CN114013214A - Active omnidirectional wheel and motion method thereof - Google Patents
Active omnidirectional wheel and motion method thereof Download PDFInfo
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- CN114013214A CN114013214A CN202111394362.XA CN202111394362A CN114013214A CN 114013214 A CN114013214 A CN 114013214A CN 202111394362 A CN202111394362 A CN 202111394362A CN 114013214 A CN114013214 A CN 114013214A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 36
- 238000005096 rolling process Methods 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
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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
- B60B2200/00—Type of product being used or applied
- B60B2200/20—Furniture or medical appliances
- B60B2200/26—Medical appliances
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- 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
Abstract
The invention discloses a driving omnidirectional wheel which comprises a hub frame, wherein pitch wheels rotating left and right are uniformly distributed on the circumference of the hub frame, the pitch wheels are fixedly connected with bevel gears through rotating shafts, the driving omnidirectional wheel also comprises driving motor output shafts symmetrically arranged on two sides of a main hub and used for driving bevel gear pairs in the hub to rotate correspondingly, the bevel gear pairs in the hub are composed of large bevel gears and small bevel gears uniformly distributed on the circumference, the large bevel gears of the bevel gear pairs are coaxially connected with the hub frame, and the small bevel gears of the bevel gear pairs are axially symmetrically arranged and respectively connected with fixing holes on the periphery of the hub frame. And a method of its movement is disclosed. The invention can realize the omnibearing motion of the omnidirectional wheel through the combined motion of the hub and the pitch wheel, and each motion direction control method is independent.
Description
Technical Field
The invention relates to an omnidirectional wheel, in particular to an active omnidirectional wheel and a movement method thereof.
Background
The omnidirectional wheel is widely applied to the structures of moving devices such as robots, trolleys, transfer conveyors, freight vehicles, luggage and the like, and mainly comprises a hub and a driven wheel arranged on the hub, wherein the hub is driven by a driving mechanism, the driven wheel can rotate freely, and the axial direction of the hub is vertical to the axial direction of the driven wheel, so that the omnidirectional wheel has omnidirectional movement capability.
The existing omnidirectional wheel can rotate around the axial direction of a motor shaft through a hub motor (a big wheel), and can also realize the transverse motion of the omnidirectional wheel in the direction vertical to the hub through the rotation of a driven wheel (a small wheel); however, the omni wheel rotates around the motor shaft to realize the whole active rotation through the motor shaft, and the driven wheel rotates passively through the contact friction force between the omni wheel and the ground, so that the active rotation cannot be realized.
Patent cn201120121753.x is an omni wheel, which can realize front and back rolling of the wheel but cannot realize left and right autonomous movement of the wheel in terms of a single wheel.
Patent CN201611205333.3 omni-directional wheel that can all-round motion, through festival wheel actuating mechanism, be connected each festival wheel pivot and counterpoint worm pivot through corresponding drive mechanism between, although can realize the controlled motion of omni-directional wheel arbitrary direction, its driving force is weak, and drive reaction time is longer, and required part is too much, the assembly is difficult.
Disclosure of Invention
The purpose of the invention is as follows: in view of the above problems, the present invention provides an active omni wheel, which realizes autonomous movement of the wheel, optimizes the structure, and provides a method for moving the same.
The technical scheme is as follows: the utility model provides an initiative omniwheel, includes hub frame, wheel hub actuating mechanism, festival wheel group, wheel hub actuating mechanism includes initiative drive assembly, festival wheel transmission assembly, and initiative drive assembly installs inside the hub frame, and the festival wheel group has a plurality ofly and is connected with the hub frame respectively at the periphery interval equipartition of wheel hub frame, and every festival wheel group is connected with initiative drive assembly through a festival wheel transmission assembly respectively, and every festival wheel transmission assembly wears to locate the week side of hub frame respectively.
