CN102815164A - Novel omnidirectional wheel structure - Google Patents
Novel omnidirectional wheel structure Download PDFInfo
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- CN102815164A CN102815164A CN2012102023795A CN201210202379A CN102815164A CN 102815164 A CN102815164 A CN 102815164A CN 2012102023795 A CN2012102023795 A CN 2012102023795A CN 201210202379 A CN201210202379 A CN 201210202379A CN 102815164 A CN102815164 A CN 102815164A
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- side cover
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Abstract
The invention discloses a novel omnidirectional wheel structure. The traditional omnidirectional wheel generally has the defects that the gap between rollers is larger, and the contact ratio is bad. In the novel omnidirectional wheel structure, a left side cover plate and a hub are respectively of a concave structure, and the left side cover plate and the hub can be combined. The novel omnidirectional wheel structure is provided with sixteen supporting seats, wherein the sixteen supporting seats are uniformly distributed at the periphery of the hub, one ends of the supporting seats are attached to a flange of the hub, two ends of the supporting seats are provided with screw holes, the left side cover plate and the flange of the hub are uniformly distributed with 16 holes, and the left side cover plate and the hub are fixedly connected with the supporting seats through screws; and the edge of a right side cover plate is also provided with 16 holes, and the right side cover plate is fixedly connected with the other sides of the supporting seats through the screws. According to the novel omnidirectional wheel structure disclosed by the invention, the problems that in a common omnidirectional wheel, the gap between the rollers is overlarge, and the vibration is obvious during a rolling process are solved, and the motion stability of an omnidirectional mobile platform is increased.
Description
Technical field
The invention belongs to the mobile robot technology field, relate to a kind of novel omnidirectional wheel structure.
Background technology
Along with the development of Robotics, with comprehensive mobile platform be the wheeled mobile robot of representative obtained more and more widely application and, comprehensive mobile platform is to be the chassis travel mechanism of drive element with omnidirectional's wheel.Omnidirectional's wheel is the critical component of Platform Implementation omnibearing movable; Its groundwork is that drive wheel can be done freely on wheel axis direction (or being certain angle) through the some rollers on the wheel edge and rolls, with realize drive wheel advance with two degree of freedom of translation on the function of moving.
At present, omnidirectional wheel structure mainly divides two kinds.A kind of be double complementary structure even arrange mechanism more, through with the combination side by side of the wheel of the omnidirectional more than 2 or 2, and stagger, with the continuity that realizes that peripheral steamboat contacts with ground with certain angle.This omnidirectional wheel structure is stable, has a steamboat to contact with ground all the time, and load-carrying capacity is also stronger, but the wheel width is bigger, can take bigger installing space.Another kind of omnidirectional wheel is single row configuration, and the bull wheel outer ledge has many steamboats, and the width dimensions of this wheel is less, but the gap between the steamboat is bigger, and the vibration when wheel rolls is apparent in view.
Summary of the invention
The present invention be directed to the deficiency that exists in the above-mentioned omnidirectional wheel structure, designed a kind of wheel ground contact continuity preferably that both had, is again the single wheel structure, and less omnidirectional wheel structure takes up room.
The technical scheme that technical solution problem of the present invention is taked is following:
This omnidirectional wheel structure mainly comprises left side cover plate, wheel hub, right side cover plate, supporting base and flower wheel.
Described left side cover plate is the concave shaped structure that has rib, and rectangular distribution 16 through holes in rib edge are used to use screw to connect left side cover plate and wheel hub, and 4 through holes of middle rectangular distribution are used for bolted connection left side cover plate, wheel hub and right side cover plate.
Described wheel hub is the concave shaped structure that has a side rib; The concave structure of concave structure and left side cover plate is fitted; Rectangular distribution 16 through holes in rib edge are used for screw and connect left side cover plate and supporting base, 4 through holes of rectangular distribution in the middle of the wheel hub; Be used for bolted connection left side cover plate, wheel hub and right side cover plate.
Described right side cover plate is circular slab construction, and rectangular distribution 16 through holes in edge are used to use screw to connect right side cover plate and supporting base, and 4 through holes of rectangular distribution in the middle of the cover plate of right side are used for bolted connection left side cover plate, wheel hub and right side cover plate.
