CN201592632U - Omnidirectional driving wheel - Google Patents
Omnidirectional driving wheel Download PDFInfo
- Publication number
- CN201592632U CN201592632U CN201020049991XU CN201020049991U CN201592632U CN 201592632 U CN201592632 U CN 201592632U CN 201020049991X U CN201020049991X U CN 201020049991XU CN 201020049991 U CN201020049991 U CN 201020049991U CN 201592632 U CN201592632 U CN 201592632U
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- bogie truck
- axis
- roller
- omnidirectional
- rolling
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Abstract
The utility model provides a walking wheel, in particular to an omnidirectional driving wheel which can adjust waling direction in 360 degrees, and solves the problems that the swing angle of an existing driving wheel is small, and the existing driving wheel just can be sued as a driven wheel. The omnidirectional driving wheel comprises a base, a bogie frame and rollers, and is characterized in that the bogie frame is arranged on the base and can rotate corresponding to the base, the rollers are arranged on the bogie frame, and an axial line of the rollers are vertically and crossly with a rotating axial line of the bogie frame. The omnidirectional driving wheel further comprises a walking motor and a steering motor, wherein the walking motor drives the rollers to roll, and the steering motor drives the bogie frame to rotate. The omnidirectional driving wheel achieves driving omnidirectional walking, the rotating axial line of the bogie frame and a rolling shaft of the rollers are vertical and crossed, the rollers are roll on the circumference when steering, and the friction force is small. The rollers are symmetrically arranged on the two sides of the rotating axial line of the bogie frame, and the force is balanced. The device has small height and low center of gravity, and has small moment of force when walking.
Description
Technical field
The utility model designs a kind of road wheel, omnidirectional's drive wheel that particularly a kind of direction of travel can 360 ° of adjustings.
Technical background
The road wheel of mobile device generally can be divided into two kinds, and a kind of is the drive wheel of dynamic driving, and a kind of is unpowered flower wheel, and existing drive wheel can only low-anglely be swung mostly, realizes turning in the walking process, and turn radius is big; And flower wheel can use cardan wheel, the oscillating axle of cardan wheel and ground supports point have biasing in the horizontal direction, oscillating axle is followed mobile device earlier and is moved during action, make oscillating axle consistent with horizontal line of ground supports point and direction of travel, realize universal drivenly, the universal flower wheel of this structure also can't become drive wheel by repacking.
Patent Office of the People's Republic of China announced the CN201086599Y patent on July 16th, 2008, name is called a kind of universal caster wheel, this device is applicable to various mobile devices, the interior seat that it comprises pedestal, be connected in pedestal and can rotate around pedestal, and used rotating shaft be installed in roller; The card article end at pedestal center is provided with projection, in stretching into behind the centre hole of seat with the clamping of interior seat; The outer bottom of the inner bottom surface of pedestal and interior seat has the cooresponding annular groove in position, and ball is set in the chute; Pedestal and interior seat diameter are greater than height, and the length of roller is greater than diameter; In the draw-in groove in the center that roller is passed in rotating shaft snaps on the seat, the young body of draw-in groove is big, and oral area is slightly less than the rotating shaft diameter, and body portion is slightly larger than the roller bearing diameter.If on this device roller, install actuating device additional, seat rotation in roller must drive when rolling, be difficult to controlling party to, this universal caster wheel can only be as universal flower wheel use.
Summary of the invention
The purpose of this utility model is to solve little, the existing cardan wheel of existing drive wheel pendulum angle can only provide a kind of direction of travel can carry out omnidirectional's drive wheel of 360 ° of adjustings as the problem of flower wheel use.
The technical scheme that its technical matters that solves the utility model adopts is: a kind of omnidirectional drive wheel, comprise pedestal, bogie truck, roller, bogie truck is installed on the pedestal and can rotates relative to pedestal, roller is installed on the bogie truck, the axis of roller is vertical with the bogie truck pivot center and crossing, and described omnidirectional drive wheel also comprises the movable motor that driving rolls rolls and drives the steer motor that bogie truck rotates.Bogie truck can drive by drive motor and rotate with respect to pedestal, roller is installed on the bogie truck and rotates with bogie truck, and rolling axis is vertical with the bogie truck pivot center and crossing, when bogie truck rotates, roller rolls on the circumference that with the pivot center is the axle center, reduces friction.Bogie truck can carry out 360 ° relative to pedestal and rotate, and can drive roller and change direction of travel arbitrarily, and roller drives walking by movable motor.
