Single-layer omnidirectional wheel with embedded driver and ball balance robot

Abstract

The utility model provides a single-layer omni-directional wheel with an embedded driver and a ball balance robot, and relates to the technical field of omni-directional wheels, large roller assemblies are evenly installed on a fixing plate assembly at intervals in the circumferential direction of the fixing plate assembly, and small roller assemblies are arranged between any two adjacent large roller assemblies. The connecting line of the outer contours of the large roller assemblies and the outer contours of the small roller assemblies is round, the driving assembly is installed in the containing space defined by the inner side faces of the large roller assemblies and the inner side faces of the small roller assemblies, and on the premise that it is guaranteed that the outer contours are close to the round as much as possible, the requirement for the small structural size is met; the technical problems that in the prior art, the difference between the outer contour of an omnidirectional wheel and a circle is large, and a driver or a speed reducer cannot be embedded in the omnidirectional wheel are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of omnidirectional wheels, in particular to a single-layer omnidirectional wheel with an embedded driver and a ball balancing robot. Background Art

[0002] An omnidirectional wheel is a specially designed wheel that can move freely in all directions, including linear movement and turning. This movement is mainly achieved through rolling rather than sliding, thus greatly reducing friction. The design feature of the omnidirectional wheel is that a certain number of small wheels or ball structures that can roll laterally are evenly arranged on the circumference of the large wheel, which makes the omnidirectional wheel highly flexible and maneuverable. The wheel can rotate flexibly in the rolling direction and can provide friction in its rotating direction, so that the robot composed of it can move freely in all directions, greatly improving the flexibility and maneuverability of the equipment.

[0003] Most current omnidirectional wheels are double-layered because the rollers of a single-layer omnidirectional wheel with an embedded driver are discontinuous, with a large spacing, and the shape of the rollers is usually cylindrical. Therefore, its outer contour can be regarded as a polygon rather than a strictly circular shape. This design is prone to generating large vibrations during rolling, and the wheel occupies a relatively large size in the middle part, making it impossible to embed the driver or reducer therein. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a single-layer omnidirectional wheel with an embedded driver and a ball balancing robot, so as to alleviate the technical problem that there is a large gap between the outer contour of the omnidirectional wheel in the prior art and a circle, and it is impossible to embed the driver or reducer therein.

[0005] In a first aspect, the single-layer omnidirectional wheel with an embedded driver provided by the utility model includes: a large roller assembly, a small roller assembly, a fixing plate assembly, and a driving assembly;

[0006] The large roller assemblies are evenly spaced along the circumferential direction of the fixing plate assembly, and a plurality of the large roller assemblies are rotatably mounted on the fixing plate assembly;

[0007] A small roller assembly is arranged between any two adjacent large roller assemblies, and a plurality of the small roller assemblies are rotatably mounted on the fixing plate assembly;

[0008] The connection lines of the outer contours of the plurality of large roller assemblies and the outer contours of the plurality of small roller assemblies form a circle, and an accommodating space is formed by enclosing the inner side surfaces of the plurality of large roller assemblies and the inner side surfaces of the plurality of small roller assemblies;

[0009] The driving assembly is installed in the accommodating space.

[0010] In an optional embodiment,

[0011] The fixed plate assembly includes a fixed plate main body and a connecting member;

[0012] A plurality of the connecting members are provided, and the plurality of connecting members are all installed on the fixed plate main body, and the plurality of connecting members are evenly spaced along the outer periphery of the fixed plate main body;

[0013] The connecting member is formed with an installation groove, and the connecting member is used to fix the small roller assembly in the installation groove;

[0014] The large roller assembly is arranged between any two adjacent connecting members.

[0015] In an alternative embodiment,

[0016] The small roller assembly includes a small roller main body, a small roller rotating shaft and a small roller bearing;

[0017] The small roller rotating shaft is arranged in the installation groove, the small roller bearing is rotatably connected to the small roller rotating shaft, and the small roller main body is connected to the small roller bearing so that the small roller main body can rotate around the small roller rotating shaft.

[0018] In an alternative embodiment,

[0019] The large roller assembly includes a large roller main body, a large roller rotating shaft and a large roller bearing;

[0020] The large roller rotating shaft is located between two adjacent connecting members, the large roller bearing is rotatably connected to the large roller rotating shaft, and the large roller main body is connected to the large roller bearing so that the large roller main body can rotate around the large roller rotating shaft.

[0021] In an alternative embodiment,

[0022] The connecting member includes a connecting plate;

[0023] The connecting plate is connected to the fixed plate main body;

[0024] The middle part of the outer side surface of the connecting plate away from the fixed plate main body is recessed inward to form the installation groove.

