WO2012079538A1 - Roue omnidirectionnelle - Google Patents

Roue omnidirectionnelle Download PDF

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Publication number
WO2012079538A1
WO2012079538A1 PCT/CN2011/084150 CN2011084150W WO2012079538A1 WO 2012079538 A1 WO2012079538 A1 WO 2012079538A1 CN 2011084150 W CN2011084150 W CN 2011084150W WO 2012079538 A1 WO2012079538 A1 WO 2012079538A1
Authority
WO
WIPO (PCT)
Prior art keywords
roller
hub
support frame
omnidirectional wheel
rollers
Prior art date
Application number
PCT/CN2011/084150
Other languages
English (en)
Chinese (zh)
Inventor
张豫南
李瀚飞
Original Assignee
浙江美科斯叉车有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN 201010592883 external-priority patent/CN102059915B/zh
Priority claimed from CN 201010592882 external-priority patent/CN102059914B/zh
Priority claimed from CN201010592950A external-priority patent/CN102059916B/zh
Application filed by 浙江美科斯叉车有限公司 filed Critical 浙江美科斯叉车有限公司
Publication of WO2012079538A1 publication Critical patent/WO2012079538A1/fr

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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
    • B60B19/003—Multidirectional wheels
    • 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

Definitions

  • the invention relates to an omnidirectional wheel.
  • the omnidirectional drive is a drive that can be moved directly in any direction.
  • the omnidirectional wheel is a mechanism that evenly distributes a plurality of rollers around a hub.
  • the hub is powered by a power transmission, and the roller is mounted on the hub.
  • the end face is free to rotate, and the omnidirectional wheel is the basis for achieving all-round walking.
  • the omnidirectional wheels are light-load, low-power experimental products, which are mainly used in the research of the motion mechanism of small robots.
  • the structure is generally fixed by the end of the roller, and the contour of the roller on the side of the hub is only close to the circle. Therefore, it is easy to generate periodic jump on the hub axle, causing periodic impact on the roller, losing a lot of driving power, reducing the driving payload, and increasing the difficulty of driving.
  • the present invention is directed to a deficiencies in the prior art and provides an omnidirectional wheel.
  • the omnidirectional wheel comprises a wheel hub, a roller support frame and a roller wheel.
  • the wheel hub is provided with a roller support frame
  • the roller wheel is provided with a roller axle, and both ends of the roller axle are mounted on the roller support frame.
  • the roller support frame is evenly distributed at the outer circumference of the hub, and the roller support frame is mounted on the hub by means of an intermediate support manner, and the roller is mounted on the roller support frame by the support of both ends through the roller axle.
  • the roller axis of the roller and the hub axis of the hub are at an angle of 45°, and the outer edge of the roller is an involute curved surface.
  • the plane perpendicular to the hub axis is defined as the projection surface
  • the outer contours of the eight rollers on the eight roller support frames are positive on the defined projection surface.
  • the outer contour of the projection is a full circle. Based on the load capacity of the platform and the installation dimensions of the omnidirectional wheel, the bearing size is selected as the constraint, and the knowledge of the Mecanum wheel is used to determine the size of the roller shaft and the contour of the roller. Processed in the center.
  • a circle is used, and its diameter is basically matched with the side projection on the omnidirectional wheel after being rotated by 45 degrees, that is, the projection is circular, and this design method changes the requirements of the omnidirectional wheel principle.
  • the speed of the spiral method greatly improves the processing technology and ensures the machining accuracy.
  • the 'involute line' on the surface of the roller is a special curve that gradually spreads on the roller. It forms the outer edge of the omnidirectional wheel. This outer edge is a circle. Its accurate calculation is the key to smooth walking on the omnidirectional platform.
  • the outer edge of the omnidirectional wheel should be a circle, ie the outer surface of the roller of the omnidirectional wheel must envelop to form a complete circle with a radius equal to the radius of the wheel. Based on this, a comprehensive design approach was proposed:
  • the wheel hub is provided with eight roller support frames, the surface perpendicular to the hub axis is defined as a projection surface, and the outer contours of the eight rollers on the eight roller support frames are defined on the projection surface.
  • the outer contour of the upper orthographic projection is a full circle. All roller projections form a circle whose contour diameter is consistent with the diameter of the wheel, ensuring that the pressure applied at any point on the contour circle points to the center of the hub. The pressure on the roller is transmitted to the roller support through the roller shaft and then to the hub axle.
  • the outer circumference of the hub is uniformly provided with eight mounting chutes, and the direction of the mounting chute is at an angle of 45° with the hub axis of the hub.
