Omni-wheel based drive mechanism

Abstract

An omni-wheel based driving mechanism includes a spherical wheel, a pair of first omni wheels, and a pair of second omni wheels. The first omni wheels are arranged at two sides of the spherical wheel to space from each other by a predetermined distance in a first direction, so that the spherical wheel is rollably positioned between the first omni wheels. The second omni wheels are arranged at another two sides of the spherical wheel to space from each other by a predetermined distance in a second direction, so that the spherical wheel is rollably positioned between the second omni wheels. Therefore, a good driving efficiency can be obtained between the spherical wheel and the-first omni wheels and the second omni wheels.

1 . An omni-wheel based driving mechanism, comprising:
 a spherical wheel having a spherical surface;   a pair of first omni wheels being arranged at two sides of the spherical wheel to space from each other by a predetermined distance in a first direction; each of the first omni wheels including a main wheel and a plurality of guide rollers, the main wheel having an axial direction normal to the first direction, the guide rollers being rotatably mounted on and spaced along a circumferential wheel face of the main wheel, and at least one of the guide rollers on the first omni wheel being pressed against the spherical surface of the spherical wheel, so that the spherical wheel is rollably positioned between the pair of first omni wheels; and   a pair of second omni wheels being arranged at another two sides of the spherical wheel to space from each other by a predetermined distance in a second direction; each of the second omni wheels including a main wheel and a plurality of guide rollers, the main wheel having an axial direction normal to the second direction, the guide rollers being rotatably mounted on and spaced along a circumferential wheel face of the main wheel, and at least one of the guide rollers on the second omni wheel being pressed against the spherical surface of the spherical wheel, so that the spherical wheel is rollably positioned between the pair of second omni wheels;   whereby when the pair of first omni wheels or the pair of second omni wheels are rotated, the guide rollers mounted thereon sequentially contact with the spherical surface of the spherical wheel to thereby bring the spherical wheel to roll in the first or the second direction, respectively.   
     
     
         2 . The omni-wheel based driving mechanism as claimed in  claim 1 , wherein the first direction and the second direction are orthogonal to each other. 
     
     
         3 . The omni-wheel based driving mechanism as claimed in  claim 1 , further comprising a control circuit for driving the pair of first omni wheels and the pair of second omni wheels to rotate. 
     
     
         4 . The omni-wheel based driving mechanism as claimed in  claim 3 , wherein the control circuit includes:
 a processing unit;   a driving control unit being electrically connected to the processing unit;   a first driving unit being electrically connected to the driving control unit for driving the pair of first omni wheels to rotate; and   a second driving unit being electrically connected to the driving control unit for driving the pair of second omni wheels to rotate.   
     
     
         5 . The omni-wheel based driving mechanism as claimed in  claim 4 , wherein the first driving unit is selected from the group consisting of a direct-current (DC) motor and a stepping motor. 
     
     
         6 . The omni-wheel based driving mechanism as claimed in  claim 4 , wherein the second driving unit is selected from the group consisting of a direct-current (DC) motor and a stepping motor. 
     
     
         7 . The omni-wheel based driving mechanism as claimed in  claim 1 , wherein the spherical wheel is made of a rubber material. 
     
     
         8 . The omni-wheel based driving mechanism as claimed in  claim 1 , wherein the main wheel of each of the first omni wheels includes:
 a driving wheel; and   a driving belt being wound around the driving wheel, and the guide rollers on the first omni wheel being rotatably mounted on and spaced along the driving belt;   whereby when the first omni wheel is driven to rotate, the driving wheel brings the driving belt to move, so that the guide rollers rotatably mounted on the driving belt sequentially contact with the spherical surface of the spherical wheel, bringing the spherical wheel to roil.   
     
     
         9 . The omni-wheel based driving mechanism as claimed in  claim 8 , wherein the first omni wheel further includes a guide rail arranged close to the driving wheel, and the driving belt is wound around the driving wheel and the guide rail. 
     
