CN207345380U - A kind of small-sized double omni-directional wheel - Google Patents
A kind of small-sized double omni-directional wheel Download PDFInfo
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- CN207345380U CN207345380U CN201721413507.5U CN201721413507U CN207345380U CN 207345380 U CN207345380 U CN 207345380U CN 201721413507 U CN201721413507 U CN 201721413507U CN 207345380 U CN207345380 U CN 207345380U
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Abstract
It the utility model is related to robot mobile technology field, provide a kind of small-sized double omni-directional wheel, including middle fixed seat, first fixed bottom cover, second fixed bottom cover and trundle component, the middle 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 middle 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 utility model 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
It the utility model is related to robot mobile technology field, more particularly to a kind of small-sized double omni-directional wheel.
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, i.e., can only move back and forth and turn, it is impossible to
Transverse shifting, original place are turn-taked, and make the speed of robot slower, are realizing the less efficient of its target, and use omni-directional wheel, can be with
Around realization and 3 frees degree of rotation movement, can 360 ° omni-directional movement, if having complete 3 frees degree,
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 are contacted with ground successively with trundle axis perpendicular, wheel coiling axle center by motor-driven rotation, trundle,
And can be freely rotated around Pivot Point Center, it is steady to keep driving wheel to rotate with ground contact in turn by the roller 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
A cylindrical actually not one complete circular but polygon for the omni-directional wheel that wheel fitting forms, 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, causes car body to shake
Dynamic or skidding, have impact on 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, but 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.
Utility model content
Part in view of the above shortcomings of the prior art, the purpose of this utility model is to provide a kind of more frivolous, more flat
Surely, noise smaller, cost are lower, are adapted to the small-sized double omni-directional wheel of small scale robot mobile platform.
To achieve the above object, the technical solution adopted in the utility model is：A kind of small-sized double omni-directional wheel, it is solid by centre
Reservation, the first fixed bottom cover, the second fixed bottom cover and trundle component form, and motor is provided among the middle fixed seat
Shaft mounting hole, fixation is connected with machine shaft, the middle fixed seat is around axle center by motor-driven rotation；It is fixed among described
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, often
One row 5, the trundle component are fixed in the groove, i.e., described middle fixed seat axle center with trundle axis perpendicular,
First fixed bottom cover and second fixed bottom cover are separately fixed at the both sides of the middle fixed seat, the trundle group
Part includes trundle, the trundle axis of rolling and rubber sleeve, and both sides are provided with axis of rolling groove among each groove, described
The trundle axis of rolling is arranged in the axis of rolling groove, and the trundle is rotatably fixed on the trundle axis of rolling
On, rotated around the axis of rolling, i.e., described trundle is contacted with ground successively, and can be freely rotated around Pivot Point Center, the rubber
Gum cover is wrapped in the trundle outer surface, is effectively reduced vibrations.So both it ensure that when wheel disc is rolled with ground
Contact point is highly constant, avoids robot vibration, also ensure that trundle can be realized at an arbitrary position and is put down along with wheel dish axle
Line direction freely rolls.So that wheel operation is more steady, noise is effectively reduced.
Further, the middle fixed seat, first fixed bottom cover and the second fixed bottom cover are using high intensity
Plastic material, is integrally formed and is 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 outside 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 middle 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, trundle and the trundle axis of rolling is highstrenghtpiston's material, further mitigates 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 beneficial effect of small-sized double omni-directional wheel provided by the utility model is：This reality
With it is new 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, it is applicable to small scale robot mobile platform.
Brief description of the drawings
Fig. 1 is a kind of axonometric drawing of small-sized double omnidirectional wheel structure provided by the utility model.
Fig. 2 is a kind of front view of the structure of small-sized double omni-directional wheel provided by the utility model.
Fig. 3 is a kind of left view of the structure of small-sized double omni-directional wheel provided by the utility model.
Fig. 4 is a kind of structure diagram of the middle fixed seat of small-sized double omni-directional wheel provided by the utility model.
Fig. 5 is a kind of exploded view of small-sized double omni-directional wheel provided by the utility model.
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.
Embodiment
It is right with reference to the accompanying drawings and embodiments in order to be more clearly understood that the purpose of this utility model, technical solution and advantage
The utility model is described in further detail.It should be appreciated that specific embodiment described herein is only explaining this
Utility model, is not used to limit the utility model, based on the embodiment in the utility model, those of ordinary skill in the art exist
All other embodiments obtained under the premise of creative work are not made, shall fall within the protection scope of the present invention.
, it is necessary to explanation in the description of the utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for description purpose, and it is not intended that instruction or hint relative importance.