  • Eight mounting chutes are evenly distributed on the outer circumference of the hub, and mounting holes are formed in each mounting chute for mounting the roller support frame, and the angle between the mounting chute and the hub axle is 45 degrees, so that the omnidirectional wheel is arbitrary When the angle is rotated, the force is uniform.
  • the inside of the hub has a positioning hole that is mounted close to the motor reducer and fastened by bolting.
  • the inside of the hub is the mounting surface and the outside has reinforcing ribs to increase the strength and toughness of the hub while reducing the weight of the hub.
  • the intersection of the axis of the cantilever roller axle mounting hole and the section in the hub is evenly distributed over one circumference.
  • two support arms are vertically disposed on two sides of the bottom plate of the roller support frame, the support arm is provided with a shaft hole, a bottom groove is arranged below the bottom plate, and rib plates are arranged on both sides of the bottom groove, and the installation chute is arranged
  • the bottom groove cooperates with each other and is fixed to each other, and the roller support frame is fixed on the installation chute.
  • the bottom plate of the roller support frame has an arc shape.
  • the outer diameter of the middle portion of the roller is larger than the outer diameter of the two ends, and the roller includes a roller outer casing and a roller main body, and the inside of the roller main body is a cavity.
  • the cavity structure not only saves material, but also improves the smoothness of the wheel running and reduces the load.
  • the middle diameter of the roller is larger than the diameter of both ends and is olive-shaped.
  • Each roller axle is at an angle of 45° to the hub axle, and all rollers are projected on the side of the omnidirectional wheel to form a full circle.
  • the inner and outer surfaces of the roller outer casing are integrally formed by open molding, and the thickness of the roller outer casing is uniform, and the material thereof is a cast polyurethane elastomer, and the material has high wear resistance.
  • the roller axle frame is on the roller support frame, and the outer end is provided with a locking piece, and the locking piece is fixed by a nut.
  • the shape of the locking piece is matched with the shape of the bolt head at the shaft end, and the locking piece is fixed to the supporting arm by a nut.
  • the omnidirectional wheel can run more smoothly and efficiently, and can be used on a large-scale all-round mobile forklift.
  • Fig. 1 is a front view of the omnidirectional wheel of the present invention.
  • Figure 2 is a left side view of Figure 1.
  • Figure 3 is a perspective view of the hub of the present invention.
  • Figure 4 is a cross-sectional view of the roller support frame of the present invention.
  • Figure 5 is a perspective view of the roller support frame of the present invention.
  • Figure 6 is a bottom perspective view of the roller support frame of the present invention.
  • Figure 7 is a cross-sectional view showing the mounting of the roller of the present invention.
  • Figure 8 is a cross-sectional view of the roller of the present invention.
  • Figure 9 is a cross-sectional view of the roller shaft of the present invention.
  • Figure 10 is a right side elevational view of the roller shaft of the present invention.
  • the omnidirectional wheel includes a hub 1 and a roller 3, and the outer circumference of the hub 1 is uniformly provided with eight mounting chutes 11, the direction of which the chute 11 is mounted and the hub axis 100 of the hub 1 is 45° Angle.
  • the mounting chute 11 is provided with eight roller support frames 2 defining a plane perpendicular to the hub axis 100 as a projection surface, and the outer contours of the eight rollers 3 on the eight roller support frames 2 are defined in the projection
  • the outer contour of the orthographic projection on the surface is a full circle 334.
  • the roller support frame 2 is mounted on the hub 1 in an intermediate support manner, and the roller 3 is mounted on the roller support frame 2 by means of both ends of the roller shaft 4, the roller axis 300 of the roller 3 and the hub axis of the hub 1 100 is at an angle of 45°, and the outer edge 333 of the roller 3 is an involute curved surface.
  • the inclined bottom surface 110 of the mounting chute 11 is provided with at least one mounting hole 111.
  • the mounting chute 11 is also provided with at least one mounting hole 12 corresponding to the side of the hub 1, the direction of the mounting chute 11 and the hub 1
  • the hub axis 100 forms an angle of 45°, so that the omnidirectional wheel can easily change direction and achieve multi-directional motion.
  • the inside of the hub 1 has a positioning hole which is closely mounted to the motor reducer and fastened by bolting.
  • the inner side of the hub 1 is a mounting surface and has a reinforcing rib on the outer side to increase the strength and toughness of the hub while reducing the weight of the hub.
  • the intersection of the roller support frame 2 and the cross section in the hub is evenly distributed over one circumference.
  • the roller support 2 is coupled to the mounting chute 11 by a recess 24 and a screw and hub 1.
  • the bottom plate 21 of the roller support frame 2 has an arc shape and cooperates with the shape of the roller 3.
