CN201752996U - Combined universal roll wheel - Google Patents
Combined universal roll wheel Download PDFInfo
- Publication number
- CN201752996U CN201752996U CN2010202986722U CN201020298672U CN201752996U CN 201752996 U CN201752996 U CN 201752996U CN 2010202986722 U CN2010202986722 U CN 2010202986722U CN 201020298672 U CN201020298672 U CN 201020298672U CN 201752996 U CN201752996 U CN 201752996U
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Abstract
A combined universal roll wheel relates to one roll wheel, and is composed of ball wheels, a drive shaft and driven shafts, a ball wheel a and a ball wheel b are respectively fixed on the drive shaft 1 by a driven shaft 4 and a driven shaft 5 which is intersecting with the driven shaft 4 at an angle of 90 degrees, two driven shafts form an angle of 45 degrees on the vertical surface of the drive shaft 1, the ball wheel a and the ball wheel b are all composed of two semi-balls, wherein, parts of ball crown and parts of ball body of two semi balls are removed, the semi-ball 2 and the other semi-ball 3 are arranged at an angle of 90 degrees and are connected into a ball body by the driven shaft 4 and the driven shaft 5 which is intersecting with the driven shaft 4 at an angle of 90 degrees, the ball body is fixed on the drive shaft 1. The utility model has advantages of simple structure and flexible movement. The utility model can implement the continuous contact with the ground based on the two ball-shaped split structures which are intersected in the inclined direction, at the same time, can implement the drive and the driven movements of the wheel body. The wheel structure of the utility model is applicable to the dirty environment, the wheel mixing phenomenon is not liable to generate, the wheel has strong bearing capability and is easy to control, and the utility model is specially applicable to be taken as a universal wheel of a robot movement platform.
Description
Technical field
The utility model relates to a kind of running roller, particularly relates to a kind of knockdown universal running roller.
Background technology
At present, the design concept of most special wheel constructions is: have constraint to obtain propulsive effort on a direction of wheel, retrain to realize passive movement and remove on another direction.As being designed to of special classics of taking turns: a series of follower is installed on the circumference of a traditional wheel construction, and the S. A. of these passive rollers is vertical or favour the S. A. of tradition wheel.For example: the design of Mecanum wheel, the design of other special wheel construction comprise quadrature wheel construction and ball wheel construction.The universal mobile robot of special wheel construction has very strong kinematic dexterity and stability, and can very accurately realize track following.But such universal mobile robot is except mechanism's more complicated, and it is poor also to exist obstacle climbing ability, and load-carrying capacity is low, and passive roller causes shortcomings such as body oscillating easily.This wheel structure is not suitable for dirty and messy occasion, because the foul body is easy to stir on the S. A. of passive roller, influences the motion of robot.Ball wheel construction driver train and motion control are complicated, use less.Mainly adopt to turn to and rotate based on all directionally movable robot of traditional wheel construction and all have individual drive caster wheel structure, though this mechanism load-carrying capacity is strong, lower to the requirement of movement environment simultaneously, can cross over little obstacle, but kinematic dexterity and less stable.
Summary of the invention
The purpose of this utility model is to provide a kind of and constitutes knockdown universal running roller by ball wheel a and ball wheel b, relies on heterotropic two spherical body structures that divide to realize and ground-surface uninterrupted contact, realizes the driving and the passive movement of wheel body simultaneously.This kind wheel structure is suitable for more dirty and messy occasion, the difficult wheel phenomenon of stirring, and load-carrying capacity is strong, is easy to control, is particularly suitable as robot motion's flat-bed cardan wheel.
The purpose of this utility model is achieved through the following technical solutions:
A kind of knockdown universal running roller, form by ball wheel and imput shaft, driven axle, ball wheel a and ball wheel b are fixed on the imput shaft by driven axle and with its 90 ° of crossing driven axles respectively, two driven axles are 45 ° of bias angles on the vertical plane of imput shaft, ball wheel a and ball wheel b constitute by two hemisphere removing part spherical crown and part spheroid, hemisphere and another hemisphere are 90 ° of settings, connect into spheroid by driven axle and with its 90 ° of crossing driven axles respectively, and are fixed on the imput shaft.
Advantage of the present utility model and effect are:
1. the utility model is simple in structure, and motion flexibly.Rely on heterotropic two spherical body structures that divide to realize and ground-surface uninterrupted contact, realize the driving and the passive movement of wheel body simultaneously.This kind wheel structure is suitable for more dirty and messy occasion, the difficult wheel phenomenon of stirring, and load-carrying capacity is strong, is easy to control, is particularly suitable as robot motion's flat-bed cardan wheel.
