KR20120056950A - Omni-directional Wheel And Manufacturing Method Thereof - Google Patents

Omni-directional Wheel And Manufacturing Method Thereof Download PDF

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Publication number
KR20120056950A
KR20120056950A KR1020100118447A KR20100118447A KR20120056950A KR 20120056950 A KR20120056950 A KR 20120056950A KR 1020100118447 A KR1020100118447 A KR 1020100118447A KR 20100118447 A KR20100118447 A KR 20100118447A KR 20120056950 A KR20120056950 A KR 20120056950A
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KR
South Korea
Prior art keywords
cover
body portion
omni wheel
support
barrels
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Application number
KR1020100118447A
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Korean (ko)
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KR101259759B1 (en
Inventor
김명국
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김명국
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Priority to KR1020100118447A priority Critical patent/KR101259759B1/en
Publication of KR20120056950A publication Critical patent/KR20120056950A/en
Application granted granted Critical
Publication of KR101259759B1 publication Critical patent/KR101259759B1/en

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    • 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
    • B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2900/00—Purpose of invention
    • B60B2900/10—Reduction of
    • B60B2900/116—Product variety, e.g. by standardisation or use of adapters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2304/00—Optimising design; Manufacturing; Testing
    • B60Y2304/07—Facilitating assembling or mounting

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Lining Or Joining Of Plastics Or The Like (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

A body portion having a first support portion having a predetermined spacing for supporting the plurality of first barrels, a second support portion having a predetermined spacing for supporting the plurality of second barrels, and a rotation axis of the wheel driving portion are selectively inserted A first shaft hole formed on the side of the first support part and a second shaft hole formed on the side of the second support part, the cross-sectional shape of the first shaft hole and the cross-sectional shape of the second shaft hole are different from each other by one omni wheel; It can be used in combination with the axis of rotation of other wheel drives.

Description

Omni-directional Wheel And Manufacturing Method Thereof}

The present invention relates to an omni wheel used in a mobile robot and the like, and more particularly, to an omni wheel and a manufacturing method that can be coupled to the rotation axis of the wheel drive unit having a different cross-sectional shape, the manufacturing is simple. .

In the mobile robots such as home robots and security robots, omni-directional wheels (hereinafter referred to as omni wheels) are widely used as wheels that can be easily turned in a narrow space.

The omni wheel is provided with a plurality of barrels that can rotate in the axial direction of the wheel on the outer periphery of the wheel frame. Three or more omni wheels are arranged on the same circumference in the main body of the mobile robot to enable the mobile robot to move in all directions.

As an example of a mobile robot in which an omni wheel is installed, three omni wheels are installed at intervals of 120 ° with respect to the center of the mobile robot, and a control unit determines a moving direction of the mobile robot by controlling the direction and speed of each omni wheel. There is a robot.

This omni wheel is coupled to the axis of rotation of the wheel drive of the mobile robot. The end of the rotating shaft has an angular shape so that the rotating shaft of the wheel driving unit does not spin when the omni wheel is engaged with the wheel driving unit rotating shaft of the mobile robot. The most typical of such a rotating shaft end shape is a hexagonal shape or a gear shape.

However, since the shape of the rotary shaft end is different depending on the type of mobile robot, there is a problem that the shape of the omni wheel also needs to be changed according to the shape of the rotary shaft.

On the other hand, the outer circumference of the body of the omni wheel is provided with a plurality of barrels that can rotate in the axial direction of the omni wheel. The main body is provided with a support shaft to support both ends of the barrel so that the barrel is rotatably supported by the main body, and an insertion hole is formed at both ends of the barrel so that the support shaft can be inserted. Therefore, when the support shaft of the main body is inserted into the insertion holes formed at both ends of the barrel, the barrel is supported while being rotated.

However, in the manufacture of such omni wheel, since the barrel is mounted on the main body in the interference fit method, there is a problem that the main body or the barrel is damaged when the barrel is fitted to the main body, the efficiency of manufacturing the omni wheel was deteriorated. .

The present invention has been made to solve the above problems, an object of the present invention can be selected by the user according to the shape of the rotation axis of the wheel drive unit can be combined omni wheel, common to the rotation axis of the wheel drive unit of different cross-sectional shape It is to provide an omni wheel that can be used.

Still another object of the present invention is to provide an omni wheel and a method for manufacturing the omni wheel which can increase the manufacturing efficiency of the omni wheel by making it easy to mount the barrel mounted on the outer periphery of the main body.

