1307671 . P53950059TW 22288twf.d〇c/n 九、發明說明： 【發明所屬之技術領域】1307671 . P53950059TW 22288twf.d〇c/n IX. Description of the invention: [Technical field to which the invention pertains]
本發明是有關於一種全向輪及其應用，且 a:『效果的全向輪及應用此全向輪的載L 動的^移^輪型載具主要是藉由全向輪來達到全向移 具有移動轉向紐的優點，而翻於活動 ==列’導致載具不能以傳== 到最佳的==果’而造成使用上的偶限且無法達 斜向種滾輪與全向輪主轴呈斜向排列的 載本:丄以傳統車輪前二後二的方式配置於承 控制，來達到全向移動的目的。锝社配和正反轉 古十，前各類全向輪的設計因為滾輪之間的構形設 動^侍、、且裝而成的直圓性不佳’導致在運 ===移r的平穩度與產品的可靠度= 質製:由於市售滚輪多，的材 ==】時發生打滑現象’進而無法達到確實的移動。 度的ίίί係闕於一種具有良好的減震效果以及高可靠 1307671 P53950059TW 22288twf.doc/n 本發明還關於-種具有優異抓地力的全向輪，其 免在運行時發生打滑，以提供良好的移動效果。^ 本發明更關於-種應壯述全向輪來達到 的載具。 為具體描述本發明的内容，在此提出一種全向輪，其 主要包括主輪、多個滾輪以及多個減震農置。其中 ^ 設置於主輪外圍，而減震裝置分別連接主輪，並拖接^ 所對應的滾輪，用以提供良好的減震效果。 本發明另提出-種载具，主要是將多個上述的全向輪 配置於-承載本體上，以藉由全向輪來使载具達到全向移 動的效果。 本發明之全向輪巾所採㈣減震裝置例如是由兩連 ^牛與-可撓件所構成’其中連接件分別連接主輪與滚 輪，而可撓件設置於兩連接件之間，以提供減震效果。此 可撓件例如是彈簧。 此外，本發明之全向輪中所採用的減震裝置也可以例 $由支架與可撓件所組成。其中，可撓倾置於支架與 2之間’用以提供支撑與減震效果。舉例而言，此可撓 件Ο括至少一線材，例如鋼絲繩。 此外’為提高雜的抓地力，本發明更可在滾輪外包 卷，而此襯套例如是由可繞性的材質所製成，且襯 奮的外表面可形成防滑結構。 姑•土於上述’本發明之全向輪整合了減震裝置，以達到 ，展的效果，且滾輪上可選擇配置一親套，藉由概套的設 1307671 . P53950059TW 22288twf.doc/n 計來提高滾輪的抓地力，改盖 明之^向輪的载具具攸 ^用本發 易懂之上述和其他目的、特徵和優』更明顯 明如下。Ο較佳實施例，並配合所關式，作詳細說 【實施方式】 勺要是”有減震功能的全向輪，其結 輪與主輪之間提供良好的減震效 ^舉例來說’本發明所採用的減震裝置可以是由兩連接 ί接:，件所構成，用以藉由分別連接主輪與滾輪的兩 ίϊΓίίΓ撓件提供缓衝。此外，本發明也提出由支 〃來支h袞輪’並在支架與主輪之間設置例如線材的可挽 件’以達到減震的目的。 以下將搭配圖示來說明本發明的幾種實施方式，铁並 僅為舉例之用’並非用以限定本發明之減震褒置盘全^輪 的型態。舉凡現有並為本領域技術人員在參照本發明 露後所能輕易聯想的減震裝置，皆可用於本發明的全向輪 上，以達到相同的目的。值得-提的是，以下說明是以^ 輪與全向輪主轴呈斜向排列的斜向全向輪為例。當然，= 發明亦可應用於其他型態的全向輪中，而同樣達至ϋ 增加抓地力的效果。 Μ 圖1繪示本發明之-實施例的一種全向輪。如圖^斤 示，全向輪100包括主輪110、多個滾輪12〇以及多個減 震裝置130。其中’滚輪120設置於主輪11〇外圍，而減 1307671 P53950059TW 22288twf.doc/n 震裝置130分別連接於滾輪12〇與主輪11〇之間，用以提 供良好的減震效果。在本實施射，主輪UQ適於沿一第 一轉軸A1轉動，而每一雜12〇適於沿一第二轉轴A2 轉動，且第二轉軸A2與第一轉軸A1夾一角度。 圖2繪示圖！之滾輪與減震裝置的分解請同時參 照圖1與圖2’減震襄置130包括第—連 :广可撓件136。第一連接件132例如是心 /連接滾輪120,其中軸承14〇例如是滾珠轴承或是一般 :見的樞轉元件’以使滚輪no可相對於第—連接件132 、表^楚第二連接件134連接主輪11G，並經由可撓件136 接弟—連接件132。當滾輪12()運行受料力時，可換 = 136可緩衝此外力，以避免連接於主輪u〇上的其他The invention relates to an omnidirectional wheel and an application thereof, and a: "the effect of the omnidirectional wheel and the application of the omnidirectional wheel to the L-moving ^ wheel type carrier is mainly achieved by the omnidirectional wheel The shift has the advantage of moving the turn, while turning to the activity == column 'causes the carrier can not pass the == to the best == fruit' and causes the use of the even limit and can not reach the oblique wheel and omnidirectional The wheel spindle is arranged in an oblique direction: the 控制 is arranged in the front and rear of the traditional wheel to control the omnidirectional movement.锝社配配正正正古十, the design of the various types of omnidirectional wheels before the wheel is set up because of the configuration between the rollers, and the straightness of the installation is not good, resulting in the movement === shifting r Smoothness and reliability of the product = Quality: Due to the large number of commercially available rollers, the slippage occurs when the material ==], and the actual movement cannot be achieved. The degree of ίίί is based on a kind of good shock absorption and high reliability. 