A variable-angle omnidirectional wheel comprises a turntable, a corner adjusting device, a roller unit and a connecting branch chain device; the corner adjusting device comprises a rotary driving part, a connecting rod and a supporting hub; the connecting branch chain device comprises a branch chain, a lead screw and a nut. The roller unit comprises a supporting frame, a rotating pair and a roller, wherein the supporting frame is arranged at the tail end of the branched chain, and the roller is movably arranged in the supporting frame through the rotating pair. An omnidirectional vehicle withthe variable-angle omnidirectional wheels comprises a vehicle body and the four variable-angle omnidirectional wheels. The rotary motion of the central shaft is converted into the rotary motion of theplurality of rollers which are perpendicular to the axis and are uniformly distributed on the circumference through the corner adjusting device, and the rollers can synchronously rotate at any mounting angle under the action of the corner adjusting device without mutual interference; the change of the installation angle of the roller enables the direction of a friction force given to the roller by the ground to be variable, the omnidirectional flexibility is further improved, omnidirectional movement of the platform can be achieved, and both installation compactness and advancing efficiency under different movement states can be considered.

    一种变角全向轮,包括:转盘、转角调节装置、滚子单元和连接支链装置;转角调节装置包括:旋转主动件、连杆和支撑轮毂;连接支链装置包括:支链、丝杆和螺母。滚子单元包括:支撑架、旋转副和滚子,其中:支撑架设置于支链末端,滚子通过旋转副活动设置于支撑架内。具有变角全向轮的全向车,包括:车身和四个变角全向轮;本发明通过转角调节装置将中心轴的旋转运动转换为与此轴线垂直的均匀分布在圆周上的若干滚子的旋转运动,滚子在转角调节装置的作用下可以同步地旋转任意安装角度且互不干扰,滚子安装角度的变化使得地面给予滚子的摩擦力方向可变,进一步提高全向的灵活性,既可以实现平台的全向运动又能兼顾安装紧凑性与不同运动状态下的前进效率。


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    Titel :

    Omnidirectional vehicle with variable-angle omnidirectional wheels


    Weitere Titelangaben:

    具有变角全向轮的全向车


    Beteiligte:
    GUO WEIZHONG (Autor:in) / WANG XU (Autor:in)

    Erscheinungsdatum :

    2020-11-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60B VEHICLE WHEELS , Räder für Fahrzeuge



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