Omni wheel according to an embodiment of the present invention for achieving the above object is a first support for supporting a plurality of first barrels having a predetermined interval, and for supporting a plurality of second barrels having a predetermined interval. A first shaft hole formed on the side of the first support part and a second shaft hole formed on the side of the second support part such that a body part having a second support part and a rotation shaft of the wheel driving part are selectively inserted into and coupled to each other; The cross-sectional shape of and the cross-sectional shape of the second shaft hole is different.

In this case, the plurality of first barrels and the plurality of second barrels are alternately installed.

The cross-sectional shape of any one of the first shaft hole and the second shaft hole may be hexagonal, and the other cross-sectional shape may have a gear shape.

On the other hand it is further provided with a first cover coupled to the body portion to prevent the plurality of first barrels from being separated, and a second cover coupled to the body portion to prevent the plurality of second barrels from being separated.

At this time, the body portion is provided with a first support groove for supporting a portion of the rotation shaft of the first barrel and the second barrel, the first cover and the second cover is provided with a second support groove for supporting a portion of the rotation shaft. do.

A plurality of protrusions protruding from both sides of the body portion, the first cover and the second cover is provided with a through hole through which the projection penetrates, and the protrusion passes through the through hole and the first cover and It is fused with the second cover.

The first cover and the second cover is provided with a coupling hole through which the screw penetrates, and the body portion is provided with a coupling groove through which the screw penetrates the first cover and the second cover.

 According to an embodiment of the present invention, there is provided a method of manufacturing an omni wheel, which includes rotating shafts formed at both ends of a barrel on a first support groove formed on a body, and corresponding to the first support groove. And covering the body portion with a cover having a second support groove such that the barrel is positioned between the body portion and the cover, and integrating the body portion and the cover.

In this case, before the step of integrating the body portion and the cover may further comprise the step of pre-assembling the cover and the body portion with a screw.

The method may further include forming shaft holes having different cross-sectional shapes on both sides of the body so that rotation shafts of the wheel driving units having different cross-sectional shapes are selectively inserted and coupled.

Meanwhile, in the step of integrating the body portion and the cover, a plurality of protrusions are formed in the body portion, and a through hole through which the protrusion is formed in the cover is formed, and then the protrusion and the cover are fused to the body portion and the cover. Integrate the cover.

According to the omni wheel according to an embodiment of the present invention and a manufacturing method thereof, the omni wheel can be used in common because the omni wheel can be selectively coupled to the rotating shafts of different wheel drives by forming shaft holes having different cross-sectional shapes. have.

In addition, the body portion and the cover are coupled to each other to have a structure for supporting the rotating shaft of the barrel can be equipped with a plurality of barrels at the same time to increase the manufacturing efficiency of the omni wheel.

1 is an exploded perspective view of an omni wheel according to an embodiment of the present invention.
2 is a perspective view of the omni wheel shown in FIG. 1 viewed from another side;
Figure 3 is a perspective view showing a state in which the omni wheel shown in FIG.
4 is a side view of the omni wheel shown in FIG.
5 is a flow chart showing a manufacturing method of the omni wheel shown in FIG.

Hereinafter, a structure of a omni wheel and a method of manufacturing the same according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2 is an exploded perspective view of the omni wheel according to an embodiment of the present invention, Figure 3 is a perspective view after the omni wheel is coupled, Figure 4 is a side view after the omni wheel is coupled.

Omni wheel according to an embodiment of the present invention as shown in Figures 1 and 2 body portion 100 to form an overall appearance, and the first cover 210 is coupled to one side of the body portion 100 And a second cover 220 coupled to the other side of the body part 100.

One side of the body portion 100 has a predetermined spacing and a first support portion 110 for supporting a plurality of first barrel 310 is provided, the other side of the body portion 100 has a predetermined interval and a plurality The second support part 120 supporting two second barrels 320 is provided.

The first support part 110 protrudes to one side from the body part 100 to support the first barrel 310, and the second support part 120 protrudes to the other side of the body part 100 to the The second barrel 320 is supported.

The plurality of first support parts 110 and the second support parts 120 have intervals corresponding to the lengths of the first barrel 310 and the second barrel 320, respectively.

In the present exemplary embodiment, six first support parts 110 and two second support parts 120 are formed in the body part 100, and six first and second barrels 310 and 320 are also formed. Although shown, the number of the first support portion 110 and the second support portion 120 and the number of the first barrel 310 and the second barrel 320 may be formed in four or other numbers in addition to six.

