CN108068539A - A kind of small-sized double omni-directional wheel - Google Patents
A kind of small-sized double omni-directional wheel Download PDFInfo
- Publication number
- CN108068539A CN108068539A CN201711052652.XA CN201711052652A CN108068539A CN 108068539 A CN108068539 A CN 108068539A CN 201711052652 A CN201711052652 A CN 201711052652A CN 108068539 A CN108068539 A CN 108068539A
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- Prior art keywords
- trundle
- bottom cover
- fixed
- small
- axis
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention relates to robot mobile technology fields, disclose a kind of small-sized double omni-directional wheel, including intermediate fixed seat, first fixed bottom cover, second fixed bottom cover and trundle component, the intermediate fixed seat both sides are evenly arranged with two rows of grooves parallel to each other to stagger with in-between axis perpendicular, the number of recesses is 10, each row 5, the trundle component is fixed in the groove, first fixed bottom cover and second fixed bottom cover are separately fixed at the both sides of the intermediate fixed seat, the trundle component includes trundle, the trundle axis of rolling and rubber sleeve, the trundle is rotatably fixed on the trundle axis of rolling, the rubber sleeve is wrapped in the trundle outer surface.The present invention have it is of low cost, simple in structure, light-weight, long lifespan, good appearance, translational speed is fast, it is cost-effective the characteristics of, it is easy to carry, be applicable to small scale robot mobile platform.
Description
Technical field
The present invention relates to robot mobile technology field more particularly to a kind of small-sized double omni-directional wheels.
Background technology
Omni-directional wheel is can freely to be rolled in both direction, can realize a kind of special wheel of comprehensive movement.
It can only be rotated forward or backward using normal wheel, it is impossible to which one side move mode can only be moved back and forth and turned, it is impossible to
Transverse shifting, original place are turn-taked, and the speed for making robot is slower, are realizing the less efficient of its target, and using omni-directional wheel, can be with
Around realization and the movement of 3 degree of freedom of rotation, can 360 ° omni-directional movement, if with complete 3 degree of freedom,
Then it is known as omni-directional moving platform, it is limited, high to the maneuverability requirement of platform that this platform is very suitable for being operated in narrow space
Occasion in.
Omni-directional wheel by a wheel disc and is fixed on the structure that the trundle of wheel disc periphery forms using single mostly at present
Mode, wheel disc axle center is with trundle axis perpendicular, and by motor-driven rotation, trundle contacts successively with ground in wheel coiling axle center,
And can be freely rotated around Pivot Point Center, it is steady driving wheel to be kept to rotate with ground contact in turn by the idler wheel on wheel hub
Property.Since shape has a certain degree and is staggeredly arranged between the trundle of wheel disc periphery, the wheel rim of trundle is straight line, all small rollings
The outer circle for the omni-directional wheel that wheel fitting forms actually is not a complete circle but a polygon, but usually adjacent small rolling
It is larger there are gap between wheel so that wheel constantly changes in rotation process with the height of ground contact points, and car body is caused to shake
Dynamic or skidding affects the stationarity of driving wheel rolling.And in existing omni-directional wheel, stock size is bigger, structure ratio
It is more complicated, therefore cost is comparatively also higher, however for small-sized robot, this is undoubtedly waste and movement
Speed also can relative drop, in addition, traditional omni-directional wheel is comparatively more thick and heavy because the problem of material, in appearance
More aobvious heaviness, this can also influence the portability of small scale robot in itself.
The content of the invention
Part in view of the above shortcomings of the prior art, it is an object of the invention to provide it is a kind of it is more frivolous, more steady, make an uproar
Sound smaller, cost are lower, are suitble to the small-sized double omni-directional wheel of small scale robot mobile platform.