     
         10 . The omni-wheel based driving mechanism as claimed in  claim 1 , wherein the main wheel of each of the second omni wheels includes:
 a driving wheel; and   a driving belt being wound around the driving wheel, and the guide rollers on the second omni wheel being rotatably mounted on and spaced along the driving belt;   whereby when the second omni wheel is driven to rotate, the driving wheel brings the driving belt to move, so that the guide rollers rotatably mounted on the driving belt sequentially contact with the spherical surface of the spherical wheel, bringing the spherical wheel to roll.   
     
     
         11 . The omni-wheel based driving mechanism as claimed in  claim 10 , wherein the second omni wheel further includes a guide rail arranged close to the driving wheel, and the driving belt is wound around the driving wheel and the guide rail. 
     
     
         12 . An omni-wheel based driving mechanism, comprising:
 a spherical wheel having a spherical surface;   a pair of first omni wheels being arranged at two sides of the spherical wheel to space from each other by a predetermined distance in a first direction; each of the first omni wheels including a main wheel and a plurality of guide rollers, the main wheel having an axial direction normal to the first direction, the guide rollers being rotatably mounted on and spaced along a circumferential wheel face of the main wheel, and at least one of the guide rollers on the first omni wheel being pressed against the spherical surface of the spherical wheel, so that the spherical wheel is rollably positioned between the pair of first omni wheels; and   a pair of second omni wheels being arranged at another two sides of the spherical wheel to space from each other by a predetermined distance in a second direction; each of the second omni wheels including a main wheel and a plurality of guide rollers, the main wheel having an axial direction normal to the second direction, the guide rollers being rotatably mounted on and spaced along a circumferential wheel face of the main wheel, and at least one of the guide rollers on the second omni wheel being pressed against the spherical surface of the spherical wheel, so that the spherical wheel is rollably positioned between the pair of second omni wheels;   whereby when the spherical wheel rolls in a rolling direction, the first and second omni wheels in contact with the spherical wheel via the guide rollers are brought by the spherical wheel to rotate in the same direction as the rolling direction.   
     
     
         13 . The omni-wheel based driving mechanism as claimed in  claim 12 , wherein the first direction and the second direction are orthogonal to each other. 
     
     
         14 . The omni-wheel based driving mechanism as claimed in  claim 12 , wherein the spherical wheel is made of a rubber material. 
     
     
         15 . The omni-wheel based driving mechanism as claimed in  claim 12 , wherein the main wheel of each of the first omni wheels includes:
 a driving wheel; and   a driving belt being wound around the driving wheel, and the guide rollers on the first omni wheel being rotatably mounted on and spaced along the driving belt;   whereby when the first omni wheel is driven to rotate, the driving wheel brings the driving belt to move, so that the guide rollers rotatably mounted on the driving belt sequentially contact with the spherical surface of the spherical wheel, bringing the spherical wheel to roll.   
     
     
         16 . The omni-wheel based driving mechanism as claimed in  claim 12 , wherein the first omni wheel further includes a guide rail arranged close to the driving wheel, and the driving belt is wound around the driving wheel and the guide rail. 
     
     
         17 . The omni-wheel based driving-mechanism as claimed in  claim 12 , wherein the main wheel of each of the second omni wheels includes:
 a driving wheel; and   a driving belt being wound around the driving wheel, and the guide rollers on the second omni wheel being rotatably mounted on and spaced along the driving belt;   whereby when the second omni wheel is driven to rotate, the driving wheel brings the driving belt to move, so that the guide rollers rotatably mounted on the driving belt sequentially contact with the spherical surface of the spherical wheel, bringing the spherical wheel to roll.   
     
     
         18 . The omni-wheel based driving mechanism as claimed in  claim 17 , wherein the second omni wheel further includes a guide rail arranged close to the driving wheel, and the driving belt is wound around the driving wheel and the guide rail.