In this case, the first support part 110 and the second support part 120 are alternately formed. As such, the first support part 110 and the second support part 120 are alternately formed, so that the first barrel 310 and the second barrel 320 are alternately installed in the body part 100.

Therefore, even if the omni wheel rotates in a state of being coupled with a rotation axis (not shown) of the wheel driving unit, the first support part 110 or the second support part 120 does not touch the ground, and the first barrel 310 or the second always remains on the ground. Since the barrel 320 is in contact with it has the advantage of increasing the degree of freedom of the mobile robot.

Meanwhile, a first shaft hole 130 formed at the side of the first support part 110 and a second shaft hole formed at the side of the second support part 120 may be inserted into the body part 100 so that a rotation shaft of the wheel driving part is selectively inserted thereinto. 140).

As such, the first protrusion 105 protruding a predetermined length in one direction from the body part 100 and the second protrusion protruding a predetermined length in the other direction to form the first shaft hole 130 and the second shaft hole 140. 106 is provided.

At this time, the cross-sectional shape of the first shaft hole 130 and the cross-sectional shape of the second shaft hole 140 are formed differently. As such, the cross-sectional shape of the first shaft hole 130 and the cross-sectional shape of the second shaft hole 140 may be different from each other, and thus may be selectively combined with the rotation shafts (not shown) of the wheel driving units having different cross-sectional shapes. In this embodiment, the cross-sectional shape of any one of the first shaft hole 130 and the second shaft hole 140 has a hexagonal shape, and the other cross-sectional shape has a cogwheel shape, but the first shaft hole 130 and the second shaft shape have a cogwheel shape. The cross-sectional shape of the shaft hole 140 may be rectangular and other shapes.

Meanwhile, the first cover 210 is coupled to the body portion 100 to prevent the plurality of first barrels 310 from being separated, and the second cover is coupled to the body portion 100 to form the plurality of first agents. The two barrels 320 are prevented from being separated.

At this time, the body portion 100 is provided with first support grooves 111 and 121 for supporting a part of the rotation shafts 311 and 321 of the first barrel 310 and the second barrel 320, and the first cover 210. And the second cover 220 is provided with a second support groove (211, 221) for supporting a part of the rotation shaft (311, 321) of the first barrel 310 and the second barrel (320).

As described above, portions of the rotation shafts 311 and 321 of the first barrel 310 and the second barrel 320 are supported by the body part 100, and the rotation shafts of the first barrel 310 and the second barrel 320 are provided. Some of the parts 311 and 321 are supported by the first cover 210 and the second cover 220, so that the plurality of first barrels 310 and the second barrels 320 are the body part 100 and the first cover 210. And the second cover 220 as a whole.

By such a structure, the plurality of first barrels 310 are mounted on the body part 100 and then the first cover 210 is covered to assemble the plurality of first barrels 310 to the body part 100 at once. In addition, when the plurality of first barrels 320 are mounted on the body part 100 and the second cover 220 is covered, the plurality of second barrels 320 may be assembled to the body part 100 at one time.

On the other hand, a first through hole 213 is formed in the central portion of the first cover 210 so that the first protrusion 105 penetrates, and in the central portion of the second burr 220 so that the second protrusion 106 penetrates. The second through hole 223 is formed.

In addition, a plurality of protrusions 150 protruding from both sides of the body portion 100 are provided to couple the first cover 210 and the second cover 220 to the body portion 100. Each of the 210 and the second cover 220 includes through holes 215 and 225 through which the protrusion 150 passes.

The plurality of protrusions 150 protrude in the axial direction from the plurality of first support portions 110 and the second support portion 120, respectively.

The protrusions 150 pass through the through-holes 215 and 225 formed in the first cover 210 and the second cover 220, respectively, and are then fused with the first cover 210 and the second cover 220, thereby As shown in FIG. 3 and FIG. 4, the first cover 210 and the second cover 220 are completely combined with the body part 100 to be integrated. As such, as the method of fusion of the protrusion 150 with the first cover 210 and the second cover 220, various fusion methods such as ultrasonic fusion and thermal fusion may be used.

Meanwhile, before the first cover 210 and the second cover 220 are completely coupled to the body portion 100, the first cover 210 and the second cover 220 are maintained in a preassembled state with the body portion. The first cover 210 and the second cover 220 are provided with coupling holes 216 and 226 through which the screw 400 penetrates, and the body part 100 includes the first cover 210 and the second cover. A coupling groove 160 to which the screw penetrates 220 is coupled is provided.