To achieve the above object, the technical solution adopted by the present invention is：A kind of small-sized double omni-directional wheel, it is fixed by centre
Seat, the first fixed bottom cover, the second fixed bottom cover and trundle component form, and motor is provided among the intermediate fixed seat and is turned
Shaft mounting hole is connected fixation with machine shaft, and the intermediate fixed seat is around axle center by motor-driven rotation；The intermediate fixed seat
Both sides are evenly arranged with two rows of grooves parallel to each other to stagger with in-between axis perpendicular, and the number of recesses is 10, each
Row 5, the trundle component is fixed in the groove, i.e., described intermediate fixed seat axle center is the same as trundle axis perpendicular, institute
It states the first fixed bottom cover and second fixed bottom cover is separately fixed at the both sides of the intermediate fixed seat, the trundle component
Including trundle, the trundle axis of rolling and rubber sleeve, both sides are provided with axis of rolling groove among each groove, described small
The idler wheel axis of rolling is arranged in the axis of rolling groove, and the trundle is rotatably fixed on the trundle axis of rolling,
It is rotated around the axis of rolling, i.e., described trundle contacts successively with ground, and can be freely rotated around Pivot Point Center, the rubber sleeve
The trundle outer surface is wrapped in, is effectively reduced vibrations.It so both ensure that when wheel disc is rolled with the contact on ground
Point height is constant, avoids robot vibration, also ensures that trundle can be realized at an arbitrary position along side parallel with wheel dish axle
To freely roll.So that wheel operation is more steady, noise is effectively reduced.
Further, the intermediate fixed seat, first fixed bottom cover and the second fixed bottom cover are using high intensity
Plastic material, integrated molding are made so that weight is effectively reduced, and meets requirement of the small scale robot to portability.
Further, the adjacent two trundles angle is 72 °, is mutually handed over into 36 ° of angles between two rows of trundles
Mistake arrangement, it is 38mm often to arrange the circle outer diameter that the trundle is fitted to, and meets the needs of small scale robot mobile platform.
Further, first fixed bottom cover, the second fixed bottom cover are respectively arranged with and the intermediate fixed seat both sides
The corresponding groove of groove and axis of rolling groove.
Further, first fixed bottom cover, the second fixed bottom cover are separately fixed at the centre by 5 screws and consolidate
Reservation both sides.
Further, the width between described two parallel trundles is 20mm, and flattening designs so that omni-directional wheel appearance
It is more attractive.
Further, coordinate between the rubber sleeve and the trundle for transition.
Further, the trundle and the trundle axis of rolling are highstrenghtpiston's material, further mitigate weight.
Further, positioning pin is provided between the groove of first fixed bottom cover, the second fixed bottom cover, in described
Between location hole transition between two groove of fixed seat both sides be connected.
Further, the trundle shape is arc-shaped.
Compared with prior art, a kind of advantageous effect of small-sized double omni-directional wheel provided by the invention is：Present invention tool
Have of low cost, simple in structure, light-weight, long lifespan, good appearance, translational speed is fast, it is cost-effective the characteristics of, convenient for taking
Band is applicable to small scale robot mobile platform.
Description of the drawings
Fig. 1 is a kind of axonometric drawing of small-sized double omnidirectional wheel structure provided by the invention.
Fig. 2 is a kind of front view of the structure of small-sized double omni-directional wheel provided by the invention.
Fig. 3 is a kind of left view of the structure of small-sized double omni-directional wheel provided by the invention.
Fig. 4 is a kind of structure diagram of the intermediate fixed seat of small-sized double omni-directional wheel provided by the invention.
Fig. 5 is a kind of exploded view of small-sized double omni-directional wheel provided by the invention.
Wherein, each reference numeral in figure：Fixed seat among 1-, 2- grooves, 21- axis of rolling grooves, 3- trundle components,
31- trundles, the 32- trundle axis of rolling, 33- rubber sleeves, the first fixed bottom covers of 4-, the second fixed bottom covers of 5-, 6- location holes, 7-
Positioning pin, 8- screws, 9- machine shaft mounting holes.
Specific embodiment
In order to be more clearly understood that the objectives, technical solutions, and advantages of the present invention, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, not
For limiting the present invention, based on the embodiments of the present invention, those of ordinary skill in the art are not before creative work is made
All other embodiments obtained are put, belong to the scope of protection of the invention.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Convenient for the description present invention and simplify description rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for description purpose, and it is not intended that instruction or hint relative importance.
In the description of the present invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " installation ",
" connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally connect
It connects；Can be mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, can above-mentioned term be understood with concrete condition
Concrete meaning in the present invention.
