Unicycle mechanism with full range of motion

Abstract

The invention discloses a unicycle mechanism that can move in all directions, comprising omnidirectional wheels, the omnidirectional wheels include left and right hubs, each hub is provided with a joint wheel, and the left and right wheel discs fixed to the left and right hubs are installed. In the lower fork of the wheel frame; the outer transmission assembly of the joint wheel is arranged in the lower fork of the wheel frame above the left and right hubs, including the friction drive wheel installed on the upper wheel fork, and the friction joint wheel is evenly distributed on the circumference of the wheel body. The upper wheel fork and the lower fork of the wheel frame are connected by an elastic press-fit structure to press the friction joint wheel on the joint wheel of the left or right hub. The inner transmission assembly of the joint wheel includes the left and right wheels. 1. The right large helical gear, the large helical gears mesh with the small helical gears that are evenly distributed on the circumference and are aligned with each pitch wheel, and each small helical gear is connected with the alignment pitch wheels by a transmission belt. The velocity vector of the omnidirectional wheel in the lateral movement of the present invention is synthesized with the velocity vector of the front and rear movement, and can be transformed into a vector capable of making the unicycle mechanism move in all directions.

Description

technical field [0001] The invention relates to a road running mechanism, in particular to a wheelbarrow mechanism capable of omnidirectional movement. Background technique [0002] Wheeled walking mechanism is a widely used road walking mechanism, which can be applied to transportation tools such as bicycles and automobiles. As one of the wheeled walking mechanisms, the unicycle has the characteristics of a single wheel on the ground, static instability and dynamic stability. It is an ideal transportation tool that is light, compact, environmentally friendly and energy-saving. [0003] Most of the existing unicycle mechanisms are designed based on the principle of inverted swing. The unicycle mechanism can achieve forward and backward movement, but it cannot achieve lateral lateral movement, which limits the application of the unicycle mechanism. In addition, in the traditional unicycle design Among them, in order to achieve lateral stability, the solution usually needs to...

AI Technical Summary

Problems solved by technology

[0003] Most of the existing unicycle mechanisms are designed based on the principle of inverted swing. The unicycle mechanism can achieve forward and backward movement, but it cannot achieve lateral lateral movement, which limits the application of the unicycle mechanism. In addition, in the traditional unicycle design Among them, in order to achieve lateral stability, the solution usually needs to add an additional counterweight adjustment mechanism such as a swing plate or a swing rod, and the design result will make the system bulky, which is not good for humans to ride or carry

[0004] For example, the patent application No. 201310648831.5 "Unicycle robot that can realize self-balancing" has a swing rod that needs to be turned around. The structure of this kind of unicycle mechanism is complex, the volume space occupied by the horizontal direction is large, and it lacks the ability to move laterally , Turning and avoiding obstacles is not flexible enough

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