CN205523386U - Omniwheel and telecontrol equipment - Google Patents

Omniwheel and telecontrol equipment Download PDF

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Publication number
CN205523386U
CN205523386U CN201620041461.8U CN201620041461U CN205523386U CN 205523386 U CN205523386 U CN 205523386U CN 201620041461 U CN201620041461 U CN 201620041461U CN 205523386 U CN205523386 U CN 205523386U
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CN
China
Prior art keywords
wheel
omni
cincture
telecontrol equipment
expansion part
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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
CN201620041461.8U
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Chinese (zh)
Inventor
张莹
张忆非
赵凯
谷玉
丁洪利
刘帅
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BOE Technology Group Co Ltd
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BOE Technology Group Co Ltd
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Filing date
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Priority to CN201620041461.8U priority Critical patent/CN205523386U/en
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Publication of CN205523386U publication Critical patent/CN205523386U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses an omniwheel and telecontrol equipment belongs to intelligent travel tool field. Omniwheel includes: the centre wheel and a plurality of with the axis of centre wheel is axle center circumference array arrangement's peripheral wheel, be provided with peripheral wheel brake assembly on the centre wheel, peripheral wheel brake assembly can control resistance during peripheral wheel rotation. The utility model discloses a set up the peripheral wheel brake assembly of the resistance when being used for all around the peripheral wheel rotation of control center wheel on the centre wheel, solved in the correlation technique telecontrol equipment probably takes place out -of -control owing to other reasons when the braking motion, the lower problem of brake performance. Reached and to have taken turns the resistance that brake assembly comes the increase periphery to rotate the measured time through the periphery, prevented the random pivoted effect of peripheral wheel.

Description

Omni-directional wheel and telecontrol equipment
Technical field
This utility model relates to intelligence walking-replacing tool field, particularly to a kind of omni-directional wheel and telecontrol equipment.
Background technology
Omni-directional wheel includes a centre wheel and multiple all cinctures arranged with the axis of centre wheel for axle center circumference array, week cincture can rotation (axis along self rotates) and between axis and the axis of centre wheel of week cincture at an angle (except 90 be outside one's consideration arbitrarily angled).
Correlation technique has a kind of telecontrol equipment, this telecontrol equipment includes 4 omni-directional wheels, by controlling rotation direction and the velocity of rotation of each omni-directional wheel, may finally be that on the direction of any requirement makes a concerted effort by the power coupling that 4 omni-directional wheels produce, so that this telecontrol equipment can move to the final direction made a concerted effort.Resistance when this telecontrol equipment can rotate by increasing the centre wheel of omni-directional wheel is to reach the effect of braking.
During realizing this utility model, inventor finds that prior art at least there is problems in that above-mentioned telecontrol equipment is likely to be due to other reason when braking and uncontrollable motion occurs, and braking ability is relatively low.
Utility model content
Being likely to be due to the uncontrollable motion of generation of other reason, the problem that braking ability is relatively low when braking in order to solve telecontrol equipment in prior art, this utility model embodiment provides a kind of omni-directional wheel and telecontrol equipment.Described technical scheme is as follows:
According to first aspect of the present utility model, it is provided that a kind of omni-directional wheel, described omni-directional wheel includes:
Centre wheel and multiple all cinctures arranged for axle center circumference array with the axis of described centre wheel;
Being provided with week cincture brake assemblies on described centre wheel, described all cincture brake assemblies can control the resistance of described all cincture time rotationals.
Optionally, described all cincture brake assemblies include:
Adjusting rod and multiple expansion part;
The axis of described adjusting rod and the dead in line of described centre wheel;
The plurality of expansion part is evenly spaced in the surrounding of described adjusting rod, and towards described week cincture motion and can contact with described all cinctures under the drive of described adjusting rod.
Optionally, described adjusting rod being provided with pyramidal structure, described adjusting rod can move along the length direction of described adjusting rod, and promotes the plurality of expansion part towards described week cincture motion;
Or,
Being provided with cam structure on described adjusting rod, described cam structure can rotate, and promotes the plurality of expansion part towards described week cincture motion.
Optionally, described centre wheel includes:
Two wheel hubs, said two wheel hub is equal in magnitude and dead in line;
Described all cincture brake assemblies are arranged in said two wheel hub.
