CN205951608U - Omnidirectional movement device - Google Patents
Omnidirectional movement device Download PDFInfo
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- CN205951608U CN205951608U CN201620689346.1U CN201620689346U CN205951608U CN 205951608 U CN205951608 U CN 205951608U CN 201620689346 U CN201620689346 U CN 201620689346U CN 205951608 U CN205951608 U CN 205951608U
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Abstract
The utility model relates to a remove mechanical technical field, concretely relates to omnidirectional movement device, including bottom plate and at least three omniwheel, omniwheel includes the main shaft board, set up the hemisphere action wheel in the both sides of main shaft board from driving wheel and two respectively with the mode of main shaft board pivot relatively, the main shaft board can the pivot, and the axis of the relative main shaft board pivot with the hemisphere action wheel of its pivot axis is crossing, the spherical top of hemisphere action wheel is provided with the through -hole in order to arrange from the driving wheel, make the surface of hemisphere action wheel and follow the partly on same sphere of driving wheel surface, on setting up the main shaft board with the mode of main shaft board pivot relatively from the driving wheel, follow the axis of the pivot axis perpendicular to main shaft board pivot of driving wheel, go back the axis of the relative main shaft board pivot of perpendicular to hemisphere action wheel simultaneously, omniwheel is fixed to be set up on the bottom plate, at least, three the rotation axis of omniwheel main shaft board is not parallel to each other each, so, omnidirectional movement device obstacle climbing ability is stronger to it is milder to move.
Description
Technical field
The present invention relates to mechanically moving technical field is and in particular to a kind of omnidirectional mobile device.
Background technology
Omni-directional wheel is that a kind of can have an active exercise direction and a driven fortune towards the wheel of any direction movement
Dynamic direction, when all having motion for this two, according to the difference of each directional rate, omni-directional wheel just can move to any direction,
Realize omnidirectional moving.
Omni-directional wheel can be using it is possible to by the aggregate motion of multiple wheels, realize as a normal wheel
The movement of any direction.At this stage, a kind of omni-directional wheel as disclosed in patent CN201320814107.0, omni-directional wheel is mainly by wheel hub
With driven pulley composition, uniformly offer the wheel hub tooth of 3 or more than 3 at the excircle of this wheel hub, between each two wheel hub tooth
It is equiped with a driven pulley, the radial direction of this driven pulley is vertical with the tangential direction of wheel hub excircle.
Due to the structure of this omni-directional wheel, outer ring is made up of multiple less driven pulleys, so how not to have between driven pulley
Evitable gap, if wheel hub rolls to two driven pulleys gap location contact ground, if now run into width be less than or equal to
The barrier in two driven pulley gaps, omni-directional wheel is stuck and cannot continue to roll, also known as obstacle detouring failure, if will avoid this as far as possible
Situation occurs it is necessary to increase the quantity of driven pulley, is that quantity more Multiple level is less；Another convenience, when driven pulley rolls,
Because its rolling radius is minimum, obstacle climbing ability extreme difference, to increase the obstacle climbing ability of driven pulley as far as possible, need to increase driven pulley
Size, in the case of ensureing that driven pulley has proper strength, driven pulley radius is bigger, is arranged in the driven pulley quantity on wheel hub
Fewer.
It follows that to reduce the gap between two driven pulleys, needing to increase the quantity of driven pulley, and with from wheel
Quantity increases, and the radius of driven pulley is just corresponding to be reduced, and obstacle climbing ability when driven pulley rolls is just corresponding to be reduced.That is, existing universal
The obstacle climbing ability of wheel is limited, could can only preferably realize the effect of omnidirectional moving, very in the case that moving surface is relatively flat
The range of omni-directional wheel is limited on big degree.And all unavoidable between each two driven pulley there is gap, make
Whole wheel circumference actual become a polygon, lead to occur fluctuating up and down in motor process, carrier can be caused
Vibrations, and can to follower shaft produce impact thus losing driving power, reduce drive payload.
Omnidirectional mobile device realizes omnidirectional moving using three omnidirectional's wheel drive, due to existing omni-directional wheel obstacle climbing ability difference and
Low relief area moving process can fluctuate up and down and lead to omni-directional wheel to bear high-frequency percussion, the obstacle climbing ability of omnidirectional mobile device
Extreme difference, is easily damaged by the omni-directional wheel of high-frequency percussion and drops, and can cause the overall vertical tremor of omnidirectional mobile device, can make
The parts becoming placed on it come off.