In the description of the utility model, it is also necessary to explanation, unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Preferred embodiment provided by the utility model 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 utility model, a kind of small-sized double omni-directional wheel,
It is made of middle fixed seat 1, the first fixed bottom cover 4, the second fixed bottom cover 5 and trundle component 3, the middle fixed seat 1
Centre is provided with machine shaft mounting hole 9, and fixation is connected with machine shaft, and the middle fixed seat 1 is driven around axle center by motor
Rotate；1 both sides of middle 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, institute
2 quantity of groove is stated as 10, each row 5, the trundle component 3 is fixed in the groove 2, i.e., described middle fixed seat
1 axle center with 31 axis perpendicular of trundle, the described 1st and second fixed bottom cover 5 be separately fixed at the middle fixed seat 1
Both sides, the trundle component 3 includes trundle 31, the trundle axis of rolling 32 and rubber sleeve 33, in each groove 2
Between both sides be provided with axis of rolling groove 21, the trundle axis of rolling 32 is arranged on 21 in the axis of rolling groove, the small rolling
Wheel 31 is rotatably fixed on the trundle axis of rolling 32, is rotated around the trundle axis of rolling 32, the trundle 31
It is freely rotated around Pivot Point Center, is contacted successively with ground, the rubber sleeve 33 is wrapped in 31 outer surface of trundle, effectively
Reduce vibrations.It so both ensure that the contact point when wheel disc is rolled with ground was highly constant, and avoided robot vibration, also protect
Having demonstrate,proved trundle 31 can realize along with taking turns freely rolling for dish axle parallel direction at an arbitrary position so that wheel is run more
Add steadily, effectively reduce noise.
Specifically, the middle fixed seat 1, first fixed bottom cover, 4 and second fixed bottom cover 5 are using high intensity
Plastic material, is integrally formed and is 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 outside 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 middle 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 middle 1 both sides of fixed seat, two groove 2 is connected.
Specifically, 31 shape of trundle is arc-shaped.
The above is only the preferred embodiment of the utility model only, it is clear that the realization of the utility model patent and from
The limitation of aforesaid way, if employ the utility model patent methodology and technical solution carry out any modification, etc.
With replacing and improve etc., or not improved the design of the utility model patent and technical solution are directly applied into other occasions
, it should be included within the scope of protection of this utility model.
Claims (10)
- A kind of 1. small-sized double omni-directional wheel, by middle 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 middle fixed seat, fixation is connected with machine shaft；Institute State middle fixed seat both sides and be evenly arranged with two rows of grooves parallel to each other to stagger with in-between axis perpendicular, the number of recesses For 10, each row 5, the trundle component is fixed in the groove, and first fixed bottom cover and described second is consolidated Determine the both sides that bottom cover is separately fixed at the middle fixed seat, the trundle component include trundle, the trundle axis of rolling with And rubber sleeve, each groove centre both sides are provided with axis of rolling groove, the trundle axis of rolling is arranged on the rolling In axis groove, the trundle is rotatably fixed on the trundle axis of rolling, is rotated around the axis of rolling, the rubber Set is wrapped in the trundle outer surface.
- 2. small-sized double omni-directional wheel according to claim 1, it is characterised in that：The middle fixed seat, described first are consolidated Determine bottom cover and the second fixed bottom cover uses plastic material, be integrally formed.
- 3. small-sized double omni-directional wheel according to claim 1, it is characterised in that：The adjacent two trundles angle is 72 °, into 36 ° of interlaced arrangements in angle between two rows of trundles, it is 38mm often to arrange the circle outside diameter that the trundle is fitted to.
- 4. 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 corresponding with the middle fixed seat grooves on two sides groove and axis of rolling groove.
- 5. small-sized double omni-directional wheel according to claim 4, it is characterised in that：First fixed bottom cover, second are fixed Bottom cover is separately fixed at the middle fixed seat both sides by 5 screws.
- 6. small-sized double omni-directional wheel according to claim 1, it is characterised in that：Width between described two parallel trundles Spend for 20mm.
- 7. small-sized double omni-directional wheel according to claim 1, it is characterised in that：Between the rubber sleeve and the trundle Coordinate for transition.
- 8. small-sized double omni-directional wheel according to claim 1, it is characterised in that：Trundle and the trundle axis of rolling is Plastic material.
- 9. 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 between middle two groove of fixed seat both sides, which coordinates, to be connected Connect.
- 10. small-sized double omni-directional wheel according to claim 1, it is characterised in that：The trundle shape is arc-shaped.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721413507.5U CN207345380U (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 |
|---|---|---|---|
| CN201721413507.5U CN207345380U (en) | 2017-10-30 | 2017-10-30 | A kind of small-sized double omni-directional wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207345380U true CN207345380U (en) | 2018-05-11 |
Family
ID=62352749
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721413507.5U Active CN207345380U (en) | 2017-10-30 | 2017-10-30 | A kind of small-sized double omni-directional wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207345380U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108068539A (en) * | 2017-10-30 | 2018-05-25 | 深圳市工匠社科技有限公司 | A kind of small-sized double omni-directional wheel |
| 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 |
-
2017
- 2017-10-30 CN CN201721413507.5U patent/CN207345380U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108068539A (en) * | 2017-10-30 | 2018-05-25 | 深圳市工匠社科技有限公司 | A kind of small-sized double omni-directional wheel |
| 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 |
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