As preferably, bogie truck is circular, and the excircle of annular bogie truck and pedestal inner ring match, and the bogie truck pivot center is the axis of bogie truck.Bogie truck also can be polygon, but also to be one be the circle of diameter with the polygon maximum outside diameter in needed space when the polygon bogie truck rotated, and adopts circular bogie truck to be convenient to processing, space availability ratio height, pivot center is also easier to be determined, and steer-drive is convenient to arrange.
As preferably, the annular groove that has opening to make progress on the circumference of bogie truck, pedestal inner ring have the downward groove of corresponding opening, are provided with ball between two grooves.When this device used, bogie truck and roller bore the bearing force that ground makes progress, and pedestal bears the downward gravity of mobile device, so the bogie truck slot opening upwards, Open Side Down for base recess, and bogie truck and pedestal cooperate by ball, realize relatively rotating.
As preferably, bogie truck is provided with the axis of rolling that roller is installed, and the axis of rolling and bogie truck pivot center intersect vertically, axis of rolling two ends by bearing installation on bogie truck.On bogie truck, roller is installed on the axis of rolling axis of rolling by bearing installation, and around the bogie truck pivot axis, bogie truck rolls around the axis of rolling self axis the axis of rolling relatively again with bogie truck.As another kind of scheme, also roller can be set directly on the movable motor output shaft, but when roller number when being a plurality of, between each roller synchronously and differential control comparatively difficult.
As preferably, the roller number is an even number, is provided with in the pivot center bilateral symmetry of bogie truck.Roller is provided with in bogie truck pivot center bilateral symmetry, makes this device both sides stress equalization when walking and break-in.
As preferably, movable motor has one or more, all is fixed on the bogie truck, and the movable motor output shaft matches by the gear matched and the axis of rolling.Movable motor can be provided with according to the power demand size, when single movable motor volume is excessive, can select a plurality of lower-powered motors to replace, on the movable motor output shaft gear is arranged, the axis of rolling is provided with the gear or the gear ring of and synchronous setting coaxial with the axis of rolling, matches with coaxial gear of the axis of rolling or the gear on gear ring and the movable motor output shaft.
As preferably, the axis of rolling and bogie truck pivot center intersection are provided with the axis of rolling rotates bevel planet gear synchronously, the roller kink is on the axis of rolling, and roller is arranged symmetrically in bogie truck pivot center both sides, and meshes with the bevel planet gear both sides respectively by hollow shaft sleeve.There is differential in the roller of this device both sides when turning, by the rotating speed of bevel planet gear automatically regulating two side wheels, prevents to skid.When this device bogie truck rotates, relatively rotate between bogie truck two side wheels and the axis of rolling, because the roller of bogie truck both sides is by hollow shaft sleeve and bevel planet gear engagement, by relatively rotating between bevel planet gear tunable two side wheels and the axis of rolling, make two side wheels opposite, thereby the rotation of assurance bogie truck can not cause the translation of bogie truck with the speed that the relatively rotates equidirectional of the axis of rolling.
As preferably, steer motor and pedestal relative fixed, the steer motor output shaft is provided with steering gear, and the bogie truck circumference is provided with steering gear matches and turns to gear ring.Steer motor drives the bogie truck rotation by the cooperation of gear-wheel gear-ring.As another kind of scheme, also steer motor can be fixed on the bogie truck, the steer motor output shaft is provided with steering gear, and the pedestal inside circumference is provided with steering gear matches and turns to gear ring.
As preferably, roller is arranged on the inboard of bogie truck.Roller is arranged on the bogie truck inboard, and the length of the axis of rolling is less, and rigidity of support is good.
The utility model is by the steering gear between bogie truck and the pedestal and turn to gear ring to cooperate, and can realize omnidirectional's walking by motor-driven, and the bogie truck angle is determined the back steering gear and turn to gear ring locked, and roller can not drive bogie truck and rotate when rolling; The pivot center of bogie truck is vertical with the roller rolling axis and crossing, and roller rolls on circumference during break-in, and friction force is little; Roller is arranged in bogie truck pivot center bilateral symmetry, stress equalization; This device is highly little, center of gravity is low, and suffered moment is little during walking.