Optionally, it is provided with through hole on a wheel hub in said two wheel hub, described through hole is provided with multiple compression springs that axis is vertical with the axis of described wheel hub, one end of arbitrary compression spring in the plurality of compression spring is against on the inwall of described through hole, the other end is against on the first expansion part in the plurality of expansion part, and described first expansion part is the arbitrary expansion part in the plurality of expansion part.
Optionally, described first expansion part includes the rubbing surface of at least one week cincture in the plurality of all cinctures, and the other end of described arbitrary compression spring is against on described rubbing surface.
According to second aspect of the present utility model, it is provided that a kind of telecontrol equipment, described telecontrol equipment includes the omni-directional wheel controlled described in assembly and at least 4 first aspects, and described control assembly is used for controlling described omni-directional wheel.
Optionally, described telecontrol equipment also includes: pressure sensitive assembly, and described pressure sensitive assembly is for collecting the control instruction of user and described control instruction passing to described control assembly.
Optionally, described telecontrol equipment also includes: Power Component, and described Power Component is for providing power to described omni-directional wheel.
The technical scheme that this utility model embodiment provides has the benefit that
By being provided for all cincture brake assemblies of the resistance of all cincture time rotationals of control centre's wheel surrounding on centre wheel, solve telecontrol equipment in correlation technique and be likely to be due to the uncontrollable motion of generation of other reason, the problem that braking ability is relatively low when braking.Reach to increase resistance when periphery wheel rotates by week cincture brake assemblies, prevented the effect that week cincture arbitrarily rotates.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in this utility model embodiment, in describing embodiment below, the required accompanying drawing used is briefly described, apparently, accompanying drawing in describing below is only embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of omni-directional wheel that this utility model embodiment provides;
Fig. 2-1 is the structural representation of the another kind of omni-directional wheel that this utility model embodiment provides;
Fig. 2-2 is the structural representation of a kind of adjusting rod in the omni-directional wheel that Fig. 2-2 illustrated embodiment provides;
Fig. 2-3 is the structural representation of another kind of adjusting rod in the omni-directional wheel that Fig. 2-2 illustrated embodiment provides;
Fig. 2-4 is the structural representation of the omni-directional wheel that Fig. 2-2 illustrated embodiment provides;
Fig. 2-5 is the right view of omni-directional wheel shown in Fig. 2-4;
Fig. 3 is the structural representation of a kind of telecontrol equipment that this utility model embodiment provides;
Fig. 4-1 is the flow chart of the control method providing a kind of telecontrol equipment that this utility model embodiment provides;
Fig. 4-2 is the flow chart of the control method providing another kind of telecontrol equipment that this utility model embodiment provides;
Fig. 4-3 is the top view of the telecontrol equipment shown in Fig. 3.
In each accompanying drawing above-mentioned, the implication of reference is: 10-omni-directional wheel, 11-centre wheel, 12-week cincture, 13-week cincture brake assemblies, 131-adjusting rod, 132-expansion part, k-the first expansion part, 131a-cam structure, t-compression spring, c-rubbing surface, the axis of x-centre wheel, g-through hole, 20-controls assembly, the main body of A-telecontrol equipment, 30-pressure sensitive assembly, 31,4 regions of 32,33 and 34-pressure sensitive assemblies, N-user towards direction, 10a, 10b, 10c and 10d-4 omni-directional wheel.
By above-mentioned accompanying drawing, it has been shown that the embodiment that this utility model is clear and definite, hereinafter will be described in more detail.These accompanying drawings and word describe the scope being not intended to be limited this utility model design by any mode, but are that those skilled in the art illustrate concept of the present utility model by reference specific embodiment.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing, this utility model embodiment is described in further detail.
Fig. 1 is the structural representation of a kind of omni-directional wheel shown in this utility model embodiment.This omni-directional wheel may include that
Centre wheel 11 and multiple all cinctures 12 arranged for axle center circumference array with the axis x of centre wheel 11.
Being provided with week cincture brake assemblies 13 on centre wheel 11, all cincture brake assemblies 13 can control the resistance of week cincture 12 time rotational.
In sum, the omni-directional wheel that this utility model embodiment provides, by being provided for all cincture brake assemblies of the resistance of all cincture time rotationals of control centre's wheel surrounding on centre wheel, solve telecontrol equipment in correlation technique and be likely to be due to the uncontrollable motion of generation of other reason, the problem that braking ability is relatively low when braking.Reach to increase resistance when periphery wheel rotates by week cincture brake assemblies, prevented the effect that week cincture arbitrarily rotates.
