CN114013214B - Active omni-wheel and movement method thereof - Google Patents
Active omni-wheel and movement method thereof Download PDFInfo
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- CN114013214B CN114013214B CN202111394362.XA CN202111394362A CN114013214B CN 114013214 B CN114013214 B CN 114013214B CN 202111394362 A CN202111394362 A CN 202111394362A CN 114013214 B CN114013214 B CN 114013214B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 33
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
Classifications
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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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a driving omni-directional wheel, which comprises a wheel hub frame, wherein the circumference of the wheel hub frame is uniformly provided with a left-right rotating wheel, the wheel hub is fixedly connected with a bevel gear through a rotating shaft, the driving omni-directional wheel also comprises driving motor output shafts which are symmetrically arranged at two sides of a main wheel hub and used for driving a corresponding bevel gear pair in the wheel hub to rotate, the bevel gear pair in the wheel hub consists of a large bevel gear and a small bevel gear which is uniformly distributed on the circumference, the large bevel gear of the bevel gear pair is coaxially connected with the wheel hub frame, and the small bevel gears of the bevel gear pair are axially symmetrically arranged and are respectively connected with fixing holes around the wheel hub frame. And discloses a movement method thereof. The invention can realize the omnibearing motion of the omnidirectional wheel through the combined motion of the hub and the knuckle wheel, and each motion direction control method is independent.
Description
Technical Field
The invention relates to an omni-wheel, in particular to an active omni-wheel and a movement method thereof.
Background
The omni wheel is widely applied to the structures of mobile devices such as robots, carts, transfer conveyors, trucks, 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 freely rotate, and the axial direction of the hub is perpendicular to the axial direction of the driven wheel, so that the omni wheel has the omni-directional movement capability.
The existing omni wheel can rotate around the axial direction of a motor shaft through a hub motor (a large wheel) and can realize transverse movement perpendicular to the direction of a hub through rotation of a driven wheel (a small wheel); however, the rotation of the omni wheel around the motor shaft realizes the whole active rotation through the motor shaft, the rotation of the driven wheel realizes the rotation passively through the contact friction force of the omni wheel and the ground, and the active rotation cannot be realized.
Patent cn20120121753. X is an omni wheel that can roll back and forth on a single wheel, but cannot achieve autonomous left-right movement of the wheel.
The omnidirectional wheel capable of moving in all directions in the patent CN201611205333.3 is characterized in that the rotating shafts of all the sections of the omnidirectional wheel are connected with the rotating shafts of the contraposition worm through corresponding transmission mechanisms by the section wheel driving mechanisms, and the omnidirectional wheel can realize controlled movement in any direction, but has weaker driving capability, longer driving reaction time and more needed parts and is difficult to assemble.
Disclosure of Invention
The invention aims to: aiming at the problems, the invention aims to provide an active omni-wheel, realize autonomous movement of the wheel, optimize the structure and provide a movement method thereof.
The technical scheme is as follows: the utility model provides an initiative omniwheel, includes wheel hub frame, wheel hub actuating mechanism, festival wheelset, wheel hub actuating mechanism includes initiative drive assembly, festival wheel drive assembly, and initiative drive assembly installs inside the wheel hub frame, and the festival wheelset has a plurality ofly and is connected with the wheel hub frame respectively at the periphery interval equipartition of wheel hub frame, and every festival wheelset is connected with initiative drive assembly through a festival wheel drive assembly respectively, and every festival wheel drive assembly wears to locate the week side of wheel hub frame respectively.
Further, 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, wherein 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 oppositely arranged at intervals between the first hub end cover and the second large bevel gear, the first driving shaft sleeve is arranged on the first hub end cover in a penetrating manner and is in rolling connection with the first large bevel gear, the second driving shaft sleeve is arranged on the second driving shaft sleeve in a penetrating manner 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 large bevel gear, 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 second driving motor, and each section wheel transmission assembly is respectively connected with the first large bevel gear and the second large bevel gear.
Further, the wheel-saving transmission assembly comprises a fixed shaft bevel gear, a first bevel pinion, a second bevel pinion and a connecting shaft, wherein the fixed shaft bevel gear is arranged on the wheel-saving assembly, the connecting shaft penetrates through the peripheral side face of the wheel hub frame and is rotationally connected with the wheel hub frame, the first bevel pinion and the second bevel pinion are respectively arranged at two ends of the connecting shaft, the first bevel pinion is meshed with the first bevel gear and the second bevel pinion respectively, and the second bevel pinion is meshed with the fixed shaft bevel gear.
Further, the joint wheel group comprises joint wheels, a transmission shaft and locknuts, wherein the transmission shaft is horizontally arranged on the outer peripheral surface of the hub frame, two ends of the transmission shaft are respectively provided with one joint wheel, and each joint wheel is limited through one locknut.
