CN206733948U - A kind of omni-directional wheel and omni-directional wheel mechanism - Google Patents
A kind of omni-directional wheel and omni-directional wheel mechanism Download PDFInfo
- Publication number
- CN206733948U CN206733948U CN201720454706.4U CN201720454706U CN206733948U CN 206733948 U CN206733948 U CN 206733948U CN 201720454706 U CN201720454706 U CN 201720454706U CN 206733948 U CN206733948 U CN 206733948U
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- China
- Prior art keywords
- omni
- directional wheel
- wheel
- support feet
- directional
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Abstract
The utility model provides a kind of omni-directional wheel, and it includes wheel body and the fixing axle being fixed on wheel body, and wheel body is rotary body, wheel body by centered on fixing axle some arc convex of annular array formed, the vertical section and fixing axle of every arc convex are coplanar.Compared with prior art, the omni-directional wheel overall structure is simple, compact, contacted using one or two arc convex with ground, reduce frictional force, and forward-reverse, left and right turning can be completed using omni-directional wheel mechanism made of the omni-directional wheel, left and right translation can also be completed, be widely used in robot, trolley, transfer conveyer, freight and luggage etc..
Description
Technical field
A kind of omnidirectional mobile device is the utility model is related to, particularly a kind of omni-directional wheel and omni-directional wheel mechanism.
Background technology
Omni-directional wheel is a kind of wheel that can be used for building omni-directional moving platform, and common omni-directional wheel drives including motor
Driving wheel, along driving wheel even circumferential be distributed multiple driven pulleys that can freely rotate, due to driving wheel axial direction with from
The axial direction of driving wheel differs, and whole wheel can realize rolling and lateral sliding, when multiple omni-directional wheels are used cooperatively, by each
Speed control between wheel, it is possible to achieve any direction movement of platform, there is very high kinematic dexterity, suitable for narrow and small
Motion in space.
Existing omni-directional wheel is generally Europe rice wheel and Mecanum wheel, and both omni-directional wheels are all oblique on the wheel rim of main wheel
To many small rollers are dispersed with, the rotating shaft of small roller and the rotating shaft of main wheel are angled, make it in axle by this small roller
Increase one degree of freedom to direction, therefore wheel can be with horizontal sliding.Ou meter Ni wheels need 3 one group or 4 one group during use
With the use of a complete mobile platform could be turned into；And Mecanum wheel only has 4 one group of pattern, and have left and right it
Point, the small roller on the two-wheeled of left and right is mirrored into relation distribution.But both existing omni-directional wheels have the disadvantages that：1）Each
Material difference, the processing technology of part use are different, and production, manufacturing cost are higher；Complicated, maintenance difficulties are larger；2）Zero
Number of packages amount is more, and overall volume is larger, can not minimize；3）Structure is more accurate, is easily influenceed and damages by external force；4）Wheel
The manufacturing process of son is comparatively laborious, and the production cycle is longer.
Utility model content
In view of the above-mentioned problems, the utility model provides a kind of omni-directional wheel, the omnidirectional wheel structure is simple, and volume reduces, system
It is simple to make process, it is with short production cycle.
The technical solution adopted in the utility model is：
A kind of omni-directional wheel, including wheel body and the fixing axle being fixed on wheel body, wheel body is rotary body, and wheel body is by with fixing axle
Centered on some arc convex of annular array form, the vertical section and fixing axle of every arc convex be coplanar.
Preferably, the length of outer side edges is less than the length of inner side edge in the cross section of every arc convex.
Preferably, the cross section of every arc convex is triangle or trapezoidal.
Preferably, fixing axle is provided with mounting hole.
The utility model additionally provides a kind of omni-directional wheel mechanism, and the omni-directional wheel mechanism includes installing plate and and three fixations
Support feet below installing plate, the space angle of adjacent two support feet is identical, and the lower section of each support feet is provided with omni-directional wheel, branch
The motor for being used for driving omni-directional wheel is provided with spike, installing plate is provided with rotating speed and the steering for being used for controlling each motor
Control system.
Preferably, the angle of each support feet and horizontal plane is 0 ~ 75 degree.
