CN202847324U - Omni-directional wheel and omni-directional mobile platform using omni-directional wheel - Google Patents
Omni-directional wheel and omni-directional mobile platform using omni-directional wheel Download PDFInfo
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- CN202847324U CN202847324U CN 201220463272 CN201220463272U CN202847324U CN 202847324 U CN202847324 U CN 202847324U CN 201220463272 CN201220463272 CN 201220463272 CN 201220463272 U CN201220463272 U CN 201220463272U CN 202847324 U CN202847324 U CN 202847324U
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- roller axle
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Abstract
The utility model relates to the field of movement mechanism, in particular to an omni-directional wheel and an omni-directional mobile platform using the omni-directional wheel. The omni-directional wheel comprises a hub and an integral type roller assembled on the hub through a roller shaft. Two ends of the roller shaft protrude on the corresponding roller and external threads are arranged on the part which protrudes the roller. The hub comprises relatively arranged a left support turnplate and a right support turnplate and a shaft sleeve which is connected between the left support turnplate and the right support turnplate in a coaxial mode. One end of the roller shaft is arranged in a mounting hole in the left support turnplate in an inserted mode and is fixed through a nut, and the right support turnplate is close to the shaft sleeve and is fixedly connected with the shaft sleeve in a detachable mode when the roller shaft is fixed on the right support turnplate. A receding hole which is used for receding activity of the roller shaft relative to the right support turnplate in the process of the right support turnplate closing to the shaft sleeve from right to left. One end of the roller shaft away from the left support turnplate is arranged in the corresponding receding hole in an inserted mode and is fixed through the nut, and therefore the problems that the omni-directional wheel is poor intensity and easy to invalid are solved.
Description
Technical field
The utility model relates to the kinematic mechanism field, especially a kind of directional wheel and use the Omni-mobile platform of this directional wheel.
Background technology
It is a kind of all-around mobile wheel that Mike receives female wheel, the characteristics of this wheel are on the basis of conventional wheel, along being 45 ° of directions with axis some little rollers that can rotate freely are installed again on wheel rim, when wheel rolling, little roller will produce sideway movement like this.Receive being used in combination and controlling of female wheel by Mike, any direction that car body is produced in the plane of movement moves and rotates.
At present, receiving the directional wheel that female wheel derives based on Mike on the market has a lot, and this directional wheel is become with the driven roll subgroup by driving wheel usually, and the latter can passive rotation during the former active movement.
US Patent No. 6394203B1 discloses a kind of directional wheel for the direction movement fork truck, this directional wheel has a built-in wheel hub of rigidity, the circumference of hub upper support 6 rollers, roller can freely rotate around the line of centers of self and its line of centers and wheel axis are 45 ° of angles, roller is split into two halves and adopts center support, two ends cantilever design with wheel hub with the plane symmetry perpendicular to axis, per half roller is assemblied on the roller axle by two angular contact bearings, and the bearing utilization is screwed onto nut on the roller axle crack that disappears; Said structure is so that consist of between two parts of roller larger gap is arranged, and corresponding roller is discontinuous with contacting of ground, can produce periodic vibration in the wheel rolling process, so that corresponding mobile platform is difficult to is stable mobile, and can't be for the occasion of high-speed mobile.
For the problems referred to above, Chinese patent ZL2011104182058 discloses a kind of directional wheel that is applicable to the large carrying of high precision, and this directional wheel comprises wheel hub and roller; Wheel hub comprises the left and right left support rotating disk that is oppositely arranged, right support rotating disk and is connected to axle sleeve between the left and right supporting wheel; Roller can be along being assemblied on the wheel hub that self axis rotates by roller axle, specifically, left and right supporting wheel inboard separately is provided with mounting groove, the two ends of roller axle lay respectively in two corresponding mounting grooves and by the circumference fastener that is located on the mounting groove cell wall and fix, described circumference fastener is screw, the outline of all rollers projects into a full circle at the axis direction of wheel hub, roller can rotate along the axis of self, when the outline of roller rolls as directional wheel and the contact surface on ground; This directional wheel has solved the high problem of the vibration frequency of traditional directional wheel when high-speed operation, but, because roller is to be assemblied on the wheel hub by roller axle and cooperating of screw, therefore screw needs to bear the power of part in the process of directional wheel running, and this part power is very easily concentrated in the junction of screw and roller axle and is caused roller axle to damage or the screw distortion, this kind situation is in case appearance then will inevitably cause the inefficacy of directional wheel.Therefore this directional wheel exists intensity difference, the easy problem that lost efficacy.
