CN208682514U - A kind of robot omni-directional wheel walking structure - Google Patents
A kind of robot omni-directional wheel walking structure Download PDFInfo
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- CN208682514U CN208682514U CN201821395314.6U CN201821395314U CN208682514U CN 208682514 U CN208682514 U CN 208682514U CN 201821395314 U CN201821395314 U CN 201821395314U CN 208682514 U CN208682514 U CN 208682514U
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Abstract
The utility model provides a kind of robot omni-directional wheel walking structure comprising initiating structure and driven structure；The initiating structure includes bull wheel, and mounting portion is equipped on the outside of the bull wheel, and the mounting portion is equipped with notch；The driven structure includes multiple driven wheels, and the driven wheel includes steamboat and wheel shaft, and the steamboat is mounted on the both ends of the wheel shaft, and the notch and the wheel shaft cooperate；Robot omni-directional wheel walking structure provided by the utility model simultaneously, has the characteristics that structure is simple, at low cost, stability is high, long service life.
Description
Technical field
The utility model relates to omnidirectional wheel structure technical field more particularly to a kind of robot omni-directional wheel walking structures.
Background technique
With the development of robot technology, obtained using omni-directional moving platform as the wheeled mobile robot of representative more next
More be widely applied and, omni-directional moving platform is the chassis mobile mechanism using omni-directional wheel as driving part.Omni-directional wheel is platform
The critical component for realizing omnibearing movable, the basic principle is that driving wheel can be by several rollers on wheel edge in wheel
Free rolling is done on axis direction (or at an angle), to realize that driving wheel moves in two freedom degrees of advance and translation
Function.
Omni-directional wheel mechanism, robot on the market, which largely uses, at present tears the fixed steamboat of frame member open in the production of bull wheel robot
On product, structure is complicated, at high cost.
Utility model content
The utility model aim is to solve the problems, such as that above structure is complicated, at high cost, provides a kind of robot omni-directional wheel row
Walk structure.
A kind of robot omni-directional wheel walking structure, including initiating structure and driven structure；The initiating structure includes bull wheel,
Mounting portion is equipped on the outside of the bull wheel, the mounting portion is equipped with notch；The driven structure includes multiple driven wheels, described
Driven wheel includes steamboat and wheel shaft, and the steamboat is mounted on the both ends of the wheel shaft, and the notch and the wheel shaft cooperate.
Preferably, the notch includes card slot and card hole, and the card hole and the wheel shaft cooperate.
Preferably, the outer diameter of the wheel shaft is less than the internal diameter of the card hole.
Preferably, the driven structure includes 2 steamboats, and the steamboat is symmetrically mounted on the both ends of the wheel shaft.
Preferably, the steamboat is set as frustum cone structure.
Preferably, the mounting portion is uniformly mounted on the outside of the bull wheel.
Preferably, the mounting portion is equipped with odd number.
Preferably, the driven wheel is equipped with odd number.
Preferably, the bull wheel further includes wheel hub and spoke.
Preferably, the spoke is equipped with odd number.
Analysis is it is found that compared to the prior art the utility model, has the advantage that
One, the utility model provides a kind of robot omni-directional wheel walking structure comprising initiating structure and driven structure, it is main
Dynamic structure includes bull wheel, and fixation is uniformly equipped with mounting portion on the outside of bull wheel, is equipped with notch, card slot in the front end of mounting portion
Structure includes card hole and card slot；Driven structure includes multiple driven wheels, and each driven wheel is assembled by two steamboats and a wheel shaft
It forms, two steamboats are symmetrically mounted on the both ends of wheel shaft, by the card hole of wheel shaft indentation card slot bottom end, block when bull wheel stress drives
When wheel shaft in hole is rotated, driven wheel meeting stress carries out any direction rotation, simplifies structure, is easily installed, reduces
Cost.
Two, the utility model provides a kind of robot omni-directional wheel walking structure, is easy to implement Omnidirectional rotation, and driven wheel is not easy
It is detached from, safety is secure.
Three, the utility model provides a kind of robot omni-directional wheel walking structure, and driven wheel, mounting portion, the number of spoke are equal
For odd number, 5 driven wheels form an annular in periphery, and stability is high.
Four, the utility model provides a kind of robot omni-directional wheel walking structure, wears small, firmly small, long service life.
Detailed description of the invention
Fig. 1 is the overlooking structure diagram of the utility model robot omni-directional wheel walking structure；
Fig. 2 is the present invention looks up structural representation of the utility model robot omni-directional wheel walking structure；
Fig. 3 is the oblique view of structural diagram of the utility model robot omni-directional wheel walking structure；
Fig. 4 is the left view structural representation of the utility model robot omni-directional wheel walking structure；
Fig. 5 is the strabismus schematic diagram of the initiating structure of the utility model robot omni-directional wheel walking structure；
Fig. 6 is the schematic top plan view of the initiating structure of the utility model robot omni-directional wheel walking structure；
Fig. 7 is the left view schematic diagram of the initiating structure of the utility model robot omni-directional wheel walking structure
Fig. 8 is the schematic top plan view of the driven structure of the utility model robot omni-directional wheel walking structure；
Fig. 9 is the left view schematic diagram of the driven structure of the utility model robot omni-directional wheel walking structure；
In figure: 1- driven structure；11- steamboat；12- wheel shaft；2- initiating structure；21- card slot；22- card hole.