1307671 P53950059TW 22288twf.doc/n The present invention also relates to an omnidirectional wheel with excellent grip, which is free from slippage during operation to provide good Move effect. ^ The present invention is more concerned with a vehicle that should be borne by an omnidirectional wheel. To specifically describe the contents of the present invention, an omnidirectional wheel is proposed herein, which mainly includes a main wheel, a plurality of rollers, and a plurality of shock absorbing farms. Wherein ^ is placed on the outer periphery of the main wheel, and the damping device is connected to the main wheel respectively, and the corresponding roller is dragged to provide a good damping effect. The invention further provides a carrier for disposing a plurality of the above-mentioned omnidirectional wheels on the carrier body to achieve the effect of omnidirectional movement of the carrier by the omnidirectional wheel. The (four) damper device of the omnidirectional wheel towel of the present invention is composed of, for example, two horns and a flexible member, wherein the connecting members are respectively connected to the main wheel and the roller, and the flexible member is disposed between the two connecting members. To provide a shock absorption effect. This flexible member is, for example, a spring. Further, the damper device used in the omnidirectional wheel of the present invention can also be composed of a bracket and a flexible member. Among them, it is tilted between the bracket and the 2' to provide support and shock absorption. For example, the flexible member includes at least one wire, such as a wire rope. Further, in order to improve the grip of the miscellaneous grip, the present invention can be wound out of the roller, and the bushing is made of, for example, a wrapable material, and the outer surface of the bushing can form an anti-slip structure. In the above-mentioned omnidirectional wheel of the present invention, a shock absorbing device is integrated to achieve the effect of the exhibition, and a set of a parental sleeve can be optionally arranged on the roller, and the set is set by 1307671. P53950059TW 22288twf.doc/n In order to improve the grip of the roller, the above-mentioned and other purposes, features and advantages of the present invention can be clearly seen as follows. ΟThe preferred embodiment, in conjunction with the closed type, is described in detail. [Embodiment] The scoop should be "the omnidirectional wheel with damping function, which provides a good damping effect between the knot wheel and the main wheel. ^ For example' The damper device used in the present invention may be constituted by two connecting members, which are provided for buffering by two ίϊΓίί Γ members respectively connecting the main wheel and the roller. In addition, the present invention also proposes A hoop wheel is provided and a pullable member such as a wire is disposed between the bracket and the main wheel to achieve the purpose of damping. Several embodiments of the present invention will be described below with reference to the drawings, and iron is only used as an example. 