The utility model content
The purpose of this utility model is to provide a kind of directional wheel, with the intensity difference that solves existing directional wheel, the problem that easily lost efficacy.
Owing to can in motion process, producing the problem that can't be applied to the high-speed mobile occasion that causes of vibrating.
Simultaneously, the purpose of this utility model also is to provide the Omni-mobile platform that uses above-mentioned directional wheel.
In order to address the above problem, directional wheel of the present utility model is by the following technical solutions: a kind of directional wheel, comprise that wheel hub and the roller axle by correspondence are assemblied in the integrated roller on the wheel hub, the angle that has 45 ° between the axis of roller axle and the axis of wheel hub, the two ends of described roller axle protrude from corresponding roller and this part that protrudes from roller and are provided with outside thread, described wheel hub comprises a left side that is oppositely arranged, right support rotating disk and the coaxial left side that is connected to, axle sleeve between right two supporting wheels, one end of roller axle is inserted in the mounting hole that arranges on the left support rotating disk and by nut to be fixed, the right support rotating disk after roller axle is fixed on the left support rotating disk from right to left draw close axle sleeve and with removable the captiveing joint of axle sleeve, the right support rotating disk is provided with the resigning hole of stepping down with respect to the activity of right support rotating disk for roller axle for the process of drawing close to axle sleeve from right to left at the right support rotating disk, and roller axle is inserted in the corresponding resigning hole and by nut away from an end of left support rotating disk and fixes.
Described axle sleeve cooperates from leading at left and right directions by two groups of above guideposts and pilot hole with left and right supporting wheel among.
The line of centers of the mounting hole on the left support rotating disk and the axis conllinear that is inserted into roller axle wherein, the external diameter that roller axle is inserted into the part in the corresponding mounting hole equates with the aperture of the mounting hole at its place.
Mounting hole comprises the section of passing through and the positioning section that sets gradually from inboard to the outside of left support rotating disk, described by forming the step surface towards left support rotating disk left between section and the positioning section, the radially anti-leaping space washer that is provided with in the described positioning section, space washer is fitted between step surface and the corresponding nut in the mounting hole, the axis conllinear of the line of centers of the endoporus of described space washer and corresponding roller axle, the external diameter of roller axle equates with the aperture of the endoporus of corresponding space washer.
Described resigning hole comprises the section of stepping down that sets gradually from inboard to the outside of right support rotating disk and spacing section, form towards right-hand step surface of right support rotating disk between the described section of stepping down and spacing section, the radially anti-leaping limiting gasket that is provided with in described spacing section, limiting gasket is fitted between step surface and the corresponding nut in the resigning hole, the axis conllinear of the line of centers of the endoporus of described limiting gasket and corresponding roller axle, the external diameter of roller axle equates with the aperture of the endoporus of corresponding limiting gasket.
Omni-mobile platform of the present utility model is by the following technical solutions: a kind of Omni-mobile platform, comprise the platform body and be assemblied in directional wheel on the platform body, described directional wheel comprises that wheel hub and the roller axle by correspondence are assemblied in the integrated roller on the wheel hub, the angle that has 45 ° between the axis of roller axle and the axis of wheel hub, the two ends of described roller axle protrude from corresponding roller and this part that protrudes from roller and are provided with outside thread, described wheel hub comprises a left side that is oppositely arranged, right support rotating disk and the coaxial left side that is connected to, axle sleeve between right two supporting wheels, one end of roller axle is inserted in the mounting hole that arranges on the left support rotating disk and by nut to be fixed, the right support rotating disk after roller axle is fixed on the left support rotating disk from right to left draw close axle sleeve and with removable the captiveing joint of axle sleeve, the right support rotating disk is provided with the resigning hole of stepping down with respect to the activity of right support rotating disk for roller axle for the process of drawing close to axle sleeve from right to left at the right support rotating disk, and roller axle is inserted in the corresponding resigning hole and by nut away from an end of left support rotating disk and fixes.
