WO2018058386A1

WO2018058386A1 - Novel omni wheel, metal connection structure thereof, and robot adopting the connection structure

Info

Publication number: WO2018058386A1
Application number: PCT/CN2016/100659
Authority: WO
Inventors: 招俊健; 钟思超; 黎钊洪
Original assignee: 深圳市工匠社科技有限公司
Priority date: 2016-09-27
Filing date: 2016-09-28
Publication date: 2018-04-05
Also published as: CN206436226U

Abstract

A novel omni wheel, a metal connection structure thereof, and a robot adopting the connection structure. The omni wheel consists of four components, namely: a wheel cover (6), a wheel hub (7), a central wheel cover (8), and a wheel fastener (9). The wheel hub (7) is divided into an external hub and an internal hub. The wheel cover (6) and the central wheel cover (8) are independent from each other. A rotating sleeve (10) is provided in the center of the wheel hub (7). A straight connecting shaft (11) is inserted through the center of the rotating sleeve (10). The external wheel hub is fixed, via the straight connecting shaft (11), between the central wheel cover (8) and the wheel cover (6), and is tightened by means of the wheel fastener (9). The internal wheel hub is fixed, via the straight connecting shaft (11), between the central wheel cover (8) and the wheel cover (6). The omni wheel of the present invention has greater load-bearing ability and improved stability. A metal connection structure is mutually engaged with the omni wheel to reduce vibrations of an electric motor, prevent loosening of the electric motor, providing a more secure installation, and ensuring that the installed omni wheel will not fall off.

Description

Novel omnidirectional wheel and metal connecting structure thereof and robot using the same

Technical field

The utility model belongs to the technical field of small robots, in particular to a new omnidirectional wheel and a metal connecting structure thereof and a robot using the same.

Background technique

Conventional small mechanical robots use ordinary wheels that can only travel in one direction and cannot move in all directions. For the existing omnidirectional wheel and the connection of the omnidirectional wheel and the motor using a common coupling connection, the following problems exist:

1. The direction of the wheel is single, and it is impossible to realize flexible movement in all directions and directions;

2. Simply using the coupling connection, the connection structure cannot be effectively fixed, and the stress outside the motor shaft direction cannot be eliminated. This stress will cause damage to the components during use and reduce the service life of the motor;

3. In the technology of the existing omnidirectional wheel, the connecting shaft is basically a ring shaft, which has large processing cost and complicated process;

4. The wheel cover and the wheel middle cover of the omnidirectional wheel are integrally formed in the prior art, and there is also a problem that the processing is cumbersome and the cost is too large.

As a connecting component of the omnidirectional wheel and the robot, the wheel set fixing member plays an important role in the normal operation of the robot. In the prior art, the wheel set fixing member is generally made of a plastic material, and the plastic material has insufficient bearing capacity and poor stability. High cost defects.

Summary of the invention

The utility model aims to overcome the deficiencies of the prior art, and provides a new omnidirectional wheel and a metal connecting structure thereof and a robot using the same. The technical solution adopted by the utility model to solve the technical problem is:

A brand new omnidirectional wheel consisting of a wheel cover 6, a hub 7, a wheel middle cover 8 and a wheel fixing member 9 in four parts, wherein the hub 7 is divided into an outer hub and an inner hub, the wheel cover 6 and the wheel The cover 8 is relatively independent. The inner center of the hub 7 is provided with a drive sleeve 10, and a central connecting shaft 11 is inserted in the inner center of the drive sleeve 10. The outer hub is fixed to the wheel cover 8 and the wheel cover 6 through the connecting straight shaft 11. Between and locked by the wheel fixing member 9, the inner hub is fixed between the wheel middle cover 8 and the wheel cover 6 by the connecting straight shaft 11.

Further technical solutions of the present invention further include:

The outer hub is provided with four, and the inner hub is provided with four. The outer hub and the inner hub together form a rolling component of the omnidirectional wheel.

The hub 7 is made of rubber.

A metal connecting structure is composed of a wheel set fixing member 1, a motor transmission coupling 2, a bearing 3, a wheel and a wheel set fixing member 4, and a bearing fixing member 5, wherein the wheel set fixing member 1 is made of a metal material, One end of the motor drive coupling 2 is fixed to the wheel set fixing member 1, and the other end is connected to the wheel set fixing member 4 through the bearing 3 and the wheel, and the wheel and the wheel set fixing member 4 are connected to the bearing fixing member 5, and the bearing is fixed. The piece 5 is fixed to the wheel cover 6.

The bearing fixture 5 cooperates with the wheel cover 6.

A robot, including a robot body, adopting the aforementioned new omnidirectional wheel and the aforementioned A metal connecting structure, the brand new omnidirectional wheel is connected to the robot body by a metal connecting structure.

