KR20220006883A - 3-row Omni Directional Wheel Structure with Compact Roller Crossing - Google Patents

Abstract

The present invention provides an omni-directional wheel structure, comprising: a wheel which are arranged side by side to each other and provided with at least three of which, each of which is rotationally installed on a main shaft; and a plurality of rotatable rollers installed along the circumferential direction at an edge of each wheel. A plurality of rollers disposed on wheels adjacent to each other are disposed to overlap each other by a predetermined distance so as to be in contact with a ground at the same time. An objective of the present invention is to provide the omni-directional wheel structure in which vibration and noise are low, and a load is evenly distributed.

Description

3-row Omni Directional Wheel Structure with Compact Roller Crossing

The present invention relates to an omni-directional wheel structure, and more particularly, to a three-row omni-directional wheel structure of a small roller crossing method that enables movement in all directions using a main wheel and an auxiliary roller.

In home robots and security robots, mobile robots using omni wheels as driving wheels for small rotation are widely used. The omni wheel is to arrange three freely rotatable barrels in the axial direction of the wheel on the outer periphery of the wheel frame, and these omni wheels are arranged on the mobilization column of the main body of the mobile robot to enable movement in all directions. has been That is, in the mobile robot using the omni wheel, three omni wheels are installed at 120° intervals based on the center of the mobile robot, and the direction and speed of the three omni wheels are controlled by the control unit, so that the moving direction of the mobile robot is determined became

Mobile robots used in homes and industries vary according to their shape and function, but for spatial limitations, mobility, and portability, research and development for increasing and miniaturizing the base load compared to the weight of the mobile robot is actively underway. Mobile robots equipped with wheels are no exception.

Existing omni wheels basically have 1st, 2nd and 3rd row omni wheel structures.

In the case of a one-row omni wheel, there is a gap between the small rollers, and vibration and noise are generated in this section.

In the case of the 2nd row omni wheel, the empty space between the small rollers of the wheels is crossed with another wheel to minimize the gap between the small wheels. In the case of this structure, the shortcomings of the single-row omni wheel are compensated, but vibration and noise are generated at the gap between the small rollers of different heat when the wheel rotates. There is a problem of durability.

Therefore, the development of an omni wheel structure for the distribution of vibration, noise and load is required.

Registered Patent No. 10-0886113 (2009.2.27.)

The present invention has been devised to solve the above problems, and an object of the present invention is to provide an omni wheel structure in which vibration and noise are low, and load is evenly distributed.

In order to solve the above problems, the omni-directional wheel structure of the present invention is provided with at least three wheels arranged side by side with each other, each wheel installed to be rotatable on the main shaft; and a plurality of rotatable rollers installed along the circumferential direction at the edge of each wheel, and the rollers disposed on adjacent wheels are arranged to overlap each other by a predetermined distance so that the plurality of rollers can be in contact with the ground at the same time.

According to an example related to the present invention, the rollers include a central shaft installed at the edge of each wheel and rotatably supporting the rollers, and in wheels adjacent to each other, between the overlapping rollers, each At least two central axes of the rollers are arranged to cross each other.

Preferably, the number of rollers may be at least five.

According to another example related to the present invention, the omni-directional wheel structure of the present invention may further include a main shaft to which the plurality of wheels are coupled and rotated by rotational power transmitted from a power transmission unit.

According to another example related to the present invention, the wheel may include: a main plate provided with a roller accommodating part so that a plurality of rollers can be disposed along the circumferential direction from the edge; and sub-plates coupled to both ends of the main plate.

The roller includes a central shaft installed at the edge of each wheel and rotatably supporting the roller, and the roller receiving part includes: a shaft insertion part into which both ends of the central shaft are inserted; and a first roller guide part disposed to be spaced apart from the outer periphery of the roller by a predetermined distance and accommodating the roller to guide the rotation of the roller.

Preferably, the second roller guide part having a cut-out shape may be formed at the edge of the sub-plate.

In addition, jaws may be provided at both ends of the roller, and rotational bearings may be inserted into the jaws.