Furthermore, the driving assembly comprises a first hub end cover, a second hub end cover, a first large bevel gear, a second large bevel gear, a first driving shaft sleeve and a second driving shaft sleeve, the first hub end cover and the second hub end cover are oppositely arranged on two opposite sides of the hub frame, the first large bevel gear and the second large bevel gear are arranged between the first hub end cover and the second hub end cover at opposite intervals, the first driving shaft sleeve is arranged on the first hub end cover in a penetrating mode and is in rolling connection with the first hub end cover, the second driving shaft sleeve is arranged on the second driving shaft sleeve in a penetrating mode and is in rolling connection with the second driving shaft sleeve, one end of the first driving shaft sleeve is fixedly connected with the middle of the first large bevel gear, the other end of the first driving shaft sleeve is connected with the first driving motor, one end of the second driving shaft sleeve is fixedly connected with the middle of the second large bevel gear, the other end of the second driving shaft sleeve is connected with the driving motor, and each pitch wheel transmission assembly is respectively connected with the first large bevel gear and the second large bevel gear.
Furthermore, the joint wheel transmission assembly comprises a fixed shaft bevel gear, a small bevel gear I, a small bevel gear II and a connecting shaft, the fixed shaft bevel gear is installed on the joint wheel set, the connecting shaft penetrates through the peripheral side face of the wheel hub frame and is in rotating connection with the wheel hub frame, the small bevel gear I and the small bevel gear II are installed at two ends of the connecting shaft respectively, the small bevel gear I is meshed with the large bevel gear I and the large bevel gear II respectively, and the small bevel gear II is meshed with the fixed shaft bevel gear.
Furthermore, the section wheel group comprises section wheels, a transmission shaft and a locknut, the transmission shaft is horizontally arranged on the outer peripheral surface of the wheel hub frame, two ends of the transmission shaft are respectively provided with the section wheels, and each section wheel is limited by the locknut.
Most preferably, the segment wheel is a rubber wheel. The surface of the wheel is provided with dense protruding dots, and the outer contour line is tangent and sewn with the outer contour line of the omnidirectional wheel.
Furthermore, the hub frame is of a regular polygon frame structure, the active driving assembly is arranged inside the frame structure, a pair of supporting plates are arranged on each outer side face at intervals, and each pair of mounting plates is provided with a wheel segment group.
Preferably, the number of the node wheel sets is 4-8.
Most preferably, the hub carrier is a lightweight high strength steel frame.
The moving method of the active omni wheel comprises the following steps:
advancing and retreating:
the method comprises the following steps: the first driving motor and the second driving motor are driven in the same direction, and power is transmitted to the first large bevel gear and the second large bevel gear through the first driving shaft sleeve and the second driving shaft sleeve respectively;
step two: the first large bevel gear and the second large bevel gear have the tendency of rotating towards the same direction;
step three: each small bevel gear is locked, and the driving motor I and the driving motor II drive the omnidirectional wheel to integrally rotate so as to realize forward and backward movement;
(II) left shift and right shift:
step A: the first driving motor and the second driving motor are driven reversely, and power is transmitted to the first large bevel gear and the second large bevel gear through the first driving shaft sleeve and the second driving shaft sleeve respectively;
and B: the first large bevel gear and the second large bevel gear rotate oppositely;
and C: the integral rotation is counteracted, each small bevel gear rotates to drive the joint wheel set to rotate, and the joint wheel set drives the omnidirectional wheel to integrally rotate so as to realize left movement and right movement;
(III) moving in any direction:
step a: the first driving motor and the second driving motor are driven in a differential reverse direction, and power is transmitted to the first large bevel gear and the second large bevel gear through the first driving shaft sleeve and the second driving shaft sleeve respectively;
step b: the first large bevel gear and the second large bevel gear rotate in a differential speed and reverse direction;
step c: the differential degrees of the first driving motor and the second driving motor enable the omnidirectional wheel to integrally rotate, and meanwhile, each small bevel gear rotates to drive the joint wheel set to rotate;
step d: the moving direction is adjusted by adjusting the differential speed of the first driving motor and the second driving motor, and the omnidirectional movement of the omnidirectional wheel is synthesized.