Content of the invention
It is an object of the invention to：For at present to the obstacle climbing ability extreme difference of mobile device, by the omni-directional wheel of high-frequency percussion
It is easily damaged and drops, and the overall vertical tremor of omnidirectional mobile device can be caused, parts placed on it can be caused to come off
Problem, a kind of omnidirectional mobile device that can solve the problem that the problems referred to above is provided.
To achieve these goals, the technical solution used in the present invention is：
A kind of omnidirectional mobile device, including base plate and at least three omni-directional wheels, described omni-directional wheel includes spindle plate, driven pulley
With two hemispheric hemispherical drivewheels, two described drivewheels are can relatively described spindle plate pivotably set respectively
Put the both sides in described spindle plate, the outer surface making two described drivewheels on a sphere,
Described spindle plate can pivot, and the axis phase that its pivot axis described spindle plate relative with described drivewheel pivots
Hand over,
The spherical top of described drivewheel is provided with through hole arranging described driven pulley, make described drivewheel outer surface and
A part for described driven wheel outer surface on same sphere,
Described driven pulley can relatively described spindle plate be pivotably arranged on described spindle plate, described driven pulley
The axis that pivot axis pivot perpendicular to described spindle plate, also is normal to what the relatively described spindle plate of described drivewheel pivoted simultaneously
Axis,
Described omni-directional wheel is fixedly installed on described base plate, and the rotation axiss of omni-directional wheel spindle plate described at least three are each not
It is parallel to each other.
Preferably, described omni-directional wheel quantity is three, the rotation axiss angle of adjacent omni-directional wheel spindle plate is 120 degree,
So, omni-directional wheel opposed bottom arrangement substantially symmetrical about its central axis, and interval angles are equal, the active exercise direction folder of adjacent omni-directional wheel
Angle is 120 degree, is easy to calculate and controls, and overall appearance, good stability.
Preferably, described omnidirectional mobile device also includes driving the motor of described spindle plate rotation, described motor is fixed
It is arranged on described base plate, so, motor can drive the spindle plate of omni-directional wheel to rotate, thus driving omni-directional wheel to rotate, thus
Omni-directional wheel mobile device can be driven to realize Omni-mobile.
Preferably, described base plate is frame structure, so, it is possible to mitigate quality thus mitigating the load of omnidirectional mobile device
Weight and material-saving cost.
Preferably, described drivewheel includes shell and wheel carrier, described shell is made up of rubber, and described wheel carrier is used for propping up
Support described shell, make the outer surface globulate of described shell.
Preferably, the comprcssive strength of described wheel carrier is higher than the comprcssive strength of described shell.
Preferably, described wheel carrier is in notch cuttype, thereby, it is possible to reduce what wheel carrier took while ensureing support housing
Hemispherical drivewheel inner space, to arrange the parts such as bearing.
Preferably, described drivewheel passes through deep groove ball bearing or self-aligning roller bearing is connected with described spindle plate, so,
Bearing can be made to bear certain axial force.
Preferably, described spindle plate includes internal frame, in described internal frame, it is provided with the cavity for accommodating described driven pulley,
Described drivewheel is provided with inner chamber, and described internal frame is completely disposed in described inner chamber, and described internal frame is provided with for accommodating bearing rolling
First recess of kinetoplast, makes that described internal frame forms described drivewheel and described spindle plate is connected the inner ring of bearing.
Preferably, described wheel carrier be provided with described internal frame first recess with respect to the second recess, described first is recessed
The chamber that portion is formed with described second recess is used for accommodating the rolling element of bearing, make described wheel carrier formed described drivewheel with described
Spindle plate connects the outer ring of bearing.
Preferably, described wheel carrier away from described spindle plate end be inverted L-shaped, the L-shaped end of described wheel carrier with described
It is provided with baffle plate between internal frame, described baffle plate is fixedly installed on described internal frame, and be provided with for placing described driven pulley
Vestibule, described baffle plate is less than or equal to 0.1 millimeter with the gap of described driven wheel outer surface, little with the gap of described L-shaped end
In or be equal to 0.1 millimeter, so, the slag thing that baffle plate can will be greater than 0.1 blocks, it is to avoid slag thing enters inside the application universal wheel
Stuck bearing.