  • the two sides of the bottom plate 21 are vertically provided with two support arms 22, and the support arm 22 is provided with a shaft hole 23, a shaft hole 23 and a roller.
  • the shaft is matched and installed, and a bottom groove 25 is disposed under the bottom plate 21.
  • the bottom groove 25 and the mounting groove 11 are in the same direction, and the ribs 26 are disposed on both sides of the bottom groove 25.
  • the bottom groove 25 of the bottom plate 21 is fitted to the mounting chute 11 of the roller body 1.
  • the bottom groove 25 and the mounting chute 11 are fitted, the mounting hole 252 of the bottom groove side surface 251 and the mounting hole 12 on the side of the hub 1 are cooperatively connected, the mounting hole 254 of the bottom groove top surface 253 and the mounting chute bottom surface 110
  • the mounting holes 111 are coupled to each other such that the roller support frame 2 is fixed to the roller body 1.
  • the inner surface 241 of the roller support frame 2 is provided with a recess 24 corresponding to the portion of the bottom groove 25.
  • the depth of the groove 24 coincides with the height of the exposed head of the screw, so that after the screw is fastened on the mounting hole 254, the rotation of the roller is not affected by the height of the screw head, and the rotation of the roller is interfered.
  • the outer edge of the roller 3 employs an involute curved track.
  • the roller 3 is a unitary body having a diameter larger than the diameter of both sides, and the roller 3 includes a roller body 32 and a roller casing 31.
  • the outer contour of the roller body 32 is uniformly reduced in size by the roller outer casing 31, and the tightness with the roller outer casing 31 is increased.
  • the thickness of each part of the roller outer casing 31 is uniform, and the outer layer of the roller main body 32 is a roller outer casing 31.
  • the inner and outer surfaces of the roller outer casing 31 are completed by mold opening, and the material thereof is a cast polyurethane elastic body, and may also be made of rubber.
  • the inside of the roller body 32 is provided with a cavity 33, and the arrangement of the cavity 33 saves the material and increases the elasticity of the roller.
  • a bearing cavity 34 is symmetrically disposed at both ends of the roller body 32, and an inner boss 321 is disposed in the bearing cavity 34, and a shaft hole 322 is disposed in the inner boss 321 .
  • the bearing chambers 34 at both ends have a bearing 5 built therein, and the roller shaft 4 passes through the bearing 5 and the shaft hole 322 of the inner boss 321 to support the roller.
  • One end of the roller shaft 4 for supporting the roller is provided with a boss 41.
  • the boss 41 includes a first boss 401 and a second boss 402, and the other end is provided with a countersunk threaded hole 42.
  • the first boss 401 on the roller shaft 4 is cooperatively positioned with the roller support frame 2, and the second boss 402 is cooperatively positioned with the bearing 5.
  • the other end Countersunk head The threaded hole 42 and the screw 6 cooperate to fix the locking piece 7.
  • the middle of the locking piece 7 is provided with a screw hole.
  • the screw hole 71 is provided corresponding to the size of the screw hole.
  • the locking piece 7 is further provided with at least two small screw holes.
  • the inner surface of the locking piece 7 is further provided with a protruding inner ring 72.
  • the roller shaft 4 is supported on the roller support frame 2, and the roller shaft 4 end provided with the countersunk threaded hole 42 is engaged with the inner ring 72, and the inner ring 72 is in contact with the roller support frame 2, and the locking piece 7 is fixed by the screw 6. It is fixed to the roller support frame 2 while fixing the roller shaft 4.
  • the screw hole catches the screw 6, prevents the screw 6 from rotating and loosening, and is fixed and fastened by the small screw 61 to ensure the safe use of the roller shaft 4, and fixes the roller shaft 4 to prevent the roller shaft 4 from loosening and causing the roller 3 to fall off. accident.
  • the thickness of the roller body 32 is uniform and uniform, and the stress applied to the roller 3 is uniform when the force is applied, and the stress is not caused by the uneven force, and the roller 3 is rolled and beats due to the imbalance, resulting in full use.
  • the equipment of the azimuth wheel is shaking.
  • the contour profile of the roller 3 and the size of the roller shaft 4 are based on the load capacity of the platform and the installation dimensions of the omnidirectional wheel.
  • the installation dimensions of the selected bearing are used as constraints, and the knowledge of the Mecanum wheel is used to determine and be in the machine.
  • the machining drawing software uses a number of arcs to approximate the constant velocity spiral and is machined in the CNC machining center.
  • a circle is used, and its diameter is basically matched with the side projection on the omnidirectional wheel after being rotated by 45 degrees, that is, the projection is circular, and this design method changes the requirements of the omnidirectional wheel principle.
  • the speed of the spiral method greatly improves the processing technology and ensures the machining accuracy.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