Optimally, the knuckle wheel is a rubber wheel. The wheel surface is provided with densely-protruded dots, and the outer contour line is tangent to the outer contour line of the omnidirectional wheel.
Further, 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 joint group.
Optimally, the number of the joint groups is 4-8.
Optimally, the hub frame is a light high-strength steel frame.
The method for moving the active omnidirectional wheel comprises the following steps:
forward and reverse:
step one: the driving motor I and the driving motor II are driven in the same direction, and power is transmitted to the big bevel gear I and the big bevel gear II through the first driving shaft sleeve and the second driving shaft sleeve respectively;
step two: the large bevel gear I and the large bevel gear II have a tendency to rotate in 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 advancing and retreating;
(II) left and right shift:
step A: the first driving motor and the second driving motor are driven in a 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;
and (B) step (B): the large bevel gear I and the large bevel gear II relatively rotate in opposite directions;
step C: the integral rotation is counteracted, each bevel pinion rotates to drive the joint group to rotate, and the joint group drives the omnidirectional wheel to integrally rotate so as to realize left 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 large bevel gear I and the large bevel gear II rotate in a differential reverse direction;
step c: the differential speed of the first driving motor and the second driving motor enables the omnidirectional wheel to integrally rotate, and meanwhile, each small bevel gear rotates to drive the joint wheel group to rotate;
step d: the omni-directional motion of the omni-directional wheel is synthesized by adjusting the differential speed of the first driving motor and the second driving motor and adjusting the moving direction.
The beneficial effects are that: compared with the prior art, the invention has the advantages that:
1. the driving omni-wheel can generate a speed vector for transversely moving the omni-wheel (left and right directions) under the opposite driving of the driving motors at two sides, can generate a speed vector for longitudinally moving the omni-wheel (front and back directions) under the same-direction driving, and can generate a speed vector for obliquely moving the omni-wheel (any direction) under the differential driving, so that the omni-movement capability is achieved.
2. According to the active omnidirectional wheel, through tight gear transmission, movement in all directions is controlled, the influence of passive sliding can be reduced, and the system stability is improved.
3. According to the active omnidirectional wheel, the shaft sleeves are arranged on the left side and the right side of the omnidirectional wheel, the hub driving motor can be connected and arranged on the left shaft sleeve and the right shaft sleeve, and the omnidirectional wheel can also be used as walking wheels of wheelbarrows, wheelchairs, bicycles, robots and the like.
4. The active omni-wheel and the segment wheels are arranged in a segmented mode, and the active omni-wheel and the segment wheels have certain obstacle crossing performance in climbing scenes such as stairs.
5. The active omni-wheel simplifies the number of parts under active control, reduces the assembly difficulty and lays a foundation for the cost control of the subsequent omni-wheel under different combination forms.
6. The driving omni-wheel provided by the invention has the advantages that the driving assembly and the driving transmission assembly are both driven by gears, so that the driving precision is high and the driving efficiency is high. The reliability and stability of the transmission conversion are also greatly improved.
7. Compared with the existing moving mechanism, the driving omnidirectional wheel has the advantages that the hysteresis of transmission is obviously reduced, and the reliability and stability of transmission conversion are high.
Drawings
FIG. 1 is a schematic perspective view of the present invention with a hub end cover 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 an active drive assembly;
FIG. 7 is a block diagram of a joint set;
FIG. 8 is a front view block diagram of the present invention;
FIG. 9 is a schematic diagram of application 1 of the present invention;
FIG. 10 is a schematic diagram of application 2 of the present invention;
FIG. 11 is a schematic diagram of application 3 of the present invention;
fig. 12 is a schematic diagram of application 4 of the present invention.
Detailed Description
The invention will be further elucidated with reference to the drawings and to specific embodiments, it being understood that these embodiments are only intended to illustrate the invention and are not intended to limit the scope thereof.
An active omni-wheel is shown in figures 1-8 and comprises a wheel hub frame 1, a wheel hub driving mechanism 2 and a wheel joint group 3, wherein the wheel hub driving mechanism 2 comprises an active driving assembly and a wheel joint transmission assembly.
The hub frame 1 is a regular polygon frame structure, the material is light high-strength steel, the driving drive assembly is arranged inside the frame structure, a pair of support plates 11 are arranged on each outer side face at intervals, a plurality of mounting holes for respectively installing the driving drive assembly are formed in the connecting portions between the support plates 11, the plurality of the section wheel groups 3 are uniformly distributed on the periphery of the hub frame 1 at intervals, each pair of the mounting plates 11 is respectively provided with one section wheel group 3, the number of the section wheel groups 3 is 4-8, each section wheel group 3 comprises section wheels 31, a transmission shaft 32 and a locknut 34, the section wheels 31 are rubber wheels, the transmission shaft 32 is arranged in the pair of the support plates 11 in a penetrating mode and is connected with the pair of the support plates in a rotating mode, one section wheel 31 is respectively arranged at two ends of the transmission shaft 32, and each section wheel 31 is limited through one locknut 34.