In sum, due to employing technique scheme, the beneficial effect of the application is：No matter the application omni-directional wheel to
Which direction rolls, and it is, along the section of rotating direction, the driven pulley rolling half that radius identical is circular, with existing omni-directional wheel
Footpath be much smaller than its hub radius thus its obstacle climbing ability extreme difference is compared, the application omni-directional wheel along wheel hub direction roll when obstacle detouring energy
Obstacle climbing ability when power is rolled with the wheel hub of existing omni-directional wheel is identical, and during along other arbitrary directional rolling, obstacle climbing ability is all far high
In existing omni-directional wheel, thus, the application omni-directional wheel obstacle climbing ability is extremely strong, can carry out omnirange on the suitable ground of concavo-convex degree
Motion；Further, since the outside entirety of the application omni-directional wheel is a sphere, and the gap between two hemispherical drivewheels is less,
Driven pulley is less with the gap of hemispherical drivewheel, so, with the wheel hub of existing omni-directional wheel roll when pitch compared with acutely, this
Application number of gaps is few, and gap width is little, and motion is gentle, and the amplitude that pitches is minimum, does not substantially result in the vibrations of meeting carrier,
And it is difficult to produce impact to follower shaft thus not reducing the payload driving, thus, the application omnidirectional mobile device
The amplitude bearing high-frequency percussion is less, and quantity is few, and thus parts placed on it are difficult to come off because of vibrations.
Brief description
Fig. 1 is the structural representation of the application omni-directional wheel；
Fig. 2 is the latter half schematic diagram after Fig. 1 horizontal section；
Fig. 3 vertically cut open for Fig. 1 after right half part schematic diagram；
Fig. 4 is the structural representation of the application omnidirectional mobile device；
Fig. 5 is the upward view of Fig. 4；
In figure labelling：1- spindle plate, 2- hemispherical drivewheel, 21- shell, 3- driven pulley, 4- internal frame, 41- cavity, 42-
First recess, 43-L shape end, 5- baffle plate, 6- rolling element, 7- wheel carrier, 71- second recess, 8- omni-directional wheel, 9- base plate, 10- electricity
Machine.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, not
For limiting the present invention.
As shown in Figure 1, 2, 3, a kind of omnidirectional mobile device, including base plate 9 and at least three omni-directional wheels 8, omni-directional wheel 8 includes
Spindle plate 1, driven pulley 3 and two hemispheric hemispherical drivewheels 2, two hemispherical drivewheels 2 are with being capable of relative main plate 1
Pivotably it is separately positioned on the both sides of spindle plate 1, the outer surface making two hemispherical drivewheels 2 is on a sphere, main
Axillare 1 can pivot under the driving of motor, and the axle that its pivot axis AA is pivoted with hemispherical drivewheel 2 relative main plate 1
Line BB is vertical and intersecting, and the drivewheel profile being formed after two hemispherical drivewheel 2 cooperations is spherical, so that this is actively
Wheel can be around the pivot axis rotary rolling of spindle plate, and the rotation due to spindle plate is typically driven using motor 10, so in machine
The assembly that device people field can be formed after the cooperation of two hemispherical drivewheels 2 is called drivewheel, the dome of hemispherical drivewheel 2
Portion is provided with through hole to arrange driven pulley 3, makes a part for driven pulley 3 outer surface and the outer surface of hemispherical drivewheel 2 same
On one sphere, driven pulley 3 can relative main plate 1 be pivotably arranged on spindle plate 1, the pivot axis of driven pulley 3
The axis that CC (and DD) pivots perpendicular to spindle plate 1, also is normal to the axle of hemispherical drivewheel 2 relative main plate 1 pivot simultaneously
Line, omni-directional wheel 8 is fixedly installed on base plate 9, and the rotation axiss of the spindle plate 1 of at least three omni-directional wheels 8 are not respectively parallel to each other.
Spindle plate 1 can rotate under the driving of motor, whole omni-directional wheel 8 can be driven to move to A direction, be omni-directional wheel 8
Active exercise direction；Two hemispheric hemispherical drivewheels 2 can relative main plate 1 rotate, when omni-directional wheel 8 is to there being B side
To motion when, hemispherical drivewheel 2 relative main plate 1 rotates, and omni-directional wheel 8 is rolling friction with the friction on ground, this motion
It is the driven motions of omni-directional wheel 8；When omni-directional wheel 8 has displacement in A direction and B direction simultaneously, it is capable of omnidirectional rolling, you can
Realize the omnidirectional moving of omni-directional wheel 8.But, in the case of a certain, when the spherical top of hemispherical drivewheel 2 contacts ground, and
And omni-directional wheel 8 is to when moving in B direction, as shown in figure 4, because now hemispherical drivewheel 2 will not rotate, whole omni-directional wheel 8 exists
Ground is to slide, and is not carried out rolling movement, thus, goes out setting one driven pulley 3 in the spherical top of hemispherical drivewheel 2,
Make the spherical top of hemispherical drivewheel 2 contact ground, and omni-directional wheel 8 be to when moving in B direction, this driven pulley 3 can rotate,
From regardless of whether omni-directional wheel 8 soccer star surface any one from contact ground, omni-directional wheel 8 to any direction move when all be roll fortune
Dynamic, thereby, it is possible to realize the omnidirectional rolling of omni-directional wheel 8, thus realizing Omni-mobile.
