TWI385079B - All rounds - Google Patents

Description

Omnidirectional wheel

The invention relates to the technical field of wheels, in particular to an omnidirectional wheel which can avoid unintended movement and has good safety.

Commonly known omnidirectional wheels are shown in Taiwan Patent Publication Nos. 309,758, I309,595, and M347,176, and U.S. Patent Nos. 6,796,618, 6,668,950, and 4,223,753. The structure is characterized in that a plurality of auxiliary wheels which are arranged in an annular shape and are freely rotatable are arranged on the circumferential surface of a main wheel, and a central axis of the axle of each secondary wheel and a central axis of the axle of the primary wheel have a Angle θ.

Since the plurality of secondary trains of the conventional omnidirectional wheel can be freely rotated on the main wheel, the secondary wheel is easily subjected to external force to cause rotation, which causes the omnidirectional wheel to be prone to unintended movement or sliding, and is dangerous. hurt. Therefore, the conventional omnidirectional wheel train has long been a problem of poor safety, so it cannot be directly applied to an auxiliary tool or a carrier, and usually needs to cooperate with other types of wheels, such as U.S. Announcements Nos. 5,323,867, 4,926,952, 7,264,315. The patent shows. However, this other type of wheel affects the omnidirectional motion of the omnidirectional wheel.

In view of the above, the present inventors have devised the development and design of the present invention in view of the many defects and inconveniences caused by the improvement of the structural design of the above-mentioned conventional omnidirectional wheel.

The main object of the present invention is to provide an omnidirectional wheel that can avoid unintended movement and has good safety. The omnidirectional wheel includes a main wheel, a plurality of secondary wheels and a swaying mechanism. The main wheel includes a main wheel base, a main wheel axle and a plurality of sub-wheel seats. The main wheel axle is coupled to the main wheel base to drive the main wheel base to rotate. The plurality of secondary wheel seats are arranged in a ring-shaped arrangement. The circumference of the wheel of the main wheel seat. Each of the secondary wheels includes at least one roller and one of the secondary axles fixed to the roller, the secondary axles of the plurality of secondary wheels are rotatably coupled to the plurality of secondary wheel seats of the primary wheel, respectively, and the central axis of each secondary axle It has an angle θ with the central axis of the main axle. The swaying mechanism is disposed in the main wheel base to control whether the plurality of rollers can rotate.

Thus, the swaying mechanism can lock the plurality of secondary wheels to prevent them from rotating, so that the primary wheels can be used as conventional wheels. When the lateral movement is required, the multiple auxiliary wheels can be rotated by using the swaying mechanism, so that the omnidirectional movement function can be achieved. Therefore, it is usually avoided to cause unintended movement or slippage, thereby reducing the occurrence of dangerous injuries, and even more so that it can be directly applied to various accessories or vehicles (such as wheelchairs, vehicles, etc.). Therefore, the auxiliary device can have the function of omnidirectional movement, and the improvement of the conventional omnidirectional wheel has the disadvantage of requiring the omnidirectional movement function to be additionally matched with other kinds of wheels.

In the present invention, each of the sub-wheel trains includes two rollers and a gear, and the two rollers are fixed at both ends of the sub-axle, and the gear train is fixed at the center of the sub-axle and is located at the sub-wheel seat. in. The swaying mechanism comprises a plurality of swaying members, a plurality of first compression springs, a driving member, a second compression spring, an electromagnet, an iron piece and two sets of brushes. The plurality of swaying members are radially movable on the main wheel base to be respectively engaged or disengaged between the protruding teeth of the corresponding gears. The plurality of first compression springs are respectively sleeved on the plurality of dampers, and the elastic force is provided to disengage the swaying member between the protruding teeth of the corresponding gears. The driving member has a pushing portion, and the driving member is axially movable relative to the main wheel shaft, so that the pushing portion can respectively move the plurality of moving members. The second compression spring is disposed in the main wheel housing and provides an elastic force to displace the driving member to a position where the swaying member is disengaged from the gear. The electromagnet is fixed on the main wheel base, the iron piece is fixed on the driving member, the two sets of brushes are arranged on the main wheel shaft, and the two sets of brushes are connected to an external power source to drive the electromagnet to generate An electromagnetic effect to magnetically move the drive member axially relative to the main axle.