Described supporting base separates with wheel hub; Fit in the face of cylinder of supporting base bottom surface and wheel hub, the supporting base both sides have the screw of symmetry, only need during installation with the rib of supporting base one end and wheel hub near; With socket head cap screw with the left side cover plate; The right side cover plate, wheel hub and supporting base link together, and flower wheel is installed between two supporting bases.
Described supporting base bottom front boss face and rear end, bottom recess face are fitted, can be engaged when being installed on supporting base on the wheel hub, effectively strengthen the reliable installation degree of supporting base and wheel hub.
Angle between the upper end of described supporting base and the middle part end face is 157.5 °, and its angle is determined by the quantity of omnidirectional's wheel flower wheel.Flower wheel when mounted, the fore-end of its bowl-shape roller is embedded into the rear end of bowl-shape roller, adopts end to end structure, has reduced the gap between the bowl-shape roller of adjacent flower wheel, has improved the continuity that flower wheel contacts with ground.
Described flower wheel mainly comprises pivot shaft, backup bearing, end ring, I shape core wheel, bowl-shape roller, circlip for shaft.Pivot shaft connects adjacent two supporting bases, and an end is fixed with the shaft shoulder, and the other end is fixed with circlip for shaft, and backup bearing is installed at the pivot shaft two ends, and backup bearing is connected with the I shape core wheel, and backup bearing axially fastens through end ring.Bowl-shape roller and I shape core wheel adopt vulcanization of rubber integrative-structure, and the mating surfaces that the I-shape core wheel can increase core wheel and roller rubber layer on the one hand amasss, and improves anchoring strength, can prevent the slippage that rubber layer and core wheel are axial on the other hand.
The bowl-shape roller of described flower wheel is based on the hertz contact theory; Through analyzing the distortion situation that contacts with ground; Adopt parabola to its contour curve correction of the flank shape; The parabola parametric equation is
; The parabola parameter is by modulus of elasticity and omnidirectional's wheel load decision of roller material; Contour curve after the correction of the flank shape can make that the distortion when the roller surface each point contacts with ground is more even, has reduced jolting when omnidirectional's wheel moves.
It is excessive to the invention solves general omnidirectional wheel roller clearance, vibrates tangible problem in the rolling process, has improved the robust motion of comprehensive mobile platform.
Description of drawings
Fig. 1 omnidirectional wheel structure scheme drawing;
Fig. 2 omnidirectional wheel assembling scheme drawing;
Fig. 3 supporting base constructional drawing;
Fig. 4 supporting base assembling scheme drawing;
Fig. 5 flower wheel cut-away view;
The bowl-shape roller structure figure of Fig. 6;
Among the figure: 1. left side cover plate; 2. wheel hub; 3. supporting base; 4. flower wheel; 5. right side cover plate; 6. screw; 7. bolt; 8. elastomeric pad; 9. thin nut; 10. pivot shaft; 11.619-6 backup bearing; 12. I shape core wheel; 13. bowl-shape roller; 14.619-5 backup bearing; 15. circlip for shaft; 16. end ring.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to shown in Figure 1, this omnidirectional wheel structure mainly comprises left side cover plate 1, wheel hub 2, right side cover plate 5, supporting base 3 and flower wheel 4.Supporting base 3 on one side and wheel hub 2 ribs fit, another side is fixing with right side cover plate 5, left side cover plate 1, wheel hub 2, that cover plate 5 threes in right side pass through bolt 7 is fastening.
With reference to shown in Figure 2, described left side cover plate 1 is for having the concave shaped structure of rib, 16 through holes of rib edge rectangular distribution; Be used to use screw 6 to connect left side cover plate 1 and wheel hub 2; 4 through holes of middle rectangular distribution are used for bolt 7 and connect left side cover plate 1, wheel hub 2 and right side cover plate 5.Described wheel hub 2 is for having the concave shaped structure of a side rib; The concave structure of concave structure and left side cover plate 1 is fitted; Rectangular distribution 16 through holes in rib edge are used for screw 6 and connect left side cover plate 1 and supporting base 3,4 through holes of rectangular distribution in the middle of the wheel hub 2; Be used for bolt 7 and connect left side cover plate 1, wheel hub 2 and right side cover plate 5.Described right side cover plate 5 is circular slab construction; 16 through holes of edge rectangular distribution; Be used to use screw 6 connection right side cover plates 5 and supporting base 3, right side screw 6 is equipped with elastomeric pad 8 and thin nut 9 simultaneously, 4 through holes of rectangular distribution in the middle of the right side cover plate 5; Be used for bolt 7 and connect left side cover plate 1, wheel hub 2 and right side cover plate 5.