[0025] In an alternative embodiment,

[0026] Two inner clamping grooves are oppositely arranged on the groove wall of the installation groove, and two ends of the small roller rotating shaft respectively extend into the two inner clamping grooves;

[0027] An inner gasket is arranged on the small roller rotating shaft, and the inner gasket is located between the small roller bearing and the groove wall of the installation groove.

[0028] In an alternative embodiment,

[0029] Two outer card slots are oppositely arranged on the outer side surface of the connecting plate, and both ends of the large roller rotating shaft extend into the outer card slots on two adjacent connecting plates respectively;

[0030] An outer gasket is arranged on the large roller rotating shaft, and the outer gasket is located between the large roller bearing and the outer side surface of the connecting plate.

[0031] In an alternative embodiment,

[0032] The connecting member further includes a first clamping plate and a second clamping plate;

[0033] The first clamping plate and the second clamping plate are respectively connected to two sides of the connecting plate, and the first clamping plate and the second clamping plate seal the inner card slot and the outer card slot, and are used to prevent the large roller rotating shaft from disengaging from the outer card slot and prevent the small roller rotating shaft from disengaging from the inner card slot.

[0034] In an alternative embodiment,

[0035] The driving assembly includes a driving motor and a speed reducer;

[0036] One side of the connecting member away from the fixed plate body is connected with a mounting plate, the speed reducer is mounted on the mounting plate, and the driving motor is connected with the speed reducer.

[0037] In a second aspect, the ball balancing robot provided by the present invention includes the single-layer omnidirectional wheel with the embedded driver.

[0038] For the single-layer omnidirectional wheel with the embedded driver provided by the present invention, by evenly spacing and installing the large roller assemblies along the circumferential direction of the fixed plate assembly, and arranging small roller assemblies between any two adjacent large roller assemblies, the connection lines of the outer contours of the multiple large roller assemblies and the outer contours of the multiple small roller assemblies are circular, and the driving assembly is installed in the accommodation space formed by enclosing the inner side surfaces of the multiple large roller assemblies and the inner side surfaces of the multiple small roller assemblies. On the premise of ensuring that the outer contour is as close to a circle as possible, the requirement of a small structural size is ensured, and the technical problem in the prior art that the gap between the outer contour of the omnidirectional wheel and the circle is large and the driver or the reducer cannot be embedded therein is alleviated. Description of the Drawings

[0039] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0040] Figure 1 Schematic diagram of the overall structure of the single-layer omnidirectional wheel with an embedded driver provided by an embodiment of the present invention;

[0041] Figure 2 Schematic diagram of the structure of the single-layer omnidirectional wheel with an embedded driver from another perspective provided by an embodiment of the present invention;

[0042] Figure 3 Cross-sectional view of the overall structure of the single-layer omnidirectional wheel with an embedded driver provided by an embodiment of the present invention;

[0043] Figure 4 Schematic diagram of the installation structure of the connecting member and the fixing plate main body in the single-layer omnidirectional wheel with an embedded driver provided by an embodiment of the present invention;

[0044] Figure 5 Schematic diagram of the structure of the connecting plate in the single-layer omnidirectional wheel with an embedded driver provided by an embodiment of the present invention.

[0045] Reference numerals: 100 - large roller assembly; 110 - large roller main body; 120 - large roller rotating shaft; 130 - large roller bearing; 140 - outer gasket; 200 - small roller assembly; 210 - small roller main body; 220 - small roller rotating shaft; 230 - small roller bearing; 240 - inner gasket; 300 - fixing plate assembly; 310 - fixing plate main body; 320 - connecting member; 321 - connecting plate; 3211 - installation groove; 3212 - inner clamping groove; 3213 - outer clamping groove; 322 - first clamping plate; 323 - second clamping plate; 330 - installation plate; 400 - drive assembly; 410 - drive motor; 420 - speed reducer. Detailed embodiments

[0046] The following will clearly and completely describe the technical solutions of the present invention with reference to the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0047] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and should not be construed as indicating or implying relative importance.

[0048] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "coupled" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0049] The following will describe in detail the specific embodiments of the present utility model with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustration and explanation of the present utility model, and are not used to limit the present utility model.