Has the advantages that: compared with the prior art, the invention has the advantages that:
1. the driving omnidirectional wheel can generate a velocity vector for enabling the omnidirectional wheel to transversely move (in the left-right direction) under the opposite driving of the driving motors on the two sides, can generate a velocity vector for enabling the omnidirectional wheel to longitudinally move (in the front-back direction) under the same-direction driving, and can generate a velocity vector for enabling the omnidirectional wheel to obliquely move (in any direction) under the differential driving, so that the omnidirectional moving capability is achieved.
2. According to the driving omnidirectional wheel, the movement in each direction is controlled through tight gear transmission, the influence of passive slippage can be reduced, and the stability of a system is improved.
3. The left side and the right side of the omnidirectional wheel are respectively provided with the shaft sleeves, the left shaft sleeve and the right shaft sleeve can be connected with and provided with the hub driving motor, and the omnidirectional wheel can also be used as a traveling wheel of a monocycle, a wheelchair, a bicycle, a robot and the like.
4. The active omnidirectional wheel has the advantages that the pitch wheels are arranged in a segmented mode, and certain obstacle surmounting performance is realized in climbing scenes such as stairs.
5. The driving omnidirectional wheel simplifies the number of parts under active control, reduces the assembly difficulty, and lays a foundation for cost control under different combination forms of subsequent omnidirectional wheels.
6. According to the driving omnidirectional wheel, the driving component and the driving transmission component are both in gear transmission, so that the transmission precision and the transmission efficiency are high. The reliability and stability of transmission conversion are also greatly improved.
7. Compared with the existing moving mechanism, the driving omnidirectional wheel provided by the invention has the advantages that the transmission hysteresis is obviously reduced, and the reliability and the stability of transmission conversion are high.
Drawings
FIG. 1 is a schematic perspective view of the hub of the present invention with the end cap removed;
FIG. 2 is an exploded isometric view of the present invention;
FIG. 3 is a front cross-sectional view of the present invention;
FIG. 4 is a side cross-sectional view of the present invention;
FIG. 5 is a block diagram of a hub carrier;
FIG. 6 is a partial block diagram of the active drive assembly;
FIG. 7 is a block diagram of a wheel set;
FIG. 8 is a front view structural diagram of the present invention;
fig. 9 is a schematic diagram of application 1 of the present invention;
FIG. 10 is a schematic illustration of application 2 of the present invention;
FIG. 11 is a schematic view of the present invention application 3;
fig. 12 is a schematic diagram of the present invention application 4.
Detailed Description
The present invention will be further illustrated with reference to the following figures and specific examples, which are to be understood as merely illustrative and not restrictive of the scope of the invention.
An active omni wheel, as shown in fig. 1 to 8, includes a hub frame 1, a hub driving mechanism 2, and a segment wheel set 3, where the hub driving mechanism 2 includes an active driving assembly and a segment wheel transmission assembly.
Wheel hub frame 1 is regular polygon frame construction, the material is light high strength steel, the initiative drive assembly sets up inside frame construction, relative interval is equipped with a pair of backup pad 11 on every lateral surface respectively, the connecting portion exists the mounting hole that is used for installing the initiative drive assembly respectively between backup pad 11, festival wheel group 3 has a plurality ofly at the periphery interval equipartition of wheel hub frame 1, every is to installing a festival wheel group 3 on the mounting panel 11 respectively, the quantity of festival wheel group 3 is 4 ~ 8, festival wheel group 3 includes festival wheel 31, transmission shaft 32, lock nut 34, festival wheel 31 is the rubber wheel, transmission shaft 32 wears to locate in a pair of backup pad 11 and is connected rather than rotating, a festival wheel 31 is installed respectively at the both ends of transmission shaft 32, every festival wheel 31 is spacing through a lock nut 34 respectively.
