CN206765702U - Omni-directional wheel and the robot with the omni-directional wheel - Google Patents
Omni-directional wheel and the robot with the omni-directional wheel Download PDFInfo
- Publication number
- CN206765702U CN206765702U CN201720064204.0U CN201720064204U CN206765702U CN 206765702 U CN206765702 U CN 206765702U CN 201720064204 U CN201720064204 U CN 201720064204U CN 206765702 U CN206765702 U CN 206765702U
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- China
- Prior art keywords
- wheel
- wheel hub
- omni
- sub
- 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.)
- Expired - Fee Related
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Classifications
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
A kind of omni-directional wheel, the omni-directional wheel include wheel hub and are arranged at multiple driven pulleys of the wheel hub periphery.Each driven pulley includes wheel shaft and wheel body, and the wheel shaft passes through the wheel body, and opposite end exposes from the wheel body.The opposite end of the wheel shaft is fixed on the wheel hub.The wheel hub is carbon fibre hub.The utility model also provides a kind of robot with the omni-directional wheel.
Description
Technical field
It the utility model is related to a kind of omni-directional wheel and the robot with the omni-directional wheel.
Background technology
Omni-directional wheel is a kind of wheel that can be used for building omni-directional moving platform.Its feature is that each omni-directional wheel is being taken turns
The driven pulley angled with it is distributed with around hub.Under the driving of wheel hub, driven pulley can freely turn in either direction
It is dynamic, so as to realize the all-around mobile modes such as forward, traversing, diagonal in plane, rotation and combinations thereof.Due to this feature, fortune
Common train platform is compared with the mobile platform of omni-directional wheel, there is higher kinematic dexterity, adapt in more narrow space
Middle motion.In the prior art, the earth-grasping force of omni-directional wheel is poor.
Utility model content
In view of this, it is necessary to which a kind of omni-directional wheel to solve the above problems and the robot with the omni-directional wheel are provided.
A kind of omni-directional wheel, including wheel hub and the multiple driven pulleys for being arranged at the wheel hub periphery, each driven pulley are equal
Including wheel shaft and wheel body, the wheel shaft passes through the wheel body, and opposite end exposes from the wheel body, and relative the two of the wheel shaft
The wheel hub is fixed at end, and the wheel hub is carbon fibre hub, and the wheel shaft of the driven pulley is screw rod, and institute is connected to by nut
State on wheel hub, wherein the screw head of the screw rod is connected to the first sub- wheel hub, the threaded portion of screw rod tail is taken turns through the second son
Hub is connected with the nut.
Further, the hub outside surface is provided with tread, and the tread is equally distributed projection.
Further, the tread is arranged in arrays.
Further, the wheel body is in drum type, and the raised height of the tread is from the wheel body both ends into the wheel body
Portion is gradually incremented by.
Further, each raised height is from the middle part of away from the laterally closer wheel body of one in the middle part of the wheel body
Side gradually increase.
Further, the wheel body is formed in one structure.
Further, the wheel hub includes the first sub- wheel hub and the second sub- wheel hub, the first sub- wheel hub and the second son wheel
Axially-spaced pre-determined distance of the hub along the omni-directional wheel, and stagger predetermined angle along the circumference of omni-directional wheel.
Further, the driven pulley is rotatablely arranged between the described first sub- wheel hub and the second sub- wheel hub, and institute
Two ends of driven pulley are stated respectively close to the described first sub- wheel hub and the second sub- wheel hub.
Further, the outer rim of the described first sub- wheel hub and the second sub- wheel hub is provided with coordinates fixation with the wheel shaft
Support ear, the opposite end of the wheel shaft are separately fixed on the support ear of the described first sub- wheel hub and the second sub- wheel hub.
Further, the both ends of the wheel shaft of the driven pulley are connected to the described first sub- wheel hub and the second sub- wheel hub,
And the wheel body of the wheel shaft of the driven pulley and the driven pulley is rotatably coupled and/or the wheel shaft of the driven pulley and described the
One sub- wheel hub and the second sub- wheel hub are rotatably coupled.
Further, the sub- wheel hub also includes inner wheel hub, outer wheel hub and the linking arm of connection inner wheel hub and outer wheel hub, institute
State the outer rim that support ear is arranged at the outer wheel hub.
