CN102896971B - A kind of directional wheel and use the Omni-mobile platform of this directional wheel - Google Patents
A kind of directional wheel and use the Omni-mobile platform of this directional wheel Download PDFInfo
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- CN102896971B CN102896971B CN201210335978.4A CN201210335978A CN102896971B CN 102896971 B CN102896971 B CN 102896971B CN 201210335978 A CN201210335978 A CN 201210335978A CN 102896971 B CN102896971 B CN 102896971B
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Abstract
The present invention relates to field of movement mechanism, especially a kind of directional wheel and use the Omni-mobile platform of this directional wheel.Directional wheel is comprised wheel hub and is assemblied in the integrated roller on wheel hub by roller axle, the two ends of roller axle protrude from corresponding roller and this part protruding from roller is provided with outside thread, wheel hub comprises the left side be oppositely arranged, right support rotating disk and be coaxially connected to a left side, axle sleeve between right two supporting wheels, one end of roller axle to be inserted in the mounting hole that left support rotating disk is arranged and to be fixed by nut, right support rotating disk roller axle be fixed on draw close axle sleeve after on left support rotating disk and with removable being fixedly connected with of axle sleeve, right support rotating disk is provided with the resigning hole of stepping down relative to the activity of right support rotating disk for roller axle in the process for drawing close to axle sleeve from right to left at right support rotating disk, roller axle to be inserted in corresponding resigning hole away from one end of left support rotating disk and to be fixed by nut, the problem solve the intensity difference of directional wheel, easily losing efficacy.
Description
Technical field
The present invention relates to field of movement mechanism, especially a kind of directional wheel and use the Omni-mobile platform of this directional wheel.
Background technology
It is a kind of all-around mobile wheel that Mike receives female wheel, the feature of this wheel is on the basis of conventional wheel, again along being that some little rollers that can rotate freely are installed in 45 ° of directions with axis on wheel rim, like this when wheel rolling, little roller will produce sideway movement.Receive combinationally using of female wheel and controlling by Mike, any direction that car body can be made to produce in plane of movement moves and rotates.
At present, the derivative directional wheel of female wheel is received based on Mike in market to be had a lot, and this directional wheel is made up of driving wheel and driven roll usually, the latter's energy passive rotation during the former active movement.
US Patent No. 6394203B1 discloses a kind of directional wheel for direction movement fork truck, this directional wheel has a built-in wheel hub of rigidity, circumference of hub supports 6 rollers, roller freely can rotate around the line of centers of self and its line of centers and wheel axis are 45 ° of angles, roller is to be split into two halves perpendicular to the plane symmetry of axis and to adopt center support, two ends cantilever design with wheel hub, every half roller is assemblied in roller axle by two angular contact bearings, and bearing utilizes the nut be screwed onto in roller axle to carry out disappearing gap; Said structure makes there is larger gap between two parts of formation roller, and the contact on corresponding roller and ground is discontinuous, can produce periodic vibration in wheel rolling process, corresponding mobile platform is difficult to stable mobile, cannot be used for the occasion of high-speed mobile.
For the problems referred to above, Chinese patent ZL2011104182058 discloses a kind of directional wheel being applicable to the large carrying of high precision, and this directional wheel comprises wheel hub and roller; Wheel hub comprises left and right the left support rotating disk, right support rotating disk and the axle sleeve that is connected between left and right supporting wheel that are oppositely arranged; Roller can be assemblied on wheel hub along own axis by roller axle, specifically, left and right supporting wheel inner side is separately provided with mounting groove, the two ends of roller axle to be laid respectively in two corresponding mounting grooves and are fixed by the circumference fastener be located on mounting groove cell wall, described circumference fastener is screw, the outline of all rollers projects into a full circle on the axis direction of wheel hub, roller can rotate, when the outline of roller rolls as directional wheel and the contact surface on ground along the axis of self; This directional wheel solves the high problem of the vibration frequency of traditional directional wheel when high-speed operation, but, because roller is assemblied on wheel hub by roller axle with coordinating of screw, therefore the power bearing part is needed in the process that screw operates at directional wheel, and this part power is very easily concentrated in the junction of screw and roller axle and cause roller axle to damage or screw is out of shape, this kind of situation once occur, then will inevitably cause the inefficacy of directional wheel.Therefore there is the problem of intensity difference, easily inefficacy in this directional wheel.