Each of the pitch wheel sets 3 is respectively connected with a driving drive assembly through a pitch wheel transmission assembly, the driving drive assembly comprises a first hub end cover 21, a second hub end cover 22, a first large bevel gear 23, a second large bevel gear 24, a first drive shaft sleeve 25 and a second drive shaft sleeve 26, the first hub end cover 21 and the second hub end cover 22 are oppositely arranged at two opposite sides of the hub frame 1, the first large bevel gear 23 and the second large bevel gear 24 are oppositely arranged at intervals between the first hub end cover and the second hub end cover, the first drive shaft sleeve 25 is arranged on the first hub end cover 21 in a penetrating way and is in rolling connection with the first hub end cover, the second drive shaft sleeve 26 is arranged on the second drive shaft sleeve 26 in a penetrating way and is in rolling connection with the second drive shaft sleeve, the crossing part and the inner side of the first drive shaft sleeve reduce relative rotational friction through a rolling bearing and a thrust ball bearing, one end of the first drive shaft sleeve 25 is fixedly connected with the middle part of the first large bevel gear 23, the other end of the first drive shaft sleeve is connected with a first drive motor, one end of the second drive shaft sleeve 26 is fixedly connected with the middle part of the second large bevel gear 24, the other end is connected with a second driving motor.
Each pitch wheel transmission assembly is respectively connected with a first large bevel gear 23 and a second large bevel gear 24 and comprises a fixed shaft bevel gear 33, a first small bevel gear 35, a second small bevel gear 36 and a connecting shaft 37, the fixed shaft bevel gear 33 is installed on the pitch wheel set 3, the connecting shaft 37 penetrates through the peripheral side face of the hub frame 1 and is rotatably connected with the peripheral side face, the first small bevel gear 35 and the second small bevel gear 36 are respectively installed at two ends of the connecting shaft 37, the first small bevel gear 35 is respectively meshed with the first large bevel gear 23 and the second large bevel gear 24, and the second small bevel gear 36 is meshed with the fixed shaft bevel gear 33. The first small bevel gear 35, the second small bevel gear 36 and the connecting shaft 37 form the same speed and same direction conditions, and are arranged at the centers of the pair of supporting plates 11 outside the hub carrier 1 through thrust ball bearings.
The first driving shaft sleeve 25 and the second driving shaft sleeve 26 are respectively connected with a power source, so that initial power is provided, the first large bevel gear 45 and the second large bevel gear 46 rotate, and the rotating mode of the first large bevel gear and the second large bevel gear affects the moving mode of the whole omnidirectional wheel.
Two section wheels 31 are arranged on the outer side of a supporting plate 11 which is uniformly distributed on the circumference, the outer contour line of the section wheel 31 is in tangent joint with the outer contour line of an omnidirectional wheel, the section wheel 31 is made of wear-resistant rubber, dense salient round points are arranged on the outer surface, the distribution meets the condition that d1 is approximately equal to d2, the rolling self-adaptive capacity can be improved, the anti-skidding ground-grabbing capacity and the climbing ladder capacity are improved, the transmission shaft 32 coaxially penetrates through a round hole in the supporting plate 11, the penetrating position of the transmission shaft 32 reduces the relative friction resistance through a rolling bearing, a shaft shoulder is arranged on the transmission shaft 32, the axial serial motion of the bearing is limited through the shaft shoulder, meanwhile, the head end and the tail end of the transmission shaft 32 are provided with threads, the section wheels are limited at fixed positions through the fastening of a check nut 34, and the dismounting and the replacement of the damaged section wheels are quite convenient. The fixed shaft bevel gear 33 is fixedly connected with the transmission shaft 32, and drives the pitch wheel 31 to rotate along with the rotation of the fixed shaft bevel gear 33.
As shown in figure 1, the big bevel gear drives each small bevel gear to rotate through gear transmission, and the basic standard of driving in each direction is achieved.
As shown in fig. 9-12, an active omni wheel may be a road wheel in applications 1, 2, 3, 4.