Further, refer to Fig. 2-1, it illustrates the structural representation of the another kind of omni-directional wheel that this utility model embodiment provides, this omni-directional wheel adds preferred parts on the basis of the omni-directional wheel shown in Fig. 1, so that the omni-directional wheel that this utility model embodiment provides has better performance.
Optionally, week cincture brake assemblies 13 includes:
Adjusting rod 131 and multiple expansion part 132, the axis of adjusting rod 131 and the dead in line of centre wheel 11, be x.Multiple expansion parts 132 are evenly spaced in the surrounding of adjusting rod 131, and can move towards week cincture 12 under the drive of adjusting rod 131 and contact with week cincture 12.Exemplary, the omni-directional wheel that this utility model embodiment provides is Mecanum wheel.
Adjusting rod in the omni-directional wheel that this utility model embodiment provides can include two kinds of structures.
The first structure, as shown in Fig. 2-2, the schematic cross-section of the axis x place plane that it is omni-directional wheel shown in Fig. 2-1, it is provided with pyramidal structure on adjusting rod 131, adjusting rod 131 can be mobile along the length direction length direction of axis x of adjusting rod 131 (this length direction can be) of adjusting rod 131, and promotes multiple expansion part 132 to move towards week cincture 12.It should be noted that Fig. 2-2 is illustrated that the rod body of adjusting rod 131 is divided into the situation of taper, adjusting rod 131 can be taper with whole shaft, and this utility model embodiment does not restricts.Being also provided with the screw thread for locking on adjusting rod 131, this screw thread can coordinate with other assembly of centre wheel, locks after expansion part 132 is pushed to week cincture 12 and contacted with all cinctures 12 by adjusting rod 131.
The second structure, as Figure 2-3, it is in omni-directional wheel shown in Fig. 2-1, the schematic cross-section of the plane vertical with axis x, it is provided with cam structure 131a, cam structure 131a on adjusting rod 131 can rotate, and promotes multiple expansion part 132 to move towards week cincture 12.Cam structure 131a can rotate voluntarily, or cam structure 131a can rotate under the drive of adjusting rod 131.
It should be noted that adjusting rod also 131 can be other expansion part can be pushed to week cincture structure, this is not limited by this utility model embodiment.
Optionally, in Figure 2-1, centre wheel 11 includes: two wheel hubs 111, and two wheel hubs 111 are equal in magnitude and dead in line;All cincture brake assemblies 13 are arranged in two wheel hubs 111.
As in Figure 2-4, it is provided with through hole g on a wheel hub in two wheel hubs 111, through hole g is provided with multiple compression springs t that axis is vertical with the axis of wheel hub 11, one end of arbitrary compression spring in multiple compression springs t is supported on the inner walls of the via, on the first expansion part k that the other end is against in multiple expansion part, the first expansion part k is the arbitrary expansion part in multiple expansion part.First expansion part k includes the rubbing surface of at least one week cincture in multiple weeks cincture (not shown in Fig. 2-4), the other end of arbitrary compression spring is against on rubbing surface, rubbing surface can be made up of flexible materials such as rubber, to improve the rubbing surface control effect to the resistance of week cincture time rotational.Compression spring t can make rubbing surface (during omni-directional wheel normal rotation without limit to week cincture rotation) when omni-directional wheel normal rotation, contact with week cincture, it is to avoid the normal rotation of all cinctures is impacted by expansion part.It should be noted that another in two wheel hubs 111 is not provided with on the wheel hub of through hole being provided with blind hole, expansion part can be against in this blind hole, to guarantee expansion part stability when to week cincture motion.
As shown in Figure 2-5, it is the right view of the omni-directional wheel that Fig. 2-4 illustrates, wherein, 131 is adjusting rod, and k is the first expansion part, and c is the rubbing surface on the first expansion part k, and 12 is week cincture.For clearly illustrating rubbing surface c, the not shown part of its periphery of Fig. 2-5 is taken turns.
It should be added that, the omni-directional wheel that this utility model embodiment provides, it is provided by the adjusting rod of pyramidal structure to regulate the frictional force between expansion part and week cincture, then controls the resistance of week cincture rotation, reached the effect preventing week cincture from arbitrarily rotating.
