CN109501885B - Mecanum wheel vehicle suitable for multiple working conditions - Google Patents
Mecanum wheel vehicle suitable for multiple working conditions Download PDFInfo
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- CN109501885B CN109501885B CN201811523074.8A CN201811523074A CN109501885B CN 109501885 B CN109501885 B CN 109501885B CN 201811523074 A CN201811523074 A CN 201811523074A CN 109501885 B CN109501885 B CN 109501885B
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- 230000000712 assembly Effects 0.000 claims abstract description 6
- 238000000429 assembly Methods 0.000 claims abstract description 6
- 230000006978 adaptation Effects 0.000 abstract description 4
- 230000002146 bilateral effect Effects 0.000 abstract description 2
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 241000209140 Triticum Species 0.000 description 3
- 235000021307 Triticum Nutrition 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
- Handcart (AREA)
Abstract
The invention relates to a Mecanum wheel vehicle applicable to multiple working conditions, which comprises a chassis, wherein a group of two Mecanum wheels which are arranged in bilateral symmetry are respectively arranged on the front side and the rear side of the chassis, and a group of lifting wheel assemblies are respectively arranged between the two Mecanum wheels of each group. Each group of lifting wheel assembly comprises two wheels and a lifting driving device for driving the two wheels to do lifting motion. The Mecanum wheel vehicle utilizes the arranged lifting wheel assembly, and the whole Mecanum wheel vehicle can adapt to various complicated working condition environments through the exchange of the working states of the wheels and the Mecanum wheel, so that the adaptation capacity of the vehicle body is greatly improved, and the service life of the vehicle body is greatly prolonged.
Description
Technical Field
The invention belongs to the technical field of transportation means, and particularly relates to a Mecanum wheeler suitable for multiple working conditions.
Background
The Mecanum wheel is generally combined with AGV guidance and has the advantage of omnidirectional movement. The Mecanum wheel vehicle based on Mecanum wheel technology can realize the movement modes of forward movement, transverse movement, oblique movement, rotation, combination thereof and the like, is very suitable for the operation environment with limited transfer space and narrow operation channel, increases the space utilization rate and reduces the labor cost.
However, the Mecanum wheel is generally required to be used on a flat and smooth ground, cannot effectively adapt to a plane with a lower threshold, and even a cable temporarily placed on the ground can affect the normal operation of the vehicle body. If small impurities on the ground are squeezed between the rotors of the Mecanum wheel, the free rotation of the small impurities on the ground can be prevented from affecting the normal work. However, due to the complexity of a factory warehouse, sundries are inevitably generated on the ground, and a part of sill design is arranged on the ground between working areas, so that the working range and the service life of the Mecanum car are greatly limited and tested, and the Mecanum car cannot adapt to complex working condition environments.
Disclosure of Invention
First, the technical problem to be solved
In order to solve the problems in the prior art, the invention provides the Mecanum wheeler suitable for multiple working conditions, and solves the problem that the Mecanum wheeler in the prior art cannot adapt to complex working condition environments.
(II) technical scheme
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
the invention provides a Mecanum wheel vehicle applicable to multiple working conditions, which comprises a chassis, wherein a group of two Mecanum wheels which are arranged in bilateral symmetry are respectively arranged on the front side and the rear side of the chassis, and a group of lifting wheel assemblies are respectively arranged between the two Mecanum wheels of each group; each group of lifting wheel assembly comprises two wheels and a lifting driving device for driving the two wheels to do lifting motion.
Optionally, the lifting driving device comprises a driving motor, a plurality of hydraulic cylinders and a top disc arranged above the bottom disc; the two output ends of the driving motor are respectively connected with two wheels; one end of each hydraulic cylinder is rotationally connected with the top of the motor shell of the driving motor, and the other end of each hydraulic cylinder is rotationally connected with the bottom of the top disc.
Optionally, the plurality of hydraulic cylinders are symmetrically distributed.
Optionally, the motor casing top is fixed with a plurality of supports, and every support outwards inclines to set up, and the one end of every support articulates with the one end of corresponding pneumatic cylinder.
Optionally, the lifting driving device further comprises a guide shaft with one end fixed at the top of the motor casing and a guide sleeve with one end fixed at the bottom of the top disc; the other end of the guide shaft is inserted by the other end of the guide sleeve, and the guide shaft and the guide sleeve are in sliding connection.
Optionally, the outside of guide sleeve still overlaps and is equipped with buffer spring, buffer spring's both ends respectively with motor casing top and top dish bottom fixed connection.
Optionally, each wheel employs a pneumatic wheel.