The omni-directional wheel structure of the present invention can minimize vibration generated between the distances of small rollers and noise that may be generated when the small rollers are moved, and two or three crossed small rollers are always in contact with the ground to load It can be dispersed to see the effect of increasing durability

In addition, in the omni-directional wheel structure of the present invention, the small roller can minimize shock absorption and vibration by using a urethane material.

1 is a perspective view showing the omni-directional wheel structure of the present invention.
Figure 2 is a front view showing the omni-directional wheel structure of the present invention.
Figure 3 is an enlarged view of part A of Figure 1;
Fig. 4 is a sectional view showing the central axis of rollers disposed on wheels adjacent to each other;
Figure 5 is a perspective view showing the upper portion of the omni-directional wheel structure of the present invention.
Figure 6 is an exploded perspective view showing the omni-directional wheel structure of the present invention.
7 is an exploded perspective view showing the wheel of the present invention.
8 is an exploded perspective view showing the roller of the present invention.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar reference numerals are assigned to the same or similar components, and overlapping descriptions thereof will be omitted. The suffix "part" for the components used in the following description is given or mixed in consideration of only the ease of writing the specification, and does not have a meaning or role distinct from each other by itself. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including an ordinal number such as 1st, 2nd, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being “connected” to another component, it may be directly connected to the other component, but it should be understood that other components may exist in between.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as “comprises” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Figure 1 is a perspective view showing the omni-directional wheel structure 100 of the present invention, Figure 2 is a front view showing the omni-directional wheel structure 100 of the present invention. Also, FIG. 3 is an enlarged view of part A of FIG. 1 . 4 is a cross-sectional view illustrating the central axis 21 of the roller 20 disposed on the wheel 10 adjacent to each other, and FIG. 5 is a perspective view showing the upper portion of the omni-directional wheel structure 100 of the present invention.

Hereinafter, the omni-directional wheel structure 100 of the present invention will be described with reference to FIGS. 1 to 5 .

The omni-directional wheel structure 100 of the present invention may be a three-row omni-directional wheel structure of a small roller crossing method.

The omni-directional wheel structure 100 of the present invention includes a wheel 10 and a roller 20 .

The wheels 10 are arranged side by side and provided with at least three wheels, each of which is rotatably installed on the main shaft 3 .

For example, the wheel 10 may be rotated by rotation of the main shaft 3 to be described later.

A plurality of rollers 20 are installed along the circumferential direction at the edge of each wheel 10 and are rotatable.

For example, the roller 20 may rotate about a central axis 21 ( FIG. 8 ) disposed in a direction crossing the main axis 3 .

In addition, the roller 20 may be rotated by itself in contact with the ground.

The rollers 20 disposed on the adjacent wheels 10 are disposed to overlap each other by a predetermined distance so that a plurality of rollers 20 can be in contact with the ground at the same time.

Referring to FIGS. 1 and 2 , an example of a structure in which at least two rollers 20 of three wheels 10 adjacent to each other can contact and support the ground at the same time is illustrated. Due to this, vibration and noise generated between the rotational movement of the roller 20 and the roller 20 can be minimized.

The roller 20 may include a central shaft 21 installed at the edge of each wheel 10 and rotatably supporting the roller 20, between adjacent wheels 10, overlapping each other. Between the rollers 20 arranged so that at least two central axes 21 of each roller 20 intersect each other, they may be arranged.

In addition, the number of rollers 20 installed on each wheel 10 may be at least five. As an example, an example in which five rollers 20 are installed on each wheel 10 is shown in FIG. 1 .

Referring to FIG. 4 , an example of crossing between the central axes 21 of adjacent rollers 20 can be seen on a cross-sectional basis, and the central axes 21 of at least two rollers 20 are arranged to intersect A structure in which two or three central axes 21 are superimposed on each other is shown. In addition, in FIG. 4 , the intersection of the central axes 21 in the cross-sectional direction is represented by a dotted line.

In this way, the roller 20 between the adjacent wheels 10 can support at least two or more ground surfaces, so that vibration and Noise can be minimized.