L'invention concerne une jante polo (1) de roue omnidirectionnelle, des supports (2) de galet reposant sur la jante (1) et des galets (3) renfermant un axe (4) de galet dont les deux extrémités reposent sur des supports (2) de galet. Sur le pourtour externe de la jante (1) sont répartis régulièrement les supports (2) de galet qui utilisent un support intermédiaire placé sur la jante (1), les galets (3) viennent sur un support (2) de galet grâce au moyen de support des deux extrémités par l'intermédiaire de l'axe (4) de galet. L'axe (300) du galet (3) et l'axe (100) de la jante (1) forment un angle de 45°, le pourtour externe (333) d'un galet (3) tient lieu de surface courbe s'ouvrant graduellement. Huit supports (2) de galet sont disposés sur la jante (1), l'axe (100) de la jante étant perpendiculaire à la surface du plan de projection. La projection orthographique du contour externe des huit galets (3) des huit supports (8) de galet est parfaitement ronde (334) et se situe sur une surface de projection définie. La surface d'un galet est considérée "ouverte graduellement" lorsqu'une courbe spécifique s'ouvre graduellement sur un galet, elle forme dès lors un pourtour rond de roue omnidirectionnelle. La précision de son calcul assure un déplacement plus stable de la roue omnidirectionnelle avec un rendement plus élevé.
PCT/CN2011/084150 2010-12-17 2011-12-16 Roue omnidirectionnelle WO2012079538A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN201010592950.X 2010-12-17
CN201010592883.1 2010-12-17
CN201010592882.7 2010-12-17
CN 201010592883 CN102059915B (zh) 2010-12-17 2010-12-17 全方位轮的轮毂
CN 201010592882 CN102059914B (zh) 2010-12-17 2010-12-17 用于全方位轮的辊子
CN201010592950A CN102059916B (zh) 2010-12-17 2010-12-17 全方位轮