The moving method of the driving omnidirectional wheel comprises the following steps:
advancing and retreating:
the method comprises the following steps: the first driving motor and the second driving motor are driven in the same direction, and power is transmitted to the first large bevel gear and the second large bevel gear through the first driving shaft sleeve and the second driving shaft sleeve respectively;
step two: the first large bevel gear and the second large bevel gear have the tendency of rotating towards the same direction;
step three: each small bevel gear is locked, and the driving motor I and the driving motor II drive the omnidirectional wheel to integrally rotate so as to realize forward and backward movement;
(II) left shift and right shift:
step A: the first driving motor and the second driving motor are driven reversely, and power is transmitted to the first large bevel gear and the second large bevel gear through the first driving shaft sleeve and the second driving shaft sleeve respectively;
and B: the first large bevel gear and the second large bevel gear rotate oppositely;
and C: the integral rotation is counteracted, each small bevel gear rotates to drive the joint wheel set to rotate, and the joint wheel set drives the omnidirectional wheel to integrally rotate so as to realize left movement and right movement;
(III) moving in any direction:
step a: the first driving motor and the second driving motor are driven in a differential reverse direction, and power is transmitted to the first large bevel gear and the second large bevel gear through the first driving shaft sleeve and the second driving shaft sleeve respectively;
step b: the first large bevel gear and the second large bevel gear rotate in a differential speed and reverse direction;
step c: the differential degrees of the first driving motor and the second driving motor enable the omnidirectional wheel to integrally rotate, and meanwhile, each small bevel gear rotates to drive the joint wheel set to rotate;
step d: the moving direction is adjusted by adjusting the differential speed of the first driving motor and the second driving motor, and the omnidirectional movement of the omnidirectional wheel is synthesized.
Claims (9)
1. An active omni wheel, comprising: including wheel hub frame (1), wheel hub actuating mechanism (2), festival wheel group (3), wheel hub actuating mechanism (2) are including the initiative drive subassembly, festival wheel transmission assembly, the initiative drive subassembly is installed inside wheel hub frame (1), the periphery interval equipartition of festival wheel group (3) in wheel hub frame (1) has a plurality ofly and is connected with wheel hub frame (1) respectively, every festival wheel group (3) are connected with the initiative drive subassembly through a festival wheel transmission assembly respectively, every festival wheel transmission assembly wears to locate the side of week of wheel hub frame (1) respectively.
2. The active omni wheel of claim 1, wherein: the driving assembly comprises a first hub end cover (21), a second hub end cover (22), a first large bevel gear (23), a second large bevel gear (24), a first driving shaft sleeve (25) and a second driving shaft sleeve (26), the first hub end cover (21) and the second hub end cover (22) are oppositely arranged on two opposite sides of the hub frame (1), the first large bevel gear (23) and the second large bevel gear (24) are oppositely arranged at intervals, the first driving shaft sleeve (25) is arranged on the first hub end cover (21) in a penetrating mode and is in rolling connection with the first hub end cover, the second driving shaft sleeve (26) is arranged on the second driving shaft sleeve (26) in a penetrating mode and is in rolling connection with the second driving shaft sleeve, one end of the first driving shaft sleeve (25) is fixedly connected with the middle of the first large bevel gear (23), the other end of the first driving shaft sleeve is connected with a driving motor, one end of the second driving shaft sleeve (26) is fixedly connected with the middle of the second large bevel gear (24), the other end of the second driving shaft sleeve is connected with the driving motor, each pitch wheel transmission assembly is respectively connected with a first large bevel gear (23) and a second large bevel gear (24).