'It is not intended to limit the type of the shock absorbing plate of the present invention. Any of the existing damper devices which can be easily associated with the person skilled in the art after referring to the present invention can be used in the present invention. To the wheel, to achieve the same purpose. It is worth mentioning that the following description is based on the oblique omnidirectional wheel in which the wheel and the omnidirectional wheel are arranged obliquely. Of course, the invention can also be applied to other types. In the omnidirectional wheel, and also reach the ϋ increase the grip Figure 1 illustrates an omnidirectional wheel of an embodiment of the present invention. As shown in the figure, the omnidirectional wheel 100 includes a main wheel 110, a plurality of rollers 12A, and a plurality of damping devices 130. The roller 120 is disposed on the periphery of the main wheel 11〇, and the minus 1307671 P53950059TW 22288twf.doc/n vibration device 130 is respectively connected between the roller 12〇 and the main wheel 11〇 to provide a good shock absorption effect. The main wheel UQ is adapted to rotate along a first axis of rotation A1, and each of the wires 12 is adapted to rotate along a second axis of rotation A2, and the second axis of rotation A2 is at an angle to the first axis of rotation A1. Figure 2 is a diagram! For the disassembly of the roller and the damper device, please refer to FIG. 1 and FIG. 2 simultaneously. The damper device 130 includes a first: wide flexible member 136. The first connecting member 132 is, for example, a heart/connecting roller 120, wherein the bearing 14〇 For example, a ball bearing or a generally: seeing pivoting member 'so that the roller no can be coupled to the main wheel 11G with respect to the first connecting member 132, the second connecting member 134, and connected via the flexible member 136. Piece 132. When the roller 12 () is subjected to the receiving force, the changeable = 136 can buffer the additional force to avoid connection to the main wheel u〇 Other
(=如車體或載台等)受到外力的直接衝擊，因此到 减震的目的。 < J ㊣本實施例所採用的第-連接件132例如是l型支撐 ^ =第二連接件134例如是長直支樓管。可撓件136例 作2:，(C〇ilSPr㈣，其藉由結構上的搭配，組裝在 =巧件132的L型支樓管與作為第二連接件… 螺旌綠讀官之間。[型切管與長直切管之間可藉由 果„簧的回復力相對運動，以達到緩衝外力的效 來作他實施Γ中亦可應用其他型態的彈性元件 水作為可撓件136，此處不再贅述。 得注意的是’本發明為了提高絲的抓地力，更可 、擇十地對滾輪的表面進行處理。如圖2所示，本實施例 1307671 P53950059TW 22288twf.doc/n 120外包覆具有防滑設計的襯套150，藉以增 制占R1 Γ 膠、石夕膠、高分子材質等可撓性材質所 裝^，因此有助於在滾輪12〇運作時，增加與地面(或其他 工作面)的__，進而提高抓地力。此外，本實施例更 :在：套150的外表面形成防滑結構，以進一步提高抓地 言’例如可在襯套W上形成凸起或凹陷等不 同型態的結構。在實際_上，類似輪胎的驗設計或是 對襯套15G進行表面姆處理皆是可選用的方式之一。附 帶一提，由於本實_是咖絲150的設計，因此當襯 =150因滚輪12G長時間運作而賴時，彳直接更換概套 150，節省更換整個滾輪12〇所需的成本。 圖3緣示本發明另一實施例的一種應用不同減震裝置 的全向輪”繪示此減震裝置與雜的分㈣。請同 時參照圖3與® 4 ’全向輪3GG包括主輪31G、多個滾輪 32〇以及多個減震裝置33〇。滾輪聊設置於主輪則外 圍而減震裴置330分別連接於滾輪32〇與主輪31〇之間， ^提供良好的減震效果。在本實施例中，主輪310適於 /口 —第—轉軸B1轉動，而每-滾輪320適於沿-第二轉 軸B2轉動，且第二轉軸B2與第一轉轴B1夾一角度。 更詳細地說’減震裝置330包括支架332與可撓件 336。滾輪320的兩端例如是經由轴承34〇樞設於支架332 上，其中軸承340例如是滾珠軸承或是一般常見的樞轉元 件，以使滾輪320可相對於支架332轉動。此外，可撓件 1307671 • P53950059TW 22288twf.doc/n 3%連接於支架332與主輪31〇之間。當滾輪運行受 到外力時，可撓件34〇可緩衝此外力，以避免連接於主輪 10上的其他裝置(例如車體絲台等）受到外力的直接衝 擊，因此可達到減震的目的。 本實施例所採用的支架332上例如具有貫孔 332a，而 可撓件336例如是鋼絲繩或其他型態的可撓性線材，其穿 過支架332的貫孔332a並連接主輪310,用以支撐支架332 =袞輪320並在支架332與主輪31〇之間提供緩衝與減 辰效果。當然’在本發明的其他實施例中，亦可應用彈簧(例 如螺旋彈簧、板片彈簧）或其他型態的彈性元件搭配適'當的 連接方式來對支架332與主輪310提供緩衝，此處不再贅 述。 