CN201980014U - Differential type all-round wheel - Google Patents

Differential type all-round wheel Download PDF

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Publication number
CN201980014U
CN201980014U CN2011201088276U CN201120108827U CN201980014U CN 201980014 U CN201980014 U CN 201980014U CN 2011201088276 U CN2011201088276 U CN 2011201088276U CN 201120108827 U CN201120108827 U CN 201120108827U CN 201980014 U CN201980014 U CN 201980014U
Authority
CN
China
Prior art keywords
wheel
spherical
differential type
round wheel
ball wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2011201088276U
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Chinese (zh)
Inventor
叶长龙
回丽
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Aerospace University
Original Assignee
Shenyang Aerospace University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Aerospace University filed Critical Shenyang Aerospace University
Priority to CN2011201088276U priority Critical patent/CN201980014U/en
Application granted granted Critical
Publication of CN201980014U publication Critical patent/CN201980014U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model provides a differential type all-round wheel which consists of a spherical wheel a and a spherical wheel b with the same structures, wherein the spherical wheel a and the spherical wheel b are respectively connected into spheres by a driven shaft a and a driven shaft b and are fixed on a driving shaft; and the spherical wheel a has an enclosed structure formed by four bevel gears with spherical crowns. The differential type all-round wheel has the following beneficial effects: the continuous contact between the all-round wheel and the ground is realized through two obliquely-intersected spherical split type structures; particularly, the differential type all-round wheel is flexible to move and easy to control, has a simple structure and strong load-bearing capability and is particularly suitable for serving as a robot moving platform.

Description

The differential all-directional wheel
Technical field:
The utility model relates to a kind of differential all-directional wheel, mainly is used as universal mobile wheel, service robot and the application similar with it of robot.
Background technology:
At present, directional wheel roughly is divided into two kinds: a kind of is to adopt special wheel construction, and another kind is to use traditional wheel construction.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.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.
The utility model content:
For solve above-mentioned existing several cardan wheels in various degree have a structure more complicated, obstacle climbing ability is poor, load-carrying capacity is low, deficiencies such as alerting ability and less stable provide a kind of differential all-directional wheel.
For achieving the above object, the technical solution adopted in the utility model is: a kind of all-directional mobile wheel, constitute by ball wheel a with same structure and ball wheel b, and ball wheel a and ball wheel b connect into spheroid by driven axle a and driven axle b respectively, and are fixed on the imput shaft.Ball wheel a forms the osed top structure by four finishing bevel gear cuters that have spherical crown.
The beneficial effects of the utility model: simple in structure, motion flexibly.Rely on heterotropic two spherical body structures that divide to realize and ground-surface uninterrupted contact that load-carrying capacity is strong, be easy to control, be particularly suitable as robot motion's flat-bed cardan wheel.
In motion process, ball wheel a alternately contacts the continuity that realizes whole driving process with ball wheel b with ground.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 a structural representation of the present utility model.
Fig. 2 is the right elevation of Fig. 1.
Fig. 3 is Fig. 2 generalized section.
Fig. 4 is the structural representation of finishing bevel gear cuter.
The specific embodiment:
As Fig. 1-shown in Figure 4, a kind of all-directional mobile wheel is made of ball wheel a2 with same structure and ball wheel b3, and ball wheel a2 and ball wheel b3 connect into spheroid by driven axle a5 and driven axle b4 respectively, and are fixed on the imput shaft 1.Ball wheel a2 forms the osed top structure by four finishing bevel gear cuters that have spherical crown.Angle between each finishing bevel gear cuter is 45 °, and eight finishing bevel gear cuters just in time surround 360 ° sphere.
Principle of work: imput shaft realizes the driving action of vertical paper in rotary course, and the motion of other direction, promptly along the imput shaft axis direction move by ball wheel a around driven axle a rotate freely or ball wheel b uninstalls around rotating freely of driven axle b.In motion process, ball wheel a alternately contacts the continuity that realizes whole driving process with ball wheel b with ground.This design 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.
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. the differential all-directional wheel is made of ball wheel a with same structure and ball wheel b, and ball wheel a and ball wheel b connect into spheroid by driven axle a and driven axle b respectively, and are fixed on the imput shaft, and ball wheel a forms the osed top structure by four finishing bevel gear cuters that have spherical crown.
CN2011201088276U 2011-04-14 2011-04-14 Differential type all-round wheel Expired - Fee Related CN201980014U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011201088276U CN201980014U (en) 2011-04-14 2011-04-14 Differential type all-round wheel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011201088276U CN201980014U (en) 2011-04-14 2011-04-14 Differential type all-round wheel

Publications (1)

Publication Number Publication Date
CN201980014U true CN201980014U (en) 2011-09-21

Family

ID=44607482

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2011201088276U Expired - Fee Related CN201980014U (en) 2011-04-14 2011-04-14 Differential type all-round wheel

Country Status (1)

Country Link
CN (1) CN201980014U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
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
CN104714549A (en) * 2015-03-09 2015-06-17 曹人天 Omni-directional wheel and omni-directional mobile platform
US9809056B1 (en) 2015-11-26 2017-11-07 X Development Llc Roller assemblies for a holonomic base

Cited By (4)

* Cited by examiner, † Cited by third party
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
CN104714549A (en) * 2015-03-09 2015-06-17 曹人天 Omni-directional wheel and omni-directional mobile platform
US9809056B1 (en) 2015-11-26 2017-11-07 X Development Llc Roller assemblies for a holonomic base
US10562344B1 (en) 2015-11-26 2020-02-18 X Development Llc Roller assemblies for a holonomic base

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Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110921

Termination date: 20160414