Publications (1)

Publication Number Publication Date
WO2012079538A1 true WO2012079538A1 (fr) 2012-06-21

Family

ID=46244122

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2011/084150 WO2012079538A1 (fr) 2010-12-17 2011-12-16 Roue omnidirectionnelle

Country Status (1)

Country Link
WO (1) WO2012079538A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210126945A (ko) * 2020-04-13 2021-10-21 주식회사 로보로보 메카넘 휠
KR20220120842A (ko) * 2021-02-24 2022-08-31 엔피씨(주) 메카넘 휠의 구조 및 메카넘 휠의 제조방법

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3876255A (en) * 1972-11-13 1975-04-08 Ilon B E Wheels for a course stable selfpropelling vehicle movable in any desired direction on the ground or some other base
CN1073636A (zh) * 1991-12-24 1993-06-30 黄建军 多方位运动车辆及其车轮
CN1435330A (zh) * 2002-05-27 2003-08-13 黄善钧 一种新型的万向车轮
CN101223039A (zh) * 2005-08-09 2008-07-16 库卡罗伯特有限公司 车轮
CN101663194A (zh) * 2007-04-20 2010-03-03 本田技研工业株式会社 全方向驱动装置及使用其的全方向移动车
US20100224427A1 (en) * 2007-04-04 2010-09-09 Nuechter Elmar Omnidirectional vehicle, driving module, and mobile industrial robot
CN101856945A (zh) * 2010-06-14 2010-10-13 中国海洋大学 一种简化制造工艺的全向轮
US20100270850A1 (en) * 2008-04-21 2010-10-28 Sven Brudniok Omnidirectional wheel and method for the assembly thereof
CN102059916A (zh) * 2010-12-17 2011-05-18 浙江美科斯叉车有限公司 全方位轮
CN102059915A (zh) * 2010-12-17 2011-05-18 张豫南 全方位轮的轮毂
CN102059914A (zh) * 2010-12-17 2011-05-18 张豫南 用于全方位轮的辊子
CN201970787U (zh) * 2010-12-17 2011-09-14 浙江美科斯叉车有限公司 全方位轮

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3876255A (en) * 1972-11-13 1975-04-08 Ilon B E Wheels for a course stable selfpropelling vehicle movable in any desired direction on the ground or some other base
CN1073636A (zh) * 1991-12-24 1993-06-30 黄建军 多方位运动车辆及其车轮
CN1435330A (zh) * 2002-05-27 2003-08-13 黄善钧 一种新型的万向车轮
CN101223039A (zh) * 2005-08-09 2008-07-16 库卡罗伯特有限公司 车轮
US20100224427A1 (en) * 2007-04-04 2010-09-09 Nuechter Elmar Omnidirectional vehicle, driving module, and mobile industrial robot
CN101663194A (zh) * 2007-04-20 2010-03-03 本田技研工业株式会社 全方向驱动装置及使用其的全方向移动车
US20100270850A1 (en) * 2008-04-21 2010-10-28 Sven Brudniok Omnidirectional wheel and method for the assembly thereof
CN101856945A (zh) * 2010-06-14 2010-10-13 中国海洋大学 一种简化制造工艺的全向轮
CN102059916A (zh) * 2010-12-17 2011-05-18 浙江美科斯叉车有限公司 全方位轮
CN102059915A (zh) * 2010-12-17 2011-05-18 张豫南 全方位轮的轮毂
CN102059914A (zh) * 2010-12-17 2011-05-18 张豫南 用于全方位轮的辊子
CN201970787U (zh) * 2010-12-17 2011-09-14 浙江美科斯叉车有限公司 全方位轮

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210126945A (ko) * 2020-04-13 2021-10-21 주식회사 로보로보 메카넘 휠
KR102399822B1 (ko) 2020-04-13 2022-05-20 주식회사 로보로보 메카넘 휠
KR20220120842A (ko) * 2021-02-24 2022-08-31 엔피씨(주) 메카넘 휠의 구조 및 메카넘 휠의 제조방법
KR102500260B1 (ko) 2021-02-24 2023-02-17 엔피씨(주) 메카넘 휠의 구조 및 메카넘 휠의 제조방법

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