Described axle sleeve cooperates from leading at left and right directions by two groups of above guideposts and pilot hole with left and right supporting wheel among.
The line of centers of the mounting hole on the left support rotating disk and the axis conllinear that is inserted into roller axle wherein, the external diameter that roller axle is inserted into the part in the corresponding mounting hole equates with the aperture of the mounting hole at its place.
Mounting hole comprises the section of passing through and the positioning section that sets gradually from inboard to the outside of left support rotating disk, described by forming the step surface towards left support rotating disk left between section and the positioning section, the radially anti-leaping space washer that is provided with in the described positioning section, space washer is fitted between step surface and the corresponding nut in the mounting hole, the axis conllinear of the line of centers of the endoporus of described space washer and corresponding roller axle, the external diameter of roller axle equates with the aperture of the endoporus of corresponding space washer.
Described resigning hole comprises the section of stepping down that sets gradually from inboard to the outside of right support rotating disk and spacing section, form towards right-hand step surface of right support rotating disk between the described section of stepping down and spacing section, the radially anti-leaping limiting gasket that is provided with in described spacing section, limiting gasket is fitted between step surface and the corresponding nut in the resigning hole, the axis conllinear of the line of centers of the endoporus of described limiting gasket and corresponding roller axle, the external diameter of roller axle equates with the aperture of the endoporus of corresponding limiting gasket.
Because the two ends of the roller axle of the directional wheel of utility model protrude from corresponding roller and this part that protrudes from roller and are provided with outside thread, one end of roller axle is inserted in the mounting hole that arranges on the left support rotating disk and by nut to be fixed, the right support rotating disk after roller axle is fixed on the left support rotating disk from right to left draw close axle sleeve and with removable the captiveing joint of axle sleeve, the right support rotating disk is provided with the resigning hole of stepping down with respect to the activity of right support rotating disk for roller axle for the process of drawing close to axle sleeve from right to left at the right support rotating disk, roller axle is inserted in the corresponding resigning hole and by nut away from an end of left support rotating disk and fixes, therefore, when this directional wheel work, the parts that are used for support rollers are the roller axle of integral type, the form of the support rollers of being combined with roller axle by screw compared to prior art, fundamentally stopped the problem of stress concentration of the junction of screw and roller axle, in addition, because the roller axle that the parts of support rollers only are integrated, also improved greatly the intensity of roller axle, but thereby actv. solve roller axle with the appearance of the problem on deformation of the cooperation place of wheel hub, solved the intensity difference of existing directional wheel, the problem that easily lost efficacy.
Further, arranging of described guidepost and pilot hole made things convenient between the left and right supporting wheel and the accurate assembling between the axle sleeve on the one hand, also played on the other hand and prevented that left and right supporting wheel from rotating with respect to axle sleeve, namely prevents the effect that left and right sides supporting wheel relatively rotates; Make the line of centers and the axis conllinear that is inserted into roller axle wherein of the mounting hole on the left support rotating disk, the external diameter that roller axle is inserted into the part in the corresponding mounting hole equates with the aperture of the mounting hole at its place, can realize the accurate installation of pair of rollers axle and roller, the angle between the line of centers of assurance roller axle and axle sleeve; With mounting hole be divided into described by section and positioning section can make things convenient for roller axle penetrate (do not need directly to locate roller axle by mounting hole again, the aperture of mounting hole can be relative do larger) time guarantee the setting accuracy of roller axle; The setting of the limiting gasket in spacing section and spacing section of resigning hole can prevent effectively that the corresponding end of roller axle from the right support rotating disk radial runout occuring.
Description of drawings
Fig. 1 is the structural representation of the embodiment 1 of directional wheel of the present utility model;
Fig. 2 is the exploded drawings of embodiment 1 of the directional wheel of utility model;
Fig. 3 is the exploded drawings of axle sleeve and left support rotating disk;
Fig. 4 is roller and the scheme drawing that cooperates of left support rotating disk;
Fig. 5 is the constitution diagram of right support rotating disk when the process middle roller axle of drawing close to axle sleeve has just entered in the corresponding resigning hole;
Fig. 6 is the assembling scheme drawing of limiting gasket;
Fig. 7 is the structural representation of Omni-mobile platform of the present utility model.
