Multi-row type omnidirectional wheel

An omnidirectional wheel and hub technology, applied in the field of robot movement, can solve the problems of large angular gap and poor rolling continuity, and achieve the effects of reducing weight, improving structural strength and expanding bearing range
CN102700358AInactive Publication Date: 2012-10-03HANGZHOU DIANZI UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Current Assignee / Owner
HANGZHOU DIANZI UNIV
Publication Date
2012-10-03
Estimated Expiration
Not applicable Β· inactive patent

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Abstract

The invention discloses a multi-row type omnidirectional wheel. The multi-row type omnidirectional wheel comprises hubs and driven wheels, wherein the hubs are arranged in a manner of two or more rows inside and outside and are alternately staggered at an angle of 22.5 degrees to ensure that at least one small wheel of the omnidirectional wheel is in contact with the ground surface. An outer hub bracket and an inner hub bracket are directly matched and connected through a hub center. A support shaft is mounted in a U-shaped groove of each hub; each two support shafts are connected with each other to form a regular octagonal shaft chain; each support shaft is provided with a spindle body driven wheel; and the joints of the shaft chains are fixed through cover plates with barbs. Each driven wheel adopts an integral structure of vulcanizing each bearing sleeve and rubber at the outer ring of each spindle body, so that motion precision of the omnidirectional wheel is guaranteed. According to the invention, insertion type structures are designed on the inner hubs and the outer hubs, so that multi-row parallel installation can be realized, bearing capability of the omnidirectional wheel is improved efficiently. The multi-row type omnidirectional wheel, disclosed by the invention, has the advantages of overcoming the defect of an overlarge gap between adjacent small wheels of the traditional omnidirectional wheel, improving driving smoothness of driving wheels and guaranteeing vibration precision of a robot at runtime.
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Description

technical field

[0001] The invention relates to the field of robot movement, in particular to a multi-row omnidirectional wheel. Background technique

[0002] At present, most omni-directional wheels adopt the structure of evenly distributing several small wheels around a large driving wheel. The driving wheel is driven by a motor, and the small wheels can roll freely, so that the robot suffers from rolling friction when the driving wheel slides vertically. The frictional resistance is reduced and a good rolling effect is achieved. Omni-directional wheels are generally composed of two inner and outer hubs, which are staggered at a certain angle. The small wheels on different hubs are in contact with the ground in turn to maintain the stability of the rotation of the driving wheel, but usually the angular gap between adjacent small wheels is small. Large, affecting the smoothness of the driving wheel rolling. Contents of the invention

[0003] The purpose of the present i...

Claims

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