It should be added that, the omni-directional wheel that this utility model embodiment provides, it is provided by the adjusting rod of cam structure to regulate the frictional force between expansion part and week cincture, then controls the resistance of week cincture rotation, reached the effect preventing week cincture from arbitrarily rotating.
It should be added that, the omni-directional wheel that this utility model embodiment provides, by arranging compression spring between expansion part and wheel hub, reached omni-directional wheel when normal rotation, expansion part does not interferes with the week freely rotatable effect of cincture.
In sum, the omni-directional wheel that this utility model embodiment provides, by being provided for all cincture brake assemblies of the resistance of all cincture time rotationals of control centre's wheel surrounding on centre wheel, solve telecontrol equipment in correlation technique and be likely to be due to the uncontrollable motion of generation of other reason, the problem that braking ability is relatively low when braking.Reach to increase resistance when periphery wheel rotates by week cincture brake assemblies, prevented the effect that week cincture arbitrarily rotates.
Fig. 3 is the structural representation of a kind of telecontrol equipment that this utility model embodiment provides, this telecontrol equipment includes the omni-directional wheel 10 shown in control assembly 20 and at least 4 Fig. 2-1 illustrated embodiments, and this omni-directional wheel includes: centre wheel and multiple all cinctures arranged for axle center circumference array with the axis of centre wheel.Being provided with week cincture brake assemblies on centre wheel, all cincture brake assemblies can control the resistance of week cincture time rotational.Control assembly 20 to be used for controlling omni-directional wheel 10.
Telecontrol equipment can include main body A, and all parts of telecontrol equipment can be arranged in this main body A.
Optionally, telecontrol equipment also includes: pressure sensitive assembly 30, and pressure sensitive assembly 30 is for collecting the control instruction of user and passing to control instruction control assembly.Pressure sensitive assembly 30 can be arranged on the surface of main body A, to facilitate the control instruction collecting user.The telecontrol equipment that this utility model embodiment provides can be a kind of balance car, and this balance car can apply to the tally such as market, supermarket occasion and the inspection such as hotel, shop occasion.
Optionally, telecontrol equipment also includes: Power Component (not shown in Fig. 3), and Power Component is for providing power to omni-directional wheel 10.Power Component can be arranged in main body A, below pressure sensitive assembly 30.Exemplary, Power Component can include battery and motor, and battery is for providing electric energy to motor, and motor can be connected with omni-directional wheel, is used for driving omni-directional wheel, or is braked omni-directional wheel.
It should be noted that Fig. 3 is illustrated that the situation that omni-directional wheel 10 is 4, the position that arranges of these 4 omni-directional wheels may be constructed foursquare 4 summits.Additionally, the quantity of omni-directional wheel can also be more in telecontrol equipment, this utility model embodiment does not restricts.
It should be added that the telecontrol equipment that this utility model embodiment provides, by arranging pressure sensitive assembly, has reached the effect that telecontrol equipment can be controlled by user easily.
It should be added that the telecontrol equipment that this utility model embodiment provides, by arranging Power Component, has reached the effect that can be moved by the Power Component of self.
In sum, the telecontrol equipment that this utility model embodiment provides, by being provided for all cincture brake assemblies of the resistance of all cincture time rotationals of control centre's wheel surrounding on centre wheel, solve telecontrol equipment in correlation technique and be likely to be due to the uncontrollable motion of generation of other reason, the problem that braking ability is relatively low when braking.Reach to increase resistance when periphery wheel rotates by week cincture brake assemblies, prevented the effect that week cincture arbitrarily rotates.
Fig. 4-1 is the flow chart of the control method providing a kind of telecontrol equipment that this utility model embodiment provides, and for controlling the telecontrol equipment shown in Fig. 3, the method includes:
In step 401, when receiving braking instruction, increase the resistance during centre wheel rotation of omni-directional wheel, and increased the resistance of week cincture time rotational by all cincture brake assemblies on omni-directional wheel.