此外，如同前述實施例所示，本實施例為了提高滾輪 的抓地力，同樣可選擇性地對滾輪的表面進行處理。如圖 4所示，本實施例即是在滾輪32〇外包覆具有防滑設計的 襯套350，藉以增加滚輪320運作時的抓地力。更詳細而 言’本實施例的襯套350例如是由橡膠、發膠、高分子材 質等可撓性材質所製成，因此有助於在滾輪320運作時， 增加與地面（或其他工作面）的接觸面積，進而提高抓地 力。此外，本實施例更可在襯套350的外表面形成防滑結 構’以進一步提高抓地力。舉例而言，例如可在概套35〇 上形成凸起或凹陷等不同型態的結構。在實際應用上，來員 似輪胎的胎紋設計或是對襯套350進行表面粗糙處理皆^ 可選用的方式之一。附帶一提’由於本實施例是採用襯套 1307671 P53950059TW 22288twf.doc/n 350的設計，因此當襯套350長時間使用而磨損時，可直 接更換襯套350,節省更換整個滾輪320的成本。 本發明更提出應用上述或其他實施例之全向輪的一 種載具，以達到高自由度與靈活度的全向移動。具體而言， 其可體現為交通運輸或醫療用途之大型載具或是工業製造 用途的精密加工機台等用途。 圖5繪示應用本發明之一實施例的一種載具。如圖5 .所示’载具500的承載本體510四周分別配置有全向輪 520’其中位於對角的全向輪52〇分別具有相同的滾輪配置 方式’如此藉由對個別的全向輪520進行轉速搭配和正反 轉控制’便可以使載具500進行平面移動或旋轉。 綜上所述，本發明所提出的全向輪藉由簡單的設計， 便可彳于到良好的減震能力與抓地力，如此可以使得載具具 有良好的移動效果，並可降低全向輪運行時所產生的噪 音。此外，由於可避免全向輪在運行時受到過度的震動而 • 造成損壞’因此有助於提高產品的可靠度與使用壽命。另 一方面，藉由在滾輪外包覆襯套不僅可以達到增加抓地力 的效果，更可以在襯套磨損時，直接更換襯套，有助於節 省維修成本。 雖然本發明已以較佳實施例揭露如上，然其並非用以 限定本發明，任何所屬領域中具有通常知識者，在不脫離 本發明之精神和範圍内，當可作些許之更動與潤飾，因此 本發明之保護範圍當視後附之申請專利範圍所界定者為 準。(=If the car body or the stage, etc.) is directly impacted by external force, so it is used for shock absorption. < J The first connector 132 employed in the present embodiment is, for example, an l-type support ^ = the second connector 134 is, for example, a long straight branch pipe. The flexible member 136 is exemplified as 2:, (C〇ilSPr (4), which is assembled by the L-shaped branch pipe of the ???piece 132 and the second connector... Between the type of the tube and the long straight tube, the spring force of the spring can be used to achieve the effect of buffering the external force, and other types of elastic element water can be used as the flexible member 136. It is not mentioned here. It should be noted that the present invention processes the surface of the roller in order to improve the grip of the wire. As shown in Fig. 2, this embodiment is 1307671 P53950059TW 22288twf.doc/n 120 The outer cover is provided with a non-slip design bushing 150, so as to increase the capacity of the flexible material such as R1 rubber, Shishi rubber, polymer material, etc., thereby contributing to the increase of the ground when the roller 12 is operated ( Or the __ of the other working surface), thereby improving the grip. In addition, the embodiment further: forming an anti-slip structure on the outer surface of the sleeve 150 to further improve the gripping state, for example, forming a bulge on the bushing W or Different types of structures such as depressions. In practice, similar to tire design or The surface treatment of the bushing 15G is one of the optional methods. Incidentally, since the present embodiment is the design of the gay 150, when the lining = 150 is caused by the long running of the roller 12G, the 彳 is directly replaced. The utility model 150 saves the cost required for replacing the entire roller 12〇. Fig. 3 shows an omnidirectional wheel applying different damping devices according to another embodiment of the present invention, which shows the damping device and the miscellaneous points (4). 