A kind of robot, including fuselage and at least one above-mentioned omni-directional wheel, the omni-directional wheel are connected to the fuselage.
Further, the robot also includes imaging device, and the imaging device is arranged on the fuselage.
Further, the robot also includes the control device for being installed on fuselage, and the control device control is described complete
Moved to wheel according to control instruction.
Relative to prior art, omni-directional wheel and robot provided by the utility model, due to the driven pulley of the omni-directional wheel
Surface is provided with tread, can lift the earth-grasping force of the omni-directional wheel, so as to improve the sport efficiency of the omni-directional wheel and controllability.
Brief description of the drawings
Fig. 1 is the stereogram for the omni-directional wheel that the utility model embodiment provides.
Fig. 2 is the stereogram of the wheel hub of the omni-directional wheel shown in Fig. 1.
Fig. 3 is the stereogram of the driven pulley of the omni-directional wheel shown in Fig. 1.
Main element symbol description
Omni-directional wheel 10
Wheel hub 11
Driven pulley 16
First sub- wheel hub 12
Second sub- wheel hub 13
First support ear 121
Second support ear 131
First inner wheel hub 122
First outer wheel hub 123
First linking arm 124
Second inner wheel hub 132
Second outer wheel hub 133
Second linking arm 134
Wheel shaft 17
Wheel body 18
Through hole 181
Tread 182
Following embodiment will further illustrate the utility model with reference to above-mentioned accompanying drawing.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
It should be noted that when a component is considered as " being arranged at " another component, it can be directly arranged at
On another component or it may be simultaneously present component placed in the middle.When component is referred to as " being fixed on " another component, it can be straight
It is connected on another component or there may also be component placed in the middle.When a component is considered as " connection " another component,
It can be directly to another component or may be simultaneously present component placed in the middle.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to technology of the present utility model
The implication that the technical staff in domain is generally understood that is identical.It is simply in term used in the description of the present utility model herein
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " include
The arbitrary and all combination of one or more related Listed Items.
Below in conjunction with the accompanying drawings, some embodiments of the present utility model are elaborated.In the case where not conflicting, under
Feature in the embodiment and embodiment stated can be mutually combined.
Referring to Fig. 1, the omni-directional wheel 10 that the utility model embodiment provides includes wheel hub 11 and is arranged at the wheel hub
Multiple driven pulleys 16 of 11 peripheries.
Also referring to Fig. 2, in present embodiment, the wheel hub 11 is carbon fibre hub.The carbon fibre hub can
Ensure the mechanical strength of the wheel hub 11, while mitigate the weight of the wheel hub 11, and then dropped when the omni-directional wheel 10 operates
Low noise.In present embodiment, the wheel hub 11 includes the first sub- 12 and second sub- wheel hub 13 of wheel hub being oppositely arranged.Described
The axially-spaced pre-determined distance of one sub- wheel hub 12 and the second sub- wheel hub 13 along the omni-directional wheel 10, and along the omni-directional wheel 10
Circumference stagger pre-determined distance so that into certain angle between the axis of the axis of the driven pulley 16 and the omni-directional wheel 10
Degree, such as 30 degree, 45 degree, 60 degree etc..
In present embodiment, the outer rim of the first sub- wheel hub 12 is provided with multiple first support ears 121.The multiple
One support ear 121 is evenly distributed along the described first sub- the circumferentially-spaced of wheel hub 12.Specific in illustrated embodiment, described
One sub- wheel hub 12 also includes the first inner wheel hub 122, the first outer wheel hub 123 and is connected to first inner wheel hub 122 and described the
Multiple first linking arms 124 between one outer wheel hub 123.First inner wheel hub 122 is coaxial with first outer wheel hub 123 to be set
Put.The multiple first linking arm 124 be connected to evenly and at intervals the outer wheel hub 123 of the first inner wheel hub 122 and first it
Between.First support ear 121 is evenly provided on first outer wheel hub along the circumferentially-spaced of first outer wheel hub 123
123 outer rim.
