rolling Contact Bearings (AREA)
Abstract
The invention discloses a kind of omni-directional wheels with more terrain adaptabilities, comprising: wheel hub；Load bearing unit, including a plurality of bearing supports at circle distribution, the bearing support is installed on the outer peripheral surface of the wheel hub；Rolling unit, successively rabbet and wrap up a plurality of rolling elements of the load bearing unit including the circumferential spread direction along the bearing support, the rolling element is installed correspondingly with the bearing support, the rolling element is rotatably held on the bearing support, the rolling element has built-in end and host side, and the built-in end of the rolling element is embedded in the host side of adjacent rolling element and forms clearance fit.The omni-directional wheel with more terrain adaptabilities is significant to reduce support fluctuation and structural complexity, improves obstacle climbing ability when lateral movement, enhances the adaptability for different terrain.
Description
Technical field
The invention belongs to robotic technology fields, are a kind of omni-directional wheels with more terrain adaptabilities specifically.
Background technique
Omni-directional wheel is a kind of wheel with lateral movement ability, while providing circumferential driving force, is free to
It is displaced sideways, improves the kinematic dexterity of wheel undercarriage, be used widely on wheeled robot.
There are some drawbacks for existing omni-directional wheel.Certain omni-directional wheels easily cause fluctuation when being contacted with ground, mobile steady
Property it is insufficient and be difficult to adapt to different terrain；Certain preferable omni-directional wheels of mobile stationarity, need using it is double so that it is multiple rows of side by side
Arranged crosswise, structure complexity is high and reduces structural reliability.Meanwhile the driven wheel support of existing omni-directional wheel is moved in lateral
It is easy to interfere with ground protrusion when dynamic, seriously constrains the obstacle climbing ability of omni-directional wheel, landform adaptability is insufficient.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of omni-directional wheels with more terrain adaptabilities, significantly
Support fluctuation and structure complexity are reduced, while improving obstacle climbing ability when lateral movement, enhances the adaptation for different terrain
Ability.
The purpose of the present invention is achieved through the following technical solutions:
A kind of omni-directional wheel with more terrain adaptabilities, comprising:
Wheel hub；
Load bearing unit, including a plurality of bearing supports at circle distribution, the bearing support is installed on the wheel hub
On outer peripheral surface；
Rolling unit is successively rabbeted including the circumferential spread direction along the bearing support and wraps up the load bearing unit
A plurality of rolling elements, the rolling element are installed correspondingly with the bearing support, and the rolling element is rotatably held in
On the bearing support, the rolling element has built-in end and host side, and the built-in end of the rolling element is embedded in adjacent rolling
Clearance fit is formed in the host side of kinetoplast.
As an improvement of the above technical solution, the rolling element is pivoted by bus, a plurality of rolling elements
Bus be respectively positioned on same circumference；
And/or the bearing support has integrated molding construction；
And/or the wheel hub, the rolling element built-in end and with the built-in end interlocking adjacent rolling elements host side
Between form a receiving portion, the bearing support is located in described accommodation section.
As a further improvement of the above technical scheme, the outer diameter of the rolling element is along its axial direction from the built-in end to institute
Host side is stated to be gradually increased.
As a further improvement of the above technical scheme, with a plurality of wedges of circle distribution on the outer peripheral surface of the wheel hub
Shape slot, the bearing support have sphenoid far from one end of the rolling element, and the sphenoid is wedged in institute correspondingly
It states in wedge groove.
As a further improvement of the above technical scheme, gap is formed between the bottom of the wedge groove and the sphenoid
Cooperation；Turnbuckle is set on the wheel hub, and the turnbuckle connects through the bottom of the wedge groove with the sphenoid
It connects, the through direction of the turnbuckle is overlapped with the radial direction of the wheel hub.
As a further improvement of the above technical scheme, the wedge joint face of the wedge groove is formed on its peripheral wall, the wedge
Shaft section between junction about the wheel hub is symmetrical.