With reference to shown in Figure 3; Described supporting base 3 integral body are 2 font structures, and upper end and middle part have through hole, are used for connecting pivot shaft 10; It is 157.5 ° that surface, through hole place, supporting base 3 top belongs to surperficial angle with the middle part through hole; This flower wheel quantity with omnidirectional's wheel distribution is relevant, if flower wheel quantity increases or reduces, corresponding angle also can change thereupon.Supporting base 3 front end boss face and rear end, bottom recess face are fitted, and being installed on 2 last times of wheel hub can be engaged in twos, effectively strengthen the reliable installation degree of supporting base 3 and wheel hub 2.
With reference to shown in Figure 4; Supporting base 3 separates with wheel hub 2, fits in the face of cylinder of supporting base 3 bottom surfaces and wheel hub 2, and supporting base 3 both sides have the screw of symmetry; Only need during installation with the rib of supporting base 3 one ends and wheel hub 2 near; With socket head cap screw 6 with left side cover plate 1, right side cover plate 5, wheel hub 2 links together with supporting base 3.Pivot shaft 10 1 ends are connected with supporting base 3 middle part through hole interference fit, and the other end connects the top through hole of adjacent supporting base 3, and carries out axial restraint with circlip for shaft 15.
With reference to shown in Figure 5, described flower wheel 4 mainly comprises pivot shaft 10, backup bearing (11,14), end ring 16, I shape core wheel 12, bowl-shape roller 13, circlip for shaft 15.Pivot shaft 10 connects adjacent two supporting bases, 3, one ends to be fixed with the shaft shoulder, and the other end is fixing with circlip for shaft 15; 619-5 backup bearing 14 and 619-6 backup bearing 11 are installed in pivot shaft 10 two ends; Backup bearing is connected with I shape core wheel 12, and bowl-shape roller 13 adopts vulcanization of rubber integrative-structure with I shape core wheel 12, and the mating surfaces that the I-shape core wheel can increase core wheel and roller rubber layer on the one hand amasss; Improve anchoring strength, can prevent the slippage that rubber layer and core wheel are axial on the other hand.Backup bearing axially fastens through end ring 16.Described flower wheel 4 when mounted, the fore-end of its bowl-shape roller is embedded into the rear end of last bowl-shape roller, adopts end to end structure, has reduced the gap between the adjacent flower wheel 4, has improved the continuity that flower wheel 4 contacts with ground.
With reference to shown in Figure 6; The bowl-shape roller 13 of described flower wheel has calculated the deflection that roller contacts with ground based on the hertz contact theory, and through finite element analysis software emulation roller and the ground-surface situation that contacts; Adopt parabola to its contour curve correction of the flank shape, parabolic equation is y=ax
2+ bx+c, the coefficient of change parabolic equation can obtain the contour curve of a series of rollers, and passes through to calculate, and we find bowl-shape roller under the effect of bearing 200N power, and as if being initial point with the roller small end center, the roller contour curve is y=-0.009x
2The bowl-shape roller of+0.632x+9 has comparison excellent contact distortion situation when contacting with ground.With parabolic curve to the correction of the flank shape of roller contour curve after; Increased the curvature of the contour curve in the Roller Shaft plane; Remedied radius of roller increase cause curvature reduce value; Thereby reduced the distortion residual quantity of curved surface each point, made that the distortion when bowl-shape roller 13 surperficial each points contact with ground is more even, taken turns jolting when moving thereby effectively reduce omnidirectional.
Claims (5)
1. novel omnidirectional wheel structure comprises left side cover plate (1), wheel hub (2); Right side cover plate (5), supporting base (3), flower wheel (4); It is characterized in that: supporting base (3) separates with wheel hub (2); Fit in the face of cylinder of supporting base (3) bottom surface and wheel hub (2), supporting base (3) both sides have the screw of symmetry, the rib of supporting base (3) one ends and wheel hub (2) near; Left side cover plate (1), right side cover plate (5), wheel hub (2), supporting base (3) link together with screw (6), and flower wheel (4) is installed between adjacent two supporting bases (3).