Also, referring to FIG. 2 , as shown in FIG. 2 , when the roller 20 rotates in an intersecting arrangement, a shape in which the center of the roller 20 continues to the next roller 20 is conceptually illustrated. In this case, the roller 20 and the roller 20 rotate without a gap, and noise and vibration generated while moving from the roller 20 to the next roller 20 are reduced. The arrows in FIG. 2 show that the stress applied to the rollers 20 is sequentially transferred between the rollers 20 of the first to third wheels 10 by contact with the ground.

In Fig. 2, when the roller 20 of the leftmost wheel 10 comes into contact with the ground and rotates so that the center of the roller 20 is positioned vertically from the ground, the roller 20 of the middle wheel 10 comes into contact with the ground. When it rotates and the center of the roller 20 of the middle wheel 10 is also located, the roller 20 of the rightmost wheel 10 starts to touch the ground. At this time, the moment the roller 20 is positioned at the center, the three rollers 20 come into contact with the ground and rotate. As represented by the arrow in FIG. 2, two or more rollers 20 always rotate while in contact with the ground. In this case, before the rollers 20 disposed on the same circumference fall off the ground, the next roller 20 is already in contact with When rotating in this way, vibration and noise generated when the wheel 10 rotates are reduced.

In addition, since two or three rollers 20 always support the ground, the load applied to the omni-directional wheel structure 100 is dispersed, thereby enabling a higher allowable load.

In addition, Figure 6 is an exploded perspective view showing the omni-directional wheel structure 100 of the present invention, Figure 7 is an exploded perspective view showing the wheel 10 of the present invention. On the other hand, Figure 8 is an exploded perspective view showing the roller 20 of the present invention.

Hereinafter, a more detailed structure of the omni-directional wheel structure 100 of the present invention will be described with reference to FIGS. 6 to 8 .

Referring to FIG. 7 , the wheel 10 includes a main plate 11 and a sub-plate 13 .

The main plate 11 forms the main body of the wheel 10 , and the roller receiving part 11a is provided so that a plurality of rollers 20 can be disposed along the circumferential direction from the edge of the main plate 11 .

As shown in FIG. 7 , the roller receiving part 11a is spaced apart from the outer periphery of the shaft insertion part 11b into which both ends of the central shaft 21 of the roller 20 are inserted and the roller 20 at a predetermined distance. A first roller guide portion 11c for accommodating the roller 20 to guide the rotation of the roller 20 may be included.

In addition, as shown in FIG. 7 , the main plate 11 may be formed of a thin disk having an edge cut off shape. In addition, the edge of the main plate 11 may be provided with a plurality of roller accommodating parts 11a along the circumferential direction, the edge of the main plate 11 is provided with a plurality of roller accommodating parts 11a along the circumferential direction. An example of this is shown in FIG. 7 .

The sub-plate 13 is coupled to both ends of the main plate 11 . Similarly to the main plate 11 , the sub-plate 13 may also include a second roller guide part 13c having an edge cut out.

Both ends of the central shaft 21 of the roller 20 can be inserted into the shaft insertion part 11b, and the roller 20 installed on the central shaft 21 by the first and second roller guide parts 11c and 13c. ) will guide the rotation.

Meanwhile, referring to FIG. 8 , rotation bearings 23 may be inserted into both ends of the roller 20 . To this end, both ends of the roller 20 may be provided with jaws 20a so that the rotary bearing 23 is inserted. In addition, a central shaft 21 is provided on the inner periphery of the rotary bearing 23 . On the other hand, both ends of the central shaft 21 are protruded by a predetermined distance in a state in which the central shaft 21 is inserted into the rotary bearings 23 installed at both ends of the roller 20 to be inserted into the shaft insertion portion 11b. may be insertable.

Meanwhile, a snap ring 24 for preventing separation of the rotation bearing 23 and the central shaft 21 from the roller 20 may be installed on the central shaft 21 . To this end, a snap groove 21a into which the snap ring 24 can be inserted may be provided on the outer periphery of the central shaft 21 .

The omni-directional wheel structure 100 of the present invention may further include a main shaft 3 .

