CN104325857A - Mecanum wheel movement device - Google Patents
Mecanum wheel movement device Download PDFInfo
- Publication number
- CN104325857A CN104325857A CN201410575325.2A CN201410575325A CN104325857A CN 104325857 A CN104325857 A CN 104325857A CN 201410575325 A CN201410575325 A CN 201410575325A CN 104325857 A CN104325857 A CN 104325857A
- Authority
- CN
- China
- Prior art keywords
- mecanum wheel
- hanging
- vehicle frame
- connecting rod
- running gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention provides a mecanum wheel movement device. The mecanum wheel movement device comprises a frame and mecanum wheels located on the two sides of the frame, wherein one side of the frame is connected with a connection rod suspension structure; a connection rod comprises two connection rod suspension brackets; the two connection rod suspension brackets are in rotational connection with the frame; a linking rod is connected between the two connection rod suspension brackets; one end of the linking rod is in rotational connection with one connection rod suspension bracket and the other end of the linking rod is rotational connection with the other connection rod suspension bracket; each connection rod suspension bracket is in rotational connection with one mecanum wheel; on the same connection rod suspension bracket, the heights of the rotational connection position of the connection rod suspension bracket and the frame and the rotational connection position of the connection rod suspension bracket and the linking rod are different. The connection rod suspension structure is arranged so that the problem that the mecanum wheels cannot touch the ground at the same time when driving on an uneven road surface is solved, and the mecanum wheels of a whole car can effectively touch the ground; the effectiveness and the stability of the movement of the mecanum wheels are guaranteed.
Description
Technical field
The present invention relates to Mecanum wheel running gear field, particularly relate to a kind of Mecanum wheel running gear being provided with hanging structure.
Background technology
The motion move mode of Mecanum wheel has based on one to be manyly positioned in the center gear principle of the wheel shaft of wheel periphery, a part of wheel steering effort of these angled periphery wheel shafts is utilized to be transformed into above a wheel normal force, rely on direction and the speed of respective wheel, finally can synthesize and produce a resultant force vector on the direction of any requirement, thus ensure that this platform can freely move on the direction of final resultant force vector, and do not change the direction of wheel self.Mecanum wheel compact conformation, motion flexibly, is very successful a kind of directional wheel.Combined by 4 this novel wheels, can be more flexible realize all-around mobile function.
In society now, omnibearing movable equipment due to Mecanum wheel technology can realize moving ahead, traversing, diagonal, the mode of motion such as rotation and combination thereof, namely it has alerting ability and the variety of motion, is widely used in omnidirectional's intelligent mobile equipment field.But, only have when the Mecanum wheel of whole omnidirectional intelligent mobile equipment all lands, can ensure that it runs according to the circuit of specifying.In fact, due to the unfairness on road surface, the Uneven bearing of each Mecanum wheel and the difference with ground friction coefficient.Be difficult to ensure that omnidirectional's intelligent mobile equipment is according to the route running of specifying.So, on irregular road surface, each Mecanum wheel should be enable to greatest extent effectively to land.Therefore, need a kind of mechanism that each Mecanum wheel is landed simultaneously, ensure the stationarity and the validity that use Mecanum wheel vehicle operation.And in the prior art, it is all utilize the retractility of elastic element to realize that Mecanum wheel lands simultaneously, this often requires the damper mechanism each Mecanum wheel all needing interpolation one complicated, and complicated integral structure, cost is high.
Summary of the invention
Provide hereinafter about brief overview of the present invention, to provide about the basic comprehension in some of the present invention.Should be appreciated that this general introduction is not summarize about exhaustive of the present invention.It is not that intention determines key of the present invention or pith, and nor is it intended to limit the scope of the present invention.Its object is only provide some concept in simplified form, in this, as the preorder in greater detail discussed after a while.
The object of this invention is to provide a kind of Mecanum wheel running gear.
Mecanum wheel running gear provided by the invention, comprise vehicle frame and the Mecanum wheel being positioned at vehicle frame both sides, the side of vehicle frame is connected with hanging structure; Connecting rod comprises two hanging supports, two hanging supports are all rotationally connected with vehicle frame, be connected with gangbar between two hanging supports, one end of gangbar is connected with one hanging holder pivots, the other end is connected with another hanging holder pivots; Each hanging support is all rotatably connected to Mecanum wheel; On same hanging support, hanging support and vehicle frame be rotationally connected position and hanging support and gangbar to be rotationally connected position height different.
