41 results about "Omni wheel" patented technology

A telepresence robot uses three separately controlled omni-wheels and a computer processing arrangement to reposition the robot based on received positional signals. The telepresence robot captures and transmits visual information of a limited field of view and visual information of a broad field of view. The visual information is received and displayed on a remote input device and portions of the displayed information are selected to send an appropriate signal to reposition the robot based on the selected portion. A method of remotely controlling a telepresence robot is also disclosed.

An electronic controller defining an autonomous mobile device a self-location estimation unit to estimate a self-location based on a local map that is created according to distance / angle information relative to an object in the vicinity and the travel distance of an omni wheel, an environmental map creation unit to create an environmental map of a mobile area based on the self-location and the local map during the guided travel with using a joystick, a registration switch to register the self-location of the autonomous mobile device as the position coordinate of the setting point when the autonomous mobile device reaches a predetermined setting point during the guided travel, a storage unit to store the environmental map and the setting point, a route planning unit to plan the travel route by using the setting point on the environmental map stored in the storage unit, and a travel control unit to control the autonomous mobile device to autonomously travel along the travel route.

An omni-wheel of a highly compact and light-weight is provided. The omni-wheel includes a disk-shaped hub member (110), a plurality of support arms (114) extending axially from the peripheral part of the hub member and arranged along a circle concentric to a rotational center line of the hub member at a regular interval, and a free roller (140) rotatably supported by a free end of each support arm around a rotational center line extending tangentially to a circle concentric to the rotational center line of the hub member and passing through a center of the free roller. The present invention also provides a wheel device incorporated with such a wheel and an inverted pendulum type vehicle using such a wheel device as a tail wheel unit.

The invention discloses a structural design method for an omni wheel and belongs to the mobile robot control field. As a hub of the omni wheel adopts an arrangement structure with two layers of an inner layer and an outer layer which are alternatively staggered at 45 degree angle, so the installation difficulty brought by the hub integration is avoided. A cushion block is clamped between an outer hub support and an inner hub support which are respectively connected with a spindle annulet. The invention causes the whole hub support to have better flexibility and easy installation. As a driven wheel uses an integrated structure of a support sleeve and the rubber vulcanization, the movement precision of the omni wheel is ensured. The invented omni wheel moves smoothly and has the advantages of compact structure and strong environmental adaptability.

A munitions handling vehicle is adapted for loading and unloading weapons in military aircraft. The munitions handling vehicle includes a vehicle chassis and a plurality of wheel axles attached to the chassis. A plurality of omni wheels are mounted on respective wheel axles, and cooperate to induce omni-directional movement of the vehicle. A mechanical lift is supported by the vehicle chassis. A munitions carrier is secured to a top end of the lift, and is movable upon actuation of the lift between a weapons-transport position and an aircraft-access position. In the weapons-transport position, the lift is sufficiently retracted adjacent the vehicle chassis to facilitate transport of weapons in the carrier to and from the aircraft. In the aircraft-access position, the lift is sufficiently extended to enable precision loading and unloading of weapons in the aircraft without repositioning or reconfiguring the aircraft.

The invention relates to an omni wheel of a floor sweeping robot.The omni wheel comprises a main rotating shaft and a hub, a through hole is formed in the middle of the hub, the main rotating shaft penetrates through the through hole to be fixedly installed on a bottom shell of the floor sweeping robot, the left side and the right side of the hub are totally provided with eight rolling wheel grooves, and each side is provided with four rolling wheel grooves which are arranged around the main rotating shaft in an annular mode, a small rolling wheel is movably installed inside each rolling wheel groove, the rolling wheel on the left side and the rolling wheel on the right side are arranged in a staggered mode, the center axis of each small rolling wheel is perpendicular to that of the hub, the hub can rotate positively or reversely around the main rotating shaft, and therefore the floor sweeping robot can move forward or backward; meanwhile, the eight small rolling wheels on the left side and the right side rotate, friction between the small rolling wheels at the bottom and the ground exists, the floor sweeping robot is driven to conduct steering without dead corner by 360 degrees, the maneuverability is high, and the response is fast; in addition, the small rolling wheels are arranged in the annular mode, it is guaranteed that the small rolling wheels can make contact with the ground at any time in the rotating process of the hub, the radian of an arc of the peripheral side of each small rolling wheel ranges from 0.69 rad to 0.87 rad, the small rolling wheels fully make contact with the ground, and steering is convenient.

