CN206242803U - With the Mecanum wheel apparatus that roller controllability is rotated - Google Patents
With the Mecanum wheel apparatus that roller controllability is rotated Download PDFInfo
- Publication number
- CN206242803U CN206242803U CN201621229242.9U CN201621229242U CN206242803U CN 206242803 U CN206242803 U CN 206242803U CN 201621229242 U CN201621229242 U CN 201621229242U CN 206242803 U CN206242803 U CN 206242803U
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- China
- Prior art keywords
- plane cam
- screw axis
- roller
- motor
- square shaft
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Abstract
The utility model discloses a kind of Mecanum wheel apparatus rotated with roller controllability, including the braking mechanism in the inner wheel hub of Mecanum wheel；Braking mechanism includes the first motor, decelerator, the second motor, plane cam, brake block, connection sheet, extension spring, square shaft and screw axis；First motor and screw axis drive connection, one end of screw axis are fixed on inner wheel hub by bearing, and plane cam is arranged with screw axis, and screw axis drive plane cam motion；Plane cam is wedge structure；The upper semisection of square shaft is cube structure, and lower semisection has arc-shaped curved surface for the bottom of cylindrical structure and cylindrical structure, and arc-shaped curved surface is contacted with plane cam point；The upper semisection of square shaft is adapted with the square hole in inner wheel hub；The end of the upper semisection of square shaft couples with brake block；When screw axis drive plane cam to move, square shaft is moved radially while movement along the surface of plane cam along wheel hub, and brake block acts on the roller for freely rotating.
Description
Technical field
The utility model is related to a kind of Mecanum wheel apparatus rotated with roller controllability.
Background technology
At this stage, as the Typical Representative of omni-directional wheel --- Mecanum wheel, because it has traversing, diagonal and original place
The exercise performance that other trains such as rotation cannot replace, is increasingly widely applied in narrow space environment work, is closed
The focus of research is increasingly becoming in the research of Mecanum wheel.The wheel hub structure of Mecanum wheel construction including active and uniform
In the driven roller of wheel rim, at the circumference of its wheel hub, (usually 45 °) are oblique uniform at a certain angle for single Mecanum wheel
A series of small roller is distributed, under the driving of motor, when wheel hub is around its axis rotation, the small roller diagonally distributed on wheel rim
Similarly freely rotated around its own axis, common wheel can only realize wheel in the presence of the axle center driving moment of wheel hub
The free degree that the free degree and wheel that hub is rotated around its own axis are rotated around ground contact points；It is special that Mecanum is based on its own
Different structure, can also realize the free degree along small roller axis vertical direction translation on this basis, meet rigid body complete in plane
Required three degree of freedom during azimuth motion.
Driving wheel motion process：Motor applies driving moment in hub axis, and small roller is corresponding with ground contact generation
Stiction, as torque becomes larger until shaking off deformation constraint；Last small roller starts to be rolled around own axes and driven
Hub rotation.In motion process, roller contacts the direction for producing with ground and differs with the Mecanum wheel direction of motion
Cause, the resultant direction of frictional force determines the direction of motion of omnibearing movable mechanism, by three or the Mecanum of more than three
Wheel various combination is the omnidirectional moving for being capable of achieving whole mechanism.
Thus can be by controlling rotating speed and the steering of Mecanum wheel, the movement combination by multi-form is to be capable of achieving system
The omnibearing movable of system.Mecanum wheel can with original place 360 degree turn-take, it is possible to achieve forward, traversing, diagonal, rotation and its group
The motion modes such as conjunction, are widely used in many occasions.
Mecanum wheel constructions have superior exercise performance, but, due to freely rotating for Mecanum wheel driven roller
Cause its sport efficiency low, and skidding occur, it is impossible to the direction of motion of precise control mechanism, compare in some precision prescribeies
Occasion high cannot extensive use.
The content of the invention
For the problem for overcoming existing Mecanum wheel sport efficiency low, the utility model provides a kind of controllable with roller
Property the Mecanum wheel apparatus that rotate, the device can significantly improve the sport efficiency of Mecanum wheel, make it have more extensive
Range of application.
The technical solution adopted in the utility model is：
With the Mecanum wheel apparatus that roller controllability is rotated, it is characterised in that：Including freely turning for limiting roller
Dynamic braking mechanism, described braking mechanism is arranged in the inner wheel hub of Mecanum wheel；Described braking mechanism is included by electricity
Brush the first motor, decelerator, the second motor, plane cam, brake block, connection sheet, extension spring, square shaft and the screw axis of power supply；
Wherein,
The first described motor is arranged on the outer wheel hub of Mecanum wheel by fixed plate, and with Mecanum wheel one
Rise and rotate；The second described motor is arranged on motor mounting plate by decelerator and flange drive connection, described decelerator,
Described flange is arranged on Mecanum wheel；
The first described motor and screw axis drive connection, inner wheel hub is fixed in one end of described screw axis by bearing
On, described plane cam is arranged with described screw axis, described screw axis drive plane cam motion；Described plane
Cam is wedge structure；
The upper semisection of described square shaft is cube structure, and lower semisection has for the bottom of cylindrical structure and cylindrical structure
Arc-shaped curved surface, described arc-shaped curved surface is contacted with described plane cam point；In the upper semisection and inner wheel hub of described square shaft
Square hole is adapted；The end of the upper semisection of described square shaft couples with described brake block, described brake block by extension spring with
Described connection sheet connection, described connection sheet is fixed on inner wheel hub；When described screw axis drive plane cam to move, institute
The surface of plane cam of the square shaft stated described in moves radially while movement along wheel hub, and described brake block acts on freedom
The roller of rotation.