Mecanum wheel running gear provided by the invention is by the motion of the hanging mechanism controls Mecanum wheel in the setting of vehicle frame side, realize effectively landing of the Mecanum wheel of car load, ensure that Mecanum wheel running gear still keeps stable and accurate operation on rough road surface.Compared with prior art, the present invention can ensure that Mecanum wheel effectively lands simultaneously, and structure is simple, and cost is low.
Accompanying drawing explanation
Below with reference to the accompanying drawings illustrate embodiments of the invention, above and other objects, features and advantages of the present invention can be understood more easily.Parts in accompanying drawing are just in order to illustrate principle of the present invention.In the accompanying drawings, same or similar technical characteristic or parts will adopt same or similar Reference numeral to represent.
Fig. 1 is hanging structure installment form schematic diagram provided by the invention;
Fig. 2 is hanging structural representation provided by the invention;
Fig. 3 is hanging structural blast schematic diagram provided by the invention.
Description of reference numerals:
10-vehicle frame, 20-Mecanum wheel, 30-hanging structure, 31-hanging support, 32-gangbar, 321-first connecting rod, 322-second connecting rod, 323-length adjustment bar 3231-the first nut 3232-the second nut, 33-runner support, 331-rack shaft, 34-rod end rotating shaft, 341-spherical plain bearing rod end, 40-actuating device, 41-motor, 42-retarder
Detailed description of the invention
With reference to the accompanying drawings embodiments of the invention are described.The element described in an accompanying drawing of the present invention or a kind of embodiment and feature can combine with the element shown in one or more other accompanying drawing or embodiment and feature.It should be noted that for purposes of clarity, accompanying drawing and eliminate expression and the description of unrelated to the invention, parts known to persons of ordinary skill in the art and process in illustrating.
The Mecanum wheel running gear that Fig. 1 provides for the embodiment of the present invention, comprise vehicle frame 10 and the Mecanum wheel 20 being positioned at vehicle frame 10 both sides, the side of vehicle frame 10 is connected with hanging structure 30, Fig. 2 is hanging structure 30 schematic diagram, connecting rod comprises two hanging supports 31, two hanging supports 31 are all rotationally connected with vehicle frame 10, be connected with gangbar 32 between two hanging supports 31, one end and the one hanging support 31 of gangbar 32 are rotationally connected, the other end and another hanging support 31 be rotationally connected; Each hanging support 31 is all rotatably connected to Mecanum wheel 20; On same hanging support 31, hanging support 31 and vehicle frame 10 be rotationally connected position and hanging support 31 and gangbar 32 to be rotationally connected position height different.
In an embodiment of the present invention, Mecanum wheel running gear comprises vehicle frame 10 and is positioned at the Mecanum wheel 20 of vehicle frame 10 both sides, hanging structure 30 is provided with in the side of vehicle frame 10, hanging structure 30 comprises two hanging supports 31, each hanging support 31 is all rotatably connected to the Mecanum wheel 20 of this side, is also rotationally connected with vehicle frame 10 respectively.When Mecanum wheel running gear moves on rough road surface, utilize rotary hanging support 31 to realize the rotation up and down of Mecanum wheel 20, coupled together by gangbar 32 between two hanging supports 31 simultaneously, realize situation about simultaneously landing when this side Mecanum wheel 20 is in concave-convex road surface, reach stability and the validity of Mecanum wheel 20 motion, and structure is simple, cost is low.On each hanging support 31, hanging support 31 and vehicle frame 10 be rotationally connected position and hanging support 31 and gangbar 32 to be rotationally connected position height different, to realize the rotational motion of two hanging supports 31.The gangbar 32 arranged between two hanging supports 31 can maintain the coordinated movement of various economic factors of Mecanum wheel running gear on different road surface.
Preferably, as shown in Figure 3, vehicle frame 10 is fixedly connected with runner support 33, runner support 33 is connected with horizontally disposed rack shaft 331, rack shaft 331 through hanging support 31, and with hanging support 31 normal-running fit.
In embodiments of the present invention, one of the mode that is rotationally connected of vehicle frame 10 and hanging structure 30 is for be fixedly connected with by taking turns to turn between support with vehicle frame 10, turn on support 33 at wheel and be connected with horizontally disposed rack shaft 331, rack shaft 331 through hanging support 31 and with hanging support 31 normal-running fit, realize being fixedly connected with of hanging structure 30 and vehicle frame 10, also meet hanging support about 31 simultaneously and rotate.