Preferred embodiment provided by the invention is illustrated below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, the small-sized double omni-directional wheel of one kind provided by the invention, a kind of small-sized double omni-directional wheel, in
Between fixed seat 1, the first fixed bottom cover 4, the second fixed bottom cover 5 and trundle component 3 form, among the intermediate fixed seat 1
Machine shaft mounting hole 9 is provided with, fixation is connected with machine shaft, the intermediate fixed seat 1 is around axle center by motor-driven rotation；
1 both sides of intermediate fixed seat be evenly arranged with it is two rows of it is parallel to each other stagger and the groove of in-between axis perpendicular 2, the groove
2 quantity are 10, and each row 5, the trundle component 3 is fixed in the groove 2, i.e., described 1 axle center of intermediate fixed seat
With 31 axis perpendicular of trundle, the described 1st and second fixed bottom cover 5 be separately fixed at the two of the intermediate fixed seat 1
Side, the trundle component 3 include trundle 31, the trundle axis of rolling 32 and rubber sleeve 33, each 2 centre two of groove
Side is provided with axis of rolling groove 21, and the trundle axis of rolling 32 is arranged on 21 in the axis of rolling groove, the trundle 31
It is rotatably fixed on the trundle axis of rolling 32, is rotated around the trundle axis of rolling 32, the trundle 31 is around certainly
Body axle center is freely rotated, and is contacted successively with ground, and the rubber sleeve 33 is wrapped in 31 outer surface of trundle, effective to reduce
Vibrations.It so both ensure that the contact point height when wheel disc is rolled with ground was constant, and avoided robot vibration, also ensure
Trundle 31 can be realized at an arbitrary position along with taking turns freely rolling for dish axle parallel direction so that wheel operation is more put down
Surely, noise is effectively reduced.
Specifically, the intermediate fixed seat 1, first fixed bottom cover, 4 and second fixed bottom cover 5 are using high intensity
Plastic material, integrated molding are made so that weight is effectively reduced, and meets requirement of the small scale robot to portability.
Specifically, adjacent two trundles, 31 angle is 72 °, mutual into 36 ° of angles between two rows of trundles 31
It is staggered, it is 38mm often to arrange the circle outer diameter that the trundle 31 is fitted to, and meets the needs of small scale robot mobile platform.
Specifically, first fixed bottom cover 4, the second fixed bottom cover 5 are respectively arranged with and intermediate 1 both sides of fixed seat
The corresponding groove of groove and axis of rolling groove.
Specifically, 4 and second fixed bottom cover 5 of the first fixed bottom cover is separately fixed at the centre by 5 screws
1 both sides of fixed seat.
Specifically, the width between described two parallel trundles 31 is 20mm, and flattening designs so that omni-directional wheel appearance
It is more attractive.
Specifically, coordinate between the rubber sleeve 33 and the trundle 31 for transition.
Specifically, the trundle 31 and the trundle axis of rolling 32 are highstrenghtpiston's material, further mitigate weight.
Specifically, positioning pin 7 is provided between the groove of first fixed bottom cover 4, the second fixed bottom cover 5, it is and described
6 transition of location hole between intermediate 1 both sides of fixed seat, two groove 2 is connected.
Specifically, 31 shape of trundle is arc-shaped.
The foregoing is merely illustrative of the preferred embodiments of the present invention, it is clear that the realization of patent of the present invention and from aforesaid way
Limitation, as long as employ patent of the present invention methodology and technical solution carry out all any modification, equivalent and improvement
Deng or it is not improved the design of patent of the present invention and technical solution are directly applied into other occasions, should be included in this hair
Within bright protection domain.
Claims (10)
1. a kind of small-sized double omni-directional wheel, by intermediate fixed seat, the first fixed bottom cover, the second fixed bottom cover and trundle component
Composition, it is characterised in that：Machine shaft mounting hole is provided among the intermediate fixed seat, fixation is connected with machine shaft；Institute
It states intermediate fixed seat both sides and is evenly arranged with two rows of grooves parallel to each other to stagger with in-between axis perpendicular, the trundle group
Part is fixed in the groove, and first fixed bottom cover and second fixed bottom cover are separately fixed at the intermediate fixed seat
Both sides, the trundle component includes trundle, the trundle axis of rolling and rubber sleeve, and both sides are set among each groove
Axis of rolling groove is equipped with, the trundle axis of rolling is arranged in the axis of rolling groove, and the trundle is rotatably fixed
It on the trundle axis of rolling, is rotated around the axis of rolling, the rubber sleeve is wrapped in the trundle outer surface.