Summary of the invention
The object of the present invention is to provide a kind of directional wheel, to solve the intensity difference of existing directional wheel, the problem of easily inefficacy.
The problem that cannot be applied to high-speed mobile occasion caused due to vibration can be produced in motion process.
Meanwhile, the present invention also aims to provide the Omni-mobile platform using above-mentioned directional wheel.
In order to solve the problem, directional wheel of the present invention is by the following technical solutions: a kind of directional wheel, comprise wheel hub and be assemblied in the integrated roller on wheel hub by corresponding roller axle, there is between the axis of roller axle and the axis of wheel hub the angle of 45 °, the two ends of described roller axle protrude from corresponding roller and this part protruding from roller is provided with outside thread, described wheel hub comprises the left side be oppositely arranged, right support rotating disk and be coaxially connected to a left side, axle sleeve between right two supporting wheels, one end of roller axle to be inserted in the mounting hole that left support rotating disk is arranged and to be fixed by nut, right support rotating disk roller axle to be fixed on after on left support rotating disk from right to left draw close axle sleeve and with removable being fixedly connected with of axle sleeve, right support rotating disk is provided with the resigning hole of stepping down relative to the activity of right support rotating disk for roller axle in the process for drawing close to axle sleeve from right to left at right support rotating disk, roller axle to be inserted in corresponding resigning hole away from one end of left support rotating disk and to be fixed by nut.
Lead in the lateral direction each via guidepost more than two and pilot hole between described axle sleeve with left and right supporting wheel and coordinate.
Line of centers and the axis collinear being inserted into roller axle wherein of the mounting hole on left support rotating disk, the external diameter of part that roller axle is inserted in corresponding mounting hole is equal with the aperture of the mounting hole at its place.
Mounting hole comprise set gradually from the inner side of left support rotating disk to outside by section and positioning section, the described step surface by forming surface supporting wheel left left between section and positioning section, in described positioning section, radial direction is anti-leaping is provided with space washer, space washer is fitted between step surface in mounting hole and corresponding nut, the line of centers of the endoporus of described space washer and the axis collinear of corresponding roller axle, the external diameter of roller axle is equal with the aperture of the endoporus of corresponding space washer.
Described resigning hole comprises the section of stepping down and spacing section that set gradually from the inner side of right support rotating disk to outside, the step surface of forming surface supporting wheel right to the right between the described section of stepping down and spacing section, in described spacing section, radial direction is anti-leaping is provided with limiting gasket, limiting gasket is fitted between step surface in resigning hole and corresponding nut, the line of centers of the endoporus of described limiting gasket and the axis collinear of corresponding roller axle, the external diameter of roller axle is equal with the aperture of the endoporus of corresponding limiting gasket.
Omni-mobile platform of the present invention is by the following technical solutions: a kind of Omni-mobile platform, comprise platform body and be assemblied in the directional wheel in platform body, described directional wheel is comprised wheel hub and is assemblied in the integrated roller on wheel hub by corresponding roller axle, there is between the axis of roller axle and the axis of wheel hub the angle of 45 °, the two ends of described roller axle protrude from corresponding roller and this part protruding from roller is provided with outside thread, described wheel hub comprises the left side be oppositely arranged, right support rotating disk and be coaxially connected to a left side, axle sleeve between right two supporting wheels, one end of roller axle to be inserted in the mounting hole that left support rotating disk is arranged and to be fixed by nut, right support rotating disk roller axle to be fixed on after on left support rotating disk from right to left draw close axle sleeve and with removable being fixedly connected with of axle sleeve, right support rotating disk is provided with the resigning hole of stepping down relative to the activity of right support rotating disk for roller axle in the process for drawing close to axle sleeve from right to left at right support rotating disk, roller axle to be inserted in corresponding resigning hole away from one end of left support rotating disk and to be fixed by nut.