The specific embodiment
The embodiment 1 of directional wheel of the present utility model, shown in Fig. 1-6, comprise wheel hub and all-in-one-piece roller 11, roller 11 is assemblied on the wheel hub by the roller axle 12 of correspondence, between roller 11 and the corresponding roller axle 12 by bearing assemble together and the two ends of roller axle 12 all protrude from the two ends of corresponding roller, this part that protrudes from roller is provided with outside thread, in addition, be 45 ° angle between the axis of roller axle 12 and the axis of wheel hub, wheel hub comprises the left support rotating disk 13 that is oppositely arranged, right support rotating disk 14 and be connected to a left side, axle sleeve 15 between the right support rotating disk, axle sleeve 15 is on the one hand with a left side, the right support rotating disk is fixed together, play on the other hand the effect that connects with corresponding wheel shaft, in the present embodiment, left, the right support rotating disk all is by screw and axle sleeve 15 removable linking together, in addition, the two ends of axle sleeve 15 are respectively equipped with two guideposts 16 that extend along left and right directions, left, be respectively equipped with the pilot hole corresponding with guidepost 16 on the right support rotating disk, axle sleeve 15 is with left, cooperate in the left and right directions guiding by described guidepost and pilot hole between the right support rotating disk; Inboard place, the edge of left support rotating disk 13 is provided with mounting hole, one end of roller axle 12 passes this mounting hole and fixes with nut, thereby roller 11 fixedly has been assemblied in left support rotating disk 13, in the present embodiment, the angle that has equally 45 ° between the line of centers of mounting hole and the line of centers of wheel hub, conllinear between the line of centers of the axis of roller axle 12 and the mounting hole of its insertion, the aperture of mounting hole equates with the external diameter that is inserted in roller axle wherein, thereby so that mounting hole has played the effect of location roller axle, in other words, after in a single day roller axle 12 inserts corresponding mounting hole, just be 45 ° of angles automatically and between the line of centers of wheel hub under the effect at mounting hole; Inboard place, the edge of right support rotating disk 14 is provided with resigning hole 17, behind the passing through an end and be fixed on the left support rotating disk 13 of roller axle 12, right support rotating disk 14 is dextrosinistral to be drawn close and is fixed on the axle sleeve 15 to axle sleeve 15, when from right to left close axle sleeve 15 of right support rotating disk 14, roller axle enters in the corresponding with it resigning hole away from an end of left support rotating disk, resigning hole is that roller axle is stepped down with respect to the displacement of right support rotating disk in the right support rotating disk process close to axle sleeve, thereby can prevent that the right support rotating disk is stuck by roller axle in the close process of axle sleeve, in the present embodiment, each resigning hole includes from the inboard of right support rotating disk (left side) section of stepping down that (right side) sets gradually to the outside and spacing section, form towards right-hand step surface of right support rotating disk between the described section of stepping down and spacing section, the radially anti-leaping limiting gasket 18 that is provided with in described spacing section, limiting gasket 18 is fitted between step surface and the corresponding nut in the resigning hole, the axis conllinear of the line of centers of the endoporus of limiting gasket and corresponding roller axle, the external diameter of roller axle equates that with the aperture of the endoporus of corresponding limiting gasket the setting of limiting gasket 18 can prevent effectively that the corresponding end of roller axle from the right support rotating disk radial runout or swing occuring.
In other embodiment of directional wheel of the present utility model, mounting hole described in the embodiment 1 of above-mentioned directional wheel can also be made as and comprise the section of passing through and the positioning section that sets gradually to the outside from the inboard (right side) of left support rotating disk, in such cases, make described by forming the step surface towards left support rotating disk left between section and the positioning section, the radially anti-leaping space washer that arranges in positioning section, space washer is fitted between step surface and the corresponding nut in the mounting hole, make the axis conllinear of line of centers and corresponding roller axle of the endoporus of described space washer, the external diameter of roller axle equates with the aperture of the endoporus of corresponding space washer; Also left support rotating disk and axle sleeve can be made as one, only with right support rotating disk and axle sleeve by removable the linking together of screw.