Referring to the first to fifth figures, the omnidirectional wheel includes a main wheel 1, a plurality of sub-wheels 2, and a swaying mechanism 3. Wherein: the main wheel 1 includes a main wheel base 10, a main axle 11 and a plurality of sub-wheel seats 12. The main wheel base 10 includes a body 13 and a cover 14. A plurality of sliding holes 130 are disposed on the circumferential surface of the base body 13. The interior of the housing body 13 has a chamber 131. The center of the chamber 13 has a set of shafts 132. The sliding holes 130 extend through to the center of the chamber 131. The chamber 131. The cover body 14 is coupled to the side of the seat body 13 and covers the opening of the chamber 131. The central position of the side of the cover body 14 has a convex portion 140 extending into the chamber 131. One end of the main axle 11 is coupled to the sleeve shaft 132 of the seat body 13 of the main wheel base 10 and the convex portion 140 of the cover body 14, and the main wheel base 10 can be rotated about the main wheel axle 11 as an axis. The plurality of sub-wheel bases 12 are detachably annularly arranged on the circumferential surface of the seat body 13 of the main wheel base 10, and are respectively positioned one-to-one at positions above the slide holes 130. Each of the sub-wheels 12 is formed by a combination of two housings 120, and has a receiving slot 15 and a guiding slot 16, and the guiding slot 16 communicates with the receiving slot 15 and the corresponding sliding hole 130. The housing 120 of the sub-wheel base 12 has a bearing 17 therein.

Each of the secondary wheels 2 includes a pair of axles 20, two rollers 21 and a gear 22. The plurality of sub-axles 20 are pivotally disposed in the plurality of sub-wheel bases 12, respectively, and a central axis of each of the sub-axles 20 has an angle θ with a central axis of the main axle 11, and the angle θ is preferably 45 degrees. Each of the axles 20 is threaded through the bearing 17 of the corresponding secondary wheel base 12 such that the secondary axle 20 is rotatable on the secondary wheel carrier 12 and the secondary axle 20 passes through the secondary wheel carrier 12 Capacitor 15. The two rollers 21 are fixed to both ends of the sub-axle 20 and are located on opposite sides of the sub-wheel base 12. The gear 22 is fixed in the center of the sub-axle 20 and is located in the pocket 15 and is rotatable in synchronization with the two rollers 21.

The swaying mechanism 3 is disposed in the main wheel base 10 to control whether the plurality of rollers 21 can be rotated.

It is further pointed out in the first to fifth figures that the swaying mechanism 3 includes a plurality of swaying members 30, a plurality of first compression springs 31, a driving member 32, an electromagnet 33, a second compression spring 34, and an iron piece 35. And two sets of brushes 36. The plurality of the oscillating members 30 are respectively disposed in a plurality of sliding holes 130 of the seat body 13 of the main shaft base 10, and the outer ends are disposed in the guiding slots 16 of the corresponding sub-wheel base 12 Each of the swaying members 30 can move radially relative to the seat body 13 in the corresponding sliding hole 130.

The plurality of first compression springs 31 are one-to-one mounted on the plurality of dampers 30. The two ends of each of the first compression springs 31 are respectively mounted on the corresponding sub-wheel base 12 and the tilting member 30 to respectively provide an elastic force for the plurality of tilting members 30 to move toward the seat body 13.

The driving member 32 has a sleeve 320 at the center for being sleeved on the sleeve 132, so that the driving member 32 can move axially relative to the main axle 11. The driving member 32 has a pushing portion 321 on the periphery thereof. The pushing portion 321 is a sloped surface and can be moved along with the driving member 32 to interlock the moving members 30.

The electromagnet 33 is fixed to the convex portion 140 of the lid body 14, and the plurality of coils 330 are wound around the electromagnet 33.

The second compression spring 34 is sleeved on the sleeve 320, and its two ends are respectively mounted on the driving member 32 and the cover body 14.