Lead in the lateral direction each via guidepost more than two and pilot hole between described axle sleeve with left and right supporting wheel and coordinate.
Line of centers and the axis collinear being inserted into roller axle wherein of the mounting hole on left support rotating disk, the external diameter of part that roller axle is inserted in corresponding mounting hole is equal with the aperture of the mounting hole at its place.
Mounting hole comprise set gradually from the inner side of left support rotating disk to outside by section and positioning section, the described step surface by forming surface supporting wheel left left between section and positioning section, in described positioning section, radial direction is anti-leaping is provided with space washer, space washer is fitted between step surface in mounting hole and corresponding nut, the line of centers of the endoporus of described space washer and the axis collinear of corresponding roller axle, the external diameter of roller axle is equal with the aperture of the endoporus of corresponding space washer.
Described resigning hole comprises the section of stepping down and spacing section that set gradually from the inner side of right support rotating disk to outside, the step surface of forming surface supporting wheel right to the right between the described section of stepping down and spacing section, in described spacing section, radial direction is anti-leaping is provided with limiting gasket, limiting gasket is fitted between step surface in resigning hole and corresponding nut, the line of centers of the endoporus of described limiting gasket and the axis collinear of corresponding roller axle, the external diameter of roller axle is equal with the aperture of the endoporus of corresponding limiting gasket.
Two ends due to the roller axle of the directional wheel of invention protrude from corresponding roller and this part protruding from roller is provided with outside thread, one end of roller axle to be inserted in the mounting hole that left support rotating disk is arranged and to be fixed by nut, right support rotating disk roller axle to be fixed on after on left support rotating disk from right to left draw close axle sleeve and with removable being fixedly connected with of axle sleeve, right support rotating disk is provided with the resigning hole of stepping down relative to the activity of right support rotating disk for roller axle in the process for drawing close to axle sleeve from right to left at right support rotating disk, roller axle to be inserted in corresponding resigning hole away from one end of left support rotating disk and to be fixed by nut, therefore, when this directional wheel works, parts for support rollers are the roller axle of integral type, the form of the support rollers leaning on screw to be combined with roller axle compared to prior art, fundamentally stop the problem of stress concentration of the junction of screw and roller axle, in addition, due to the roller axle that the parts of support rollers are only integrated, also improve the intensity of roller axle greatly, thus the appearance of roller axle in the problem on deformation of the cooperation place with wheel hub can be solved by actv., solve the intensity difference solving existing directional wheel, the problem of easy inefficacy.
Further, described guidepost and pilot hole the accurate assembling facilitated on the one hand between left and right supporting wheel and between axle sleeve is set, also serving on the other hand prevents left and right supporting wheel from rotating relative to axle sleeve, namely prevents the effect that left and right supporting wheel relatively rotates; Make the line of centers of the mounting hole on left support rotating disk and the axis collinear being inserted into roller axle wherein, the external diameter of part that roller axle is inserted in corresponding mounting hole is equal with the aperture of the mounting hole at its place, the accurate installation to roller axle and roller can be realized, ensure the angle between roller axle and the line of centers of axle sleeve; Mounting hole is divided into the described setting accuracy that can be ensured roller axle by section and positioning section while facilitating roller axle to penetrate (do not need again by the direct Positioning rollers axle of mounting hole, what the aperture of mounting hole can be relative do larger a bit); The setting of the limiting gasket in spacing section and spacing section of resigning hole can prevent the corresponding end of roller axle from right support rotating disk, radial runout occurring effectively.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment 1 of directional wheel of the present invention;
Fig. 2 is the exploded drawings of the embodiment 1 of the directional wheel of invention;
Fig. 3 is the exploded drawings of axle sleeve and left support rotating disk;
Fig. 4 be roller with left support rotating disk coordinate schematic diagram;
Fig. 5 is the constitution diagram of right support rotating disk when the process middle roller axle drawn close to axle sleeve has just entered in corresponding resigning hole;
Fig. 6 is the assembling schematic diagram of limiting gasket;
Fig. 7 is the structural representation of Omni-mobile platform of the present invention.