Control assembly, when receiving the braking instruction of any one omni-directional wheel, can be increased the resistance during centre wheel rotation of omni-directional wheel, and be increased the resistance of week cincture time rotational by all cincture brake assemblies on omni-directional wheel.I.e. centre wheel and week cincture are braked simultaneously.Exemplary, by motor, centre wheel can be braked, by week cincture brake assemblies, week cincture be braked.Additionally, when telecontrol equipment remains static, controlling assembly all can also carry out locked to centre wheel and week cincture, prevents telecontrol equipment from sliding.Control assembly to regulate the resistance of week cincture time rotational according to the difference on the contact ground of telecontrol equipment, make telecontrol equipment can adapt in different contact ground.
Centre wheel would generally be braked by correlation technique by motor; but when centre wheel is braked; if there is the kinetic energy of a direction in whole telecontrol equipment; then week cincture may the phase direction rotate; then cause telecontrol equipment that uncontrolled movement occurs; have impact on the braking effect of telecontrol equipment, this has certain danger when carrying operator or heavier goods on telecontrol equipment.And the control method of the telecontrol equipment that this utility model embodiment provides avoids the random rotation of week cincture, improve the braking effect of telecontrol equipment.
Optionally, telecontrol equipment also includes pressure sensitive assembly, and as shown in the Fig. 4-2, the method also includes:
In step 402, the control instruction of user is received by pressure sensitive assembly.
When user uses this telecontrol equipment, this telecontrol equipment can receive the control instruction of user by pressure sensitive assembly.This pressure sensitive assembly can be for the pressure sensitive assembly in the telecontrol equipment shown in Fig. 3.Further, it is also possible to obtain the control instruction of user by another way, exemplary, the control instruction of user can be received by the control terminal being connected with telecontrol equipment.
In step 403, the centre wheel rotation of omni-directional wheel is controlled according to control instruction.
Telecontrol equipment, after the control instruction obtaining user, can control the centre wheel rotation of omni-directional wheel according to control instruction.It should be noted that the control method shown in Fig. 4-1 and the control method shown in Fig. 4-2 can be arranged side by side two kind control methods, and the most in different situations telecontrol equipment is controlled.
Now the control mode of pressure sensitive assembly 30 is illustrated, as shown in Fig. 4-3, it is the top view of the telecontrol equipment shown in Fig. 3, pressure sensitive assembly can be divided into 31, 32, 33 and 34 totally 4 regions, user is when operating this telecontrol equipment, can be towards direction N, both feet step down on pressure sensitive assembly 30, which normally step down in when (not having a mind to be partial to region) on pressure sensitive assembly 30 with user, on 4 regions of pressure sensitive assembly 30, the force value of regional is initial value, user can change the force value of regional on 4 regions of pressure sensitive assembly 30 by the center of gravity changing self afterwards, the situation of change of regional force value can correspond to different control instructions.
Exemplary, with user towards the front, rear, left and right of direction N be standard and illustrate, when user turns forward, the pressure that forefoot applies to pressure sensitive assembly 30 increases, the i.e. force value in force value increase, region 33 and the region 34 in region 31 and region 32 reduces, telecontrol equipment will move forward, and now four omni-directional wheels of telecontrol equipment rotate the most forward;When user's "Left"-deviationist, the left foot palm pressure that the right crus of diaphragm palm applies to pressure sensitive assembly 30 to the pressure increase of pressure sensitive assembly 30 applying reduces, and telecontrol equipment will be moved to the left, and now omni-directional wheel 10b and 10c rotates forward, and omni-directional wheel 10a and 10d rotates backward;When the force value in region 33 and region 32 increases, telecontrol equipment can carry out spinning movement, and now omni-directional wheel 10a and 10c rotates forward, and omni-directional wheel 10b and 10d rotates backward.It should be noted that, control assembly when controlling each omni-directional wheel, if certain omni-directional wheel is without rotating, then controlling assembly can be by motor by locked for the centre wheel of this omni-directional wheel, and when required by week cincture brake assemblies by locked for all cinctures of this omni-directional wheel, to avoid week cincture arbitrarily to rotate telecontrol equipment is impacted.
It should be added that, the control method of the telecontrol equipment that this utility model embodiment provides, obtained the control instruction of user by pressure sensitive assembly, and control the centre wheel of omni-directional wheel according to this control instruction and rotate, reach the effect that telecontrol equipment is controlled by convenience.
