Omni wheel

Abstract

The invention provides an omni wheel. The omni wheel comprises first hubs, second hubs, a plurality of mounting teeth, driven wheels, a motor, inner stators, windings and an encoder, wherein the first hubs and the second hubs are arranged at intervals in a parallel manner; fixing holes are respectively formed in each of the first hubs and each of the second hubs; the mounting teeth are arranged on the outer edges of the first hubs and the second hubs; a mounting groove is formed between every two adjacent mounting teeth; each driven wheel is arranged in the corresponding mounting groove; the normal line of the cross section of each driven wheel is perpendicular to that of the plane on which the first hubs and the second hubs are arranged; the motor is inserted into the fixing holes through outer rotors, and is connected to the outer sides of the first hubs and the second hubs; the inner stators are arranged in the motor, and each of the inner stators is connected with the corresponding first hub and the corresponding second hub; each of the windings is arranged on the corresponding inner stator; the encoder is arranged on the inner stators. Compared with the prior art, the omni wheel disclosed by the invention has the following advantages of being low in occupied space, convenient to mount and simple to maintain, a high space utilization ratio can be obtained, the transmission efficiency is improved, and high-precision control on the omni wheel is realized.

Description

technical field [0001] The invention relates to the mechanical field, in particular to an omnidirectional wheel. Background technique [0002] Omni-directional wheels are wheels that can be used to build omnidirectional mobile platforms. It is characterized in that small wheels forming a certain angle with the big wheel are distributed around the big wheel. The bull wheel can be used as a driving wheel or a driven wheel, and the small wheel is used as a driven wheel. If the big wheel rotates as the driving wheel, the omnidirectional wheel will only provide the frame with an upward force along the small wheel axis, and slide freely in the small wheel radial direction. The existing omnidirectional wheel is generally an independent wheel. When using it, it needs to be used together with many components such as motor base, motor, gearbox, bearing, coupling, encoder, etc. Since it involves multi-level connections, The actual control accuracy is poor. Contents of the inventio...

AI Technical Summary

Problems solved by technology

The existing omnidirectional wheel is generally an independent wheel. When using it, it needs to be used together with many components such as motor base, motor, gearbox, bearing, coupling, encoder, etc. Since it involves multi-level connections, The actual control accuracy is poor

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