Description of drawings
Fig. 1 is a kind of structural representation of the utility model.
Fig. 2 is an A-A cutaway view among Fig. 1.
Fig. 3 is second kind of structural representation of the utility model.
Fig. 4 is a B-B cutaway view among Fig. 3.
Fig. 5 is the partial enlarged drawing at D place among Fig. 4.
Fig. 6 is the third structural representation of the utility model.
Fig. 7 is a C-C cutaway view among Fig. 6.
Fig. 8 is the partial enlarged drawing at E place among Fig. 7.
Among the figure: 1. roller, 2. bogie truck, 3. steer motor, 4. pedestal, 5. steering gear, 6. ball, 7. movable motor, 8. the mobile device base plate 9. turns to gear ring, 11. bearings, 12. the axis of rolling, 13. hollow sleeves, 14. bevel planet gears, 15. synchronizing shafts, 16. synchronous cylinders.
The specific embodiment
Also in conjunction with the accompanying drawings the utility model is further specified below by specific embodiment.
Embodiment 1: a kind of omnidirectional drive wheel, roller is directly installed on the movable motor output shaft, as shown in Figure 1 and Figure 2.Pedestal 4 is fixed on the mobile device base plate 8, pedestal 4 is an annular, the excircle of pedestal 4 inner peripherys and bogie truck 2 matches, bogie truck 2 is the middle circular slab of opening circular hole, the groove that has opening to make progress on bogie truck 2 excircles, pedestal 4 inner peripherys have the groove that Open Side Down that matches with it, are provided with ball 6 between two grooves, bogie truck 2 can rotate relative to pedestal 4, and pivot center is the axis of circular bogie truck 2.Pedestal 4 outsides are provided with and pedestal 4 relatively-stationary steer motor 3, pedestal 4 is provided with the hole of passing for steer motor 3 output shafts, be with steering gear 5 on steer motor 3 output shafts, be fixed with on the bottom surface circumference of bogie truck 2 and turn to gear ring 9, steering gear 5 and turn to gear ring 9 engagements.Bogie truck 2 bottom surfaces also are symmetrically fixed with two movable motors 7, link to each other with roller 1 by retarder on movable motor 7 output shafts, and 1 dead in line of two rollers and roller 1 axis are vertical with bogie truck 2 axis and crossing, and roller 1 is in bogie truck 2 circular hole inboards.
During action, rotate relative to pedestal by steer motor control bogie truck, roller rolls on the circumference that with the bogie truck axis is the axle center during rotation, and when bogie truck rotated set angle, steer motor stopped, and the movable motor driving rolls rolls.
Embodiment 2: a kind of omnidirectional drive wheel, bogie truck are provided with the axis of rolling that roller is installed, as Fig. 3, Fig. 4, shown in Figure 5.Pedestal 4 is an annular, the excircle of pedestal 4 inner peripherys and bogie truck 2 matches, bogie truck 2 is the middle circular slab that has rectangular opening, rectangular opening is corresponding with the axis of rolling 12 positions, the groove that has opening to make progress on bogie truck 2 excircles, pedestal 4 inner peripherys have the groove that Open Side Down that matches with it, are provided with ball 6 between two grooves, bogie truck 2 can rotate relative to pedestal 4, and pivot center is the axis of circular bogie truck 2.Pedestal 4 outsides are provided with and pedestal 4 relatively-stationary steer motor 3, pedestal 4 is provided with the hole of passing for steer motor 3 output shafts, be with steering gear 5 on steer motor 3 output shafts, be fixed with on the bottom surface circumference of bogie truck 2 and turn to gear ring 9, steering gear 5 and turn to gear ring 9 engagements.Bogie truck 2 bottom surfaces are provided with two bearing seats, and the axis of rolling 12 is installed in the bearing seat by bearing 11, and the axis of rolling 12 is vertical with the axis of bogie truck and crossing.The axis of rolling 12 is provided with two rollers 1, roller 1 is a hollow cylinder, two rollers 1 are provided with in bogie truck 2 axis bilateral symmetry, and roller 1 the inner is connected with hollow sleeve 13, and hollow sleeve 13 is enclosed within outside the axis of rolling 12, hollow sleeve 13 the inners that two rollers 1 are connected are provided with conical insert, conical insert and bevel planet gear 14 engagements, roller 1 inboard is provided with circular groove, is provided with ball in the circular groove, cooperate