As a further improvement of the above technical scheme, the bearing support has far from a side surface of the wheel hub and holds
Carry slot, built-in end the pressing radially into the bearing groove along the wheel hub for the rolling element that adjacent bearing support is installed.
As a further improvement of the above technical scheme, the bearing groove is at least partially situated at the bearing support and is pacified
In the host side of the rolling element of dress；
And/or the bearing groove has U-shaped section and forms U-lag.
As a further improvement of the above technical scheme, the bearing support has cantilever close to one end of the rolling element
Axis, the rolling element are rotatably sheathed in the cantilevered axle, host side injection institute of the cantilevered axle from the rolling element
It states in rolling element.
As a further improvement of the above technical scheme, the cantilevered axle is to extend outwardly from the sphenoid, institute
Sphenoid is stated to be located at except the host side of the rolling element.
The beneficial effects of the present invention are:
The built-in end of rolling element is embedded in the host side of adjacent rolling element, and making a plurality of rolling elements, successively circumference is embedding
It connects, shortens the gap between the rolling element for keeping adjacent to the maximum extent, form continuous support and reduce support fluctuation significantly
With structure complexity；
Rolling element successively rabbets the contiguous circumferential of formation, and bearing support is made to be held between rolling element and wheel hub and realize hidden
Concealed arrangement, motion process will not be interfered with ground protrusion, improve obstacle climbing ability when lateral movement, be enhanced for not
With the adaptability of landform.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is that the omni-directional wheel with more terrain adaptabilities that the embodiment of the present invention 1 provides removes part bearing support and rolling
Axonometric schematic diagram after kinetoplast；
Fig. 2 is the partial schematic sectional view for the omni-directional wheel with more terrain adaptabilities that the embodiment of the present invention 1 provides；
Fig. 3 is that the axis of the bearing support for the omni-directional wheel with more terrain adaptabilities that the embodiment of the present invention 1 provides measures meaning
Figure.
Main element symbol description:
100- omni-directional wheel, 110- wheel hub, 111- wedge groove, 111a- wedge joint face, 112- positioning plane, 121- bearing support,
121a- sphenoid, 121b- bearing groove, 121c- cantilevered axle, 121d- connecting flange, 131- rolling element, 131a- bus, 131b-
Built-in end, the host side 131c-, 131d- structural framework, 131e- resilient sleeve, 132- turnbuckle, 133- first bearing, 134-
Two bearings, the first locating snap ring of 135-, the first dust seal of 136-, the second locating snap ring of 137-, the second dust seal of 138-,
139- third locating snap ring.
Specific embodiment
To facilitate the understanding of the present invention, the omni-directional wheel with more terrain adaptabilities is carried out more below with reference to relevant drawings
Comprehensive description.The preferred embodiment of the omni-directional wheel with more terrain adaptabilities is given in attached drawing.But have more landform suitable
The omni-directional wheel of answering property can be realized by many different forms, however it is not limited to embodiment described herein.On the contrary, mentioning
Purpose for these embodiments is to keep the disclosure to the omni-directional wheel with more terrain adaptabilities more thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Term as used herein "vertical", "horizontal", "left" and "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Herein in the used in the description of the omni-directional wheel with more terrain adaptabilities
Term, which is only for the purpose of describing specific embodiments, is not intended to limit the present invention.Term " and or " used herein
Including any and all combinations of one or more related listed items.
Embodiment 1
Fig. 1~2 are please referred to, the present embodiment discloses a kind of omni-directional wheel (hereinafter referred to as " omnidirectional with more terrain adaptabilities
Wheel "), which includes wheel hub 110, load bearing unit and rolling unit, support fluctuation and structure complexity are significantly reduced,
Obstacle climbing ability when lateral movement is improved simultaneously, enhances the ground adaptability for more landform.
