CN206436226U - A kind of brand-new omni-directional wheel and the robot using the brand-new omni-directional wheel - Google Patents
A kind of brand-new omni-directional wheel and the robot using the brand-new omni-directional wheel Download PDFInfo
- Publication number
- CN206436226U CN206436226U CN201621083287.XU CN201621083287U CN206436226U CN 206436226 U CN206436226 U CN 206436226U CN 201621083287 U CN201621083287 U CN 201621083287U CN 206436226 U CN206436226 U CN 206436226U
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- CN
- China
- Prior art keywords
- wheel
- omni
- wheel hub
- directional
- hub
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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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
Abstract
The utility model is related to a kind of brand-new omni-directional wheel and its metal connecting structure and the robot using the attachment structure, wherein, omni-directional wheel is by wheel lid 6, wheel hub 7, wheel middle cover 8 and the part of wheel fixture 9 four composition, 7 points of the wheel hub is outside wheel hub and inner side wheel hub, the wheel lid 6 and wheel middle cover 8 are relatively independent, the center of inside of the wheel hub 7 is provided with drive sleeve 10, running through in the center of inside of drive sleeve 10 has connection d-axis 11, outside wheel hub is fixed between wheel middle cover 8 and wheel lid 6 by connecting d-axis 11, and locked by wheel fixture 9, inner side wheel hub is fixed between wheel middle cover 8 and wheel lid 6 by connecting d-axis 11.Omni-directional wheel bearing capacity of the present utility model is stronger, stability is more preferable；Metal connecting structure cooperates with omni-directional wheel, reduces the vibrations of motor, prevents motor from coming off, and assembles more firm, and ensure that the assembling 100% of omni-directional wheel is not fallen out.
Description
Technical field
The utility model belongs to small scale robot technical field, is specifically related to a kind of brand-new omni-directional wheel and brand-new using this
The robot of omni-directional wheel.
Background technology
Common wheel used in traditional small-sized machine robot product can only realize that one direction is advanced, it is impossible to realize complete
Move in orientation.Connection for existing omni-directional wheel and omni-directional wheel and motor is connected using common shaft coupling, is existed following several
Point problem：
1. wheel direction is single, it is impossible to realize comprehensive multidirectional flexible movement；
2. connected using shaft coupling merely, it is impossible to effective fixed connection structure, it is impossible to eliminate answering beyond motor direction of principal axis
Power, the stress can cause damage to parts in use, reduce the service life of motor；
3rd, in the technology of existing omni-directional wheel, connecting shaft is substantially annular shaft, and processing cost is big, and technique is cumbersome；
4th, the wheel lid and wheel middle cover of omni-directional wheel are all integrally formed in prior art, equally exist processing numerous
It is trivial, the problem of cost is excessive.
Wheel group fixture has important work as the connection member of omni-directional wheel and robot for the normal operation of robot
With in the prior art, wheel group fixture is usually that using plastic material, and to there is bearing capacity not enough, steady for plastic material
The high defect of qualitative poor, cost.
The content of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art brand-new there is provided a kind of brand-new omni-directional wheel and using this
The robot of omni-directional wheel, the utility model solve technical scheme that its technical problem uses for：
A kind of brand-new omni-directional wheel, is made up of wheel lid 6, wheel hub 7, wheel middle cover 8 and the part of wheel fixture 9 four, its
In, 7 points of the wheel hub is outside wheel hub and inner side wheel hub, and the wheel lid 6 and wheel middle cover 8 are relatively independent, the wheel hub 7
Center of inside is provided with drive sleeve 10, and in the center of inside of drive sleeve 10 through there is connection d-axis 11, outside wheel hub is straight by connection
Axle 11 is fixed between wheel middle cover 8 and wheel lid 6, and is locked by wheel fixture 9, and inner side wheel hub is consolidated by connecting d-axis 11
It is scheduled between wheel middle cover 8 and wheel lid 6.
The further technical scheme of the utility model also includes：
The outside wheel hub is provided with 4, and the inner side wheel hub is provided with 4, and outside wheel hub is collectively constituted entirely with inner side wheel hub
To the rolling member of wheel.