2. small-sized double omni-directional wheel according to claim 1, it is characterised in that：The number of recesses is 10, each row 5
It is a.
3. small-sized double omni-directional wheel according to claim 1, it is characterised in that：The intermediate fixed seat, described first are consolidated
Bottom cover and the second fixed bottom cover are determined using plastic material, are integrally formed.
4. small-sized double omni-directional wheel according to claim 1, it is characterised in that：The adjacent two trundles angle is
It 72 °, is intertwined into 36 ° of angles between two rows of trundles, it is 38mm often to arrange the circle outer diameter that the trundle is fitted to.
5. small-sized double omni-directional wheel according to claim 1, it is characterised in that：First fixed bottom cover, second are fixed
Bottom cover is respectively arranged with groove corresponding with the fixed bottom grooves on two sides in the centre and axis of rolling groove.
6. small-sized double omni-directional wheel according to claim 1, it is characterised in that：First fixed bottom cover, second are fixed
Bottom cover is separately fixed at the intermediate fixed seat both sides by screw.
7. small-sized double omni-directional wheel according to claim 1, it is characterised in that：Width between described two parallel trundles
It spends for 20mm.
8. small-sized double omni-directional wheel according to claim 1, it is characterised in that：The trundle shape is arc-shaped, institute
It states and coordinates between rubber sleeve and the trundle for transition.
9. small-sized double omni-directional wheel according to claim 1, it is characterised in that：The trundle and the trundle axis of rolling are
Plastic material.
10. small-sized double omni-directional wheel according to claim 1, it is characterised in that：First fixed bottom cover, second are fixed
Positioning pin is provided between the groove of bottom cover, the location hole transition cooperation between intermediate two groove of fixed seat both sides connects
It connects.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711052652.XA CN108068539A (en) | 2017-10-30 | 2017-10-30 | A kind of small-sized double omni-directional wheel |
| US15/841,222 US20190126675A1 (en) | 2017-10-30 | 2017-12-13 | Small double-row omni-directional wheel |
| JP2018002075U JP3217560U (en) | 2017-10-30 | 2018-06-05 | Omni-directional moving chassis |
| PCT/CN2018/090080 WO2019085477A1 (en) | 2017-10-30 | 2018-06-06 | Chassis for omnidirectional movement, and miniature double-row omnidirectional wheel for same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711052652.XA CN108068539A (en) | 2017-10-30 | 2017-10-30 | A kind of small-sized double omni-directional wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108068539A true CN108068539A (en) | 2018-05-25 |
Family
ID=62159414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711052652.XA Pending CN108068539A (en) | 2017-10-30 | 2017-10-30 | A kind of small-sized double omni-directional wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108068539A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019085477A1 (en) * | 2017-10-30 | 2019-05-09 | 深圳市工匠社科技有限公司 | Chassis for omnidirectional movement, and miniature double-row omnidirectional wheel for same |
| CN113942342A (en) * | 2020-07-15 | 2022-01-18 | Oppo广东移动通信有限公司 | Mecanum wheel, driving mechanism and charging equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751815A (en) * | 2016-04-29 | 2016-07-13 | 广东科杰达智能电器有限公司 | Omni wheel of floor sweeping robot |
| CN207345380U (en) * | 2017-10-30 | 2018-05-11 | 深圳市工匠社科技有限公司 | A kind of small-sized double omni-directional wheel |
-
2017
- 2017-10-30 CN CN201711052652.XA patent/CN108068539A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751815A (en) * | 2016-04-29 | 2016-07-13 | 广东科杰达智能电器有限公司 | Omni wheel of floor sweeping robot |
| CN207345380U (en) * | 2017-10-30 | 2018-05-11 | 深圳市工匠社科技有限公司 | A kind of small-sized double omni-directional wheel |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019085477A1 (en) * | 2017-10-30 | 2019-05-09 | 深圳市工匠社科技有限公司 | Chassis for omnidirectional movement, and miniature double-row omnidirectional wheel for same |
| CN113942342A (en) * | 2020-07-15 | 2022-01-18 | Oppo广东移动通信有限公司 | Mecanum wheel, driving mechanism and charging equipment |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180525 |