In present embodiment, the quantity of first linking arm 124 is six, and each described first linking arm 124 is big
V-shaped bending is caused, two ends of each first linking arm 124 connect first inner wheel hub 122 and institute respectively
State the first outer wheel hub 123.It is appreciated that in other implementations, the quantity of first linking arm 124 can be according to reality
Border demand makees any appropriate change, such as first linking arm 124 can be three, four, five, seven, eight etc.；
In addition, the shape of first linking arm 124 is also not necessarily limited to embodiment illustrated, for example, first linking arm 124 can be with
Substantially in " one " font, substantially in Y-shaped, substantially in X-shaped etc..
The structure of the second sub- wheel hub 13 is roughly the same with the structure of the described first sub- wheel hub 12.
The outer rim of the second sub- wheel hub 13 is provided with multiple second support ears 131.Second support ear 131 and institute
The first support ear 121 is stated to correspond.Axially spaced-apart of second support ear 131 along the described second sub- wheel hub 13 equably divides
Cloth.Each second support ear 131 and axially spaced-apart pre- spacing of corresponding first support ear 121 along the wheel hub 11
From supporting a driven pulley 16 with part, and the driven pulley 16 be contained in into first support ear 121 corresponding to two
Between the second support ear 131.In present embodiment, each second support ear 131 and corresponding first support ear
121 axially offset predetermined angular along the wheel hub 11, so that the driven pulley 16 housed therebetween is obliquely installed.Each institute
State the first support ear 121 with corresponding second support ear 131 to coordinate, a driven pulley 16 is connected to the wheel hub
11.Specific in schematic embodiments, the second sub- wheel hub 13 also include with first inner wheel hub 122 corresponding second
Wheel hub 132, second outer wheel hub 133 corresponding with first outer wheel hub 123, and be connected to second inner wheel hub 132 with
Between second outer wheel hub 133 and with one-to-one multiple second linking arms 134 of the multiple first linking arm 124.Institute
State the second inner wheel hub 132 and the 133 coaxial setting of the second outer wheel hub.The multiple second linking arm 134 connects evenly and at intervals
It is connected between the outer wheel hub 133 of the second inner wheel hub 132 and second.The stage casing of each second linking arm 134 with it is corresponding
The stage casing of first linking arm 124 is recessed to close to mutual direction.Second support ear 131 is along second outer wheel hub 133
The circumferentially-spaced outer rim for being evenly provided on second outer wheel hub 133.
It is appreciated that in other embodiment, the first sub- wheel hub 12 is integrally formed with the described second sub- wheel hub 13.
Now, first inner wheel hub 122 and second inner wheel hub 132 are integrally formed and/or first linking arm 124 and institute
State that the second linking arm 134 is integrally formed and/or first outer wheel hub 123 is integrally formed with second outer wheel hub 133.Institute
State the inner wheel hub that the first inner wheel hub 122 forms the wheel hub 11 with second inner wheel hub 132.First outer wheel hub 123 with
Second outer wheel hub 133 forms the outer wheel hub of the wheel hub 11.First linking arm 124 and second linking arm 134
The linking arm for forming substantially " X " is connected between the inner wheel hub and the outer wheel hub.Now, the shape of the linking arm can be according to
According to the different and different of first linking arm 124 and the shape of the second linking arm 134, it is not limited thereto.
Each driven pulley 16 is rotatablely arranged between the described first sub- 12 and second sub- wheel hub 13 of wheel hub, and
Two ends of the driven pulley 16 are respectively close to the described first sub- 12 and second sub- wheel hub 13 of wheel hub.
Also referring to Fig. 3, each driven pulley 16 includes wheel shaft 17 and wheel body 18.The wheel shaft 17 is described in
Wheel body 18, and opposite end exposes from the wheel body 18.
The opposite end of the wheel shaft 17 is connected to the wheel hub 11.In present embodiment, relative the two of the wheel shaft 17
End is connected to the described first sub- 12 and second sub- wheel hub 13 of wheel hub, and the wheel shaft 17 and the wheel body 18 are rotationally
Connection, and/or the sub- 12 and second sub- wheel hub 13 of wheel hub of the wheel shaft 17 relatively described first are rotatably coupled.Specific to figure
Show in embodiment, the opposite end of the wheel shaft 17 is connected to first support ear 121 and corresponding second support
On ear 131.In present embodiment, the wheel shaft 17 is screw rod, is connected to by nut on the wheel hub 11.The spiral shell of the screw rod
Head is connected to the first sub- wheel hub 12, and the threaded portion of screw rod tail is connected through the second sub- wheel hub 13 with the nut.