[0050] As Figure 1 shown, the single-layer omnidirectional wheel with an embedded driver provided in this embodiment includes: a large roller assembly 100, a small roller assembly 200, a fixing plate assembly 300, and a driving assembly 400; the large roller assemblies 100 are evenly spaced along the circumferential direction of the fixing plate assembly 300, and a plurality of large roller assemblies 100 are rotatably installed on the fixing plate assembly 300; a small roller assembly 200 is provided between any two adjacent large roller assemblies 100, and a plurality of small roller assemblies 200 are rotatably installed on the fixing plate assembly 300; the connecting lines of the outer contours of the plurality of large roller assemblies 100 and the outer contours of the plurality of small roller assemblies 200 are circular, and the inner sides of the plurality of large roller assemblies 100 and the inner sides of the plurality of small roller assemblies 200 enclose a receiving space; the driving assembly 400 is installed in the receiving space.

[0051] The single-layer omnidirectional wheel with an embedded driver provided by the utility model evenly installs the large roller assemblies 100 at equal intervals along the circumferential direction of the fixed plate assembly 300, and a small roller assembly 200 is arranged between any two adjacent large roller assemblies 100. The connection lines of the outer contours of the multiple large roller assemblies 100 and the outer contours of the multiple small roller assemblies 200 are circular. The driving assembly 400 is installed in the accommodating space formed by enclosing the inner sides of the multiple large roller assemblies 100 and the inner sides of the multiple small roller assemblies 200. On the premise of ensuring that the outer contour is as close to a circle as possible, the requirement of a smaller structural size is ensured, and the technical problem in the prior art that the gap between the outer contour of the omnidirectional wheel and the circle is large and the driver or reducer cannot be embedded therein is alleviated.

[0052] Regarding the structure and shape of the fixed plate assembly 300, specifically:

[0053] As Figure 2 shown, the fixed plate assembly 300 includes a fixed plate main body 310 and connecting members 320; there are multiple connecting members 320, and the multiple connecting members 320 are all installed on the fixed plate main body 310. The multiple connecting members 320 are evenly arranged at equal intervals along the outer periphery of the fixed plate main body 310. The specific number of the connecting members 320 is determined according to the size of the omnidirectional wheel. For example, six connecting members 320 are provided, and the six connecting members 320 are all connected to the fixed plate, and the six connecting members 320 are arranged in a regular hexagon; the connecting member 320 is formed with an installation groove 3211, and the connecting member 320 is used to fix the small roller assembly 200 in the installation groove 3211; a large roller assembly 100 is arranged between any two adjacent connecting members 320.

[0054] It should be noted that the radius dimension of the large roller assembly 100 is larger than the radius dimension of the small roller assembly 200. Therefore, the groove depth dimension of the installation groove 3211 is smaller than the groove depth dimension at the position between any two adjacent connecting members 320, ensuring that the outer side of the large roller assembly 100 away from the center of the fixed plate main body 310 and the outer side of the small roller assembly 200 away from the center of the fixed plate main body 310 are on the same circle, and minimizing the gap between the outer contour of the omnidirectional wheel and the circle as much as possible.

[0055] The connecting member 320 includes a connecting plate 321; the connecting plate 321 is connected to the fixed plate main body 310; the middle part of the outer side of the connecting plate 321 away from the fixed plate main body 310 is recessed inward to form an installation groove 3211.

[0056] Regarding the structure and shape of the small roller assembly 200, specifically:

[0057] As Figure 3As shown in the figure, the small roller assembly 200 includes a small roller body 210, a small roller rotating shaft 220, and a small roller bearing 230; the small roller rotating shaft 220 is disposed in the installation groove 3211, the small roller bearing 230 is rotatably connected to the small roller rotating shaft 220, the small roller body 210 is connected to the small roller bearing 230, and the small roller body 210 is rotatably connected to the small roller rotating shaft 220 through the small roller bearing 230, so that the small roller body 210 can rotate around the small roller rotating shaft 220.

[0058] Regarding the structure and shape of the large roller assembly 100, specifically:

[0059] As Figure 3 shown in the figure, the large roller assembly 100 includes a large roller body 110, a large roller rotating shaft 120, and a large roller bearing 130; the large roller rotating shaft 120 is located between two adjacent connecting members 320, the large roller bearing 130 is rotatably connected to the large roller rotating shaft 120, the large roller body 110 is connected to the large roller bearing 130, and the large roller body 110 is rotatably connected to the large roller rotating shaft 120 through the large roller bearing 130, so that the large roller body 110 can rotate around the large roller rotating shaft 120.