As shown in Figure 4 and Figure 5, three the application omni-directional wheels 8 are arranged on a base plate 9, and, adjacent omni-directional wheel 8
The angle R1 of the rotation axiss of spindle plate 1 is 120 degree.
No matter the application omni-directional wheel 8 rolls to which direction, and it is radius identical circle along the section of rotating direction,
It is much smaller than its hub radius with the driven pulley rolling radius of existing omni-directional wheel 8 thus compared with its obstacle climbing ability extreme difference, the application is complete
To wheel 8 along wheel hub direction rolls when the wheel hub of obstacle climbing ability and existing omni-directional wheel roll when obstacle climbing ability identical, edge other
During arbitrary directional rolling, all far above existing omni-directional wheel, thus, the application omni-directional wheel obstacle climbing ability is extremely strong, can for obstacle climbing ability
Carry out omni-directional movement on the suitable ground of concavo-convex degree；Further, since the outside entirety of the application omni-directional wheel 8 is a sphere, and
Gap between two hemispherical drivewheels 2 is less, and driven pulley 3 is less with the gap of hemispherical drivewheel 2, so, and existing
Pitch during the wheel hub rolling of omni-directional wheel 8 and acutely compare, the application number of gaps is few, and gap width is little, and motion is gentle, pitches
Amplitude is minimum, does not substantially result in the vibrations of meeting carrier, and is difficult to produce impact to driven pulley 3 axle thus not reducing drive
Dynamic payload, thus, the amplitude that the application omnidirectional mobile device bears high-frequency percussion is less, and quantity is few, is thus placed in it
On parts be difficult to come off because of vibrations.
As Fig. 4 and Fig. 5, omni-directional wheel 8 quantity is three, and the angle R1 of the rotation axiss of spindle plate 1 of adjacent omnidirectional 8 is
120 degree, so, spindle plate 1 speed of rotation ratio each other of three omni-directional wheels 8 of adjustment, you can realize Omni-mobile, and
And, omni-directional wheel 8 opposed bottom 9 arrangement substantially symmetrical about its central axis, and interval angles are equal, the active exercise direction A of adjacent omni-directional wheel 8
Angle is 120 degree, is easy to calculate and controls, and overall appearance, good stability.
Omnidirectional mobile device also includes the motor 10 of drive shaft plate rotation, and motor 10 is fixedly installed on base plate 9, such as
This, motor 10 can drive the spindle plate 1 of omni-directional wheel 8 to rotate, thus driving omni-directional wheel 8 to rotate such that it is able to drive omni-directional wheel
Mobile device realizes Omni-mobile.
Base plate 9 is frame structure, so, it is possible to mitigate quality thus mitigating load-carrying and the material-saving of omnidirectional mobile device
Cost, hemispherical drivewheel 2 includes shell 21 and wheel carrier 7, and shell 21 is made up of rubber, and wheel carrier 7 is used for support housing 21, makes outer
The shell 21 outer surface rolling radius to ensure omni-directional wheel 8 spherical in shape is identical, and the comprcssive strength of wheel carrier 7 is higher than the pressure resistance of shell 21
Degree, can play support housing 21 to keep shell 21 profile is spherical purpose, and the raw material of wheel carrier 7 can be POM
(Polyformaldehyde) plastics, ABS (acrylonitrile butadiene styrene copolymer) plastics, PA
(Polyamide) plastics or 6061 aluminium alloys, these quality of materials are light and intensity is high.
Wheel carrier 7 is in notch cuttype, thereby, it is possible to reduce the hemispherical master that wheel carrier 7 takies while ensureing support housing 21
Driving wheel 2 inner space, to arrange the parts such as bearing.
Hemispherical drivewheel 2 passes through deep groove ball bearing or self-aligning roller bearing is connected with spindle plate 1, can bear certain
Axial load, meets the use of omni-directional wheel 8.