2. novel omnidirectional wheel structure according to claim 1; It is characterized in that: supporting base (3) has in twos the structure design of interlock each other; Supporting base (3) bottom front boss face and rear end, bottom recess face are fitted; Supporting base (3) is installed on the wheel hub (2), and supporting base (3) is fixed through the adjacent supporting base interlock in front and back.
3. novel omnidirectional wheel structure according to claim 1 is characterized in that: the upper end and the angle between the end face of middle part of supporting base (3) are 157.5 °; The front end of bowl-shape roller (13) embeds the rear end of last bowl-shape roller (13).
4. novel omnidirectional wheel structure according to claim 1; It is characterized in that: flower wheel (4) is by pivot shaft (10), 619-6 backup bearing (11), 619-5 backup bearing (14), end ring (16), I shape core wheel (12), bowl-shape roller (13), and circlip for shaft (15) is formed; Pivot shaft (10) connects adjacent two supporting bases (3); One end is fixed with the shaft shoulder; The other end is fixing with circlip for shaft (15); 619-5 backup bearing (14) and 619-6 backup bearing (11) are installed in pivot shaft (10) two ends; 619-5 backup bearing (14) is connected with I shape core wheel (12) respectively with 619-6 backup bearing (11), and two backup bearings axially fasten through end ring (16) respectively, and bowl-shape roller (13) adopts vulcanization of rubber integrative-structure with I shape core wheel (12).
5. novel omnidirectional wheel structure according to claim 4 is characterized in that: the contour curve of the bowl-shape roller of flower wheel (13) is a parabola.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102023795A CN102815164A (en) | 2012-06-19 | 2012-06-19 | Novel omnidirectional wheel structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102023795A CN102815164A (en) | 2012-06-19 | 2012-06-19 | Novel omnidirectional wheel structure |
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| CN102815164A true CN102815164A (en) | 2012-12-12 |
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| CN2012102023795A Pending CN102815164A (en) | 2012-06-19 | 2012-06-19 | Novel omnidirectional wheel structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760472A (en) * | 2019-03-27 | 2019-05-17 | 千巡科技(深圳)有限公司 | Omni-directional wheel with more terrain adaptabilities |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020024250A1 (en) * | 2000-08-22 | 2002-02-28 | Kazuo Bandou | Wheel having rotating bodies |
| JP2004344289A (en) * | 2003-05-21 | 2004-12-09 | Kanto Auto Works Ltd | Four-wheeled electric wheelchair |
| JP2005343277A (en) * | 2004-06-02 | 2005-12-15 | Kanto Auto Works Ltd | Wheel with roller |
| CN102059916A (en) * | 2010-12-17 | 2011-05-18 | 浙江美科斯叉车有限公司 | Omnibearing wheel |
| CN202623789U (en) * | 2012-06-19 | 2012-12-26 | 杭州电子科技大学 | Novel omni-directional wheel structure |
-
2012
- 2012-06-19 CN CN2012102023795A patent/CN102815164A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020024250A1 (en) * | 2000-08-22 | 2002-02-28 | Kazuo Bandou | Wheel having rotating bodies |
| JP2004344289A (en) * | 2003-05-21 | 2004-12-09 | Kanto Auto Works Ltd | Four-wheeled electric wheelchair |
| JP2005343277A (en) * | 2004-06-02 | 2005-12-15 | Kanto Auto Works Ltd | Wheel with roller |
| CN102059916A (en) * | 2010-12-17 | 2011-05-18 | 浙江美科斯叉车有限公司 | Omnibearing wheel |
| CN202623789U (en) * | 2012-06-19 | 2012-12-26 | 杭州电子科技大学 | Novel omni-directional wheel structure |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760472A (en) * | 2019-03-27 | 2019-05-17 | 千巡科技(深圳)有限公司 | Omni-directional wheel with more terrain adaptabilities |
| CN109760472B (en) * | 2019-03-27 | 2024-01-26 | 千巡科技(深圳)有限公司 | Omnidirectional wheel with multi-terrain adaptability |
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Application publication date: 20121212 |