Preferably, as shown in Figure 3, gangbar 32 comprises first connecting rod 321 and the second connecting rod 322 of coaxial setting, is bolted with length adjustment bar 323 between first connecting rod 321 and second connecting rod 322.
In embodiments of the present invention, gangbar 32 comprises first connecting rod 321 and the second connecting rod 322 of coaxial setting, length adjustment bar 323 is bolted with between first connecting rod 321 and second connecting rod 322, first connecting rod 321 and second connecting rod 322 respectively have one end to be connected to hanging support 31, all the other two ends be connected are connected to length adjustment bar 323, length adjustment bar 323 can adjust the length that is spirally connected between first connecting rod 321 and second connecting rod 322, thus the distance adjusted between two Mecanum wheels 20, stationarity and the validity of the motion on different road surface can be met.Because gangbar 32 is here mainly used in the effect connecting and regulate length, can replace with oil cylinder or cylinder herein.
Preferably, as shown in Figure 3, length adjustment bar 323 is bolted with the first nut 3231 and the second nut 3232, first nut 3231 and presses closer with the end of first connecting rod 321 and coordinate, the second nut 3232 presses closer with the end of second connecting rod 322 and coordinates.
In embodiments of the present invention, one of connection mode of length adjustment bar 323 and first connecting rod 321 and second connecting rod 322 is for be connected by nut, length adjustment bar 323 is bolted with the first nut 3231 and the second nut 3232, first nut 3231 presses closer with the end of first connecting rod 321 and coordinates, and the second nut 3232 presses closer with the end of second connecting rod 322 and coordinates.Adopt nut connection mode, be convenient to the length adjustment between first connecting rod 321 and second connecting rod 322, be also convenient to dismounting.
Preferably, as shown in Figure 3, Mecanum wheel running gear comprises actuating device 40, the retarder that actuating device 40 comprises motor and is connected with motor, and the power take-off shaft of retarder is fixedly connected with Mecanum wheel 20 through hanging support 31.
In embodiments of the present invention, Mecanum wheel running gear comprises actuating device 40, the retarder 42 that actuating device 40 comprises motor 41 and is connected with motor 41, and the power take-off shaft of retarder 42 is fixedly connected with Mecanum wheel 20 through hanging support 31.This actuating device 40 can drive corresponding Mecanum wheel 20 to move, and retarder 42 can realize the control to speed simultaneously.
Preferably, the Mecanum wheel 20 that vehicle frame 10 opposite side is arranged is rotationally connected with vehicle frame 10.
In embodiments of the present invention, the Mecanum wheel 20 of vehicle frame 10 side is rotationally connected with vehicle frame 10.Utilize 3 theories determining a plane, namely fixing two, side Mecanum wheel 20 is two points, and hanging side is equivalent to a point, effectively ensures that four Mecanum wheels 20 of car body land simultaneously.
Preferably, based on above-described embodiment, the situation containing 4 Mecanum wheels 20 in conventional understanding should be not limited in Mecanum wheel running gear, the situation of the multiple Mecanum wheels 20 being provided with hanging structure 30 can also be comprised.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (6)
1. a Mecanum wheel running gear, comprise vehicle frame and the Mecanum wheel being positioned at described vehicle frame both sides, it is characterized in that, the side of described vehicle frame is connected with hanging structure;
Described connecting rod comprises two hanging supports, hanging support described in two is all rotationally connected with described vehicle frame, be connected with gangbar between hanging support described in two, one end of described gangbar is connected with hanging holder pivots described in one, the other end is connected with hanging holder pivots described in another;
Hanging support described in each is all rotatably connected to described Mecanum wheel;
On same described hanging support, described hanging support and described vehicle frame be rotationally connected position and described hanging support and described gangbar to be rotationally connected position height different.
2. Mecanum wheel running gear according to claim 1, it is characterized in that, described vehicle frame is fixedly connected with runner support, described runner support is connected with horizontally disposed rack shaft, described rack shaft through described hanging support, and coordinates with described hanging holder pivots.
3. Mecanum wheel running gear according to claim 1 and 2, is characterized in that, described gangbar comprises first connecting rod and the second connecting rod of coaxial setting, is bolted with length adjustment bar between described first connecting rod and described second connecting rod.