Optionally, each set of lift wheel assemblies further comprises a frame; the frame is fixedly connected with the chassis, and the top plate is fixedly connected with the bottom of the frame.
(III) beneficial effects
The beneficial effects of the invention are as follows:
according to the invention, the lifting wheel assembly is additionally arranged on the basis of the existing Mecanum wheel, when the normal operation of the Mecanum wheel is influenced due to more sundries or uneven bottom surface in a complex working condition environment, the lifting driving device drives the wheels to descend, so that the wheels are in contact with the ground, the whole vehicle is supported by the wheels to bear load, and the wheels replace the Mecanum wheel to operate. Therefore, through the exchange of the working states of the wheels and the Mecanum wheels, the whole Mecanum wheel vehicle can adapt to various complex working condition environments, and the adaptation capacity and the service life of the vehicle body are greatly improved.
Drawings
Fig. 1 is a schematic structural view of a mecanum vehicle provided in the following embodiment;
FIG. 2 is a schematic view of a lifting wheel assembly provided in the following embodiments;
fig. 3 is a schematic structural diagram of the operation state of the mecanum wheel in the normal operation mode according to the following embodiment;
FIG. 4 is a left side view of the structure shown in FIG. 3;
FIG. 5 is a schematic view of a wheel in a special operating mode according to the following embodiment;
fig. 6 is a left side view of the structure shown in fig. 5.
[ reference numerals description ]
1: a chassis; 2: mecanum wheel; 21: a wheat wheel motor; 22: a speed reducer; 3: a wheel; 4: a driving motor; 5: a hydraulic cylinder; 51: a cylinder; 52: a cylinder cover; 53: a piston rod; 54: a cylindrical pin; 6: a top plate; 7: a guide shaft; 71: a buffer spring; 8: a frame; 81: and (5) a bolt fastener.
Detailed Description
The invention will be better explained by the following detailed description of the embodiments with reference to the drawings.
Referring to fig. 1, the present embodiment provides a mecanum wheeler suitable for multiple working conditions, including a chassis 1, where a set of two mecanum wheels 2 symmetrically arranged on the left and right are respectively arranged on the front side and the rear side of the chassis 1, and a set of lifting wheel assemblies are respectively arranged between the two mecanum wheels 2 of each set. Each group of lifting wheel assembly comprises two wheels 3 and a lifting driving device, wherein the lifting driving device is used for driving the two wheels 3 to do lifting motion.
Wherein, a decelerator 22 and a wheat wheel motor 21 are respectively arranged on the chassis 1 corresponding to each Mecanum wheel 2, the output shaft of the wheat wheel motor 21 is connected with the high-speed input shaft of the decelerator 22, and the low-speed output shaft of the decelerator 22 is connected with the Mecanum wheels 2. In this way, each Mecanum wheel 2 is driven by an independent Mecanum wheel motor 21, the Mecanum wheels are independent of each other, and the omni-directional movement of the Mecanum wheel 2 is realized by utilizing the differential relation among the four Mecanum wheels 2. The chassis 1, the mecanum wheel 2, the speed reducer 22 and the wheel motor 21 are all of the prior art, and the present application is not limited thereto. The front and rear sides referred to herein refer to the left-right direction shown in fig. 3.
To reduce vibration of the entire vehicle body and to make the running smoother, a pneumatic tire wheel is preferably used for each wheel 3 in the lift wheel assembly. Of course, the wheel 3 may be of any other type as long as it is a common wheel capable of carrying a load, and this embodiment is merely illustrative and not limiting.
To sum up, in this embodiment, by adding the lifting wheel assembly on the basis of the existing mecanum wheeler, when the normal operation of the mecanum wheel 2 is affected due to the fact that many sundries or uneven bottom surfaces occur in the complex working condition environment, the lifting driving device drives the wheels 3 to descend, so that the wheels 3 are in contact with the ground and the whole vehicle is lifted by the wheels 3 to load, and the wheels 3 replace the mecanum wheel 2 to operate. Therefore, through the exchange of the working states of the wheels 3 and the Mecanum wheels 2, the whole Mecanum wheel can adapt to various complex working condition environments, and the adaptation capacity and the service life of the vehicle body are greatly improved.
In the specific embodiment of the present application, referring to fig. 2, the elevation driving apparatus includes a driving motor 4, a plurality of hydraulic cylinders 5, and a top plate 6 provided above the bottom plate 1. Two output ends of the driving motor 4 are respectively connected with two wheels 3, one end of each hydraulic cylinder 5 is rotationally connected with the top of a motor shell of the driving motor 4, and the other end of each hydraulic cylinder 5 is rotationally connected with the bottom of the top disc 6.