The embodiment 1 of Omni-mobile platform of the present utility model, as shown in Figure 7, comprise platform body 101 and be assemblied in four directional wheels 102 that assemble on the platform body 101, the installation form of directional wheel 102 is prior art, it will not go into details herein, the structure of directional wheel 102 itself is identical with the structure of the embodiment 1 of above-mentioned directional wheel, and it will not go into details herein.
Claims (10)
1. directional wheel, comprise that wheel hub and the roller axle by correspondence are assemblied in the integrated roller on the wheel hub, the angle that has 45 ° between the axis of roller axle and the axis of wheel hub, it is characterized in that, the two ends of described roller axle protrude from corresponding roller and this part that protrudes from roller and are provided with outside thread, described wheel hub comprises a left side that is oppositely arranged, right support rotating disk and the coaxial left side that is connected to, axle sleeve between right two supporting wheels, one end of roller axle is inserted in the mounting hole that arranges on the left support rotating disk and by nut to be fixed, the right support rotating disk after roller axle is fixed on the left support rotating disk from right to left draw close axle sleeve and with removable the captiveing joint of axle sleeve, the right support rotating disk is provided with the resigning hole of stepping down with respect to the activity of right support rotating disk for roller axle for the process of drawing close to axle sleeve from right to left at the right support rotating disk, and roller axle is inserted in the corresponding resigning hole and by nut away from an end of left support rotating disk and fixes.
2. directional wheel according to claim 1 is characterized in that, described axle sleeve cooperates from leading at left and right directions by two groups of above guideposts and pilot hole with left and right supporting wheel among.
3. directional wheel according to claim 1, it is characterized in that, the line of centers of the mounting hole on the left support rotating disk and the axis conllinear that is inserted into roller axle wherein, the external diameter that roller axle is inserted into the part in the corresponding mounting hole equates with the aperture of the mounting hole at its place.
4. directional wheel according to claim 1, it is characterized in that, mounting hole comprises the section of passing through and the positioning section that sets gradually from inboard to the outside of left support rotating disk, described by forming the step surface towards left support rotating disk left between section and the positioning section, the radially anti-leaping space washer that is provided with in the described positioning section, space washer is fitted between step surface and the corresponding nut in the mounting hole, the axis conllinear of the line of centers of the endoporus of described space washer and corresponding roller axle, the external diameter of roller axle equates with the aperture of the endoporus of corresponding space washer.
5. each described directional wheel according to claim 1-4, it is characterized in that, described resigning hole comprises the section of stepping down that sets gradually from inboard to the outside of right support rotating disk and spacing section, form towards right-hand step surface of right support rotating disk between the described section of stepping down and spacing section, the radially anti-leaping limiting gasket that is provided with in described spacing section, limiting gasket is fitted between step surface and the corresponding nut in the resigning hole, the axis conllinear of the line of centers of the endoporus of described limiting gasket and corresponding roller axle, the external diameter of roller axle equates with the aperture of the endoporus of corresponding limiting gasket.
6. Omni-mobile platform, comprise the platform body and be assemblied in directional wheel on the platform body, described directional wheel comprises that wheel hub and the roller axle by correspondence are assemblied in the integrated roller on the wheel hub, the angle that has 45 ° between the axis of roller axle and the axis of wheel hub, it is characterized in that, the two ends of described roller axle protrude from corresponding roller and this part that protrudes from roller and are provided with outside thread, described wheel hub comprises a left side that is oppositely arranged, right support rotating disk and the coaxial left side that is connected to, axle sleeve between right two supporting wheels, one end of roller axle is inserted in the mounting hole that arranges on the left support rotating disk and by nut to be fixed, the right support rotating disk after roller axle is fixed on the left support rotating disk from right to left draw close axle sleeve and with removable the captiveing joint of axle sleeve, the right support rotating disk is provided with the resigning hole of stepping down with respect to the activity of right support rotating disk for roller axle for the process of drawing close to axle sleeve from right to left at the right support rotating disk, and roller axle is inserted in the corresponding resigning hole and by nut away from an end of left support rotating disk and fixes.
7. Omni-mobile platform according to claim 6 is characterized in that, described axle sleeve cooperates from leading at left and right directions by two groups of above guideposts and pilot hole with left and right supporting wheel among.
8. Omni-mobile platform according to claim 6, it is characterized in that, the line of centers of the mounting hole on the left support rotating disk and the axis conllinear that is inserted into roller axle wherein, the external diameter that roller axle is inserted into the part in the corresponding mounting hole equates with the aperture of the mounting hole at its place.
