Monolithic omnidirectional wheel

Abstract

The utility model relates to the field of wheels, in particular to a single-piece type omnidirectional wheel which comprises a wheel carrier. A plurality of rolling body mounting frames are arranged on the outer side of the wheel frame in a circular array mode, a first rolling body is arranged in each rolling body mounting frame, a first rotating rod is arranged in the middle of each first rolling body, and the two ends of each first rotating rod are connected with the corresponding rolling body mounting frame; a rolling body mounting groove is formed between every two adjacent rolling body mounting frames in a matched mode, a second rotating rod is arranged in each rolling body mounting groove, and a second rolling body is arranged on each second rotating rod. The universal wheel has the advantages that the first rolling bodies and the second rolling bodies are arranged on the outer side of the wheel carrier and are arranged in a staggered mode, a single-piece structure is achieved, cost is reduced by half compared with a traditional universal wheel, meanwhile, universal rotation can be achieved, and the universal wheel is simple in structure and convenient to use. Therefore, the practicability of the omnidirectional wheel is effectively improved.

Description

Technical Field

[0001] The utility model relates to the field of wheels, in particular to a single-piece omnidirectional wheel. Background Art

[0002] The omnidirectional wheel technology can realize the movement of forward, horizontal, oblique, rotating and their combination. The omnidirectional wheel for robot walking developed on this basis is also more common.

[0003] However, the existing omnidirectional wheel structure is more complicated than the traditional robot walking wheel structure; and the traditional omnidirectional wheel structure is also relatively expensive, which makes the overall cost higher and reduces practicality. Utility Model Content

[0004] In order to overcome the above-mentioned shortcomings, the utility model provides a technical solution that can solve the above-mentioned problems.

[0005] A single-piece omnidirectional wheel comprises a wheel frame;

[0006] A plurality of rolling element mounting frames are arranged in a circular array outside the wheel frame, a first rolling element is arranged inside each rolling element mounting frame, a first rotating rod is arranged in the middle of the first rolling element, and both ends of the first rotating rod are connected to the rolling element mounting frames respectively;

[0007] Each two adjacent rolling body mounting frames cooperate to form a rolling body mounting groove, a second rotating rod is arranged inside the rolling body mounting groove, a second rolling body is arranged on the second rotating rod, and the outer sides of the first rolling body and the second rolling body cooperate to form a circular structure.

[0008] As a further solution of the utility model: the wheel frame includes a connecting shaft, a mounting plate is arranged on the outer side of one end of the connecting shaft, a mounting groove is arranged on the inner side of each rolling body mounting frame and they cooperate with each other to form a circular structure, the connecting shaft is arranged in the middle of the rolling body mounting frame and the mounting plate is arranged inside the mounting groove, a fixing plate is arranged on the upper end of the mounting plate, a hexagon socket screw is arranged on the upper end of the fixing plate, and the hexagon socket screw fixes the mounting plate, the rolling body mounting frame and the fixing plate together.

[0009] As a further solution of the utility model: an axial hole for inserting the robot shaft body is provided in the middle of the connecting shaft, and a limiting groove is provided on the hole wall of the axial hole.

[0010] As a further solution of the utility model: bearings are respectively arranged at the left and right ends of the first rotating rod and the second rotating rod, and the outer rings of the bearings are respectively connected to the first roller body and the second rolling body.

[0011] As a further solution of the utility model: accommodating grooves are respectively provided on the left and right sides of the inner side of the second rolling body.

[0012] Compared with the prior art, the beneficial effect of the utility model is that a first rolling body and a second rolling body are arranged on the outer side of the wheel frame, and the first rolling body and the second rolling body are arranged alternately with each other to achieve a single-piece structure, and the cost is reduced by half compared with the traditional omnidirectional wheel, and omnidirectional rotation can also be achieved, thereby effectively improving the practicality of the omnidirectional wheel.

[0013] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0015] Figure 1 It is a structural schematic diagram of the utility model.

[0016] Figure 2 It is a schematic diagram of the structure of the rolling element mounting frame.

[0017] Figure 3 It is a schematic diagram of the structure of the second rolling element.

[0018] As shown in the figure: 1. wheel frame; 2. rolling body mounting frame; 3. first rolling body; 4. first rotating rod; 5. rolling body mounting groove; 6. second rotating rod; 7. second rolling body; 8. connecting shaft; 9. mounting plate; 10. mounting groove; 11. fixing plate; 12. hexagon socket screw; 13. shaft hole; 14. limiting groove; 15. bearing; 16. receiving groove. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0021] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0022] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] See also Figure 1-3 , a single-piece omnidirectional wheel, comprising a wheel frame 1;

[0024] A plurality of rolling element mounting frames 2 are arranged in a circular array outside the wheel frame 1, a first rolling element 3 is arranged inside each rolling element mounting frame 2, a first rotating rod 4 is arranged in the middle of the first rolling element 3, and both ends of the first rotating rod 4 are connected to the rolling element mounting frame 2 respectively;

[0025] Each two adjacent rolling body mounting frames 2 cooperate with each other to form a rolling body mounting groove 5, and a second rotating rod 6 is provided inside the rolling body mounting groove 5. The second rotating rod 6 is provided with a second rolling body 7. The outer sides of the first rolling body 3 and the second rolling body 7 cooperate with each other to form a circular structure.