Specific embodiment
The technical solution of the utility model is further elaborated below with reference to examples and drawings.
Embodiment 1
As shown in figs 1-9, the utility model provides a kind of robot omni-directional wheel walking structure and is convenient for simplify structure
Installation reduces cost, and the application includes initiating structure 2 and driven structure 1, and initiating structure 2 includes bull wheel, fixed on the outside of bull wheel
Mounting portion uniformly is installed, is equipped with 21 structure of card slot in the front end of mounting portion, 21 structure of card slot includes card hole 22 and card slot 21；From
Dynamic structure 1 includes multiple driven wheels, and each driven wheel is assembled by two steamboats 11 and a wheel shaft 12, and two steamboats 11 are right
Claim the both ends for being mounted on wheel shaft 12, increase the stability of the application structure, wheel shaft 12 is pressed into the card hole 22 of 21 bottom end of card slot
Interior, when bull wheel stress drives the wheel shaft 12 in card hole 22 to be rotated, driven wheel meeting stress carries out any direction rotation, bull wheel
It further include wheel hub and spoke, initiating structure 2 is mounted in robot by wheel hub, and then realizes the Omni-mobile of robot.
Embodiment 2
For the ease of realizing the Omnidirectional rotation of the application driven wheel, the outer diameter of wheel shaft 12 is set as 3.0cm, card hole 22 it is interior
Diameter is set as 3.5cm, and the internal diameter of card hole 22 is suitably larger than the outer diameter of wheel shaft 12, prevents because card hole 22 is excessive, initiating structure 2 is not easy
It drives wheel shaft 12 to be rotated, prevents because card hole 22 is too small, card hole 22 blocks wheel shaft 12, cannot achieve omnidirectional's rotation of driven wheel
Turn；Wheel shaft 12 is detached from card slot 21 in order to prevent, increases the safety used, and the internal diameter of card slot 21 is less than the internal diameter of card hole 22, slightly
Greater than the outer diameter of wheel shaft 12.
Embodiment 3
In order to guarantee the stability of the application in the process of moving, the number of driven wheel is 5, and the number of mounting portion is
5, the number of spoke is 5, driven wheel, mounting portion, spoke number be odd number, stability is substantially increased, when will be from
When driving wheel is all mounted on initiating structure 2 by wheel shaft 12,5 driven wheels form an annular in periphery, also increase this
The stability of application.
Embodiment 4
In order to reduce the abrasion to steamboat 11, when Omnidirectional rotation, which is reduced, exerts oneself, and prolongs the service life, and the application is by steamboat 11
It is set as frustum cone structure.
The sequencing of above embodiments is not only for ease of description, represent the advantages or disadvantages of the embodiments.
Analysis has the advantage that it is found that this reality is novel compared to the prior art
The utility model provides a kind of robot omni-directional wheel walking structure, have structure is simple, at low cost, stability is high,
The advantages of long service life.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that:
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement；And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (10)
1. a kind of robot omni-directional wheel walking structure, which is characterized in that including initiating structure and driven structure；The initiating structure
Including bull wheel, mounting portion is equipped on the outside of the bull wheel, the mounting portion is equipped with notch；The driven structure include it is multiple from
Driving wheel, the driven wheel include steamboat and wheel shaft, and the steamboat is mounted on the both ends of the wheel shaft, the notch with it is described
Wheel shaft cooperation.
2. robot omni-directional wheel walking structure as described in claim 1, which is characterized in that the notch include card slot and
Card hole, the card hole and the wheel shaft cooperate.
3. robot omni-directional wheel walking structure as claimed in claim 2, which is characterized in that the outer diameter of the wheel shaft is less than described
The internal diameter of card hole.
4. the robot omni-directional wheel walking structure as described in one of claim 1-3, which is characterized in that the driven wheel includes 2
A steamboat, the steamboat are symmetrically mounted on the both ends of the wheel shaft.
5. robot omni-directional wheel walking structure as claimed in claim 4, which is characterized in that the steamboat is set as rotary table knot
Structure.
6. robot omni-directional wheel walking structure as claimed in claim 5, which is characterized in that the mounting portion is uniformly mounted on institute
It states on the outside of bull wheel.
7. robot omni-directional wheel walking structure as claimed in claim 6, which is characterized in that the mounting portion is equipped with odd number.
8. robot omni-directional wheel walking structure as claimed in claim 7, which is characterized in that the driven wheel is equipped with odd number.
9. robot omni-directional wheel walking structure as claimed in claim 8, which is characterized in that the bull wheel further includes wheel hub and wheel
Spoke.
10. robot omni-directional wheel walking structure as claimed in claim 9, which is characterized in that the spoke is equipped with odd number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821395314.6U CN208682514U (en) | 2018-08-28 | 2018-08-28 | A kind of robot omni-directional wheel walking structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821395314.6U CN208682514U (en) | 2018-08-28 | 2018-08-28 | A kind of robot omni-directional wheel walking structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208682514U true CN208682514U (en) | 2019-04-02 |
Family
ID=65887391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821395314.6U Active CN208682514U (en) | 2018-08-28 | 2018-08-28 | A kind of robot omni-directional wheel walking structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208682514U (en) |
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2018
- 2018-08-28 CN CN201821395314.6U patent/CN208682514U/en active Active
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