Specifically, the hydraulic cylinder 5 is generally composed of a cylinder tube 51, a cylinder head 52, a piston rod 53, and the like in the related art. In practice, four hydraulic cylinders 5 may be provided in total, as shown in fig. 2, and a plurality of hydraulic cylinders 5 may be operated simultaneously. The end opening of the piston rod 53 of each hydraulic cylinder 5 and the bottom of the cylinder barrel 51 are respectively provided with a revolute pair, the revolute pair at the end opening of the piston rod 53 is connected with the revolute pair arranged at the bottom of the top plate 6 through a connecting piece (such as a cylindrical pin 54), and the revolute pair at the bottom of the cylinder barrel 51 is connected with the revolute pair arranged at the top of the motor casing through a connecting piece (such as a cylindrical pin 54).
More specifically, a plurality of supports are fixed on the top of the motor casing, each support is arranged in an outward inclined mode, and one end of each support is hinged to one end of the corresponding hydraulic cylinder 5. The support is arranged in an outward inclined manner, so that the working space in the middle is larger, and each hydraulic cylinder 5 is not affected by each other during working. Of course, the number of hydraulic cylinders 5 and the specific connection manner of the top disk 6 and the motor casing may be implemented in other forms, which are only illustrative and not limiting.
In order to ensure that the wheel 3 can be lifted in the vertical direction, a plurality of hydraulic cylinders 5 are symmetrically distributed. It is further preferable that the plurality of hydraulic cylinders 5 are uniformly distributed along the central axis of the top plate 6 to make the movement of the wheel 3 in the vertical direction smoother.
In order to make the lifting of the wheel 3 smoother and to limit the lifting of the wheel 3 to up and down movements only in the vertical direction, the lifting drive device further comprises a guide shaft 7 fixed at one end to the top of the motor housing and a guide sleeve (not shown in the figure) fixed at one end to the bottom of the top plate 6. The other end of the guide shaft 7 is inserted by the other end of the guide sleeve, and the guide shaft 7 and the guide sleeve are connected in a sliding manner, so that the guide shaft 7 can do reciprocating linear motion along the guide sleeve. In this way, the motor housing of the drive motor 4 can only move up and down along the axial direction of the guide shaft 7 by the mutual cooperation of the guide shaft 7 and the guide sleeve.
In order to realize the buffering and damping effect in the lifting process of the wheel 3, the outside of the guide sleeve is also sleeved with a buffer spring 71, and two ends of the buffer spring 71 are fixedly connected with the top of the motor casing and the bottom of the top disc 6 respectively. Specifically, a groove is respectively provided at the top of the motor casing and the bottom of the top plate 6, and two ends of the buffer spring 71 respectively extend into the two grooves and are fixed. Of course, the two ends of the buffer spring 71 may be fixed in other manners, which is not limited in this application.
In practical applications, each lifting wheel 3 assembly further comprises a frame 8, wherein the frame 8 is fixedly connected with the chassis 1, and the top plate 6 is fixedly connected with the bottom of the frame 8 (for example, fixed by a bolt fastener 81). Of course, the structure and shape of the frame 8 may be designed as shown in fig. 1, and other forms may be adopted, so long as the lifting wheel 3 assembly can be supported.
The whole Mecanum vehicle has the following working processes:
referring to fig. 3 and 4, a schematic structural diagram of the mecanum wheel 2 in an operating state in a normal operating mode is shown. Under normal working mode, the Mecanum wheel car flexibly shuttles in each goods shelf of the narrow warehouse, at this moment, the Mecanum wheel 2 is in a working state, four hydraulic cylinders 5 arranged in the lifting driving device are in a contracted state, and four wheels 3 are not contacted with the ground and are in a stop state. Four Mecanum wheels 2 perform all-round movement work.
Referring to fig. 5 and 6, a schematic structural view of the wheel 3 in an operating state in a special operating mode is shown. In the special working mode, more sundries or uneven ground (such as a threshold or a cable) appear on the ground, and the mecanum wheel 2 cannot work normally. At this time, the pistons in the four hydraulic cylinders 5 move simultaneously, the piston rods 53 thereof extend simultaneously, and the angle between the hydraulic cylinders 5 and the vertical direction is reduced by the rotation of the revolute pair, pushing the motor housing and the wheels 3 to move downward along the axial direction of the guide shaft 7 until the wheels 3 come into contact with the ground. And then when the hydraulic cylinder 5 continues to extend to reach the maximum stroke, the whole vehicle is supported by the wheels 3 to bear load, the wheels 3 are in a working state, the four Mecanum wheels 2 are not contacted with the ground at the moment to be in a stop state, and the exchange of the working states of the wheels 3 and the Mecanum wheels 2 is completed.