An electronic controller defining an autonomous mobile device includes a self-location estimation unit to estimate a self-location based on a local map that is created according to distance / angle information relative to an object in the vicinity and the travel distance of an omni wheel, an environmental map creation unit to create an environmental map of a mobile area based on the self-location and the local map during the guided travel with using a joystick, a registration switch to register the self-location of the autonomous mobile device as the position coordinate of the setting point when the autonomous mobile device reaches a predetermined setting point during the guided travel, a storage unit to store the environmental map and the setting point, a route planning unit to plan the travel route by using the setting point on the environmental map stored in the storage unit, and a travel control unit to control the autonomous mobile device to autonomously travel along the travel route.

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.

A vehicle nonlinear dynamics simulation device, such as flight simulator, including a motorized spherical vehicle suspended inside another spherical shell which has smooth inner surface. The spherical vehicle is supported by a plurality of spiky legs of either air-bearing assemblies or omni-directional ball bearing assemblies. The outer spherical shell is supported by three controllable translational motion platforms. Simulating equipment for a pilot cabin is mounted inside the spherical vehicle. The spherical vehicle has driving, restoring, and damping capabilities in roll, pitch, and yaw directions and is capable to rotate 360° in any directions. Therefore it provides a dynamically equivalent model to simulate a vehicle rotational dynamics. The driving and restoring means include Omni wheel assemblies mounted outside of the spherical vehicle and operable to contact the inner surface of the shell to drive the spherical vehicle in roll, pitch, and yaw directions. The driving means include electrical motors. The restoring and damping mechanisms are provided by rotational springs and rotational dampers, respectively. The rotational movements of the spherical vehicle are active and controlled by the driving system and also by the nonlinear dynamics of the spherical vehicle itself, in contrast to the passive movements of the simulation platforms currently used in industries.

The invention discloses a spherical omnidirectional wheel mechanism based on an artificial potential field. The spherical omnidirectional wheel mechanism comprises an inner spherical shell and an outer spherical shell which are concentric as well as an outer spherical shell driving assembly, wherein the outer spherical shell driving assembly comprises three single-row omnidirectional wheels whichare uniformly distributed along the circumference, the single-row omnidirectional wheels are mounted on the inner spherical shell through wheel carriers, an elastic element is arranged between each wheel carrier and the inner spherical shell, and each wheel carrier is provided with a running motor for driving the corresponding single-row omnidirectional wheel; the inner spherical shell is mountedat the bottom of a magnetic isolation plate, a drum-shaped frame is arranged on the magnetic isolation plate, the drum-shaped frame is in rolling connection with the outer spherical shell through a bull wheel, and a spherical inner electromagnet is mounted at the top of the magnetic isolation plate; and the outer spherical shell is mounted on an automobile chassis through a wheel carrier, a spherical outer electromagnet corresponding to the spherical inner electromagnet in position is arranged in the wheel carrier between the automobile chassis and the outer spherical shell, and opposite poleends of the spherical outer electromagnet and the spherical inner electromagnet realize heteropole attraction. The artificial potential field generated by an electromagnet system can strengthen a gravity potential field to enhance the restoring moment, so that a built-in system is steadier.

The present disclosure provides an omni wheel mileage calibration method and apparatus, as well as a robot using the wane. The method includes: (a) calibrating the omni wheel through a linear motion to obtain a straight line calibration result; (b) calibrating the omni wheel through a rotational motion to obtain a rotation calibration result; (c) performing error verification to the straight line calibration result and the rotation calibration result along a preset movement trajectory having a loop to obtain an error verification result; (d) determining a straight line calibration corresponding to the straight line calibration result and a rotation calibration corresponding to the rotation calibration result being successful in response to the error verification result meeting a preset precision requirement. The present disclosure provides a mileage calibration method for an omni wheel system, which improves the operation precision of a robot.

The invention particularly relates to a novel parking lot system for electric vehicles, wherein the novel parking lot system is high in intelligence degree and saves space. The system includes a firsttransmission platform and a second transmission platform which are placed in sequence. A robot mounting device is arranged on one side of the second transmission platform, and a battery recovery device is arranged on the other side of the second transmission platform. A third transmission platform is arranged at the position of an exit of a parking lot, and a battery push platform is arranged onone side of the third transmission platform; the robot mounting device includes a positioning and pushing platform, the positioning and pushing platform includes an elevating platform, and a guide rail type mobile platform that can move in the longitudinal and transverse directions of a first auxiliary conveyor belt is arranged on the elevating platform, a push mechanism is fixedly placed on the mobile platform, and the push mechanism can push out a walking robot placed on the mobile platform. An omni-wheel travelling mechanism can effectively improve the flexibility of automobile steering, reduce the parking space distance of the parking lot, and improve the utilization rate of the site.