In present embodiment, the wheel body 18 is formed in one structure, substantially in drum type.The wheel body 18 axially opens up
There is through hole 181, so that the wheel shaft 17 passes through.The outer surface of the wheel body 18 is provided with tread 182.In present embodiment, institute
It is equally distributed projection to state tread 182.Specifically, the projection is in point-like.The tread 182 is arranged in arrays.The tire
The raised height of line 182 is gradually incremented by from the both ends of the wheel body 18 to the middle part of the wheel body 18.Each raised height
Degree gradually increases from the side at the middle part of the laterally closer wheel body 18 at the middle part away from the wheel body 18.
It is appreciated that in other embodiment, the tread 182 can be wire, point-like or various patterns projection and/or
Depression.Now, the axial rings of tread 182 are set around the wheel body 18.Certainly, the tread 182 can be also designed as according to need
Other shapes, as long as the exterior surface area and the frictional force on increase wheel body and ground of the wheel body 18 can be increased, and then increase
The earth-grasping force of the omni-directional wheel 10, is not limited thereto.
The utility model embodiment also provides a kind of robot (not shown), including fuselage, and is arranged at the fuselage
On imaging device and/or sensing device further, control device and at least one omni-directional wheel 10.The control device controls institute
Omni-directional wheel 10 is stated to be moved according to control instruction.
It is appreciated that the imaging device and sensing device further can be omitted.
Relative to prior art, omni-directional wheel and robot provided by the utility model, due to the driven pulley of the omni-directional wheel
Surface is provided with tread, can lift the earth-grasping force of the omni-directional wheel, so as to improve the sport efficiency of the omni-directional wheel and controllability.
Further, since the wheel hub of the omni-directional wheel is carbon fibre hub, the weight of the omni-directional wheel can be mitigated, weakened simultaneously
Noise during the omni-directional wheel operating.
For the person of ordinary skill of the art, can be made according to technical concept of the present utility model other various
It is corresponding to change and deform, and all these changes and deformation should all belong to the protection domain of the utility model claims.
Claims (14)
1. a kind of omni-directional wheel, including wheel hub and the multiple driven pulleys for being arranged at the wheel hub periphery, each driven pulley wraps
Wheel shaft and wheel body are included, the wheel shaft passes through the wheel body, and opposite end exposes from the wheel body, the opposite end of the wheel shaft
The wheel hub is fixed on, the wheel hub is carbon fibre hub, and the wheel shaft of the driven pulley is screw rod, is connected to by nut described
On wheel hub, wherein the screw head of the screw rod is connected to the first sub- wheel hub, the threaded portion of screw rod tail passes through the second sub- wheel hub
It is connected with the nut.
2. omni-directional wheel as claimed in claim 1, it is characterised in that the hub outside surface is provided with tread, and the tread is
Equally distributed projection.
3. omni-directional wheel as claimed in claim 2, it is characterised in that the tread is arranged in arrays.
4. omni-directional wheel as claimed in claim 2 or claim 3, it is characterised in that the wheel body is in drum type, the raised height of the tread
From the wheel body both ends to the wheel body, middle part is gradually incremented by.
5. omni-directional wheel as claimed in claim 3, it is characterised in that each raised height is from away from the middle part of the wheel body
A laterally closer wheel body in the middle part of side gradually increase.
6. omni-directional wheel as claimed in claim 1, it is characterised in that the wheel body is formed in one structure.
7. omni-directional wheel as claimed in claim 1, it is characterised in that the wheel hub includes the first sub- wheel hub and the second sub- wheel hub,
The axially-spaced pre-determined distance of the first sub- wheel hub and the second sub- wheel hub along the omni-directional wheel, and stagger along the circumference of omni-directional wheel
Predetermined angle.
8. omni-directional wheel as claimed in claim 7, it is characterised in that the driven pulley is rotatablely arranged at the first son wheel
Between hub and the second sub- wheel hub, and two ends of the driven pulley are respectively close to the described first sub- wheel hub and the second sub- wheel hub.
9. omni-directional wheel as claimed in claim 8, it is characterised in that：The outer rim of the first sub- wheel hub and the second sub- wheel hub is all provided with
It is equipped with and coordinates fixed support ear with the wheel shaft, the opposite end of the wheel shaft is separately fixed at the described first sub- wheel hub and institute
On the support ear for stating the second sub- wheel hub.