Of course, when the vehicle is changed from the special operation mode to the normal operation mode, the piston rod 53 is shortened simultaneously by the piston movement of the hydraulic cylinder 5, the angle between the hydraulic cylinder 5 and the vertical direction is increased by the rotation of the revolute pair, the motor casing and the wheel 3 are stretched to move upwards along the axial direction of the guide shaft 7, so that the wheel 3 is far away from the ground, the Mecanum wheel 2 contacts the ground, and the vehicle is switched to the normal operation mode.
Therefore, the lifting wheel assembly is arranged on the Mecanum wheel in the embodiment, so that the exchange of the working states of the wheels 3 and the Mecanum wheel 2 can be realized, and in the working environment where the conventional Mecanum wheel 2 is not suitable, the wheels 3 can replace the Mecanum wheel 2 to perform some work, so that the whole Mecanum wheel can adapt to various complicated working condition environments, the adaptation capacity of the vehicle body is greatly improved, and the service life of the vehicle body is greatly prolonged.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (7)
1. The Mecanum wheel vehicle suitable for multiple working conditions comprises a chassis (1), wherein a group of two Mecanum wheels (2) which are arranged symmetrically left and right are respectively arranged on the front side and the rear side of the chassis (1), and the Mecanum wheel vehicle is characterized in that,
a group of lifting wheel components are respectively arranged between the two Mecanum wheels (2) of each group;
each group of lifting wheel assemblies comprises two wheels (3) and a lifting driving device for driving the two wheels (3) to do lifting movement;
the lifting driving device comprises a driving motor (4), a plurality of hydraulic cylinders (5) and a top disc (6) arranged above the chassis (1), wherein the hydraulic cylinders (5) work simultaneously, a piston rod (53) port of each hydraulic cylinder (5) and a cylinder bottom of a cylinder barrel (51) are respectively provided with a revolute pair, the revolute pair at the port of the piston rod (53) is connected with the revolute pair arranged at the bottom of the top disc (6) through a connecting piece, and the revolute pair at the bottom of the cylinder barrel (51) is connected with the revolute pair arranged at the top of a motor shell of the driving motor (4) through a connecting piece;
the plurality of hydraulic cylinders (5) are uniformly distributed along the central axis of the top disk (6).
2. A multi-mode vehicle as claimed in claim 1, wherein,
the two output ends of the driving motor (4) are respectively connected with the two wheels (3).
3. A multi-mode vehicle as claimed in claim 2, wherein,
the motor casing top is fixed with a plurality of supports, and every support outwards inclines to set up, every the one end of support with the one end of corresponding pneumatic cylinder (5) is articulated.
4. A multi-mode vehicle as claimed in claim 2, wherein,
the lifting driving device further comprises a guide shaft (7) with one end fixed at the top of the motor casing and a guide sleeve with one end fixed at the bottom of the top disc (6);
the other end of the guide shaft (7) is inserted from the other end of the guide sleeve, and the guide shaft and the guide sleeve are connected in a sliding manner.
5. A multi-mode vehicle as claimed in claim 4, wherein,
the outside of guide sleeve still overlaps and is equipped with buffer spring (71), buffer spring (71) both ends respectively with motor casing top and roof-plate (6) bottom fixed connection.
6. A multi-mode vehicle as claimed in claim 2, wherein,
each wheel (3) adopts a pneumatic tire wheel (3).
7. Multi-regime compatible mecanum cycle according to any of claims 2 to 6 wherein each set of said lifting wheel assemblies further comprises a frame (8);
the frame (8) is fixedly connected with the chassis (1), and the top plate (6) is fixedly connected with the bottom of the frame (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811523074.8A CN109501885B (en) | 2018-12-13 | 2018-12-13 | Mecanum wheel vehicle suitable for multiple working conditions |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811523074.8A CN109501885B (en) | 2018-12-13 | 2018-12-13 | Mecanum wheel vehicle suitable for multiple working conditions |
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| Publication Number | Publication Date |
|---|---|
| CN109501885A CN109501885A (en) | 2019-03-22 |
| CN109501885B true CN109501885B (en) | 2024-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811523074.8A Active CN109501885B (en) | 2018-12-13 | 2018-12-13 | Mecanum wheel vehicle suitable for multiple working conditions |
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Families Citing this family (1)
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| CN110009804A (en) * | 2019-03-26 | 2019-07-12 | 深兰科技（上海）有限公司 | A kind of vending machine |
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| 齿轮啮合摩擦疲劳磨损的计算模型;王淑仁等;东北大学学报(自然科学版);1164-1167 * |
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