In sum, the control method of the telecontrol equipment that this utility model embodiment provides, by when receiving braking instruction, increase centre wheel and the resistance of week cincture time rotational of omni-directional wheel, solve telecontrol equipment in correlation technique and be likely to be due to the uncontrollable motion of generation of other reason, the problem that braking ability is relatively low when braking.Reach to increase resistance when periphery wheel rotates by week cincture brake assemblies, prevented the effect that week cincture arbitrarily rotates.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can be completed by hardware, relevant hardware can also be instructed by program to complete, described program can be stored in a kind of computer-readable recording medium, storage medium mentioned above can be read only memory, disk or CD etc..
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.

Claims (9)

1. an omni-directional wheel, it is characterised in that described omni-directional wheel includes:
Centre wheel and multiple all cinctures arranged for axle center circumference array with the axis of described centre wheel;
Being provided with week cincture brake assemblies on described centre wheel, described all cincture brake assemblies can control the resistance of described all cincture time rotationals.
Omni-directional wheel the most according to claim 1, it is characterised in that described all cincture brake assemblies include:
Adjusting rod and multiple expansion part;
The axis of described adjusting rod and the dead in line of described centre wheel;
The plurality of expansion part is evenly spaced in the surrounding of described adjusting rod, and towards described week cincture motion and can contact with described all cinctures under the drive of described adjusting rod.
Omni-directional wheel the most according to claim 2, it is characterised in that
Being provided with pyramidal structure on described adjusting rod, described adjusting rod can move along the length direction of described adjusting rod, and promotes the plurality of expansion part towards described week cincture motion;
Or,
Being provided with cam structure on described adjusting rod, described cam structure can rotate, and promotes the plurality of expansion part towards described week cincture motion.
Omni-directional wheel the most according to claim 2, it is characterised in that described centre wheel includes:
Two wheel hubs, said two wheel hub is equal in magnitude and dead in line;
Described all cincture brake assemblies are arranged in said two wheel hub.
Omni-directional wheel the most according to claim 4, it is characterized in that, it is provided with through hole on a wheel hub in said two wheel hub, described through hole is provided with multiple compression springs that axis is vertical with the axis of described wheel hub, one end of arbitrary compression spring in the plurality of compression spring is against on the inwall of described through hole, the other end is against on the first expansion part in the plurality of expansion part, and described first expansion part is the arbitrary expansion part in the plurality of expansion part.
Omni-directional wheel the most according to claim 5, it is characterised in that described first expansion part includes the rubbing surface of at least one week cincture in the plurality of all cinctures, and the other end of described arbitrary compression spring is against on described rubbing surface.
7. a telecontrol equipment, it is characterised in that described telecontrol equipment includes control assembly and at least 4 arbitrary described omni-directional wheels of Claims 1-4, and described control assembly is used for controlling described omni-directional wheel.
Telecontrol equipment the most according to claim 7, it is characterised in that described telecontrol equipment also includes: pressure sensitive assembly, described pressure sensitive assembly is for collecting the control instruction of user and described control instruction passing to described control assembly.
Telecontrol equipment the most according to claim 7, it is characterised in that described telecontrol equipment also includes: Power Component, described Power Component is for providing power to described omni-directional wheel.
CN201620041461.8U 2016-01-15 2016-01-15 Omniwheel and telecontrol equipment Expired - Fee Related CN205523386U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620041461.8U CN205523386U (en) 2016-01-15 2016-01-15 Omniwheel and telecontrol equipment

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105584290A (en) * 2016-01-15 2016-05-18 京东方科技集团股份有限公司 Omnidirectional wheel, moving device and control method of moving device
CN106427388A (en) * 2016-11-16 2017-02-22 浙江工业大学 Mecanum wheel device provided with controllably rotating roller

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105584290A (en) * 2016-01-15 2016-05-18 京东方科技集团股份有限公司 Omnidirectional wheel, moving device and control method of moving device
WO2017121138A1 (en) * 2016-01-15 2017-07-20 京东方科技集团股份有限公司 Omni wheel, motion device, and control method of motion device
US10406854B2 (en) 2016-01-15 2019-09-10 Boe Technology Group Co., Ltd. Omni wheel, motion device and control method thereof
CN106427388A (en) * 2016-11-16 2017-02-22 浙江工业大学 Mecanum wheel device provided with controllably rotating roller
CN106427388B (en) * 2016-11-16 2018-11-06 浙江工业大学 Mecanum wheel apparatus with the rotation of roller controllability

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Granted publication date: 20160831