Internal frame 4 is provided with spindle plate 1, in internal frame 4, is provided with the cavity 41 for accommodating driven pulley 3, internal frame 4 is put completely
In the inner chamber of hemispherical drivewheel 2, internal frame 4 is provided with the first recess 42 for accommodating bearing roller 6, makes internal frame 4 shape
Become hemispherical drivewheel 2 to be connected the inner ring of bearing with spindle plate 1, wheel carrier 7 be provided with internal frame 4 first recess 42 with respect to the
The chamber that two recesses 71, the first recess 42 and the second recess 71 are formed is used for accommodating the rolling element 6 of bearing, makes wheel carrier 7 form half
Spherical drivewheel 2 is connected the outer ring of bearing with spindle plate 1.
Wheel carrier 7 is inverted L-shaped away from the end of spindle plate 1, so, it is possible to strengthen the intensity of this end, it is to avoid this end goes out
Now deform and support housing 21 cannot make shell 21 globulate, between the L-shaped end 43 of wheel carrier 7 and internal frame 4, be provided with baffle plate 5,
Baffle plate 5 is fixedly installed on internal frame 4, and is provided with the vestibule for placing driven pulley 3, between baffle plate 5 and driven pulley 3 outer surface
Gap is less than or equal to 0.1 millimeter, is less than or equal to 0.1 millimeter with the gap of L-shaped end 43, so, baffle plate 5 can will be greater than
0.1 slag thing blocks, it is to avoid slag thing enters the internal stuck bearing of the application universal wheel.
All any modification, equivalent and improvement made within the spirit and principles in the present invention etc., should be included in
Within protection scope of the present invention.
Claims (10)
1. a kind of omnidirectional mobile device, including base plate and at least three omni-directional wheels it is characterised in that
Described omni-directional wheel includes spindle plate, driven pulley and two hemispheric hemispherical drivewheels, and two described drivewheels are with energy
Enough relatively described spindle plates are pivotably separately positioned on the both sides of described spindle plate, make the outer surface of two described drivewheels
On same sphere,
Described spindle plate can pivot, and the axes intersect that its pivot axis described spindle plate relative with described drivewheel pivots,
The spherical top of described drivewheel is provided with through hole arranging described driven pulley, makes the outer surface of described drivewheel and described
A part for driven wheel outer surface on same sphere,
Described driven pulley can relatively described spindle plate be pivotably arranged on described spindle plate, the pivot of described driven pulley
The axis that axis pivots perpendicular to described spindle plate, also is normal to the axle that the relatively described spindle plate of described drivewheel pivots simultaneously
Line,
Described omni-directional wheel is fixedly installed on described base plate, and the rotation axiss of omni-directional wheel spindle plate described at least three are not respectively mutual
Parallel.
2. omnidirectional mobile device according to claim 1 is it is characterised in that described omni-directional wheel quantity is three, adjacent complete
Rotation axiss angle to wheel spindle plate is 120 degree.
3. omnidirectional mobile device according to claim 1 and 2 is it is characterised in that also include driving described spindle plate rotation
Motor, described motor is fixedly installed on described base plate.
4. omnidirectional mobile device according to claim 1 is it is characterised in that described base plate is frame structure.
5. omnidirectional mobile device according to claim 1 is it is characterised in that described drivewheel includes shell and wheel carrier, institute
State shell to be made up of rubber, described wheel carrier is used for supporting described shell, make the outer surface globulate of described shell.
6. omnidirectional mobile device according to claim 5 is it is characterised in that the comprcssive strength of described wheel carrier is higher than described outer
The comprcssive strength of shell.
7. omnidirectional mobile device according to claim 1 is it is characterised in that described drivewheel passes through deep groove ball bearing or tune
Heart roller bearing is connected with described spindle plate.
8. omnidirectional mobile device according to claim 5 is it is characterised in that described spindle plate includes internal frame, described internal frame
Inside it is provided with the cavity for accommodating described driven pulley, described drivewheel is provided with inner chamber, and described internal frame is completely disposed at described interior
In chamber, described internal frame is provided with the first recess for accommodating bearing roller, makes described internal frame form described drivewheel and institute
State the inner ring that spindle plate connects bearing.
9. omnidirectional mobile device according to claim 8 is it is characterised in that described wheel carrier is provided with and described internal frame first
Recess with respect to the second recess, the chamber that described first recess is formed with described second recess is used for accommodating the rolling of bearing
Body, makes that described wheel carrier forms described drivewheel and described spindle plate is connected the outer ring of bearing.