The invention relates to the field of intelligent machines, and discloses a movable type chassis, a robot and a vending machine. The movable type chassis includes a chassis body (1), drive wheels (2)and driven wheels, the two drive wheels (2) are separately installed at the left and right sides of the chassis body (1), the driven wheels include two omni wheels (3) which are separately installed at the front and rear sides of the chassis body (1), and axes (31) of the omni wheels are parallel with axes (21) of the drive wheels. The driven wheels adopt the omni wheels which cannot rotate alongthe mounting axes of the omni wheels, so that the radius of the omni wheels can be enlarged to the greatest extent through the movable type chassis compared with an existing differential steering typechassis, and the larger the radius of the omni wheels, the better the function of obstacle-overstepping is.

A deformable omni-directional moving mechanism belongs to the technical field of robot, and comprises four motion units, an operation platform and a plurality of joint swaying motors, wherein the first joint swaying motor and the second joint swaying motor are respectively fixed at the left side and the right side of the operation platform, the output shafts of the first and the second joint swaying motors are respectively connected with the first motion unit and the second motion unit, the third joint swaying motor and the fourth joint swaying motor are respectively arranged on the first motion unit and the second motion unit, and the output shafts of the third and the fourth joint swaying motors are respectively connected with the third motion unit and the fourth motion unit. The deformable omni-directional moving mechanism can not only change positions and postures of each omni wheel within a long range but also realize self-deformation, is adaptive to various complex environments, and has a good characteristic of trafficability.

The invention discloses a heating device with a protection system for transfusion and blood transfusion in operating room. The device comprises a base with a plurality of omni wheels at the bottom, asupport rod which is fixed to the center of the base top, a heating device with a box which is arranged at the other end of the support rod. The bottom of the box is provided with an electric heatingrod, the side wall of the box body is provided with a hook and the left side wall of the box is provided with a protection device. The protection device comprises an outer casing, wherein the upper left side wall of the outer casing is connected with an upper connecting rod and a lower connecting rod. The upper connecting rod is hinged with an upper metal sheet, and the lower connecting rod is hinged with a lower metal sheet. The outer wall of the right side of the outer casing is connected with a limit rod, wherein a spring is connected to the limiting rod and the first metal sheet is connected to the end of the spring. The left side of the first metal sheet is provided with an upper contact piece and a lower contact piece, wherein the upper contact piece is electrically connected with the power supply and the lower contact piece is electrically connected with the electric bell. An insulating rod is fixed to the center of the first metal sheet left center. When the temperature of transfusion or blood transfusion is too high, the heating device alarms and stops heating immediately, thereby protecting the patient from injury.

The invention discloses a tread layer bonding device. The tread layer bonding device comprises a tread conveying frame, a guide rail, a sliding block, omni wheels, side stop rollers, a tread pressingconnecting rod, a tread pressing roller, a tread pressing cylinder and a tread conveying cylinder. When a tread layer is bonded, the tread conveying cylinder pushes the tread conveying frame to slidein the direction close to a forming drum, and the tread pressing cylinder pushes the tread pressing connecting rod to rotate so that the tread pressing roller can press against the outer peripheral surface of the forming drum. The invention further discloses a tire forming machine. According to the tread layer bonding device, the movement of the air cylinders and the guide rail is adopted, accurate control is facilitated, the bonding stability is good, and the precision is high. According to the tire forming machine, only one forming drum is adopted, maintenance is easy, and the operation is convenient; and corresponding conveying devices are designed for the four layers of materials of an airtight layer, an inner cord fabric layer, an outer cord fabric layer and the tread layer, the fourlayers of materials only need to be fed once, no waiting and material change are needed, the materials do not interfere with each other and can be conveyed at the same time, the working intensity of workers is greatly reduced, and the production efficiency is improved.

The present invention relates to an omni wheel (312', 312'', 312''') and an omni wheel arrangement allowing for easy movement of a medical device by using braking devices (307a, 307b, 307c, 307d).

The invention provides a multi-wheeled arm space robot facing a large rolling target, and belongs to the technical field of electricity. The multi-wheeled arm space robot comprises a universal manipulator arm and a full-degree-of-freedom active friction end effector. Three coupled Omni wheels are driven by three servo motors, and the wheels are in close contact with a friction ball. The six-degree-of-freedom omnidirectional control of the friction ball is realized. The friction ball is constrained by an omnidirectional bearing and is in contact with a captured object. The control of a contactobject is achieved through the friction generated by the contact. The robot solves the problem of passively de-rotating and capturing the spin motion of non-cooperative targets. The end effector is incontact with the surface of the captured object through the friction ball which can be controlled omnidirectionally. Through the coordinated control of a plurality of manipulator arms, the capture and manipulation of the captured object is realized.