Load bearing unit is used for bearer connection wheel hub 110 and rolling unit.Load bearing unit includes a plurality of bearing supports 121,
A plurality of bearing supports 121 are respectively arranged on the outer peripheral surface of wheel hub 110, form circle distribution.It is appreciated that this is a plurality of
The circumferential spread of bearing support 121 and the profile circumference of wheel hub 110 have concyclic heart relationship.
Exemplarily, there are a plurality of wedge grooves 111, which has circle on the outer peripheral surface of wheel hub 110
All distribution relations, and the profile circumference of its circumferential spread and wheel hub 110 has concyclic heart relationship.Bearing support 121 is far from rolling
There is sphenoid 121a, sphenoid 121a are wedged in wedge groove 111 correspondingly for one end of body 131, realize the reliable wedge joint.
Exemplarily, clearance fit is formed between the bottom of wedge groove 111 and sphenoid 121a.In other words, wedge groove 111
Bottom (such as its bottom wall) and sphenoid 121a between do not occur directly to contact, guarantee installation positioning accuracy.Exemplarily, it takes turns
Turnbuckle 132 is set on hub 110.The screw rod of turnbuckle 132 enters in wedge groove 111 behind the bottom of wedge groove 111,
And it is threadedly coupled with sphenoid 121a.It is appreciated that any wedge groove 111 matches at least one turnbuckle 132.
Wherein, the through direction of turnbuckle 132 is overlapped with the radial direction of wheel hub 110, applies sphenoid 121a along wheel hub
110 radial tightening force, makes sphenoid 121a accurately wedge in wedge groove 111 and protect along moving radially for wheel hub 110
Card installation positioning accuracy.Exemplarily, the inner peripheral surface of wheel hub 110 have a plurality of positioning planes 112, the positioning plane 112 and
Turnbuckle 132 corresponds, and is accurately located at the head of turnbuckle 132 in positioning plane 112.It is appreciated that screw rod-
Nut construction is similar with turnbuckle 132, and details are not described herein.
Exemplarily, the wedge joint face 111a of wedge groove 111 is formed on its peripheral wall, about wheel hub between the 111a of wedge joint face
110 shaft section is symmetrical.In other words, wedge groove 111 is isosceles triangle or isosceles ladder along the projected outline of the axial direction of wheel hub 110
Shape.The shaft section of so-called wheel hub 110, refers to the section of the central axis by wheel hub 110.In this, when sphenoid 121a is along wheel hub
When in 110 radial wedging wedge groove 111, sphenoid 121a is oriented to by the symmetrical of wedge joint face 111a of two sides without occurring
It is circumferential mobile, it reduces assembly positioning difficulty and guarantees to assemble positioning accuracy, improve assembly efficiency.
Exemplarily, bearing support 121, which has, is integrally formed construction, and bearing capacity is effectively ensured.
Rolling unit be used for ground face contact and realize support, it is practical to execute lateral movement and act.Rolling unit includes multiple
Several rolling elements 131, a plurality of rolling elements 131 are successively rabbeted along the circumferential spread direction of bearing support 121, form a package
Load bearing unit and serve as omni-directional wheel 100 periphery annulus outer ring, so that bearing support 121 is held in rolling element 131 and wheel hub 110
Between.Rolling element 131 is installed correspondingly with bearing support 121.Rolling element 131 is rotatably held in bearing support 121
On, realize the rolling purpose of rolling unit.
Wherein, there is rolling element 131 built-in end 131b and host side 131c, the built-in end 131b of rolling element 131 to be embedded in
Clearance fit is formed in the host side 131c of adjacent rolling element 131, shortens the rolling element 131 for keeping adjacent to the maximum extent
Between gap and guarantee the independent rotation between adjacent rolling element 131, keep annulus outer ring above-mentioned continuously fine and close, roll single
Continuous support is formed between member and ground.