Detailed description of the invention
The embodiment 1 of directional wheel of the present invention, as shown in figures 1 to 6, comprise wheel hub and all-in-one-piece roller 11, roller 11 is assemblied on wheel hub by corresponding roller axle 12, between roller 11 and corresponding roller axle 12 by bearing assemble together and the two ends of roller axle 12 all protrude from the two ends of corresponding roller, this part protruding from roller is provided with outside thread, in addition, in the angle of 45 ° between the axis of roller axle 12 and the axis of wheel hub, wheel hub comprises the left support rotating disk 13 be oppositely arranged, right support rotating disk 14 and be connected to a left side, axle sleeve 15 between right support rotating disk, axle sleeve 15 1 aspect is by a left side, right support rotating disk is fixed together, play the effect connected with corresponding wheel shaft on the other hand, in the present embodiment, left, right support rotating disk is all by screw and removable the linking together of axle sleeve 15, in addition, the two ends of axle sleeve 15 are respectively equipped with two guideposts extended in left-right direction 16, left, right support rotating disk is respectively equipped with the pilot hole corresponding with guidepost 16, axle sleeve 15 is with left, to be led in the lateral direction cooperation by described guidepost and pilot hole between right support rotating disk, inside the edge of left support rotating disk 13, place is provided with mounting hole, one end of roller axle 12 is passed this mounting hole and fixes with nut, thus together with roller 11 is fixedly assembled in left support rotating disk 13, in the present embodiment, the same angle with 45 ° between the line of centers of mounting hole and the line of centers of wheel hub, conllinear between the line of centers of the axis of roller axle 12 and the mounting hole of its insertion, the aperture of mounting hole is equal with the external diameter of the roller axle be inserted in wherein, thus make mounting hole serve the effect of Positioning rollers axle, in other words, under effect when roller axle 12 once just at mounting hole after inserting corresponding mounting hole automatically and between the line of centers of wheel hub in 45 ° of angles, inside the edge of right support rotating disk 14, place is provided with resigning hole 17, when being fixed on by one end after on left support rotating disk 13 of roller axle 12, right support rotating disk 14 is dextrosinistral to be drawn close to axle sleeve 15 and is fixed on axle sleeve 15, when right support rotating disk 14 close axle sleeve 15 from right to left, roller axle enters in resigning hole corresponding with it away from one end of left support rotating disk, resigning hole is that roller axle is stepped down relative to the displacement of right support rotating disk in the process that axle sleeve is close at right support rotating disk, thus right support rotating disk can be prevented stuck by roller axle in the process near axle sleeve, in the present embodiment, each resigning hole includes the section of stepping down and spacing section that set gradually from the inner side (left side) of right support rotating disk to outside (right side), the step surface of forming surface supporting wheel right to the right between the described section of stepping down and spacing section, in described spacing section, radial direction is anti-leaping is provided with limiting gasket 18, limiting gasket 18 is fitted between step surface in resigning hole and corresponding nut, the line of centers of the endoporus of limiting gasket and the axis collinear of corresponding roller axle, the external diameter of roller axle is equal with the aperture of the endoporus of corresponding limiting gasket, the setting of limiting gasket 18 can prevent the corresponding end of roller axle from right support rotating disk, radial runout or swing occurring effectively.