[0060] Regarding the structure and shape of the connecting plate 321, specifically:

[0061] As Figure 5 shown in the figure, two inner clamping grooves 3212 are oppositely arranged on the groove walls of the installation groove 3211 formed by the middle depression on the outer side surface of the connecting plate 321, and both ends of the small roller rotating shaft 220 extend into the two inner clamping grooves 3212 respectively; an inner gasket 240 is arranged on the small roller rotating shaft 220, and the inner gasket 240 is located between the small roller bearing 230 and the groove wall of the installation groove 3211. The arrangement of the inner gasket 240 prevents the small roller bearing 230 from directly contacting the groove wall of the installation groove 3211 and affecting the rotation of the small roller body 210.

[0062] Two outer clamping grooves 3213 are oppositely arranged on the outer side surface of the connecting plate 321, and both ends of the large roller rotating shaft 120 extend into the outer clamping grooves 3213 on two adjacent connecting plates 321 respectively; an outer gasket 140 is arranged on the large roller rotating shaft 120, and the outer gasket 140 is located between the large roller bearing 130 and the outer side surface of the connecting plate 321. The arrangement of the outer gasket 140 prevents the large roller bearing 130 from directly contacting the outer side surface of the connecting plate 321 and affecting the rotation of the large roller body 110.

[0063] As Figure 4As shown, the connecting member 320 further includes a first clamping plate 322 and a second clamping plate 323; the first clamping plate 322 and the second clamping plate 323 are respectively connected to both sides of the connecting plate 321. After the first clamping plate 322 and the second clamping plate 323 are connected to the connecting plate 321, the first clamping plate 322 and the second clamping plate 323 can block the side openings of the inner clamping groove 3212 and the outer clamping groove 3213, so as to prevent the large roller rotating shaft 120 from disengaging from the outer clamping groove 3213 and prevent the small roller rotating shaft 220 from disengaging from the inner clamping groove 3212.

[0064] During installation, first place both ends of the large roller rotating shaft 120 into the two outer clamping grooves 3213, and then place both ends of the small roller rotating shaft 220 into the two inner clamping grooves 3212. After the large roller rotating shaft 120 and the small roller rotating shaft 220 are installed, then install the first clamping plate 322 and the second clamping plate 323 onto the connecting plate 321, which can prevent the large roller rotating shaft 120 from disengaging from the outer clamping groove 3213 and prevent the small roller rotating shaft 220 from disengaging from the inner clamping groove 3212.

[0065] It should be noted that the first clamping plate 322, the connecting plate 321, and the second clamping plate 323 all have connecting holes, and the three connecting holes are arranged in a penetrating manner. Use screws or bolts to pass through the fixing plate main body 310 and the three connecting holes, so as to fix the first clamping plate 322, the connecting plate 321, and the second clamping plate 323 on the fixing plate main body 310.

[0066] In an optional embodiment, the driving component 400 includes a driving motor 410 and a speed reducer 420; a mounting plate 330 is connected to the side of the connecting member 320 away from the fixing plate main body 310, the speed reducer 420 is mounted on the mounting plate 330, the driving motor 410 is connected to the speed reducer 420, and the driving motor 410 and the speed reducer 420 are located in the middle accommodating space and are surrounded by the large roller assembly 100 and the small roller assembly 200, making the overall structure more compact.

[0067] In addition, as Figure 3 shown, Figure 3 the center position of

[0068] The single-layer omnidirectional wheel with an embedded driver provided in this embodiment has the following advantages:

[0069] 1. The single-layer omnidirectional wheel design is realized, and it is ensured that the difference between its outer contour and the circle is small.

[0070] 2. The structure design of large and small wheels is adopted, so that the wheel can adopt the fixing method of multiple layers of clamping plates, greatly simplifying the processing and assembly requirements.

[0071] 3. Embed the speed reducer and the drive motor 410 into the accommodation space in the middle of the omnidirectional wheel, reducing the size of the omnidirectional wheel drive.

[0072] 4. Apply this omnidirectional wheel to the ball balancing robot. Compared with the traditional method, the gap between the outer contour of the omnidirectional wheel used and the circle is small, and the problem of high center of gravity caused by the large size of its wheel set structure is avoided.

[0073] The ball balancing robot provided in this embodiment includes a single-layer omnidirectional wheel with an embedded driver.

[0074] Since the technical effects of the ball balancing robot provided in this embodiment are the same as those of the single-layer omnidirectional wheel with an embedded driver provided in the above embodiment, they will not be elaborated here.