Under the fine and close package of annulus outer ring, ground protrusion can not shut out across the gap adjacent rolling element 131
Risk is interfered in contact between exhausted bearing support 121 and ground protrusion.Exemplarily, the insertion of wheel hub 110, rolling element 131
It holds 131b and forms a receiving portion, carrying branch between the host side 131c of the adjacent rolling elements 131 of built-in end 131b interlocking
Frame 121 is located in described accommodation section and remains hidden.
Exemplarily, rolling element 131 is pivoted by bus 131a, and the bus 131a of a plurality of rolling elements 131 is equal
On same circumference, guarantee the outer circumferential profile with omni-directional wheel 100.Rolling element 131 is revolving body and has rounded cross section
Face, the circular cross section is axially vertical with rolling element 131, with being in rolling contact for rotary motion realization and ground.
Exemplarily, the outer diameter of rolling element 131 is gradually increased along its axial direction self-embedding end 131b to host side 131c, is made embedding
Enter to hold 131b to form the small end of rolling element 131, and host side 131c forms the big end of rolling element 131, it is non-right that rolling element 131 has
Claim structure, it is easy to accomplish continuous close interlocking.
Exemplarily, rolling element 131 includes structural framework 131d and resilient sleeve 131e.Structural framework 131d plays structural support
Effect, can be made of metal material；Resilient sleeve 131e is sheathed on the outer peripheral surface of structural framework 131d, is realized with ground and is directly connect
Touching has good elastic endergonic ability and guarantees gentle support, can be made of materials such as silica gel, rubber, elastoplastic.Accordingly
The bus 131a on ground, rolling element 131 is located on resilient sleeve 131e.
Fig. 1~3 are please referred to, exemplarily, bearing support 121 has bearing groove far from a side surface of wheel hub 110
121b, built-in end 131b the pressing radially into carrying along wheel hub 110 for the rolling element 131 that adjacent bearing support 121 is installed
In slot 121b.For example, rolling element 131 is installed in advance on bearing support 121, when the edge sphenoid 121a of the bearing support 121
When in the radial wedging wedge groove 111 of wheel hub 110, rolling element 131 is with the synchronous diameter occurred along wheel hub 110 of the bearing support 121
To movement, make built-in end 131b indentation fit in the previous bearing support 121 being installed in place bearing groove 121b groove face.
The effect of the frame mode at least that, so that whole bearing supports 121 (prepackage rolling element 131) is passed through edge
Installation can be realized in moving radially for wheel hub 110, reduces installation difficulty and guarantees installation accuracy；On the other hand, make bearing support
121 are hidden between adjacent rolling element 131, guarantee that motion process bearing support 121 will not be in contact with ground protrusion
Interference enhances obstacle climbing ability and terrain adaptability；The third aspect, when the built-in end 131b of rolling element 131 contacts bearing groove 121b
Groove face when, bearing groove 121b provides the structural support to rolling element 131 together.
Exemplarily, bearing groove 121b is at least partially situated at the host side for the rolling element 131 that bearing support 121 is installed
In 131c, further compression space layout, structure is more compact, bearing support 121 concealment more preferably.
The shape of bearing groove 121b should be adapted with the shape of the built-in end 131b of rolling element 131, exemplarily, carrying
Slot 121b has U-shaped section and forms U-lag, realizes the tight fit with built-in end 131b, compression space occupies.
Exemplarily, bearing support 121 has cantilevered axle 121c close to one end of rolling element 131.Rolling element 131 is rotatable
Ground is sheathed on cantilevered axle 121c, and cantilevered axle 121c is from the host side 131c injection rolling element 131 of rolling element 131.Gu Mingsi
Justice, cantilevered axle 121c extend outwardly from bearing support 121, make rolling element 131 in formation cantilever peace on bearing support 121
Dress compresses the installation gap between adjacent rolling element 131, while guaranteeing bonding strength to form continuous support.It can be with
Understand, wheel hub 110 above-mentioned, rolling element 131 built-in end 131b and with the adjacent rolling elements 131 of built-in end 131b interlocking
The receiving portion formed between the 131c of host side is used to accommodate the internal cavity of cantilevered axle 121c including rolling element 131.It is exemplary
Ground, cantilevered axle 121c runs through rolling element 131 and self-embedding end 131b is passed through out.