The utility model additionally provides a kind of omni-directional wheel mechanism, and the omni-directional wheel mechanism includes installing plate and and four fixations
Support feet below installing plate, the space angle of adjacent two support feet is identical, and the lower section of each support feet is provided with omni-directional wheel, branch
Be provided with the motor for being used for driving the omni-directional wheel in spike, installing plate be provided with the rotating speed that is used for controlling each motor and
The control system of steering.
Preferably, the angle of each support feet and horizontal plane is 0 ~ 75 degree.
Compared with prior art, the beneficial effects of the utility model are：The utility model provides a kind of omni-directional wheel, and this is complete
It is simple to wheel overall structure, compact, contacted using one or two arc convex with ground, reduce frictional force, and adopt
The omni-directional wheel mechanism made of the omni-directional wheel can complete forward-reverse, left and right is turned, and can also complete left and right translation, suitable extensively
For robot, trolley, transfer conveyer, freight and luggage etc..
Brief description of the drawings
Fig. 1 is a kind of stereogram of omni-directional wheel provided by the utility model；
Fig. 2 is a kind of top view of omni-directional wheel provided by the utility model；
Fig. 3 is a kind of stereogram of the first embodiment of omni-directional wheel mechanism provided by the utility model；
Fig. 4 is a kind of top view of the first embodiment of omni-directional wheel mechanism provided by the utility model；
Fig. 5 is a kind of stereogram of second of embodiment of omni-directional wheel mechanism provided by the utility model；
Fig. 6 is a kind of top view of second of embodiment of omni-directional wheel mechanism provided by the utility model.
Embodiment
Preferred embodiment provided by the utility model is illustrated with reference to the accompanying drawings.
Fig. 1 to Fig. 2, it is a kind of preferred embodiment of omni-directional wheel provided by the utility model.As shown in Figure 1 to Figure 2, should
Omni-directional wheel 100 includes wheel body 10 and the fixing axle 20 being fixed on wheel body 10, and fixing axle 20 is provided with mounting hole 21, and wheel body 10 is
Rotary body, wheel body 10 by centered on fixing axle 20 some arc convex 11 of annular array formed, every arc convex 11
Vertical section and fixing axle 20 it is coplanar.The length of outer side edges is less than the length of inner side edge in the cross section of every arc convex 11
Degree；As a kind of preferred embodiment, the cross section of every arc convex 11 is triangle or trapezoidal；So exist in fixing axle 20
During non-perpendicular state, contacted, the form contacted similar to skates with ground, taken turns with ground using one or two arc convex 11
Body 10 is different in each direction stress, frictional force very little axially and it is very big along the frictional force of radial direction, be advantageous to wheel body
10 slip on the ground.
Fig. 3 to Fig. 4, it is a kind of the first embodiment of omni-directional wheel mechanism provided by the utility model.Such as Fig. 3 to Fig. 4
It is shown, the mechanism of omnidirectional include installing plate 30 and and three support feets 40 for being fixed on the lower section of installing plate 30, adjacent two support
The space angle of pin 40 is identical, and each support feet 40 and the angle of horizontal plane are 0 ~ 75 degree, and the lower section of each support feet 40 is provided with entirely
The motor for being used for driving omni-directional wheel 100 is provided with to wheel 100, in support feet 40（Do not shown in figure）, installing plate 30 is provided with
For the control system for controlling the rotating speed of each motor and turning to（Do not shown in figure）；When in use, installing plate 30 is installed
Below carrier, 3 omni-directional wheels 100 are connected by fixing axle 20 with corresponding motor respectively, and omni-directional wheel 100 is arranged on branch
The lower section of spike 40, one or two arc convex 11 contact with ground, using control system control the rotating speed of each motor with
Turn to, 3 omni-directional wheels cooperate, and complete forward-reverse, left and right turning, can also complete left and right translation, be widely used in machine
Device people, trolley, transfer conveyer, freight and luggage etc..