10. omni-directional wheel as claimed in any one of claims 7-9, it is characterised in that the both ends of the wheel shaft of the driven pulley point
The described first sub- wheel hub and the second sub- wheel hub are not connected to, and the wheel body of the wheel shaft of the driven pulley and the driven pulley is rotatable
Ground is connected and/or the wheel shaft of the driven pulley is rotatably coupled with the described first sub- wheel hub and the second sub- wheel hub.
11. omni-directional wheel as claimed in claim 9, it is characterised in that the sub- wheel hub also includes inner wheel hub, outer wheel hub and connection
The linking arm of inner wheel hub and outer wheel hub, the support ear are arranged at the outer rim of the outer wheel hub.
12. a kind of robot, including fuselage and at least one omni-directional wheel as any one of claim 1-11, described complete
The fuselage is connected to wheel.
13. robot as claimed in claim 12, it is characterised in that the robot also includes imaging device, the imaging
Device is arranged on the fuselage.
14. robot as claimed in claim 12, it is characterised in that the robot also includes the control dress for being installed on fuselage
Put, the control device controls the omni-directional wheel to be moved according to control instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720064204.0U CN206765702U (en) | 2016-07-18 | 2016-07-18 | Omni-directional wheel and the robot with the omni-directional wheel |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720064204.0U CN206765702U (en) | 2016-07-18 | 2016-07-18 | Omni-directional wheel and the robot with the omni-directional wheel |
| CN201620753947.4U CN206106799U (en) | 2016-07-18 | 2016-07-18 | Omniwheel and have this omniwheel's robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620753947.4U Division CN206106799U (en) | 2016-07-18 | 2016-07-18 | Omniwheel and have this omniwheel's robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206765702U true CN206765702U (en) | 2017-12-19 |
Family
ID=58510415
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720064204.0U Expired - Fee Related CN206765702U (en) | 2016-07-18 | 2016-07-18 | Omni-directional wheel and the robot with the omni-directional wheel |
| CN201620753947.4U Expired - Fee Related CN206106799U (en) | 2016-07-18 | 2016-07-18 | Omniwheel and have this omniwheel's robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620753947.4U Expired - Fee Related CN206106799U (en) | 2016-07-18 | 2016-07-18 | Omniwheel and have this omniwheel's robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN206765702U (en) |
| WO (1) | WO2018014455A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114312134A (en) * | 2021-12-16 | 2022-04-12 | 捷和电机制品(深圳)有限公司 | Wheel hub and omni-directional wheel |
| CN114368178A (en) * | 2021-12-16 | 2022-04-19 | 捷和电机制品(深圳)有限公司 | Manufacturing method of hub and manufacturing method of omni wheel |
| CN114176922A (en) * | 2021-12-31 | 2022-03-15 | 合肥工业大学 | Wheelchair suitable for people with slight disabilities |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007016662C5 (en) * | 2007-04-04 | 2022-09-15 | Kuka Deutschland Gmbh | Omnidirectional vehicle and mobile industrial robot |
| CN101856945A (en) * | 2010-06-14 | 2010-10-13 | 中国海洋大学 | Omnidirectional wheel with simplified manufacturing technique |
| 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 |
| CN202911454U (en) * | 2012-10-24 | 2013-05-01 | 武汉汉迪机器人科技有限公司 | Heavy load all-directional mobile wheel |
| CN102874049B (en) * | 2012-10-24 | 2015-06-03 | 浙江鼎力机械股份有限公司 | Moving wheel of omnidirectional aerial work platform |
| CN105126350B (en) * | 2015-07-03 | 2017-08-04 | 北京信息科技大学 | A kind of Soccer robot overall structure |
-
2016
- 2016-07-18 CN CN201720064204.0U patent/CN206765702U/en not_active Expired - Fee Related
- 2016-07-18 CN CN201620753947.4U patent/CN206106799U/en not_active Expired - Fee Related
- 2016-10-20 WO PCT/CN2016/102725 patent/WO2018014455A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN206106799U (en) | 2017-04-19 |
| WO2018014455A1 (en) | 2018-01-25 |
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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: 20171219 |