Described brush is arranged on described motor mounting plate.
It is provided with described plane cam for installing the guide pillar playing the guiding role to plane cam.
The utility model applies in Mecanum wheel mechanism braking mechanism, and described braking mechanism is by limiting roller
Freely rotate, make Mecanum wheel have two kinds of operational modes, i.e. ordinary wheel operational mode and omni-directional wheel operational mode；It is described
Ordinary wheel operational mode be omnibearing movable platform when long range is walked, using ordinary wheel pattern, improve sport efficiency；Institute
The omni-directional wheel motor pattern stated is that in narrow environment, omnibearing movable platform uses omni-directional wheel pattern, adapts to narrow space
Environment.
Concrete operating principle of the present utility model is as follows：
Described braking mechanism drives screw axis to rotate in forward stroke, after electrical power, and screw axis drive plane convex
Wheel movement, plane cam promotes square shaft to be moved radially along wheel hub, and brake block is contacted with roller, limits freely rotating for roller；Instead
During to stroke, motor reversal, plane cam reverse movement, brake block returns to initial position under extension spring effect.
The active force that described brake block puts on roller can carry out manual control by the stroke of control plane cam, enter
And the rotation of different degrees of control roller, realizing the rotation of roller has controllability, and raising Mecanum wheel rubs with ground
Power is wiped, and then improves the sport efficiency of mechanism.
The beneficial effects of the utility model are mainly manifested in：
1st, by controlling the active force of brake block and roller, realize the rotation of roller has controllability to braking mechanism, improves
Mecanum wheel and the frictional force on ground, and then improve the sport efficiency of mechanism.
2nd, the present apparatus applies in Mecanum wheel mechanism braking mechanism, and described braking mechanism is by limiting roller
Freely rotate, make Mecanum wheel that there is two kinds of operational modes, i.e. ordinary wheel operational mode and omni-directional wheel operational mode, improve wheat
The range of application of Ke Namu wheels.
Brief description of the drawings
Fig. 1 is that roller controllability rotates Mecanum wheel apparatus structure schematic diagram.
Fig. 2 is brake device structure schematic diagram.
Fig. 3 is brake gear and interior hub assembling structure sectional view.
Fig. 4 is inner wheel hub structure sectional view.
Specific embodiment
Referring to figs. 1 to Fig. 4, with the Mecanum wheel apparatus that roller controllability is rotated, including for limiting roller freedom
The braking mechanism of rotation, described braking mechanism is arranged in the inner wheel hub 6 of Mecanum wheel；Described braking mechanism include by
Brush 8 power supply the first motor 1, decelerator 9, the second motor 10, plane cam 12, brake block 14, connection sheet 15, extension spring 16,
Square shaft 17 and screw axis 18；Wherein,
The first described motor 1 is arranged on the outer wheel hub 3 of Mecanum wheel by fixed plate 2, and with Mecanum
Wheel is rotated together；The second described motor 10 is arranged on motor by decelerator 9 and the drive connection of flange 7, described decelerator 9
On installing plate 5, described flange 7 is arranged on Mecanum wheel；
The first described motor 1 and the drive connection of screw axis 18, one end of described screw axis 18 is fixed by bearing 19
In described plane cam 12 on inner wheel hub 6, is arranged with described screw axis 18, described screw axis 18 drive plane cam
12 motions；Described plane cam 12 is wedge structure；
The upper semisection of described square shaft 17 is cube structure, and lower semisection is the bottom tool of cylindrical structure and cylindrical structure
There is arc-shaped curved surface, described arc-shaped curved surface is contacted with 12 points described of plane cam；The upper semisection and lubrication groove of described square shaft 17
Square hole in hub 6 is adapted；The end of the upper semisection of described square shaft 17 couples with described brake block 14, described brake block
14 are coupled by extension spring 16 with described connection sheet 15, and described connection sheet 15 is fixed on inner wheel hub 6；Described screw axis 18
When driving plane cam 12 to move, while described square shaft 17 is moved along the surface of described plane cam 12 along wheel hub radially
Mobile, described brake block 14 acts on the roller 4 for freely rotating, and roller 4 is arranged in roller axle 13.
Described brush 8 is arranged on described motor mounting plate 5.
It is provided with described plane cam 12 for installing the guide pillar 11 playing the guiding role to plane cam 12.