Each joint group 3 is connected with a driving assembly through a joint wheel transmission assembly, 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 between the first hub end cover 21 and the second large bevel gear, the first driving shaft sleeve 25 is arranged on the first hub end cover 21 in a penetrating manner and is in rolling connection with the first large bevel gear, the second driving shaft sleeve 26 is arranged on the second driving shaft sleeve 26 in a penetrating manner and is in rolling connection with the second driving shaft sleeve 26, relative rotation friction between the traversing part and the inner side is reduced through a rolling bearing and a thrust ball bearing respectively, one end of the first driving shaft sleeve 25 is fixedly connected with the middle part of the first large bevel gear 23, the other end of the second driving shaft sleeve 26 is fixedly connected with the middle part of the second large bevel gear 24, and the other end of the driving shaft sleeve is connected with the second driving motor.
Each section wheel transmission assembly is respectively connected with the big bevel gear I23 and the big bevel gear II 24, and comprises a fixed shaft bevel gear 33, a small bevel gear I35, a small bevel gear II 36 and a connecting shaft 37, wherein the fixed shaft bevel gear 33 is arranged on the section wheel group 3, the connecting shaft 37 penetrates through the circumferential side surface of the hub frame 1 and is rotationally connected with the hub frame, the small bevel gear I35 and the small bevel gear II 36 are respectively arranged at two ends of the connecting shaft 37, the small bevel gear I35 is respectively meshed with the big bevel gear I23 and the big bevel gear II 24, and the small bevel gear II 36 is meshed with the fixed shaft bevel gear 33. The first bevel pinion 35, the second bevel pinion 36 and the connecting shaft 37 form the same-speed and same-direction conditions, and are arranged at the center of a pair of supporting plates 11 outside the hub frame 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 as to provide initial power, so that the large bevel gear I45 and the large bevel gear II 46 rotate, and the rotation mode of the large bevel gear I and the large bevel gear II affects the movement mode of the integral omni wheel.
Two festival rounds 31 divide to arrange the backup pad 11 outside of circumference equipartition in, the tangent joint of festival round 31 outline and the outside outline of qxcomm technology round, festival round 31 is wear-resisting rubber material, the surface has intensive salient dot, the distribution satisfies d1 approximately d2 condition, can improve rolling self-adaptation ability, antiskid is grabbed ground ability and climbing ladder ability, and pass through the round hole on the backup pad 11 of transmission shaft 32 coaxial traversal, the relative frictional resistance is reduced through antifriction bearing in the crossing position of transmission shaft 32, be equipped with the shaft shoulder on the transmission shaft 32, restrict bearing axial string and move through the shaft shoulder, simultaneously transmission shaft 32 head and tail end is equipped with the screw thread, through locknut 34's fastening, restrict the festival round in fixed position, it is fairly convenient to dismantle the festival round after changing the damage. The fixed shaft bevel gear 33 is fixedly connected with the transmission shaft 32, and drives the knuckle wheel 31 to rotate along with the rotation of the fixed shaft bevel gear 33.
As shown in fig. 1, the big bevel gears drive the small bevel gears to rotate through gear transmission, so that the driving standard of all directions is achieved.
As shown in fig. 9-12, one active omni-wheel may be a road wheel in application 1, application 2, application 3, application 4.
The method for moving the active omnidirectional wheel comprises the following steps:
forward and reverse:
step one: the driving motor I and the driving motor II are driven in the same direction, and power is transmitted to the big bevel gear I and the big bevel gear II through the first driving shaft sleeve and the second driving shaft sleeve respectively;
step two: the large bevel gear I and the large bevel gear II have a tendency to rotate in 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 advancing and retreating;
(II) left and right shift:
step A: the first driving motor and the second driving motor are driven in a 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;
and (B) step (B): the large bevel gear I and the large bevel gear II relatively rotate in opposite directions;
step C: the integral rotation is counteracted, each bevel pinion rotates to drive the joint group to rotate, and the joint group drives the omnidirectional wheel to integrally rotate so as to realize left 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 large bevel gear I and the large bevel gear II rotate in a differential reverse direction;
step c: the differential speed of the first driving motor and the second driving motor enables the omnidirectional wheel to integrally rotate, and meanwhile, each small bevel gear rotates to drive the joint wheel group to rotate;
step d: the omni-directional motion of the omni-directional wheel is synthesized by adjusting the differential speed of the first driving motor and the second driving motor and adjusting the moving direction.