3 and 4', the omnidirectional wheel 3GG includes a main wheel 31G, a plurality of rollers 32A, and a plurality of damper devices 33. The roller finder is disposed on the periphery of the main wheel and the damper device 330 is coupled to the roller 32, respectively. Between the cymbal and the main wheel 31〇, a good shock absorbing effect is provided. In the present embodiment, the main wheel 310 is adapted to rotate with the /-first-rotating shaft B1, and each-roller 320 is adapted to be along the second-axis B2 Rotating, and the second rotating shaft B2 is at an angle with the first rotating shaft B1. In more detail, the damping device 330 includes a bracket 332 and a flexible member 336. Both ends of the roller 320 are pivotally mounted on the bracket via a bearing 34, for example. 332, wherein the bearing 340 is, for example, a ball bearing or a generally common pivoting member to enable The roller 320 is rotatable relative to the bracket 332. Further, the flexible member 1307671 • P53950059TW 22288twf.doc/n 3% is connected between the bracket 332 and the main wheel 31. When the roller is subjected to an external force, the flexible member 34 can be buffered. In addition, the force is to prevent the other devices connected to the main wheel 10 (such as the body wire table and the like) from being directly impacted by the external force, so that the purpose of the shock absorption can be achieved. The bracket 332 used in this embodiment has, for example, a through hole 332a. The flexible member 336 is, for example, a wire rope or other type of flexible wire that passes through the through hole 332a of the bracket 332 and is coupled to the main wheel 310 for supporting the bracket 332 = the wheel 320 and the bracket 332 and the main wheel. Provide buffer and subtraction effects between 31〇. Of course, in other embodiments of the present invention, a spring (for example, a coil spring, a leaf spring) or other type of elastic member may be applied to provide a buffer for the bracket 332 and the main wheel 310 in a suitable connection manner. I won't go into details here. Further, as shown in the foregoing embodiment, the present embodiment selectively treats the surface of the roller in order to increase the grip of the roller. As shown in Fig. 4, in this embodiment, a bushing 350 having an anti-slip design is wrapped around the roller 32 to increase the grip of the roller 320 during operation. More specifically, the bushing 350 of the present embodiment is made of, for example, a flexible material such as rubber, hair spray, or polymer material, thereby contributing to the increase of the ground (or other working surface) when the roller 320 operates. The contact area, which in turn increases grip. Further, the present embodiment can form an anti-slip structure on the outer surface of the bushing 350 to further improve the grip. For example, different types of structures such as protrusions or depressions may be formed on the jacket 35 。. In practical applications, it is one of the options available for the tread design of the tire or the roughening of the bushing 350. Incidentally, since the present embodiment adopts the design of the bushing 1307671 P53950059TW 22288twf.doc/n 350, when the bushing 350 is worn for a long time, the bushing 350 can be directly replaced, saving the cost of replacing the entire roller 320. The present