The wheel hub 7 uses quality of rubber materials.
A kind of robot, including robot body, and use foregoing omnidirectional's omni-directional wheel.
Compared with prior art, advantageous effects of the present utility model are：1) wheel of the brand-new omni-directional wheel of the utility model
Son lid and wheel middle cover are relatively independent, using the mode that assembles again is molded respectively, does not use integrally formed structure, simplify
Work flow, reduces cost；2) connecting shaft of omni-directional wheel compared with annular shaft, simplifies processing work using connection d-axis
Skill, and improve the intensity of connecting shaft；3) in the utility model, wheel group fixture is metal material, and cost is low, carrying energy
Power is stronger, and can ensure that the stability of omni-directional wheel is more preferable；4) vibrations of motor are reduced, prevent motor from coming off, assembling is more
Plus firmly, and ensure that the assembling 100% of omni-directional wheel is not fallen out.
Brief description of the drawings
Fig. 1 is the decomposition texture schematic diagram of the brand-new omni-directional wheel of the utility model；
Fig. 2 is the partial enlarged drawing of hub portion in Fig. 1；
Fig. 3 is the dimensional structure diagram of the brand-new omni-directional wheel of the utility model；
Wherein：
1st, wheel group fixture 2, motor transmission coupling 3, bearing
4th, wheel and wheel group fixture 5, bearing retainer 6, wheel lid
7th, wheel hub 8, wheel middle cover 9, wheel fix lid 10, drive sleeve
11st, d-axis is connected.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is further described.
Refer to Fig. 1, Fig. 2, Fig. 3, a kind of brand-new omni-directional wheel of the utility model, by wheel lid 6, wheel hub 7, wheel middle cover 8
And the part of wheel fixture 9 four composition, wherein, 7 points of wheel hub is outside wheel hub and inner side wheel hub, wheel lid 6 and wheel middle cover 8
Relatively independent, the center of inside of wheel hub 7 is provided with drive sleeve 10, in the center of inside of drive sleeve 10 through there is connection d-axis 11, outside
Side wheel hub is fixed between wheel middle cover 8 and wheel lid 6 by connecting d-axis 11, and is locked by wheel fixture 9, inner side wheel hub
It is fixed on by connecting d-axis 11 between wheel middle cover 8 and wheel lid 6.
In the utility model, a kind of metal connecting structure, by wheel group fixture 1, motor transmission coupling 2, bearing 3, wheel
Son is constituted with wheel group fixture 4, bearing retainer 5, and wheel group fixture 1 is metal material, and one end of motor transmission coupling 2 is consolidated
Be scheduled on wheel group fixture 1, the other end is connected by bearing 3 and wheel with wheel group fixture 4, wheel and wheel group fixture 4 with
Bearing retainer 5 is connected, and bearing retainer 5 is fixed together with wheel lid 6.
Wheel hub 7 is the rolling member of omni-directional wheel, it is preferable that wheel hub 7 uses quality of rubber materials；Wheel lid 6 and wheel middle cover 8 are equal
Play stationary hub 7, wheel lid 6, wheel middle cover 8 and wheel hub 7 collectively form the rolling mechanism of omni-directional wheel, it is ensured that complete
The operation more stablized to wheel；Wheel fixture 9 is used to lock wheel lid 6 and wheel hub 7.
Wheel group fixture 1 is a part for metal connecting structure, and one end of wheel group fixture 1 is fixed on the leg of robot
Portion, is played a supportive role, and the other end is connected with motor transmission coupling 2；Motor transmission coupling 2 is used for the torsion for transmitting motor
Square；Wheel is used to be connected omni-directional wheel and wheel group fixture 1 with wheel group fixture 4；Bearing retainer 5 is used for fixing bearing 3；Bearing
3 mainly play a supportive role.
In the present embodiment, outside wheel hub is provided with 4, and inner side wheel hub also is provided with 4, outside wheel hub and common group of inner side wheel hub
Into the rolling member of omni-directional wheel；Bearing retainer 5 cooperates with wheel lid 6, it is ensured that assembling is more firm.