The iron piece 35 is fixed to a side surface of the driving member 32 with respect to the electromagnet 33.

The two sets of brushes 36 are coupled to the main axle 11, and an external power source can be introduced to cause the electromagnet 33 and the iron piece 35 to generate an electromagnetic effect to cause adsorption or separation.

Referring to the fifth figure, it is pointed out that the omnidirectional wheel of the present invention normally does not introduce a power source to the electromagnet 33 and the iron piece 35 without generating an electromagnetic effect, and the driving member 32 is driven by The elastic force of the second compression spring 34 is moved to a first position. At the same time, the pushing portion 321 of the driving member 32 pushes the plurality of the tilting members 30 to a tilting position, and respectively compresses the plurality of first compressing springs 31 to cause the tilting member 30 to be caught by the corresponding gear 22 Between the convex teeth, the two rollers 21 on the secondary axle 20 are prevented from rotating. In this way, the omnidirectional wheel can be used as a conventional wheel.

Referring to the sixth figure, it is pointed out that when the omnidirectional wheel of the present invention needs to move laterally, the power can be introduced into the electromagnet 33 and the iron piece 35 through the two sets of brushes 36 to generate an electromagnetic effect. 32 moves from the first position to a second position and compresses the second compression spring 34. At the same time, the pushing portion 321 of the driving member 32 causes the plurality of the tilting members 30 to be moved from the tilting position to a releasing position by the elastic force of the plurality of first compression springs 31 to disengage the protruding teeth of the corresponding gears 22 Between these, the two rollers 21 on the secondary axle 20 can be rotated. In this way, the omnidirectional wheel has the function of omnidirectional movement.

Since the present invention can lock or release the plurality of secondary wheels by the swaying mechanism, it can be prevented from being caused by unintended movement or sliding, thereby reducing the occurrence of dangerous damage and having good safety, ensuring direct application. For various accessories or vehicles (such as wheelchairs, vehicles, etc.), there is no need to cooperate with other types of wheels.

In summary, since the present invention has the above advantages and practical value, and no identical or similar products or publications are found in the similar products, the present invention has met the novelty and progressive requirements of the invention patents, and is proposed according to law. Application.

1. . . Main wheel

10. . . Main wheel seat

11. . . Main axle

12. . . Secondary wheel seat

120. . . case

13. . . Seat

130. . . Slide hole

131. . . Room

132. . . Socket

14. . . Cover

140. . . Convex

15. . . Crate

16. . . Guide slot

17. . . Bearing

2. . . Secondary wheel

20. . . Secondary axle

twenty one. . . Wheel

twenty two. . . gear

3. . . Tilting mechanism

30. . . Flip piece

31. . . First compression spring

32. . . Drive

320. . . Sleeve

321. . . Promotion department

33. . . Electromagnet

330. . . Coil

34. . . Second compression spring

35. . . Iron sheets

36. . . Brush

The first figure is an exploded perspective view of the present invention.

The second figure is an exploded perspective view of the other side of the invention.

The third figure is an enlarged view of a three-dimensional combination of the present invention.

The fourth figure is a top view of the present invention.

The fifth figure is a schematic cross-sectional view of the combination of the present invention.

The sixth figure is a schematic view of the action when the invention can be moved laterally.

1. . . Main wheel

10. . . Main wheel seat

11. . . Main axle

12. . . Secondary wheel seat

120. . . case

13. . . Seat

130. . . Slide hole

131. . . Room

132. . . Socket

14. . . Cover

140. . . Convex

15. . . Crate

16. . . Guide slot

2. . . Secondary wheel

20. . . Secondary axle

twenty one. . . Wheel

twenty two. . . gear

3. . . Tilting mechanism

30. . . Flip piece

31. . . First compression spring

32. . . Drive

320. . . Sleeve

321. . . Promotion department

33. . . Electromagnet

330. . . Coil

34. . . Second compression spring

35. . . Iron sheets

36. . . Brush

Claims (9)