invention further proposes a carrier for applying the omnidirectional wheel of the above or other embodiments to achieve omnidirectional movement with high degrees of freedom and flexibility. Specifically, it can be embodied as a large-scale vehicle for transportation or medical use or a precision processing machine for industrial manufacturing purposes. Figure 5 illustrates a carrier to which an embodiment of the present invention is applied. As shown in FIG. 5, the carrier body 510 of the carrier 500 is respectively disposed with an omnidirectional wheel 520', wherein the diagonal omnidirectional wheels 52〇 have the same roller arrangement manner respectively. Thus, by means of individual omnidirectional wheels The 520 performs the speed matching and the forward and reverse rotation control to enable the carrier 500 to move or rotate in a plane. In summary, the omnidirectional wheel proposed by the present invention can achieve good shock absorbing capability and grip force by simple design, so that the vehicle can have good moving effect and can reduce the omnidirectional wheel. The noise generated during operation. In addition, the omnidirectional wheel can be prevented from being subjected to excessive vibration during operation and causing damage, thus helping to improve the reliability and service life of the product. On the other hand, by wrapping the bushing on the outside of the roller, not only can the grip be increased, but also the bushing can be directly replaced when the bushing is worn, which helps to save maintenance costs. While the invention has been described above in terms of the preferred embodiments thereof, it is not intended to limit the invention, and it is possible to make a few changes and modifications without departing from the spirit and scope of the invention. Therefore, the scope of the invention is defined by the scope of the appended claims.
11 1307671 P53950059TW 22288twf.doc/n 【圖式簡單說明】 圖1繪示本發明之一實施例的一種全向輪。 圖2繪示圖1之滾輪與減震裝置的分解圖。 圖3繪示本發明另一實施例的一種應用不同減震裝置 的全向輪。 圖4繪示圖3之滾輪與減震裝置的分解圖。 圖5繪示應用本發明之一實施例的一種載具。 【主要元件符號說明】 100、300 :全向輪 110、310 :主輪 120、320 :滾輪 130、330 :減震裝置 A卜A2、B卜B2 :轉軸 132 :第一連接件 134 :第二連接件 136、336 :可撓件 140、340 :轴承 150、350 :襯套 332 :支架 332a :貫孔 500 :載具 510 :承載本體 520 :全向輪 1211 1307671 P53950059TW 22288twf.doc/n [Simple Description of the Drawings] FIG. 1 illustrates an omnidirectional wheel according to an embodiment of the present invention. 2 is an exploded view of the roller and the shock absorbing device of FIG. 1. FIG. 3 illustrates an omnidirectional wheel applying different damping devices according to another embodiment of the present invention. 4 is an exploded view of the roller and the shock absorbing device of FIG. 3. Figure 5 illustrates a carrier to which an embodiment of the present invention is applied. [Main component symbol description] 100, 300: omnidirectional wheel 110, 310: main wheel 120, 320: roller 130, 330: damping device A A2, B b B2: rotating shaft 132: first connecting member 134: second Connecting members 136, 336: flexible members 140, 340: bearings 150, 350: bushing 332: bracket 332a: through hole 500: carrier 510: carrying body 520: omnidirectional wheel 12