Exemplarily, cantilevered axle 121c is to extend outwardly from sphenoid 121a, and sphenoid 121a is located at rolling element
Except 131 host side 131c.For example, cantilevered axle 121c from the host side 131c of rolling element 131 be embedded in rolling element 131 it
It is interior, between the built-in end 131b and wheel hub 110 of the host side 131c of the rolling element 131 and its adjacent rolling elements rabbeted 131
An accommodating space is formed, sphenoid 121a is located within the accommodating space.Exemplarily, cantilevered axle 121c and sphenoid 121a
Connection forms L-type construction.Exemplarily, cantilevered axle 121c is located at the one end of sphenoid 121a far from wheel hub 110.
Exemplarily, first bearing 133 and second bearing 134 be installed between cantilevered axle 121c and rolling element 131, first
Axial direction of the bearing 133 with second bearing 134 along cantilevered axle 121c is successively installed.Exemplarily, first bearing 133 and second bearing
134 adjacent installations, and end face is kept in contact.Exemplarily, the first locating snap ring 135 is installed on cantilevered axle 121c, prevents first
Play occurs in the running for bearing 133, second bearing 134.
Exemplarily, there is connecting flange 121d, connecting flange 121d insertion between cantilevered axle 121c and sphenoid 121a
In in the host side 131c of rolling element 131.Exemplarily, a side surface of connecting flange 121d close to cantilevered axle 121c are equipped with
First dust seal 136.First dust seal 136 is sheathed between cantilevered axle 121c and host side 131c, is realized dust-proof
Sealing.Meanwhile first dust seal 136 far from one end of connecting flange 121d the second locating snap ring 137 is installed.
Exemplarily, when cantilevered axle 121c is passed through out from the built-in end 131b of rolling element 131, cantilevered axle 121c and built-in end
Second dust seal 138 is installed between 131b, realizes dust seal.Meanwhile second dust seal 138 end installation
There is third locating snap ring 139.
Exemplarily, first bearing 133, second bearing 134 are respectively positioned on the first dust seal 136 and the second dust seal
Between part 138, guarantees working environment sanitary safe, reliable carrying is also enough to ensure that under rough topography environment, is further enhanced
The locomitivity and environmental suitability of omni-directional wheel 100.
In all examples being illustrated and described herein, any occurrence should be construed as merely illustratively, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitation of the scope of the invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection model of the invention
It encloses.Therefore, protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of omni-directional wheel with more terrain adaptabilities characterized by comprising
Wheel hub；
Load bearing unit, including a plurality of bearing supports at circle distribution, the bearing support is installed on the periphery of the wheel hub
On face；
Rolling unit successively rabbets and wraps up the plural number of the load bearing unit including the circumferential spread direction along the bearing support
A rolling element, the rolling element are installed correspondingly with the bearing support, and the rolling element is rotatably held in described
On bearing support, the rolling element has built-in end and host side, and the built-in end of the rolling element is embedded in adjacent rolling element
Host side in and form clearance fit.
2. the omni-directional wheel according to claim 1 with more terrain adaptabilities, which is characterized in that the rolling element is by bus
It is pivoted, the bus of a plurality of rolling elements is respectively positioned on same circumference；And/or the bearing support has one
Body formed construction；And/or the wheel hub, the rolling element built-in end and with the built-in end interlocking adjacent rolling elements receipts
A receiving portion is formed between Rong Duan, the bearing support is located in described accommodation section.