An omnidirectional wheel includes: a main wheel including a main wheel seat, a main wheel axle and a plurality of sub-wheel seats, wherein the main wheel axle is coupled to the main wheel seat to drive the main wheel seat to rotate, the plurality of secondary wheel seats Arranging annularly on the circumferential surface of the main wheel base; the plurality of auxiliary wheels, each of the secondary wheels includes a pair of axles, two rollers and a gear, and the secondary axles of the plurality of secondary wheels are rotatably coupled respectively a plurality of sub-wheel seats of the main wheel, and a center axis of each of the sub-axes has an angle θ with a central axis of the main wheel shaft, and the two roller systems are fixed on the sub-axle, and the gear system is fixed on the The auxiliary axle is synchronously rotatable with the two rollers; and a swaying mechanism is disposed in the main wheel base, and includes a plurality of raking members, a plurality of first compression springs, a driving member, a second compression spring, and an electromagnetic Iron, an iron piece and two sets of brushes, the plurality of moving parts are respectively arranged in the main wheel base corresponding to each gear, and each of the moving parts can be radially moved to the main wheel base The swaying position and a release position, when the swaying member is in the swaying position, it is engaged Between the convex teeth of the corresponding gears, when the swaying member is in the releasing position, it is separated from the protruding teeth of the corresponding gear, and the plurality of first compression springs are respectively sleeved on the plurality of swaying members, Providing an elastic force to move the plurality of tilting members from the tilting position to the releasing position, the driving member is axially movable relative to the main wheel axle to a first position and a second position, and the driving member has a a pushing portion, when the driving member is in the first position, the pushing portion respectively pushes the plurality of moving members to the tilting position, and compresses the first portions a compression spring that, when the driving member is in the second position, respectively allows the plurality of dampers to be moved from the swaying position to the releasing position, the second compression spring being disposed in the main wheel seat And providing an elastic force to move the driving member from the second position to the first position, the elastic force of the second compression spring being greater than the elastic force of the plurality of first compression springs, such that the driving member is normally tied to the first Positioned, the electromagnet is fixed on the main wheel base, the iron piece is fixed on the driving member, the two sets of brushes are disposed on the main wheel shaft, and the two sets of brushes are externally powered The electromagnet and the iron piece produce an electromagnetic effect that moves the drive member from the first position to the second position and compresses the second compression spring. The omnidirectional wheel according to the first aspect of the invention, wherein the main wheel base has a sliding hole corresponding to each of the two wheel seats for accommodating the plurality of cockings, and each of the pedestal seats has a cavity And a guiding groove connecting the receiving groove and the corresponding sliding hole, and the corresponding tilting member is movable therein, and accommodating the corresponding first compression spring, the plurality of first compression springs The two ends are respectively placed on the corresponding swaying parts and the secondary wheel bases, and each of the two axles respectively passes through the corresponding slots of the corresponding secondary wheel bases, and each of the gear trains is respectively located in the corresponding groove of the secondary wheel seat. Each of the sub-wheel trains includes two rollers fixed at opposite ends of the corresponding sub-axle. The omnidirectional wheel of claim 2, wherein the pushing portion is a slope. The omnidirectional wheel according to claim 3, wherein the main wheel base comprises a body and a cover body, the seat body has a chamber for accommodating the driving member, The iron piece and the second compression spring have a shaft in the chamber for the driving member to be movably sleeved thereon, and the cover system is coupled to one side of the seat body to cover the chamber, The cover body has a convex portion extending into the chamber, and the electromagnet is disposed on the convex portion, and two ends of the second compression spring are respectively mounted on the cover body and the driving member. The omnidirectional wheel of claim 4, wherein the electromagnet is wound with a plurality of coils. The omnidirectional wheel of claim 5, wherein the plurality of sub-wheel seats are detachably coupled to a circumferential surface of the seat body of the main wheel base. The omnidirectional wheel according to claim 6, wherein each of the sub-wheel seats is formed by two shells. The omnidirectional wheel of claim 7, wherein each of the housings is provided with a bearing for the sub-axle to pass through. The omnidirectional wheel of claim 4, wherein the angle θ between the central axis of each of the secondary axles and the central axis of the primary axle is preferably 45 degrees.