9. Omni-mobile platform according to claim 6, it is characterized in that, mounting hole comprises the section of passing through and the positioning section that sets gradually from inboard to the outside of left support rotating disk, described by forming the step surface towards left support rotating disk left between section and the positioning section, the radially anti-leaping space washer that is provided with in the described positioning section, space washer is fitted between step surface and the corresponding nut in the mounting hole, the axis conllinear of the line of centers of the endoporus of described space washer and corresponding roller axle, the external diameter of roller axle equates with the aperture of the endoporus of corresponding space washer.
10. each described Omni-mobile platform according to claim 6-9, it is characterized in that, described resigning hole comprises the section of stepping down that sets gradually from inboard to the outside of right support rotating disk and spacing section, form towards right-hand step surface of right support rotating disk between the described section of stepping down and spacing section, the radially anti-leaping limiting gasket that is provided with in described spacing section, limiting gasket is fitted between step surface and the corresponding nut in the resigning hole, the axis conllinear of the line of centers of the endoporus of described limiting gasket and corresponding roller axle, the external diameter of roller axle equates with the aperture of the endoporus of corresponding limiting gasket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220463272 CN202847324U (en) | 2012-09-12 | 2012-09-12 | Omni-directional wheel and omni-directional mobile platform using omni-directional wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220463272 CN202847324U (en) | 2012-09-12 | 2012-09-12 | Omni-directional wheel and omni-directional mobile platform using omni-directional wheel |
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| Publication Number | Publication Date |
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| CN202847324U true CN202847324U (en) | 2013-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220463272 Expired - Fee Related CN202847324U (en) | 2012-09-12 | 2012-09-12 | Omni-directional wheel and omni-directional mobile platform using omni-directional wheel |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102896971A (en) * | 2012-09-12 | 2013-01-30 | 凯迈（洛阳）测控有限公司 | All-dimensional wheel and all-dimensional mobile platform using same |
| CN103640496A (en) * | 2013-07-01 | 2014-03-19 | 常熟理工学院 | 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform |
| CN103935185A (en) * | 2014-05-15 | 2014-07-23 | 谭旭东 | Omni-directional wheel |
| CN108294870A (en) * | 2017-08-09 | 2018-07-20 | 仲兆宏 | Barrier free accessibility balance car |
| CN108407543A (en) * | 2018-03-13 | 2018-08-17 | 北京特种机械研究所 | A kind of inexpensive, Mecanum wheel construction easy to install |
| WO2022007286A1 (en) * | 2020-07-09 | 2022-01-13 | 仲兆宏 | Wheel set for obstacle-free moving balance vehicle, and balance vehicle |
-
2012
- 2012-09-12 CN CN 201220463272 patent/CN202847324U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102896971A (en) * | 2012-09-12 | 2013-01-30 | 凯迈（洛阳）测控有限公司 | All-dimensional wheel and all-dimensional mobile platform using same |
| CN102896971B (en) * | 2012-09-12 | 2016-01-20 | 凯迈（洛阳）测控有限公司 | A kind of directional wheel and use the Omni-mobile platform of this directional wheel |
| CN103640496A (en) * | 2013-07-01 | 2014-03-19 | 常熟理工学院 | 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform |
| CN103935185A (en) * | 2014-05-15 | 2014-07-23 | 谭旭东 | Omni-directional wheel |
| CN103935185B (en) * | 2014-05-15 | 2016-04-06 | 谭旭东 | Omni-directional wheel |
| CN108294870A (en) * | 2017-08-09 | 2018-07-20 | 仲兆宏 | Barrier free accessibility balance car |
| CN108294870B (en) * | 2017-08-09 | 2019-09-27 | 仲兆宏 | Barrier free accessibility balance car |
| CN108407543A (en) * | 2018-03-13 | 2018-08-17 | 北京特种机械研究所 | A kind of inexpensive, Mecanum wheel construction easy to install |
| WO2022007286A1 (en) * | 2020-07-09 | 2022-01-13 | 仲兆宏 | Wheel set for obstacle-free moving balance vehicle, and balance vehicle |
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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: 20130403 Termination date: 20190912 |