by ball between roller 1 and the axis of rolling 12, roller 1 can rotate relative to the axis of rolling 12.Be provided with the synchronizing shaft vertical 15 in the middle of the axis of rolling 12 with the axis of rolling, synchronizing shaft 15 is the turning cylinder of bevel planet gear 14, bevel planet gear 14 revolves round the sun synchronously with the axis of rolling 12, and when regulating two side wheels, 1 speed around synchronizing shaft 15 rotations, the outer end of synchronizing shaft 15 is connected with synchronous cylinder 16, cylinder 16 and the axis of rolling 12 coaxial settings synchronously and synchronous the rotation, cylinder 16 two ends are provided with gear ring synchronously, bogie truck 2 bottom surfaces are fixed with 4 movable motors 7, movable motor 7 respectively is provided with two at synchronous cylinder 16 two ends, the both sides of cylinder 16 ends are arranged respectively synchronously, are equipped with the walking gear that matches with synchronous cylinder 16 end tooth rings on movable motor 7 output shafts.
During action, rotate relative to pedestal by steer motor control bogie truck, roller rolls on the circumference that with the bogie truck axis is the axle center during rotation, when bogie truck rotated set angle, steer motor stopped, and 4 movable motors start driving rolls and roll, the power of movable motor passes to synchronous cylinder by walking gear, cylinder drives the roller shaft rolling by synchronizing shaft synchronously, and when turning round, the roller of both sides can also pass through bevel planet gear automatically regulating rotating speed.
During action, rotate relative to pedestal by steer motor control bogie truck, roller rolls on the circumference that with the bogie truck axis is the axle center during rotation, when bogie truck rotated set angle, steer motor stopped, and the movable motor driving rolls rolls during walking, the power of movable motor passes to synchronous cylinder by walking gear, cylinder drives the roller shaft rolling by synchronizing shaft synchronously, and when turning round, the roller of both sides can also pass through bevel planet gear automatically regulating rotating speed.
Claims (10)
1. omnidirectional's drive wheel, comprise pedestal, bogie truck, roller, it is characterized in that: bogie truck is installed on the pedestal and can rotates relative to pedestal, roller is installed on the bogie truck, the axis of roller is vertical with the bogie truck pivot center and crossing, and described omnidirectional drive wheel also comprises the movable motor that driving rolls rolls and drives the steer motor that bogie truck rotates.
2. a kind of omnidirectional according to claim 1 drive wheel is characterized in that: bogie truck is for circular, and the excircle of circular bogie truck and pedestal inner ring match, and the bogie truck pivot center is the axis of bogie truck.
3. a kind of omnidirectional according to claim 1 and 2 drive wheel is characterized in that: the annular groove that has opening to make progress on the circumference of bogie truck, pedestal inner ring have the downward groove of corresponding opening, are provided with ball between two grooves.
4. a kind of omnidirectional according to claim 1 drive wheel is characterized in that: bogie truck is provided with the axis of rolling that roller is installed, and the axis of rolling and bogie truck pivot center intersect vertically, axis of rolling two ends by bearing installation on bogie truck.
5. according to claim 1 or 2 or 4 described a kind of omnidirectional drive wheels, it is characterized in that: the roller number is an even number, in the pivot center bilateral symmetry setting of bogie truck.
6. a kind of omnidirectional according to claim 4 drive wheel, it is characterized in that: movable motor has one or more, all is fixed on the bogie truck, and the movable motor output shaft matches by the gear matched and the axis of rolling.
7. according to claim 4 or 6 described a kind of omnidirectional drive wheels, it is characterized in that: the axis of rolling and bogie truck pivot center intersection are provided with the axis of rolling rotates bevel planet gear synchronously, the roller kink is on the axis of rolling, roller is arranged symmetrically in bogie truck pivot center both sides, and meshes with the bevel planet gear both sides respectively by hollow shaft sleeve.