In other embodiment of directional wheel of the present invention, the mounting hole described in embodiment 1 of above-mentioned directional wheel can also be set to comprise set gradually from the inner side (right side) of left support rotating disk to outside by section and positioning section, in such cases, make the described step surface by the supporting wheel left left of forming surface between section and positioning section, in positioning section, radial direction is anti-leaping arranges space washer, space washer is fitted between step surface in mounting hole and corresponding nut, make the axis collinear of the line of centers of the endoporus of described space washer and corresponding roller axle, the external diameter of roller axle is equal with the aperture of the endoporus of corresponding space washer, also left support rotating disk and axle sleeve can be set to one, only by right support rotating disk and axle sleeve by removable the linking together of screw.
The embodiment 1 of Omni-mobile platform of the present invention, as shown in Figure 7, comprise platform body 101 and be assemblied in four directional wheels 102 that platform body 101 is assembled, the installation form of directional wheel 102 is prior art, it will not go into details herein, the structure of directional wheel 102 itself is identical with the structure of the embodiment 1 of above-mentioned directional wheel, and it will not go into details herein.
Claims (10)
1. a directional wheel, comprise wheel hub and be assemblied in the integrated roller on wheel hub by corresponding roller axle, there is between the axis of roller axle and the axis of wheel hub the angle of 45 °, it is characterized in that, the two ends of described roller axle protrude from corresponding roller and this part protruding from roller is provided with outside thread, described wheel hub comprises the left side be oppositely arranged, right support rotating disk and be coaxially connected to a left side, axle sleeve between right two supporting wheels, one end of roller axle to be inserted in the mounting hole that left support rotating disk is arranged and to be fixed by nut, right support rotating disk roller axle to be fixed on after on left support rotating disk from right to left draw close axle sleeve and with removable being fixedly connected with of axle sleeve, for roller axle is stepped down relative to the activity of right support rotating disk and prevent right support rotating disk by the stuck resigning hole of roller axle in the process that inside edge on right support rotating disk, place is provided with for being drawn close to axle sleeve from right to left at right support rotating disk, roller axle to be inserted in corresponding resigning hole away from one end of left support rotating disk and to be fixed by nut.
2. directional wheel according to claim 1, is characterized in that, leading in the lateral direction each via guidepost more than two and pilot hole between described axle sleeve with left and right supporting wheel coordinates.
3. directional wheel according to claim 1, it is characterized in that, line of centers and the axis collinear being inserted into roller axle wherein of the mounting hole on left support rotating disk, the external diameter of part that roller axle is inserted in corresponding mounting hole is equal with the aperture of the mounting hole at its place.
4. directional wheel according to claim 1, it is characterized in that, mounting hole comprise set gradually from the inner side of left support rotating disk to outside by section and positioning section, the described step surface by forming surface supporting wheel left left between section and positioning section, in described positioning section, radial direction is anti-leaping is provided with space washer, space washer is fitted between step surface in mounting hole and corresponding nut, the line of centers of the endoporus of described space washer and the axis collinear of corresponding roller axle, the external diameter of roller axle is equal with the aperture of the endoporus of corresponding space washer.
5. the directional wheel according to any one of claim 1-4, it is characterized in that, described resigning hole comprises the section of stepping down and spacing section that set gradually from the inner side of right support rotating disk to outside, the step surface of forming surface supporting wheel right to the right between the described section of stepping down and spacing section, in described spacing section, radial direction is anti-leaping is provided with limiting gasket, limiting gasket is fitted between step surface in resigning hole and corresponding nut, the line of centers of the endoporus of described limiting gasket and the axis collinear of corresponding roller axle, the external diameter of roller axle is equal with the aperture of the endoporus of corresponding limiting gasket.