The brand-new omni-directional wheel of the utility model and its metal connecting structure greatly improve the kinematic dexterity of train, while more
Motor and wheel are protected well, service life is substantially increased, technological process is roughly divided into following three step：
A, making omni-directional wheel：1st, two pieces of wheel middle covers 8 are assembled, and are adhesively fixed；2nd, drive sleeve 10 is inserted in wheel hub 7,
Connection d-axis 11 is inserted in drive sleeve 10 again, a complete single wheel is assembled into；3rd, all single wheels are according to wheel
The outer ring direction of middle cover 8, which is sequentially arranged, to be fully enclosed in two pieces of wheel middle covers 8；4th, wheel lid 6 is assemblied on wheel middle cover 8 fixed
All single wheels；5th, 8 nuts are loaded onto and tighten 8 screws, the assembling of whole omni-directional wheel is completed.
B, making coupking shaft and corresponding spare and accessory parts of arranging in pairs or groups：1st, motor transmission coupling 2 is penetrated in motor transmission shaft；2nd, bearing
3 complete are enclosed in motor drive coupling 2；3rd, wheel and wheel group fixture 4 are enclosed in motor drive coupling 2 and by axle
Hold 3 and be depressed into bottom and prop up bearing inner ring；4 and then bearing retainer 5 is enclosed in above stated assembly, and pushes down outer race；5、
Bearing retainer 5 is fixed on wheel group fixture 1 by two PM2.5 screws of lock；6th, whole omni-directional wheel is inserted wheel and wheel group
In fixture 4；7th, load onto wheel and fix lid, the screw for locking PM5 fixes whole omni-directional wheel and completes assembling.
C, assembled with motor：1st, motor is assemblied on wheel group fixture 1；2nd, oblique angle both sides Ge Youyi holes, lock
Upper PM2.5 screws are fixed and complete the assembling of motor.
In the utility model, the orientation of wheel hub 7 is consistent with the outer ring direction of wheel middle cover 8, each wheel hub orientation
For circle, the rolling member of omni-directional wheel is constituted so that wheel hub 7 can be transported along the direction vertical with the axial line of wheel middle cover 8
Dynamic, simultaneously because the structure of of wheel hub 7 itself, it can also be moved along the direction with the axis parallel of wheel middle cover 8, so that real
Existing omni-directional wheel is moved along 8 directions；Drive sleeve 10 is embedded in wheel hub 7, and connection d-axis 11 runs through the centre of drive sleeve 10, passes
Dynamic set 10 can play a part of buffering external force, protection wheel hub 7, and connection d-axis 11 then simplifies processing technology, and improves
The intensity of connecting shaft, adds the load of omni-directional wheel, is played an important role for the stability in robot kinematics.
Motor is assemblied on wheel group fixture 1, in the oblique angle both sides Ge Youyi holes of wheel group fixture 1, assembling for motor,
Fixed, because omni-directional wheel is entirely to insert in wheel and wheel group fixture 4, omni-directional wheel and wheel are formd with wheel group fixture 4
A kind of snap-in structure, and equipped by PM5 screw, therefore the stability that omni-directional wheel is connected with metal connecting structure is very
Height, assembles more firm, and ensure that the assembling 100% of omni-directional wheel is not fallen out；Wheel group fixture 1 is connected as metal
A part for structure connection, is to use metal material, bearing capacity is stronger, and motor is fixed on wheel group by PM2.5 screws and consolidated
Determine on part 1, the vibrations of motor can be efficiently reduced, prevent motor from coming off.
A kind of robot of the utility model, including robot body, using foregoing brand-new omni-directional wheel and foregoing metal
Attachment structure, brand-new omni-directional wheel is connected on robot body by metal connecting structure.Robot overall operation is stable, carrying
Ability is strong, small-sized machine robot field can be widely used in, such as Grapple Robots, service robot.
Preferred embodiment of the present utility model is these are only, not to limit the utility model, guarantor of the present utility model
Shield scope is determined by the appended claims, and other all its structure and principle are same or similar with the utility model, all should wrap
It is contained within protection domain of the present utility model.