Therefore, when the screw 400 passes through the coupling holes 216 and 226 formed in the first cover 210 and the second cover 220, and then is coupled to the coupling groove 160 formed in the body part 100, the first cover 210. ) And the second cover 220 is temporarily coupled to the body portion (100). As such, the protrusions 150 and the first cover 210 and the second cover 220 formed on the body part 100 in a state in which the first cover 210 and the second cover 220 are temporarily coupled to the body part 100. ) Can be facilitated to integrate the first cover 210 and the second cover 220 with the body portion 100.

Hereinafter, a method of manufacturing an omni wheel according to an embodiment of the present invention will be described.

5 is a flowchart illustrating a method of manufacturing an omni wheel according to an embodiment of the present invention.

As shown in FIG. 5, the rotating shafts 311 and 321 formed at both ends of the barrels 310 and 320 are disposed on the first support grooves 111 and 121 formed in the body 100 (S120) and the first support grooves 111 and 121. Covering the cover (210,220) having a second support groove (211,221) corresponding to the body portion 100 so that the barrel (310,320) is located between the body portion 100 and the cover (210,220) S130), and the body portion 100 and the cover (210, 220) to integrate the step (S150).

Meanwhile, before the step of integrating the body part 100 and the covers 210 and 220 (S130), the method may further include temporarily assembling the cover 210 and 220 and the body part 100 with the screw 400 (S140). Can be. The cover 210 and 220 may be maintained in a preassembled state with the body portion 100 to facilitate future work.

The method may further include forming shaft holes 130 and 140 having different cross-sectional shapes on both sides of the body part 100 so that rotation shafts of the wheel driving units having different cross-sectional shapes are selectively inserted and coupled thereto (S110). . By placing such steps, omni wheels manufactured for different rotation shafts of different wheel drives may be used in common.

In the step of integrating the body part 100 and the covers 210 and 220 (S150), a plurality of protrusions 150 are formed on the body part 100, and the protrusions 150 penetrate through the covers 210 and 220. After forming the through holes 215 and 225, the protrusions 150 and the covers 210 and 220 are fused to integrate the body part 100 and the covers 210 and 220.

The omni wheel can be manufactured by a simple method by the manufacturing method of the omni wheel, it is possible to increase the manufacturing efficiency of the omni wheel.

In the above described the omni wheel and the manufacturing method according to an embodiment of the present invention, the spirit of the present invention is not limited to the embodiments presented herein. And those skilled in the art to understand the spirit of the present invention can easily suggest other embodiments by the addition, modification, deletion, addition, etc. within the scope of the same idea, but this also falls within the scope of the invention something to do.

100: body 110, 120: first, second support
130,140: 1st, 2-axis hole 150: protrusion
160: coupling groove 210,220: first, second cover
320, 330: 1st, 2nd support

Claims (12)

A body portion having a first support portion having a predetermined spacing for supporting the plurality of first barrels, a second support portion having a predetermined spacing for supporting the plurality of second barrels;
A first shaft hole formed on the side of the first support part and a second shaft hole formed on the second support part side to selectively insert and rotate a rotation shaft of the wheel driving part;
The omni wheel, characterized in that the cross-sectional shape of the first shaft hole and the cross-sectional shape of the second shaft hole are different. The method of claim 1,
The omni wheel, characterized in that the plurality of first barrels and the plurality of second barrels are alternately installed. The method of claim 1,
The omni wheel, characterized in that the cross-sectional shape of any one of the first shaft hole and the second shaft hole is a hexagon, and the other cross-sectional shape is a gear shape. The method of claim 1,
And a first cover coupled to the body portion to prevent the plurality of first barrels from being separated, and a second cover coupled to the body portion to prevent the plurality of second barrels from being separated. Omni wheel made with. The method of claim 4, wherein
The body portion is provided with a first support groove for supporting a portion of the rotation shaft of the first barrel and the second barrel, the first cover and the second cover is provided with a second support groove for supporting a portion of the rotation shaft Omni wheel, characterized in that. The method of claim 4, wherein
The omni wheel is provided with a plurality of projections protruding from both sides of the body portion, the first cover and the second cover is provided with a through hole through the projection. The method according to claim 6,
And the protrusion is fused with the first cover and the second cover after passing through the through hole. 6. The method of claim 5,
The omni wheel, characterized in that the first cover and the second cover is provided with a coupling hole through which the screw penetrates, and the body portion is provided with a coupling groove to which the screw penetrates the first cover and the second cover. . Fastening the rotating shafts formed at both ends of the barrel to the first support grooves formed in the body portion;
Covering the body part with a cover having a second support groove corresponding to the first support groove such that the barrel is positioned between the body part and the cover;
The omni wheel manufacturing method comprising the step of integrating the body portion and the cover. The method of claim 9,
And pre-assembling the cover and the body portion with a screw prior to the step of integrating the body portion and the cover. The method of claim 9,
And forming shaft holes having different cross-sectional shapes on both sides of the body to allow rotation shafts of the wheel driving units having different cross-sectional shapes to be selectively inserted and coupled thereto. The method of claim 9,
In the step of integrating the body portion and the cover, a plurality of protrusions are formed on the body portion, and through holes through which the protrusions are formed in the cover, and then the protrusions and the cover by fusion welding the body portion and the cover Omni wheel manufacturing method characterized in that to integrate.
KR1020100118447A 2010-11-26 2010-11-26 Omni-directional Wheel And Manufacturing Method Thereof KR101259759B1 (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020100118447A KR101259759B1 (en) 2010-11-26 2010-11-26 Omni-directional Wheel And Manufacturing Method Thereof