Claims (8)
1. An active omni-wheel, characterized in that: the wheel hub driving mechanism (2) comprises an active driving component and a wheel-saving transmission component, wherein the active driving component is arranged inside the wheel hub frame (1), the wheel-saving transmission component (3) is uniformly distributed at intervals on the periphery of the wheel hub frame (1) and is respectively connected with the wheel hub frame (1), each wheel-saving transmission component (3) is respectively connected with the active driving component through one wheel-saving transmission component, and each wheel-saving transmission component is respectively arranged on the peripheral side face of the wheel hub frame (1) in a penetrating mode;
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), wherein 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 large bevel gear (23), 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 large bevel gear (26), 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 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 second driving motor, and each section wheel transmission assembly is respectively connected with the first large bevel gear (23) and the second large bevel gear (24).
2. An active omni wheel according to claim 1, wherein: the wheel-saving transmission assembly comprises a fixed shaft bevel gear (33), a first bevel pinion (35), a second bevel pinion (36) and a connecting shaft (37), wherein the fixed shaft bevel gear (33) is arranged on the wheel-saving assembly (3), the connecting shaft (37) penetrates through the peripheral side face of the wheel hub frame (1) and is rotationally connected with the wheel hub frame, the first bevel pinion (35) and the second bevel pinion (36) are respectively arranged at two ends of the connecting shaft (37), the first bevel pinion (35) is respectively meshed with the first large bevel gear (23) and the second large bevel gear (24), and the second bevel pinion (36) is meshed with the fixed shaft bevel gear (33).
3. An active omni wheel according to claim 1, wherein: the joint wheel group (3) comprises joint wheels (31), a transmission shaft (32) and locknuts (34), the transmission shaft (32) is horizontally arranged on the outer peripheral surface of the hub frame (1), two ends of the transmission shaft (32) are respectively provided with one joint wheel (31), and each joint wheel (31) is limited through one locknut (34).
4. An active omni wheel according to claim 3, wherein: the section wheel (31) is a rubber wheel, the surface of the wheel is provided with densely protruding dots, and the outer contour line of the wheel is tangent to the outer contour line of the omnidirectional wheel.
5. An active omni wheel according to claim 1, wherein: the 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, and a joint group (3) is respectively arranged on each pair of supporting plates (11).
6. An active omni wheel according to claim 1 or 5, characterized in that: the number of the joint groups (3) is 4-8.
7. An active omni wheel according to claim 1 or 5, characterized in that: the hub frame (1) is a light high-strength steel frame.
8. A method of moving an active omni wheel according to claim 1 or 2, wherein,
the advancing and retreating comprises the following steps:
step one: the driving motor I and the driving motor II are driven in the same direction, and power is transmitted to the big bevel gear I and the big bevel gear II through the first driving shaft sleeve and the second driving shaft sleeve respectively;
step two: the large bevel gear I and the large bevel gear II have a tendency to rotate in 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 advancing and retreating;
the left and right shifting includes the steps of:
step A: the first driving motor and the second driving motor are driven in a 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;
and (B) step (B): the large bevel gear I and the large bevel gear II relatively rotate in opposite directions;
step C: the integral rotation is counteracted, and each bevel pinion rotates to drive the joint group to rotate, and the joint group drives the whole to realize left movement and right movement;
any direction movement includes the steps of:
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 large bevel gear I and the large bevel gear II rotate in a differential reverse direction;
step c: the differential speed of the first driving motor and the second driving motor enables the omnidirectional wheel to integrally rotate, and meanwhile, each small bevel gear rotates to drive the joint wheel group to rotate;
step d: the omni-directional motion of the omni-directional wheel is synthesized by adjusting the differential speed of the first driving motor and the second driving motor and adjusting the moving direction.
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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN114013214A CN114013214A (en) | 2022-02-08 |
| CN114013214B true CN114013214B (en) | 2024-01-26 |
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| CN202111394362.XA Active CN114013214B (en) | 2021-11-15 | 2021-11-15 | Active omni-wheel and movement method thereof |
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2021
- 2021-11-15 CN CN202111394362.XA patent/CN114013214B/en active Active
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| CN106427398A (en) * | 2016-12-23 | 2017-02-22 | 桂林电子科技大学 | All-directional universal wheel |
| CN106985608A (en) * | 2017-04-14 | 2017-07-28 | 常州市吉庆机电有限公司 | A kind of universal wheel |
| WO2019080443A1 (en) * | 2017-04-14 | 2019-05-02 | 常州市吉庆机电有限公司 | Universal wheel |
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| CN114013214A (en) | 2022-02-08 |
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