Oblique sphere type all-directional mobile wheel and uses thereof

Abstract

The invention relates to an oblique sphere type all-directional moving wheel and the applications thereof, aiming at solving the defects of comparatively complicated structure, bad obstacle-climbing capacity, low carrying capability, low flexibility and low stability of a plurality of universal wheels in the prior art; the moving wheel is composed of a ball wheel a and a ball wheel b; the ball wheel a and the ball wheel b are fixed on a driving shaft respectively by a driven shaft a and a driven shaft b; the two driven shafts constitute a skew angle in 45 degrees on the vertical surface of the driving shaft to form two skew spherical split-body structures. The applications of the oblique sphere type all-directional moving wheel mainly are: applied to a robot,, an all-directional wheel chair, and assembly and transporting facilities in an automatic assembly line as the universal moving wheels; and the all-directional moving wheel has the advantages of simple structure and flexible moving. Owing to the two skew spherical split-body structures, a continuous contact with a floor is realized; and the driving and passive movements of a wheel body are also realized at the same time. The structure is suitable for messier occasions and free of wheel interference and has strong carrying capability, thereby being easy to control and especially suitable to be used as the universal wheel of the moving platform of a robot.

Description

Technical field: [0001] The invention relates to a movable wheel and its application, in particular to an oblique ball type omnidirectional movable wheel and its application. The oblique ball type omnidirectional moving wheel is mainly used as the universal moving wheel of robots, service robots and similar applications. Background technique: [0002] At present, omnidirectional mobile robots are roughly divided into two types: one uses a special wheel structure, and the other uses a traditional wheel structure. The design concept of most special wheel structures is to have constraints in one direction of the wheel to obtain driving force, and remove constraints in the other direction to achieve passive movement. As a classic design of a special wheel, a series of passive wheels are installed on the circumference of a traditional wheel structure. The rotation axis of these passive rollers is vertical or inclined to the rotation axis of the traditional wheel. For example: Mecanum ...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the above-mentioned deficiencies such as the existence of various degrees of existing universal wheels with complex structures, poor obstacle-surmounting ability, low carrying capacity, poor flexibility and stability, etc., a kind of oblique ball type omni-directional mobile wheel is provided. , which consists of ball wheel a (8) and ball wheel b (9); said ball wheel a (8) and ball wheel b (9) are respectively fixed on the On the driving shaft (7), the two passive shafts form a 45° oblique angle on the vertical plane of the driving shaft (7), forming two oblique spherical split structures

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