[0026] When in use, the wheel frame 1 and the robot shaft are connected to each other, and the first rolling body 3 and the first rotating rod 4 are used to cooperate to realize the forward and backward rotation on the rolling body mounting frame 2 outside the wheel frame 1. At the same time, a rolling body mounting groove 5 is provided between adjacent rolling body mounting frames 2, and a second rolling body 7 is provided on the inner side of the rolling body mounting groove 5. The forward and backward rotation is realized by the second rotating rod 6. At the same time, the first rolling body 3 and the second rolling body 7 cooperate with each other to form a circular structure, so that the wheel can realize left and right rotation, and then realize omnidirectional rotation.

[0027] As a further solution of the utility model: the wheel frame 1 includes a connecting shaft 8, a mounting plate 9 is arranged on the outer side of one end of the connecting shaft 8, and a mounting groove 10 is respectively arranged on the inner side of each rolling body mounting frame 2 and cooperates with each other to form a circular structure, the connecting shaft 8 is arranged in the middle of the rolling body mounting frame 2 and the mounting plate 9 is arranged inside the mounting groove 10, a fixing plate 11 is arranged on the upper end of the mounting plate 9, and a hexagon socket screw 12 is arranged on the upper end of the fixing plate 11, and the hexagon socket screw 12 fixes the mounting plate 9, the rolling body mounting frame 2, and the fixing plate 11 together.

[0028] The hexagon socket screws 12 can be used to realize the detachable installation between the connecting shaft 8, the rolling element mounting frame 2, and the fixing plate 11, so as to facilitate the maintenance and care of the omnidirectional wheel.

[0029] As a further solution of the utility model: an axial hole 13 for inserting the robot shaft body is opened in the middle of the connecting shaft 8, and a limiting groove 14 is opened on the hole wall of the axial hole 13.

[0030] It can be easily connected to the robot shaft and fixed in position.

[0031] As a further solution of the present invention: bearings 15 are respectively provided at the left and right ends of the first rotating rod 4 and the second rotating rod 6 , and the outer rings of the bearings 15 are respectively connected to the first roller body 3 and the second rolling body 7 .

[0032] It is possible to facilitate the first rolling body 3 and the second rolling body 7 to rotate on the first rotating rod 4 and the second rotating rod 6 respectively.

[0033] As a further solution of the present invention: accommodating grooves 16 are respectively provided on the left and right sides of the inner side of the second rolling body 7 .

[0034] This can facilitate the rotation of the first rolling body 3 and avoid collision.

[0035] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "including a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0036] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A single-piece omnidirectional wheel, characterized in that: Including wheel frame; A plurality of rolling element mounting frames are arranged in a circular array outside the wheel frame, a first rolling element is arranged inside each rolling element mounting frame, a first rotating rod is arranged in the middle of the first rolling element, and both ends of the first rotating rod are connected to the rolling element mounting frames respectively; Each two adjacent rolling body mounting frames cooperate to form a rolling body mounting groove, a second rotating rod is arranged inside the rolling body mounting groove, a second rolling body is arranged on the second rotating rod, and the outer sides of the first rolling body and the second rolling body cooperate to form a circular structure.

2. A single-piece omnidirectional wheel according to claim 1, characterized in that: The wheel frame includes a connecting shaft, a mounting plate is arranged on the outer side of one end of the connecting shaft, mounting grooves are arranged on the inner side of each rolling body mounting frame and cooperate with each other to form a circular structure, the connecting shaft is arranged in the middle of the rolling body mounting frame and the mounting plate is arranged inside the mounting groove, a fixing plate is arranged on the upper end of the mounting plate, and a hexagon socket screw is arranged on the upper end of the fixing plate, and the hexagon socket screw fixes the mounting plate, the rolling body mounting frame and the fixing plate together.

3. A single-piece omnidirectional wheel according to claim 2, characterized in that: An axis hole for plugging in the robot axis body is provided in the middle of the connecting axis, and a limiting groove is provided on the hole wall of the axis hole.

4. The one-piece omnidirectional wheel according to claim 1, characterized in that: Bearings are respectively arranged at the left and right ends of the first rotating rod and the second rotating rod, and the outer rings of the bearings are respectively connected to the first roller body and the second rolling body.

5. The one-piece omnidirectional wheel according to claim 1, characterized in that: The left and right sides of the inner side of the second rolling body are respectively provided with accommodating grooves.

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