2. the utility model is in motion process, and ball is taken turns a and alternately contacted the continuity that realizes whole driving process with ground with ball wheel b, and two driven axles are 45 degree obliques layouts and have realized continuous transmission on the vertical plane of imput shaft.This design has increased the intensity of imput shaft and driven axle when realizing motion continuity, the cardan wheel load-carrying capacity is strengthened.
Description of drawings
Fig. 1 is the scheme drawing at a kind of visual angle of the utility model;
Fig. 2 is the scheme drawing at another visual angle of the utility model;
Fig. 3 is the right elevation of Fig. 2;
Fig. 4 is the left view of Fig. 2.
Parts among the figure: imput shaft 1, hemisphere 2, another hemisphere 3, driven axle 4, the driven axle 5 that intersects.
The specific embodiment
Referring to Fig. 1-Fig. 4, many conical spheres compound type all-directional mobile wheel is made of ball wheel a and ball wheel b.Be fixed on the imput shaft 1 by driven axle 4 and with its 90 ° of crossing driven axles 5 respectively, two driven axles are 45 ° of bias angles on the vertical plane of imput shaft 1.
Two hemisphere that ball wheel a and ball wheel b all remove part spherical crown and part spheroid constitute, and hemisphere 2 is 90 ° of settings with another hemisphere 3, connects into spheroid by driven axle 4 and with its 90 ° of crossing driven axles 5 respectively, and is fixed on the imput shaft 1.
The utility model has increased the intensity of imput shaft and driven axle when realizing motion continuity, the load-carrying capacity of cardan wheel is obviously increased.Because each that constitutes mobile platform taken turns and is cardan wheel, thus three cardan wheels just can drive platform finish the three degree of freedom on plane move realize universal mobile.
The utility model can be applied on the mobile chassis of family's sweeping robot, also can be applied on the comprehensive wheelchair, can be applied in the assembling and transportation device on the automated assembly line.
Claims (1)
1. knockdown universal running roller, form by ball wheel and imput shaft, driven axle, it is characterized in that, ball wheel a and ball wheel b are fixed on the imput shaft (1) by driven axle (4) and with its 90 ° of crossing driven axles (5) respectively, two driven axles are 45 ° of bias angles on the vertical plane of imput shaft (1), ball wheel a and ball wheel b constitute by two hemisphere removing part spherical crown and part spheroid, hemisphere (2) is 90 ° of settings with another hemisphere (3), connect into spheroid by driven axle (4) and with its 90 ° of crossing driven axles (5) respectively, and be fixed on the imput shaft (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202986722U CN201752996U (en) | 2010-08-20 | 2010-08-20 | Combined universal roll wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202986722U CN201752996U (en) | 2010-08-20 | 2010-08-20 | Combined universal roll wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201752996U true CN201752996U (en) | 2011-03-02 |
Family
ID=43620726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010202986722U Expired - Fee Related CN201752996U (en) | 2010-08-20 | 2010-08-20 | Combined universal roll wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201752996U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102180064A (en) * | 2011-04-14 | 2011-09-14 | 沈阳航空航天大学 | Differential type omnibearing wheel |
| CN104379361A (en) * | 2012-04-30 | 2015-02-25 | 奥尔德巴伦机器人公司 | Spherical wheel, and vehicle implementing the wheel |
| CN104714549A (en) * | 2015-03-09 | 2015-06-17 | 曹人天 | Omni-directional wheel and omni-directional mobile platform |
| CN104827827A (en) * | 2015-04-29 | 2015-08-12 | 安徽兴宇轨道装备有限公司 | Curved-surface walking wheel |
-
2010
- 2010-08-20 CN CN2010202986722U patent/CN201752996U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102180064A (en) * | 2011-04-14 | 2011-09-14 | 沈阳航空航天大学 | Differential type omnibearing wheel |
| CN104379361A (en) * | 2012-04-30 | 2015-02-25 | 奥尔德巴伦机器人公司 | Spherical wheel, and vehicle implementing the wheel |
| CN104379361B (en) * | 2012-04-30 | 2017-02-22 | 奥尔德巴伦机器人公司 | Spherical wheel, and vehicle implementing the wheel |
| CN104714549A (en) * | 2015-03-09 | 2015-06-17 | 曹人天 | Omni-directional wheel and omni-directional mobile platform |
| CN104827827A (en) * | 2015-04-29 | 2015-08-12 | 安徽兴宇轨道装备有限公司 | Curved-surface walking wheel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110302 Termination date: 20110820 |