Directional wheel

A technology of omni-directional wheels and steel pipes, which is applied in the field of robots, can solve problems such as hindering the popularization and application of omni-directional mobile robot technology, affecting value, and complex design of omni-directional wheels, so as to improve the popularity of use, simplify production, and reduce vibration. Effect

Inactive Publication Date: 2006-08-16
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0004] Existing omni-directional wheels include spherical wheels, eccentric wheels, orthogonal wheels, Mecanum wheels, etc. In order to improve the performance of the wheels in motion, the design of traditional omni-directional wheels is very complicated, which affects the value of actual use and hinders Promotion and application of all-round mobile robot technology

Method used

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Embodiment Construction

[0014] The present invention will be further described below in conjunction with the accompanying drawings.

[0015] The omnidirectional wheel front view of the present invention is as follows figure 1 As shown, it includes a large wheel 1, several identical small wheels 2, steel rings 3 and steel pipe mounting parts 4, the shaft hole of the large wheel 1 is connected to the drive shaft, and several grooves are equally spaced on the outer circumference of the large wheel 1 It is used to install the small wheel. There is a semicircular groove on the end surface of the outer ring of the large wheel 1. The radius of the semicircular groove is equal to the radius of the steel ring 3. The steel ring 3 is inserted into the semicircular groove through the steel pipe mounting part 4. Fixed on the big wheel 1, a number of small wheels 2 strung on the steel ring 3 are respectively embedded in the grooves on the periphery of the big wheel 1, the axis of the small wheel 2 is perpendicular...

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Abstract

An omnibearing wheel able to move in any directions is composed of a big wheel with a semi-circular slot on its circumferential end face and several notches arranged on its circumference at intervals, a tubular ring, several fasteners for installing said tubular ring in said semi-circular slot of big wheel, and several small wheels fixed to said tubular ring and embedded in said notches. The axis of small wheel is perpendicular to that of big wheel.

Description

technical field [0001] The invention relates to an omnidirectional wheel, which is used for an omnidirectional mobile robot, and can realize translation and rotation of the robot in any direction, so that the robot has three degrees of freedom when moving on a two-dimensional plane, and its motion performance is better than that of a traditional mobile robot. It belongs to the field of robot technology. Background technique [0002] Wheeled mobile robots have been widely used in human production and life practice due to their simple control and flexible movement. For example, two-wheel differential mobile robots are the most widely used mobile mode; The restraint system adopts a special mechanism such as an omnidirectional wheel, which has 3 degrees of freedom on a 2-dimensional plane, and can perform translation and rotation in any direction at the same time, and can complete movement in any direction while maintaining the same posture , it is very suitable for working in ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60B19/00
Inventor 冷春涛曹其新王美龄刘伟豪
Owner SHANGHAI JIAO TONG UNIV
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