3. An active omni wheel according to claim 2, wherein: the pitch wheel transmission assembly comprises a fixed shaft bevel gear (33), a first small bevel gear (35), a second small bevel gear (36) and a connecting shaft (37), the fixed shaft bevel gear (33) is installed on the pitch wheel set (3), the connecting shaft (37) penetrates through the peripheral side face of the hub frame (1) and is rotatably connected with the hub frame, the first small bevel gear (35) and the second small bevel gear (36) are installed at the two ends of the connecting shaft (37) respectively, the first small bevel gear (35) is meshed with the first large bevel gear (23) and the second large bevel gear (24) respectively, and the second small bevel gear (36) is meshed with the fixed shaft bevel gear (33).
4. The active omni wheel of claim 1, wherein: the segment wheel set (3) comprises segment wheels (31), transmission shafts (32) and locknuts (34), the transmission shafts (32) are horizontally arranged on the outer peripheral surface of the wheel hub frame (1), two ends of each transmission shaft (32) are respectively provided with one segment wheel (31), and each segment wheel (31) is limited through one locknut (34).
5. The active omni wheel of claim 4, wherein: the pitch wheel (31) is a rubber wheel, the surface of the wheel is provided with dense protruding round points, and the outer contour line is tangent and sewn with the outer contour line of the omnidirectional wheel.
6. The active omni wheel of claim 1, wherein: the wheel hub frame (1) is of a regular polygon frame structure, the active driving assembly is arranged inside the frame structure, a pair of supporting plates (11) are arranged on each outer side face at intervals oppositely, and each pair of supporting plates (11) is provided with a wheel segment group (3) respectively.
7. An active omni wheel according to claim 1 or 6, wherein: the number of the node wheel sets (3) is 4-8.
8. An active omni wheel according to claim 1 or 6, wherein: the hub frame (1) is a light high-strength steel frame.
9. A method of moving an active omni wheel according to claim 2 or 3, comprising the steps of:
advancing and retreating:
the method comprises the following steps: the first driving motor and the second driving motor are driven in the same direction, and power is transmitted to the first large bevel gear and the second large bevel gear through the first driving shaft sleeve and the second driving shaft sleeve respectively;
step two: the first large bevel gear and the second large bevel gear have the tendency of rotating towards the same direction;
step three: each small bevel gear is locked, and the driving motor I and the driving motor II drive the omnidirectional wheel to integrally rotate so as to realize forward and backward movement;
(II) left shift and right shift:
step A: the first driving motor and the second driving motor are driven reversely, and power is transmitted to the first large bevel gear and the second large bevel gear through the first driving shaft sleeve and the second driving shaft sleeve respectively;
and B: the first large bevel gear and the second large bevel gear rotate oppositely;
and C: the whole rotation is offset, each small bevel gear rotates to drive the joint wheel set to rotate, and the joint wheel set drives the whole body to realize left movement and right movement.
(III) moving in any direction:
step a: the first driving motor and the second driving motor are driven in a differential reverse direction, and power is transmitted to the first large bevel gear and the second large bevel gear through the first driving shaft sleeve and the second driving shaft sleeve respectively;
step b: the first large bevel gear and the second large bevel gear rotate in a differential speed and reverse direction;
step c: the differential degrees of the first driving motor and the second driving motor enable the omnidirectional wheel to integrally rotate, and meanwhile, each small bevel gear rotates to drive the joint wheel set to rotate;
step d: the moving direction is adjusted by adjusting the differential speed of the first driving motor and the second driving motor, and the omnidirectional movement of the omnidirectional wheel is synthesized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111394362.XA CN114013214B (en) | 2021-11-15 | 2021-11-15 | Active omni-wheel and movement method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111394362.XA CN114013214B (en) | 2021-11-15 | 2021-11-15 | Active omni-wheel and movement method thereof |
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| CN114013214A true CN114013214A (en) | 2022-02-08 |
| CN114013214B CN114013214B (en) | 2024-01-26 |
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- 2021-11-15 CN CN202111394362.XA patent/CN114013214B/en active Active
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| US20150130260A1 (en) * | 2013-11-08 | 2015-05-14 | WHILL, Inc. | Omni-directional wheel and omni-directional vehicle including the same |
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| CN114013214B (en) | 2024-01-26 |
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