[0075] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A single-layer omnidirectional wheel with an embedded driver, characterized in that Comprising: A large roller assembly (100), a small roller assembly (200), a fixing plate assembly (300), and a driving assembly (400); The large roller assemblies (100) are evenly spaced along the circumferential direction of the fixing plate assembly (300), and a plurality of the large roller assemblies (100) are rotatably mounted on the fixing plate assembly (300); The small roller assemblies (200) are provided between any two adjacent large roller assemblies (100), and a plurality of the small roller assemblies (200) are rotatably mounted on the fixing plate assembly (300); The connection lines of the outer contours of the plurality of large roller assemblies (100) and the outer contours of the plurality of small roller assemblies (200) form a circle, and the inner sides of the plurality of large roller assemblies (100) and the inner sides of the plurality of small roller assemblies (200) enclose a containing space; The driving assembly (400) is mounted in the containing space.

2. The single-layer omnidirectional wheel with an embedded driver according to claim 1, characterized in that The fixing plate assembly (300) includes a fixing plate main body (310) and a connecting member (320); There are a plurality of the connecting members (320), and a plurality of the connecting members (320) are all mounted on the fixing plate main body (310), and the plurality of the connecting members (320) are evenly spaced along the outer circumference of the fixing plate main body (310); The connecting member (320) is formed with a mounting groove (3211), and the connecting member (320) is used to fix the small roller assembly (200) in the mounting groove (3211); The large roller assembly (100) is provided between any two adjacent connecting members (320).

3. The single-layer omnidirectional wheel with an embedded driver according to claim 2, characterized in that The small roller assembly (200) includes a small roller main body (210), a small roller rotating shaft (220), and a small roller bearing (230); The small roller rotating shaft (220) is arranged in the mounting groove (3211), the small roller bearing (230) is rotatably connected to the small roller rotating shaft (220), and the small roller main body (210) is connected to the small roller bearing (230) so that the small roller main body (210) can rotate around the small roller rotating shaft (220).

4. The single-layer omnidirectional wheel with an embedded driver according to claim 3, characterized in that The large roller assembly (100) includes a large roller main body (110), a large roller rotating shaft (120), and a large roller bearing (130); The large roller rotating shaft (120) is located between two adjacent connecting members (320), the large roller bearing (130) is rotatably connected to the large roller rotating shaft (120), and the large roller main body (110) is connected to the large roller bearing (130) so that the large roller main body (110) can rotate around the large roller rotating shaft (120).

5. The single-layer omnidirectional wheel with an embedded driver according to claim 4, characterized in that The connecting member (320) includes a connecting plate (321); The connecting plate (321) is connected to the fixing plate body (310); In the middle of the outer side surface of the connecting plate (321) away from the fixing plate body (310), a concave portion is formed inward to form the installation groove (3211).

6. The single-layer omnidirectional wheel with an embedded driver according to claim 5, characterized in that On the opposite groove walls of the installation groove (3211), two inner clamping grooves (3212) are oppositely arranged, and both ends of the small roller rotating shaft (220) respectively extend into the two inner clamping grooves (3212); An inner gasket (240) is arranged on the small roller rotating shaft (220), and the inner gasket (240) is located between the small roller bearing (230) and the groove wall of the installation groove (3211).

7. The single-layer omnidirectional wheel with an embedded driver according to claim 6, characterized in that On the opposite outer side surfaces of the connecting plate (321), two outer clamping grooves (3213) are oppositely arranged, and both ends of the large roller rotating shaft (120) respectively extend into the outer clamping grooves (3213) on two adjacent connecting plates (321); An outer gasket (140) is arranged on the large roller rotating shaft (120), and the outer gasket (140) is located between the large roller bearing (130) and the outer side surface of the connecting plate (321).

8. The single-layer omnidirectional wheel with an embedded driver according to claim 7, characterized in that The connecting member (320) further includes a first clamping plate (322) and a second clamping plate (323); The first clamping plate (322) and the second clamping plate (323) are respectively connected to both sides of the connecting plate (321), and the first clamping plate (322) and the second clamping plate (323) seal the inner clamping groove (3212) and the outer clamping groove (3213) to prevent the large roller rotating shaft (120) from disengaging from the outer clamping groove (3213) and prevent the small roller rotating shaft (220) from disengaging from the inner clamping groove (3212).

9. The single-layer omnidirectional wheel with an embedded driver according to claim 2, characterized in that The drive assembly (400) includes a drive motor (410) and a speed reducer (420); On one side of the connecting member (320) away from the fixing plate body (310), a mounting plate (330) is connected, the speed reducer (420) is mounted on the mounting plate (330), and the drive motor (410) is connected to the speed reducer (420).

10. A ball balancing robot, characterized in that, It includes the single-layer omnidirectional wheel with an embedded driver according to any one of claims 1-9.

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