8. according to claim 1 or 2 or 4 or 6 described a kind of omnidirectional drive wheels, it is characterized in that: steer motor and pedestal relative fixed, the steer motor output shaft is provided with steering gear, and the bogie truck circumference is provided with steering gear matches and turns to gear ring.
9. according to claim 1 or 2 or 4 or 6 described a kind of omnidirectional drive wheels, it is characterized in that: steer motor is fixed on the bogie truck, and the steer motor output shaft is provided with steering gear, and the pedestal inside circumference is provided with steering gear matches and turns to gear ring.
10. according to claim 1 or 2 or 4 or 6 described a kind of omnidirectional drive wheels, it is characterized in that: roller is arranged on the inboard of bogie truck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020049991XU CN201592632U (en) | 2010-01-19 | 2010-01-19 | Omnidirectional driving wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020049991XU CN201592632U (en) | 2010-01-19 | 2010-01-19 | Omnidirectional driving wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201592632U true CN201592632U (en) | 2010-09-29 |
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ID=42774696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201020049991XU Expired - Fee Related CN201592632U (en) | 2010-01-19 | 2010-01-19 | Omnidirectional driving wheel |
Country Status (1)
| Country | Link |
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| CN (1) | CN201592632U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069678A (en) * | 2010-12-17 | 2011-05-25 | 东南大学 | Wheel rim drive-type omnidirectional wheel capable of measuring feedback by using inductance angle displacement |
| CN105966175A (en) * | 2016-06-06 | 2016-09-28 | 成都天福创造机器人有限公司 | Steering driving wheel used for robot, robot movement chassis and robot |
| CN106184537A (en) * | 2016-08-18 | 2016-12-07 | 江苏双双高新科技有限公司 | The universal car that floats |
| CN107124899A (en) * | 2016-07-15 | 2017-09-01 | 深圳市大疆创新科技有限公司 | Movable fixture, follow shot equipment, movable fixture control system and method |
| CN108482483A (en) * | 2018-05-21 | 2018-09-04 | 徐州德坤电气科技有限公司 | A kind of omnidirectional driving wheel system assembly and the AGV for using the assembly |
| CN108790589A (en) * | 2018-05-21 | 2018-11-13 | 徐州德坤电气科技有限公司 | A kind of control method of omnidirectional driving wheel system assembly |
-
2010
- 2010-01-19 CN CN201020049991XU patent/CN201592632U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069678A (en) * | 2010-12-17 | 2011-05-25 | 东南大学 | Wheel rim drive-type omnidirectional wheel capable of measuring feedback by using inductance angle displacement |
| CN105966175A (en) * | 2016-06-06 | 2016-09-28 | 成都天福创造机器人有限公司 | Steering driving wheel used for robot, robot movement chassis and robot |
| CN107124899A (en) * | 2016-07-15 | 2017-09-01 | 深圳市大疆创新科技有限公司 | Movable fixture, follow shot equipment, movable fixture control system and method |
| CN107124899B (en) * | 2016-07-15 | 2019-07-05 | 深圳市大疆创新科技有限公司 | Movable fixture, follow shot equipment, movable fixture control system and method |
| US10953998B2 (en) | 2016-07-15 | 2021-03-23 | SZ DJI Technology Co., Ltd. | Systems and methods for providing stability support |
| CN106184537A (en) * | 2016-08-18 | 2016-12-07 | 江苏双双高新科技有限公司 | The universal car that floats |
| WO2018032584A1 (en) * | 2016-08-18 | 2018-02-22 | 江苏双双高新科技有限公司 | Omni-directional self-balancing vehicle |
| CN106184537B (en) * | 2016-08-18 | 2022-05-27 | 江苏双双高新科技有限公司 | Universal floating vehicle |
| CN108482483A (en) * | 2018-05-21 | 2018-09-04 | 徐州德坤电气科技有限公司 | A kind of omnidirectional driving wheel system assembly and the AGV for using the assembly |
| CN108790589A (en) * | 2018-05-21 | 2018-11-13 | 徐州德坤电气科技有限公司 | A kind of control method of omnidirectional driving wheel system assembly |
| CN108482483B (en) * | 2018-05-21 | 2023-10-27 | 徐州德坤电气科技有限公司 | Omnidirectional driving gear train assembly and AGV using same |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100929 Termination date: 20130119 |