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KR20120056950A true KR20120056950A (en) 2012-06-05
KR101259759B1 KR101259759B1 (en) 2013-05-07

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9248698B2 (en) 2009-10-23 2016-02-02 Rotacaster Wheel Ltd. Wheel frame
CN105984274A (en) * 2016-06-03 2016-10-05 旗瀚科技有限公司 Double-rowed universal wheel
KR20160115454A (en) 2015-03-27 2016-10-06 삼성중공업 주식회사 Omni-directional wheel structure
CN107804117A (en) * 2017-04-14 2018-03-16 常州市吉庆机电有限公司 A kind of universal wheel
CN108567526A (en) * 2017-03-12 2018-09-25 广东凯洋医疗科技集团有限公司 Drive assembly after a kind of wheelchair vehicle intelligence
US10479136B2 (en) 2015-01-06 2019-11-19 Rotacaster Wheel Limited Wheel frame component
KR20220006883A (en) * 2020-07-09 2022-01-18 (주)로보케어 3-row Omni Directional Wheel Structure with Compact Roller Crossing
CN113942341A (en) * 2020-07-15 2022-01-18 Oppo广东移动通信有限公司 Omnidirectional wheel
KR20230001863A (en) * 2021-06-29 2023-01-05 주식회사 코로텍 Omni-wheel mat and cargo box with omni-wheel mat formed on the floor

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AUPP560698A0 (en) * 1998-09-01 1998-09-24 Oscar Investments Pty. Limited Improved wheel
US7399258B1 (en) 2001-11-20 2008-07-15 Sugar Thomas G Omni-directional treadmill
KR200341595Y1 (en) * 2003-09-29 2004-02-14 이재영 Drive
US7980335B2 (en) 2009-01-26 2011-07-19 Foster-Miller, Inc. Omni-directional wheel

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9248698B2 (en) 2009-10-23 2016-02-02 Rotacaster Wheel Ltd. Wheel frame
USD804766S1 (en) 2009-10-23 2017-12-05 Rotacaster Wheel Ltd Wheel
US10479136B2 (en) 2015-01-06 2019-11-19 Rotacaster Wheel Limited Wheel frame component
KR20160115454A (en) 2015-03-27 2016-10-06 삼성중공업 주식회사 Omni-directional wheel structure
CN105984274A (en) * 2016-06-03 2016-10-05 旗瀚科技有限公司 Double-rowed universal wheel
CN108567526A (en) * 2017-03-12 2018-09-25 广东凯洋医疗科技集团有限公司 Drive assembly after a kind of wheelchair vehicle intelligence
CN107804117A (en) * 2017-04-14 2018-03-16 常州市吉庆机电有限公司 A kind of universal wheel
WO2019080443A1 (en) * 2017-04-14 2019-05-02 常州市吉庆机电有限公司 Universal wheel
KR20220006883A (en) * 2020-07-09 2022-01-18 (주)로보케어 3-row Omni Directional Wheel Structure with Compact Roller Crossing
CN113942341A (en) * 2020-07-15 2022-01-18 Oppo广东移动通信有限公司 Omnidirectional wheel
KR20230001863A (en) * 2021-06-29 2023-01-05 주식회사 코로텍 Omni-wheel mat and cargo box with omni-wheel mat formed on the floor

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