The utility model applies in Mecanum wheel mechanism braking mechanism, and described braking mechanism is by limiting roller
Freely rotate, make Mecanum wheel have two kinds of operational modes, i.e. ordinary wheel operational mode and omni-directional wheel operational mode；It is described
Ordinary wheel operational mode be omnibearing movable platform when long range is walked, using ordinary wheel pattern, improve sport efficiency；Institute
The omni-directional wheel motor pattern stated is that in narrow environment, omnibearing movable platform uses omni-directional wheel pattern, adapts to narrow space
Environment.
Concrete operating principle of the present utility model is as follows：
Described braking mechanism drives screw axis to rotate in forward stroke, after electrical power, and screw axis drive plane convex
Wheel movement, plane cam promotes square shaft to be moved radially along wheel hub, and brake block is contacted with roller, limits freely rotating for roller；Instead
During to stroke, motor reversal, plane cam reverse movement, brake block returns to initial position under extension spring effect.
The active force that described brake block puts on roller can carry out manual control by the stroke of control plane cam, enter
And the rotation of different degrees of control roller, realizing the rotation of roller has controllability, and raising Mecanum wheel rubs with ground
Power is wiped, and then improves the sport efficiency of mechanism.
Finally, in addition it is also necessary to it is noted that listed above is only a specific embodiment of the present utility model.Obviously, originally
Utility model is not limited to above example, can also there is many deformations.One of ordinary skill in the art can be from the utility model
All deformations that disclosure is directly derived or associated, are considered as protection domain of the present utility model.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, of the present utility model
Protection domain is not construed as being only limitted to the concrete form that embodiment is stated, protection domain of the present utility model is also and in this
Art personnel according to the utility model design it is conceivable that equivalent technologies mean.
Claims (3)
1. there are the Mecanum wheel apparatus that roller controllability is rotated, it is characterised in that：Including freely being rotated for limiting roller
Braking mechanism, described braking mechanism is arranged in the inner wheel hub of Mecanum wheel；Described braking mechanism is included by brush
The first motor, decelerator, the second motor, plane cam, brake block, connection sheet, extension spring, square shaft and the screw axis powered；Its
In,
The first described motor is arranged on the outer wheel hub of Mecanum wheel by fixed plate, and is turned with Mecanum wheel
It is dynamic；The second described motor is by decelerator and flange drive connection, and described decelerator is arranged on motor mounting plate, described
Flange be arranged on Mecanum wheel on；
The first described motor and screw axis drive connection, one end of described screw axis are fixed on inner wheel hub by bearing,
Described plane cam is arranged with described screw axis, described screw axis drive plane cam motion；Described plane is convex
It is wedge structure to take turns；
The upper semisection of described square shaft is cube structure, and lower semisection has arc for the bottom of cylindrical structure and cylindrical structure
Curved surface, described arc-shaped curved surface is contacted with described plane cam point；Square hole in the upper semisection and inner wheel hub of described square shaft
It is adapted；The end of the upper semisection of described square shaft couples with described brake block, described brake block by extension spring with it is described
Connection sheet connection, described connection sheet is fixed on inner wheel hub；It is described when described screw axis drive plane cam to move
The surface of plane cam of the square shaft described in moves radially while movement along wheel hub, and described brake block acts on free rotation
Roller.
2. the Mecanum wheel apparatus for being rotated with roller controllability as claimed in claim 1, it is characterised in that：Described electricity
Brush is arranged on described motor mounting plate.
3. the Mecanum wheel apparatus for being rotated with roller controllability as claimed in claim 2, it is characterised in that：Described
It is provided with plane cam for installing the guide pillar playing the guiding role to plane cam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621229242.9U CN206242803U (en) | 2016-11-16 | 2016-11-16 | With the Mecanum wheel apparatus that roller controllability is rotated |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621229242.9U CN206242803U (en) | 2016-11-16 | 2016-11-16 | With the Mecanum wheel apparatus that roller controllability is rotated |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206242803U true CN206242803U (en) | 2017-06-13 |
Family
ID=59000981
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621229242.9U Withdrawn - After Issue CN206242803U (en) | 2016-11-16 | 2016-11-16 | With the Mecanum wheel apparatus that roller controllability is rotated |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206242803U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106427388A (en) * | 2016-11-16 | 2017-02-22 | 浙江工业大学 | Mecanum wheel device provided with controllably rotating roller |
| CN108528139A (en) * | 2018-04-09 | 2018-09-14 | 京东方科技集团股份有限公司 | A kind of directional wheel device, robot and its control method |
-
2016
- 2016-11-16 CN CN201621229242.9U patent/CN206242803U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106427388A (en) * | 2016-11-16 | 2017-02-22 | 浙江工业大学 | Mecanum wheel device provided with controllably rotating roller |
| CN106427388B (en) * | 2016-11-16 | 2018-11-06 | 浙江工业大学 | Mecanum wheel apparatus with the rotation of roller controllability |
| CN108528139A (en) * | 2018-04-09 | 2018-09-14 | 京东方科技集团股份有限公司 | A kind of directional wheel device, robot and its control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170613 Effective date of abandoning: 20181106 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20170613 Effective date of abandoning: 20181106 |