10. omnidirectional mobile device according to claim 8 or claim 9 is it is characterised in that described wheel carrier is away from described spindle plate
End is inverted L-shaped, is provided with baffle plate between the L-shaped end of described wheel carrier and described internal frame, and described baffle plate is fixedly installed on described
On internal frame, and it is provided with the vestibule for placing described driven pulley, described baffle plate is less than with the gap of described driven wheel outer surface
Or it is equal to 0.1 millimeter, it is less than or equal to 0.1 millimeter with the gap of described L-shaped end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620689346.1U CN205951608U (en) | 2016-06-29 | 2016-06-29 | Omnidirectional movement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620689346.1U CN205951608U (en) | 2016-06-29 | 2016-06-29 | Omnidirectional movement device |
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| Publication Number | Publication Date |
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| CN205951608U true CN205951608U (en) | 2017-02-15 |
Family
ID=57969188
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620689346.1U Active CN205951608U (en) | 2016-06-29 | 2016-06-29 | Omnidirectional movement device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004237A (en) * | 2016-06-29 | 2016-10-12 | 成都电科创品机器人科技有限公司 | Omni-directional mobile device |
| CN106985609A (en) * | 2017-05-11 | 2017-07-28 | 欧阳慧琳 | A kind of spherical wheel of Two axle drive |
| CN107053946A (en) * | 2017-05-11 | 2017-08-18 | 欧阳慧琳 | A kind of spherical wheel of combination drive |
| CN107310329A (en) * | 2017-06-09 | 2017-11-03 | 孙绍华 | A kind of spherical omnidirectional's wheel of multicompartment and the vehicle using the wheel |
| CN107571687A (en) * | 2017-07-27 | 2018-01-12 | 北京猎户星空科技有限公司 | Omnidirectional's ball wheel |
| CN109624607A (en) * | 2018-11-09 | 2019-04-16 | 华中科技大学 | The wheeled Omni-mobile platform of one bulb |
| JP2021079934A (en) * | 2019-11-21 | 2021-05-27 | 緯創資通股▲ふん▼有限公司Ｗｉｓｔｒｏｎ Ｃｏｒｐｏｒａｔｉｏｎ | Walking tool and all-direction wheel therefor |
| EP3659817A4 (en) * | 2017-07-27 | 2021-07-14 | Beijing Orion Star Technology Co., Ltd. | Omnidirectional ball wheel |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004237A (en) * | 2016-06-29 | 2016-10-12 | 成都电科创品机器人科技有限公司 | Omni-directional mobile device |
| CN106985609A (en) * | 2017-05-11 | 2017-07-28 | 欧阳慧琳 | A kind of spherical wheel of Two axle drive |
| CN107053946A (en) * | 2017-05-11 | 2017-08-18 | 欧阳慧琳 | A kind of spherical wheel of combination drive |
| CN106985609B (en) * | 2017-05-11 | 2019-02-26 | 吴万敏 | A kind of spherical wheel of Two axle drive |
| CN107310329A (en) * | 2017-06-09 | 2017-11-03 | 孙绍华 | A kind of spherical omnidirectional's wheel of multicompartment and the vehicle using the wheel |
| CN107310329B (en) * | 2017-06-09 | 2019-09-20 | 孙绍华 | A kind of spherical omnidirectional's wheel of multicomponent and vehicle using the wheel |
| CN107571687A (en) * | 2017-07-27 | 2018-01-12 | 北京猎户星空科技有限公司 | Omnidirectional's ball wheel |
| EP3659817A4 (en) * | 2017-07-27 | 2021-07-14 | Beijing Orion Star Technology Co., Ltd. | Omnidirectional ball wheel |
| CN107571687B (en) * | 2017-07-27 | 2024-01-19 | 北京猎户星空科技有限公司 | Omnidirectional ball wheel |
| CN109624607A (en) * | 2018-11-09 | 2019-04-16 | 华中科技大学 | The wheeled Omni-mobile platform of one bulb |
| JP2021079934A (en) * | 2019-11-21 | 2021-05-27 | 緯創資通股▲ふん▼有限公司Ｗｉｓｔｒｏｎ Ｃｏｒｐｏｒａｔｉｏｎ | Walking tool and all-direction wheel therefor |
| JP7162640B2 (en) | 2019-11-21 | 2022-10-28 | 緯創資通股▲ふん▼有限公司 | Walkers and their omnidirectional wheels |
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