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Omnidirectional wheel structure

An omnidirectional wheel and hub technology, which is applied in the directions of wheels, transportation and packaging, and vehicle parts, can solve the problems of robot movement direction deviation, large carrying capacity, and spatial layout effects, and achieve the effect of increasing overlap and improving accuracy

Inactive Publication Date: 2009-04-29
XI AN JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

One is a complementary structure. This structure operates stably. There is always a small wheel on the edge that can land on the ground. The width of the wheel is wider and the load-carrying capacity is strong, but it will have a certain impact on the spatial layout. In addition, the landing sites will be staggered inside and outside, so that It will have a nonlinear effect on the rotation of the robot, causing the robot to deviate in the direction of motion
The other is a non-complementary structure, where more small wheels are used on the outer edge of the big wheel. The width of the wheel in this structure can be relatively small, and the landing point is always on a circle, which will not bring nonlinear effects on the robot. However, due to There is a gap between the two small wheels, so the diameter of the wheel will change during the movement, the up and down vibration of the robot will be relatively large, and its carrying capacity is not as large as the previous structure

Method used

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Embodiment Construction

[0020] Shown in Fig. 1 with reference to, omnidirectional wheel is by outer hub support 1, inner hub support 2, spacer 3, spindle small wheel 4, nut 5 five major parts form. The outer hub bracket 1 and the inner hub bracket 2 are staggered at an angle of 45 degrees, with spacers 3 sandwiched between them, and connected by hexagon socket screws 6 (4 in total). Outer hub bracket 1, inner hub bracket 2 edges have U-shaped small grooves, and spindle small wheel 4 (8 in total) is fixed on the inner and outer hub brackets by nuts 5 (16 in total). When the omnidirectional wheel rotates in the radial direction, the spindles of the small wheels touch the ground alternately; when moving axially, the spindles of the small wheels roll laterally, always keeping rolling friction with the ground.

[0021] refer to figure 2 As shown, the flow chart of omnidirectional wheel structure design.

[0022] First determine the size of the omnidirectional wheel according to the design requirements, ...

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Abstract

The invention discloses a structural design method for an omni wheel and belongs to the mobile robot control field. As a hub of the omni wheel adopts an arrangement structure with two layers of an inner layer and an outer layer which are alternatively staggered at 45 degree angle, so the installation difficulty brought by the hub integration is avoided. A cushion block is clamped between an outer hub support and an inner hub support which are respectively connected with a spindle annulet. The invention causes the whole hub support to have better flexibility and easy installation. As a driven wheel uses an integrated structure of a support sleeve and the rubber vulcanization, the movement precision of the omni wheel is ensured. The invented omni wheel moves smoothly and has the advantages of compact structure and strong environmental adaptability.

Description

technical field [0001] The invention relates to the field of mobile robot control, in particular to an omnidirectional wheel structure. Background technique [0002] The key to the omnidirectional movement ability of an omnidirectional mobile robot lies in its omnidirectional wheel train structure. The basic structure of the omnidirectional wheel system is that the edge of the big wheel is covered with small lateral wheels, so that the robot always maintains rolling friction with the ground when moving laterally, greatly reducing the movement resistance. At present, there are mainly two types of omnidirectional wheel structures. One is a complementary structure. This structure operates stably. There is always a small wheel on the edge that can land on the ground. The width of the wheel is wider and the load-carrying capacity is strong, but it will have a certain impact on the spatial layout. In addition, the landing sites will be staggered inside and outside, so that The r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60B19/00
Inventor 冯祖仁苏承平梁凯
Owner XI AN JIAOTONG UNIV
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