Claims (4)
1. a kind of brand-new omni-directional wheel, by wheel lid (6), wheel hub (7), wheel middle cover (8) and the part group of wheel fixture (9) four
Into, wherein, the wheel hub (7) is divided into outside wheel hub and inner side wheel hub, it is characterised in that the wheel lid (6) and wheel middle cover
(8) relatively independent, the center of inside of the wheel hub (7) is provided with drive sleeve (10), and running through in the center of inside of drive sleeve (10) has
D-axis (11) is connected, outside wheel hub is fixed between wheel middle cover (8) and wheel lid (6) by connecting d-axis (11), and by taking turns
Sub- fixture (9) locking, inner side wheel hub is fixed between wheel middle cover (8) and wheel lid (6) by connecting d-axis (11).
2. brand-new omni-directional wheel according to claim 1, it is characterised in that the outside wheel hub is provided with 4, the nearside wheel
Hub is provided with 4, and outside wheel hub collectively constitutes the rolling member of omni-directional wheel with inner side wheel hub.
3. brand-new omni-directional wheel according to claim 1, it is characterised in that the wheel hub (7) uses quality of rubber materials.
4. a kind of robot, including robot body, it is characterised in that using brand-new omni-directional wheel as claimed in claim 1.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621083287.XU CN206436226U (en) | 2016-09-27 | 2016-09-27 | A kind of brand-new omni-directional wheel and the robot using the brand-new omni-directional wheel |
| PCT/CN2016/100659 WO2018058386A1 (en) | 2016-09-27 | 2016-09-28 | Novel omni wheel, metal connection structure thereof, and robot adopting the connection structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621083287.XU CN206436226U (en) | 2016-09-27 | 2016-09-27 | A kind of brand-new omni-directional wheel and the robot using the brand-new omni-directional wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206436226U true CN206436226U (en) | 2017-08-25 |
Family
ID=59644518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621083287.XU Active CN206436226U (en) | 2016-09-27 | 2016-09-27 | A kind of brand-new omni-directional wheel and the robot using the brand-new omni-directional wheel |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN206436226U (en) |
| WO (1) | WO2018058386A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113752746A (en) * | 2020-06-05 | 2021-12-07 | 鸿富锦精密电子(天津)有限公司 | Omnidirectional wheel and movable device applying same |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102473988B1 (en) * | 2020-07-22 | 2022-12-07 | 엔피씨(주) | Structure of Omni-directional wheel |
| KR102428074B1 (en) * | 2021-02-15 | 2022-08-03 | 엔피씨(주) | Omni-directional wheel bracket and Assembly thereof and Manufacturing method thereof |
| KR102500260B1 (en) * | 2021-02-24 | 2023-02-17 | 엔피씨(주) | Structure of mecanum wheel and manufacturing method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030067209A1 (en) * | 2001-10-10 | 2003-04-10 | Omnics International Corporation | Omni-directional wheel and associated methods |
| DE102007016662C5 (en) * | 2007-04-04 | 2022-09-15 | Kuka Deutschland Gmbh | Omnidirectional vehicle and mobile industrial robot |
| CN102700358A (en) * | 2012-06-19 | 2012-10-03 | 杭州电子科技大学 | Multi-row type omnidirectional wheel |
| CN102941566B (en) * | 2012-11-29 | 2015-07-08 | 浙江纺织服装职业技术学院 | Object moving robot with soft fingers |
| CN105751815A (en) * | 2016-04-29 | 2016-07-13 | 广东科杰达智能电器有限公司 | Omni wheel of floor sweeping robot |
-
2016
- 2016-09-27 CN CN201621083287.XU patent/CN206436226U/en active Active
- 2016-09-28 WO PCT/CN2016/100659 patent/WO2018058386A1/en active Application Filing
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113752746A (en) * | 2020-06-05 | 2021-12-07 | 鸿富锦精密电子(天津)有限公司 | Omnidirectional wheel and movable device applying same |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018058386A1 (en) | 2018-04-05 |
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