Fig. 5 to Fig. 6, it is a kind of second of embodiment of omni-directional wheel mechanism provided by the utility model.Such as Fig. 5 to Fig. 6
It is shown, the mechanism of omnidirectional include installing plate 30A and and three support feet 40A being fixed on below installing plate 30A, adjacent two
Spike 40A space angle is identical, and each support feet 40A and horizontal plane angle are 0 ~ 75 degree, are set below each support feet 40A
There is omni-directional wheel 100, the motor for being used for driving omni-directional wheel 100 is provided with support feet 40（Do not shown in figure）, on installing plate 30A
Provided with the control system for controlling the rotating speed of each motor and turning to（Do not shown in figure）；When in use, by installing plate 30A
Below the carrier, one or two arc convex 11 contacts with ground, 4 omni-directional wheels 100 respectively by fixing axle 20 and
Corresponding motor connection, omni-directional wheel 100 are arranged on below support feet 40A, and each motor is controlled using control system
Rotating speed and steering, 4 omni-directional wheels cooperate, and complete forward-reverse, left and right turning, can also complete left and right translation, suitable extensively
For robot, trolley, transfer conveyer, freight and luggage etc..
In summary, the technical solution of the utility model can realize above-mentioned purpose of utility model, and this with sufficiently effective
The structure and the principle of work and power of utility model have all sufficiently been verified in embodiment, can reach the effect of expected and mesh
, on the premise of without departing substantially from principle of the present utility model and essence, numerous variations can be made to the embodiment of utility model
Or modification.Therefore, the utility model include all be previously mentioned in patent claim in the range of all replacement contents, it is any
The equivalence changes made in present utility model application the scope of the claims, within the scope of the claims of this case application all belonged to.
Claims (8)
1. a kind of omni-directional wheel, it is characterised in that including wheel body and the fixing axle that is fixed on wheel body, wheel body is rotary body, wheel body
By centered on fixing axle some arc convex of annular array formed, the vertical section of every arc convex is with fixing axle with flat
Face.
2. omni-directional wheel according to claim 1, it is characterised in that：The length of outer side edges in the cross section of every arc convex
Less than the length of inner side edge.
3. omni-directional wheel according to claim 1, it is characterised in that：The cross section of every arc convex is triangle or ladder
Shape.
4. omni-directional wheel according to claim 1, it is characterised in that：Fixing axle is provided with mounting hole.
A kind of 5. omni-directional wheel mechanism including omni-directional wheel described in claim 1, it is characterised in that including：Installing plate and and three
The individual support feet being fixed on below installing plate, the space angle of adjacent two support feet is identical, and the lower section of each support feet is provided with entirely
The motor for being used for driving omni-directional wheel is provided with to wheel, in support feet, installing plate, which is provided with, to be used to control turning for each motor
Speed and the control system turned to.
6. omni-directional wheel mechanism according to claim 5, it is characterised in that：The angle of each support feet and horizontal plane is 0 ~ 75
Degree.
A kind of 7. omni-directional wheel mechanism including omni-directional wheel described in claim 1, it is characterised in that including：Installing plate and and four
The individual support feet being fixed on below installing plate, the space angle of adjacent two support feet is identical, and the lower section of each support feet is provided with entirely
The motor for being used for driving the omni-directional wheel is provided with to wheel, in support feet, installing plate, which is provided with, to be used to control each motor
Rotating speed and turn to control system.
8. omni-directional wheel mechanism according to claim 7, it is characterised in that：The angle of each support feet and horizontal plane is 0 ~ 75
Degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720454706.4U CN206733948U (en) | 2017-04-27 | 2017-04-27 | A kind of omni-directional wheel and omni-directional wheel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720454706.4U CN206733948U (en) | 2017-04-27 | 2017-04-27 | A kind of omni-directional wheel and omni-directional wheel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206733948U true CN206733948U (en) | 2017-12-12 |
Family
ID=60562438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720454706.4U Expired - Fee Related CN206733948U (en) | 2017-04-27 | 2017-04-27 | A kind of omni-directional wheel and omni-directional wheel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206733948U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926639A (en) * | 2017-04-27 | 2017-07-07 | 深圳市矩阵动力科技开发有限公司 | A kind of omni-directional wheel and omni-directional wheel mechanism |
-
2017
- 2017-04-27 CN CN201720454706.4U patent/CN206733948U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926639A (en) * | 2017-04-27 | 2017-07-07 | 深圳市矩阵动力科技开发有限公司 | A kind of omni-directional wheel and omni-directional wheel mechanism |
| CN106926639B (en) * | 2017-04-27 | 2023-09-08 | 深圳市矩阵动力科技开发有限公司 | Omnidirectional wheel and omnidirectional wheel mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20171212 Termination date: 20190427 |