Compared with the prior art, the beneficial technical effects of the utility model are as follows: 1) The wheel cover and the wheel middle cover of the new omnidirectional wheel of the utility model are relatively independent, and the method of separately forming and reassembling is used, and the integrally formed structure is no longer used. It simplifies the machining process and reduces the cost; 2) The connecting shaft of the omnidirectional wheel is connected with a straight shaft, which simplifies the machining process and improves the strength of the connecting shaft compared with the ring shaft; 3) In the utility model, the wheel The set of fixing parts is made of metal, which has low cost and strong carrying capacity, and can ensure better stability of the omnidirectional wheel; 4) the metal connecting structure and the omnidirectional wheel cooperate to reduce the vibration of the motor and prevent the motor from falling off. The assembly is more robust and ensures that the assembly of the omnidirectional wheel will not fall 100%.

DRAWINGS

1 is a schematic exploded view of the new omnidirectional wheel and metal connecting structure of the utility model;

Figure 2 is a partial enlarged view of the hub portion of Figure 1;

3 is a schematic perspective view of the new omnidirectional wheel and metal connecting structure of the utility model;

among them:

1. Wheel set fixing parts 2. Motor drive coupling 3. Bearing

4. Wheel and wheel set fixing parts 5. Bearing fixing parts 6. Wheel cover

7, the wheel hub 8, the wheel cover 9, the wheel fixed cover 10, the transmission sleeve

11. Connect the straight shaft.

detailed description

Specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

Referring to FIG. 1 , FIG. 2 and FIG. 3 , the utility model relates to a brand new omnidirectional wheel, which is composed of a wheel cover 6 , a wheel hub 7 , a wheel middle cover 8 and a wheel fixing member 9 , wherein the hub 7 is divided into an outer wheel hub. And the inner hub, the wheel cover 6 and the wheel middle cover 8 are relatively independent, the inner center of the hub 7 is provided with a transmission sleeve 10, and the inner center of the transmission sleeve 10 has a connecting straight shaft 11 therethrough, and the outer hub is fixed to the wheel by connecting the straight shaft 11 Between the middle cover 8 and the wheel cover 6, and locked by the wheel fixing member 9, the inner side hub is fixed between the wheel middle cover 8 and the wheel cover 6 by the connecting straight shaft 11.

In the utility model, a metal connecting structure is composed of a wheel set fixing member 1, a motor transmission coupling 2, a bearing 3, a wheel and a wheel set fixing member 4, and a bearing fixing member 5. The wheel set fixing member 1 is made of metal material. One end of the motor drive coupling 2 is fixed on the wheel set fixing member 1, and the other end is connected to the wheel set fixing member 4 through the bearing 3 and the wheel, and the wheel and the wheel set fixing member 4 are connected with the bearing fixing member 5, and the bearing fixing member 5 is fixed with the wheel cover 6.

The hub 7 is a rolling component of the omnidirectional wheel. Preferably, the hub 7 is made of rubber; the wheel cover 6 and the wheel middle cover 8 both function to fix the hub 7, and the wheel cover 6, the wheel middle cover 8 and the hub 7 together form an omnidirectional direction. The rolling mechanism of the wheel ensures a more stable operation of the omnidirectional wheel; the wheel fixing member 9 is used to lock the wheel cover 6 and the hub 7.

The wheel set fixing member 1 is a part of the metal connecting structure, one end of the wheel set fixing member 1 is fixed on the leg of the robot to support the other end, and the other end is connected with the motor drive coupling 2; the motor drive coupling 2 is used for transmitting The torque of the driving motor; the wheel and wheel set fixing member 4 is used to connect the omnidirectional wheel and the wheel set fixing member 1; the bearing fixing member 5 is used to fix the bearing 3; and the bearing 3 mainly serves as a support.

In this embodiment, there are 4 outer hubs and 4 inner hubs. The outer hub and the inner hub together form a rolling component of the omnidirectional wheel; the bearing fixing member 5 and the wheel cover 6 cooperate to ensure a firmer assembly. .

The novel omnidirectional wheel and the metal connecting structure thereof greatly improve the movement flexibility of the wheel train, and at the same time better protect the driving motor and the wheel, thereby greatly improving the service life, and the process flow is roughly divided into the following three steps:

a, making omnidirectional wheel: 1, assembling two wheel middle cover 8, and bonding fixed; 2, insert the drive sleeve 10 into the hub 7, and then insert the connecting straight shaft 11 into the drive sleeve 10, assembled into a complete a single wheel; 3, all the individual wheels are arranged in the outer ring direction of the wheel cover 8 in the order of the two wheels in the middle cover 8; 4, the wheel cover 6 is assembled on the wheel cover 8 to fix all the individual wheels; Install 8 nuts and tighten 8 screws to complete the assembly of the entire omnidirectional wheel.