6. an Omni-mobile platform, comprise platform body and be assemblied in the directional wheel in platform body, described directional wheel is comprised wheel hub and is assemblied in the integrated roller on wheel hub by corresponding roller axle, there is between the axis of roller axle and the axis of wheel hub the angle of 45 °, it is characterized in that, the two ends of described roller axle protrude from corresponding roller and this part protruding from roller is provided with outside thread, described wheel hub comprises the left side be oppositely arranged, right support rotating disk and be coaxially connected to a left side, axle sleeve between right two supporting wheels, one end of roller axle to be inserted in the mounting hole that left support rotating disk is arranged and to be fixed by nut, right support rotating disk roller axle to be fixed on after on left support rotating disk from right to left draw close axle sleeve and with removable being fixedly connected with of axle sleeve, right support rotating disk is provided with in the process for drawing close to axle sleeve from right to left at right support rotating disk as roller axle is stepped down relative to the activity of right support rotating disk and prevent right support rotating disk by the stuck resigning hole of roller axle, roller axle to be inserted in corresponding resigning hole away from one end of left support rotating disk and to be fixed by nut.
7. Omni-mobile platform according to claim 6, is characterized in that, leading in the lateral direction each via guidepost more than two and pilot hole between described axle sleeve with left and right supporting wheel coordinates.
8. Omni-mobile platform according to claim 6, it is characterized in that, line of centers and the axis collinear being inserted into roller axle wherein of the mounting hole on left support rotating disk, the external diameter of part that roller axle is inserted in corresponding mounting hole is equal with the aperture of the mounting hole at its place.
9. Omni-mobile platform according to claim 6, it is characterized in that, mounting hole comprise set gradually from the inner side of left support rotating disk to outside by section and positioning section, the described step surface by forming surface supporting wheel left left between section and positioning section, in described positioning section, radial direction is anti-leaping is provided with space washer, space washer is fitted between step surface in mounting hole and corresponding nut, the line of centers of the endoporus of described space washer and the axis collinear of corresponding roller axle, the external diameter of roller axle is equal with the aperture of the endoporus of corresponding space washer.
10. the Omni-mobile platform according to any one of claim 6-9, it is characterized in that, described resigning hole comprises the section of stepping down and spacing section that set gradually from the inner side of right support rotating disk to outside, the step surface of forming surface supporting wheel right to the right between the described section of stepping down and spacing section, in described spacing section, radial direction is anti-leaping is provided with limiting gasket, limiting gasket is fitted between step surface in resigning hole and corresponding nut, the line of centers of the endoporus of described limiting gasket and the axis collinear of corresponding roller axle, the external diameter of roller axle is equal with the aperture of the endoporus of corresponding limiting gasket.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210335978.4A CN102896971B (en) | 2012-09-12 | 2012-09-12 | A kind of directional wheel and use the Omni-mobile platform of this directional wheel |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210335978.4A CN102896971B (en) | 2012-09-12 | 2012-09-12 | A kind of directional wheel and use the Omni-mobile platform of this directional wheel |
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| CN102896971A CN102896971A (en) | 2013-01-30 |
| CN102896971B true CN102896971B (en) | 2016-01-20 |
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| CN104960416B (en) * | 2015-05-25 | 2017-08-11 | 浙江美科斯叉车有限公司 | A kind of omni-directional moving platform power transmission |
| CN206106799U (en) * | 2016-07-18 | 2017-04-19 | 深圳市大疆创新科技有限公司 | Omniwheel and have this omniwheel's robot |
| CN106427388B (en) * | 2016-11-16 | 2018-11-06 | 浙江工业大学 | Mecanum wheel apparatus with the rotation of roller controllability |
| CN106828662A (en) * | 2017-02-10 | 2017-06-13 | 徐志峰 | A kind of intelligent omnidirectional's transfer robot |
| CN109248415B (en) * | 2018-08-14 | 2020-09-11 | 东南大学 | Roller type human body omnidirectional motion platform and speed synthesis method thereof |
| CN111112942B (en) * | 2018-10-30 | 2022-03-15 | 上海云绅智能科技有限公司 | Mecanum wheel hub machining method and system |
| CN114312133B (en) * | 2021-11-22 | 2024-03-22 | 北京特种机械研究所 | Anti-channeling Mecanum wheel |
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