3. the omni-directional wheel according to claim 1 with more terrain adaptabilities, which is characterized in that the outer diameter of the rolling element
It is gradually increased along its axial direction from the built-in end to the host side.
4. the omni-directional wheel according to claim 1 with more terrain adaptabilities, which is characterized in that the outer peripheral surface of the wheel hub
Upper a plurality of wedge grooves with circle distribution, the bearing support has sphenoid far from one end of the rolling element, described
Sphenoid is wedged in correspondingly in the wedge groove.
5. the omni-directional wheel according to claim 4 with more terrain adaptabilities, which is characterized in that the bottom of the wedge groove
Clearance fit is formed between the sphenoid；Turnbuckle is set on the wheel hub, and the turnbuckle runs through the wedge shape
The bottom of slot and connect with the sphenoid, the radial direction of the through direction of the turnbuckle and the wheel hub is overlapped.
6. the omni-directional wheel according to claim 4 with more terrain adaptabilities, which is characterized in that the wedge joint of the wedge groove
Face is formed on its peripheral wall, and the shaft section between the wedge joint face about the wheel hub is symmetrical.
7. the omni-directional wheel according to claim 1 with more terrain adaptabilities, which is characterized in that the bearing support is separate
One side surface of the wheel hub has bearing groove, and the built-in end for the rolling element that adjacent bearing support is installed is along the wheel hub
It presses radially into the bearing groove.
8. the omni-directional wheel according to claim 7 with more terrain adaptabilities, which is characterized in that the bearing groove at least portion
Ground is divided to be located in the host side for the rolling element that the bearing support is installed；And/or the bearing groove has U-shaped section and shape
At U-lag.
9. the omni-directional wheel according to claim 1 with more terrain adaptabilities, which is characterized in that the bearing support is close
One end of the rolling element has cantilevered axle, and the rolling element is rotatably sheathed in the cantilevered axle, and the cantilevered axle is certainly
In rolling element described in the host side injection of the rolling element.
10. the omni-directional wheel according to claim 9 with more terrain adaptabilities, which is characterized in that the periphery of the wheel hub
With a plurality of wedge grooves of circle distribution on face, the one end of the bearing support far from the rolling element is with sphenoid, institute
It states sphenoid to be wedged in correspondingly in the wedge groove, the cantilevered axle is to extend outwardly from the sphenoid, institute
Sphenoid is stated to be located at except the host side of the rolling element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910239351.0A CN109760472B (en) | 2019-03-27 | 2019-03-27 | Omnidirectional wheel with multi-terrain adaptability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910239351.0A CN109760472B (en) | 2019-03-27 | 2019-03-27 | Omnidirectional wheel with multi-terrain adaptability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109760472A true CN109760472A (en) | 2019-05-17 |
| CN109760472B CN109760472B (en) | 2024-01-26 |
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| CN201910239351.0A Active CN109760472B (en) | 2019-03-27 | 2019-03-27 | Omnidirectional wheel with multi-terrain adaptability |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022032870A1 (en) * | 2020-08-12 | 2022-02-17 | 北京三角洲机器人科技有限公司 | Omnidirectional wheel and scooter having omnidirectional wheels |
| US11878551B2 (en) | 2020-08-12 | 2024-01-23 | Anhui JBH Medical Apparatus Co., Ltd. | Omnidirectional wheel and scooter having omnidirectional wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022032870A1 (en) * | 2020-08-12 | 2022-02-17 | 北京三角洲机器人科技有限公司 | Omnidirectional wheel and scooter having omnidirectional wheels |
| CN114074500A (en) * | 2020-08-12 | 2022-02-22 | 北京无疆科技有限公司 | Omnidirectional wheel and scooter with same |
| US11878551B2 (en) | 2020-08-12 | 2024-01-23 | Anhui JBH Medical Apparatus Co., Ltd. | Omnidirectional wheel and scooter having omnidirectional wheel |
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| CN109760472B (en) | 2024-01-26 |
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