b. Make the coupling shaft and match the corresponding parts: 1. The motor drive coupling 2 penetrates into the motor drive shaft; 2. The bearing 3 is completely sleeved on the motor drive connector 2; 3. The wheel and the wheel set fixture 4 sets on the motor drive connector 2 and press the bearing 3 to the bottom against the bearing inner ring; 4, then the bearing fixing member 5 is placed on the above-mentioned assembly and press the bearing outer ring; 5, lock two PM2 .5 screws fix the bearing fixing member 5 to the wheel set fixing member 1; 6. Insert the entire omnidirectional wheel into the wheel and the wheel set fixing member 4; 7. Install the wheel fixing cover, and lock the PM5 screw to fix the entire whole Finish the assembly with the wheel.

c. Assembling with the drive motor: 1. The motor is assembled on the wheel set fixture 1; 2. There is a hole on each side of the beveled corner, and the PM2.5 screw is locked to fix it and complete the assembly of the motor.

In the utility model, the arrangement direction of the hub 7 is consistent with the direction of the outer ring of the cover 8 in the wheel, and the arrangement direction of each hub is circular, which constitutes a rolling component of the omnidirectional wheel, so that the hub 7 can It moves in a direction perpendicular to the axis of the wheel cover 8 and, due to the structure of the hub 7 itself, it can also move in a direction parallel to the axis of the wheel cover 8 to achieve omnidirectional wheeling in 8 directions. The transmission sleeve 10 is embedded in the hub 7, and the connecting straight shaft 11 extends through the center of the transmission sleeve 10. The transmission sleeve 10 can buffer the external force and protect the hub 7. The connection of the straight shaft 11 simplifies the machining process, and The strength of the connecting shaft is increased, and the load of the omnidirectional wheel is increased, which plays an important role in the stability of the robot during motion.

The motor is assembled on the wheel set fixing member 1 and has a hole on each side of the oblique position of the wheel set fixing member 1 for assembly and fixing of the motor. Since the omnidirectional wheel is inserted into the wheel and the wheel set fixing member 4, the omnidirectional direction The wheel and the wheel form a snap-fit structure with the wheel set fixing member 4, and are equipped by the screws of the PM5, so that the omnidirectional wheel is highly connected to the metal connecting structure, the assembly is firmer, and the omnidirectional wheel can be secured. 100% of the assembly will not fall; the wheel set fixture 1 as part of the metal connection structure connection, is made of metal material, the bearing capacity is stronger, the motor is fixed on the wheel set fixing member 1 by PM2.5 screw, which is effective Ground reduces the vibration of the motor and prevents the motor from falling off.

The utility model relates to a robot, which comprises a robot body, adopting the aforementioned new omnidirectional wheel and the aforementioned metal connecting structure, and the new omnidirectional wheel is connected to the robot body through a metal connecting structure. The robot has stable overall operation and strong carrying capacity, and can be widely used in the field of small mechanical robots, such as fighting robots and service robots.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. The scope of the present invention is defined by the appended claims, and other structures and principles thereof are the same as or similar to the present invention. It should be included in the scope of protection of the present invention.

Claims

A new omnidirectional wheel consisting of a wheel cover (6), a hub (7), a wheel middle cover (8) and a wheel fixing member (9), wherein the hub (7) is divided into an outer hub and an inner side The hub is characterized in that the wheel cover (6) and the wheel middle cover (8) are relatively independent, and the inner center of the hub (7) is provided with a transmission sleeve (10) running through the inner center of the transmission sleeve (10). There is a connecting straight shaft (11), and the outer hub is fixed between the wheel middle cover (8) and the wheel cover (6) by connecting the straight shaft (11), and is locked by the wheel fixing member (9), and the inner hub is connected by straight The shaft (11) is fixed between the wheel cover (8) and the wheel cover (6).
The brand new omnidirectional wheel according to claim 1, wherein the outer hub is provided with four, and the inner hub is provided with four, and the outer hub and the inner hub together form a rolling component of the omnidirectional wheel.
The brand new omnidirectional wheel according to claim 1, characterized in that the hub (7) is made of rubber.
A metal connecting structure consists of a wheel set fixing member (1), a motor transmission coupling (2), a bearing (3), a wheel and a wheel set fixing member (4), and a bearing fixing member (5), characterized in that The wheel set fixing member (1) is made of metal, and one end of the motor drive coupling (2) is fixed to the wheel set fixing member (1), and the other end is fixed by a bearing (3) and a wheel and a wheel set. The piece (4) is connected, the wheel and the wheel set fixing member (4) are connected to the bearing fixing member (5), and the bearing fixing member (5) is fixed to the wheel cover (6).
A brand new omnidirectional wheel according to claim 4, characterized in that the bearing fixing (5) cooperates with the wheel cover (6).
A robot, including a robot body, characterized in that The brand new omnidirectional wheel according to claim 1 and the metal connecting structure according to claim 4, wherein the brand new omnidirectional wheel is connected to the robot body by a metal connecting structure.