The main shaft 3 is rotatably connected to a power generating unit (not shown), and may be rotated by rotational power transmitted from the power generating unit.

The power generating unit may be, for example, a motor. Although not shown in the drawing, the main shaft 3 may be connected to the power generating unit to receive power generated from the power generating unit.

The plurality of wheels 10 described above are coupled to the main shaft 3 , and the plurality of wheels 10 may rotate together with the main shaft 3 . Although not clearly shown in the drawings, as an example, a shaft coupling capable of coupling a plurality of wheels 10 may be installed on the main shaft 3 .

Referring to FIG. 6 , the main shaft 3 may include a spacer part 3a that enables the adjacent wheels 10 to be spaced apart and an extension part 3b to which the wheel 10 is inserted and coupled.

The rotation of the main shaft 3 rotating by the power of the power transmission unit and the plurality of wheels 10 coupled to the main shaft 3 and rotating together is rotated by the driving force received from the power transmission unit, so the active (active) ) direction, the rotation of the roller 20 in which the roller 20 rotates in contact with the ground is not a rotation by a driving force directly received from the power transmission unit, but an indirect rotation, which is passive (passive) ) can be understood as the rotation of the direction.

On the other hand, the omni-directional wheel structure 100 of the present invention may further include a coupling member 30 that enables the adjacent wheels 10 to be coupled to each other.

The coupling member 30 may have, for example, a pipe shape having a predetermined width.

A coupling hole 33 may be formed in the coupling member 30 to enable screw coupling.

6 shows a structure in which a coupling hole 33 is formed in the coupling member 30 and enables coupling of an adjacent wheel 10 by a bolt 15 .

The omni-directional wheel structure 100 of the present invention described above is not limited to the configuration and method of the above-described embodiments, but all or part of each embodiment is selectively combined so that various modifications can be made. may be configured.

It is apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention. Accordingly, the above detailed description should not be construed as restrictive in all respects but as exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

100: Omni directional wheel structure
3: main shaft 3a: separation part 3b: extension part
10: Wheel 11: Main plate 11a: Roller receiving part
11b: shaft insertion part 11c: first roller guide part
13: sub plate 13c: second roller guide part 15: bolt
20: roller 20a: jaw 21: central shaft 21a: snap groove
23: rotary bearing 24: snap ring
30: coupling member 33: coupling hole

Claims (8)

a wheel arranged side by side and provided with at least three wheels, each of which is rotatably installed on the main shaft; and
It includes a plurality of rotatable rollers installed along the circumferential direction at the edge of each wheel,
A plurality of rollers disposed on adjacent wheels are omni-directional wheel structure, characterized in that they are disposed to overlap each other by a predetermined distance so as to be in contact with the ground at the same time.
According to claim 1,
The roller includes a central shaft installed at the edge of each wheel and rotatably supporting the roller,
In wheels adjacent to each other, between the rollers overlapping each other, at least two central axes of each roller are arranged to cross each other.
3. The method of claim 2,
The omni-directional wheel structure, characterized in that at least five rollers.
According to claim 1,
Omni-directional wheel structure to which the plurality of wheels are coupled, and further comprising a main shaft rotated by rotational power transmitted from the power transmission unit.
According to claim 1,
The wheel is
a main plate provided with a roller accommodating part so that a plurality of rollers can be disposed along the circumferential direction from the edge; and
Omni-directional wheel structure comprising sub-plates coupled to both ends of the main plate.
6. The method of claim 5,
The roller includes a central shaft installed at the edge of each wheel and rotatably supporting the roller,
The roller receiving part,
a shaft insertion part into which both ends of the central shaft are inserted; and
Omni-directional wheel structure, which is disposed to be spaced apart from the outer periphery of the roller by a predetermined distance, and comprises a first roller guide part for accommodating the roller to guide the rotation of the roller.
7. The method of claim 6,
Omni-directional wheel structure, characterized in that the second roller guide part in a cut-out shape is formed at the edge of the sub-plate.
3. The method of claim 2,
Both ends of the roller are provided with jaws, and omni-directional wheel structure, characterized in that rotation bearings are inserted into the jaws.

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