4. Mecanum wheel running gear according to claim 3, it is characterized in that, described length adjustment bar is bolted with the first nut and the second nut, described first nut presses closer with the end of described first connecting rod and coordinates, and described second nut presses closer with the end of described second connecting rod and coordinates.
5. Mecanum wheel running gear according to claim 1 and 2, it is characterized in that, described Mecanum wheel running gear comprises actuating device, the retarder that described actuating device comprises motor and is connected with described motor, the power take-off shaft of described retarder is fixedly connected with described Mecanum wheel through described hanging support.
6. Mecanum wheel running gear according to claim 1 and 2, is characterized in that, the described Mecanum wheel that described vehicle frame opposite side is arranged and described vehicle frame are rotationally connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410575325.2A CN104325857B (en) | 2014-10-24 | 2014-10-24 | Mecanum wheel telecontrol equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410575325.2A CN104325857B (en) | 2014-10-24 | 2014-10-24 | Mecanum wheel telecontrol equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104325857A true CN104325857A (en) | 2015-02-04 |
| CN104325857B CN104325857B (en) | 2016-09-21 |
Family
ID=52400715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410575325.2A Expired - Fee Related CN104325857B (en) | 2014-10-24 | 2014-10-24 | Mecanum wheel telecontrol equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104325857B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104972855A (en) * | 2015-06-30 | 2015-10-14 | 佛山市新恒萃材料科技有限公司 | Suspended structure of Mecanum wheel trolley adaptive with ground |
| CN104986003A (en) * | 2015-06-30 | 2015-10-21 | 佛山市新恒萃材料科技有限公司 | Wheel frame structure of Mecanum wheel dolly |
| CN106218339A (en) * | 2016-08-03 | 2016-12-14 | 山东建筑大学 | Damping and stabilizing mechanism for omni-directional moving platform |
| CN106627839A (en) * | 2016-11-29 | 2017-05-10 | 成都电科创品机器人科技有限公司 | Omnidirectional moving chassis and leveling method thereof |
| CN106994908A (en) * | 2017-04-24 | 2017-08-01 | 中海阳能源集团股份有限公司 | A kind of automobile wireless charging device and charging method |
| CN114954735A (en) * | 2022-07-05 | 2022-08-30 | 常熟理工学院 | Omnidirectional mobile storage and carrying engineering robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI616356B (en) * | 2016-10-13 | 2018-03-01 | 財團法人金屬工業研究發展中心 | Mecanum wheel apparatus |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202896207U (en) * | 2012-09-28 | 2013-04-24 | 浙江国自机器人技术有限公司 | All-dimensional mobile chassis |
| CN203752789U (en) * | 2014-03-03 | 2014-08-06 | 上海汇聚自动化科技有限公司 | Mecanum wheel |
-
2014
- 2014-10-24 CN CN201410575325.2A patent/CN104325857B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202896207U (en) * | 2012-09-28 | 2013-04-24 | 浙江国自机器人技术有限公司 | All-dimensional mobile chassis |
| CN203752789U (en) * | 2014-03-03 | 2014-08-06 | 上海汇聚自动化科技有限公司 | Mecanum wheel |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104972855A (en) * | 2015-06-30 | 2015-10-14 | 佛山市新恒萃材料科技有限公司 | Suspended structure of Mecanum wheel trolley adaptive with ground |
| CN104986003A (en) * | 2015-06-30 | 2015-10-21 | 佛山市新恒萃材料科技有限公司 | Wheel frame structure of Mecanum wheel dolly |
| CN106218339A (en) * | 2016-08-03 | 2016-12-14 | 山东建筑大学 | Damping and stabilizing mechanism for omni-directional moving platform |
| CN106627839A (en) * | 2016-11-29 | 2017-05-10 | 成都电科创品机器人科技有限公司 | Omnidirectional moving chassis and leveling method thereof |
| CN106994908A (en) * | 2017-04-24 | 2017-08-01 | 中海阳能源集团股份有限公司 | A kind of automobile wireless charging device and charging method |
| CN114954735A (en) * | 2022-07-05 | 2022-08-30 | 常熟理工学院 | Omnidirectional mobile storage and carrying engineering robot |
| CN114954735B (en) * | 2022-07-05 | 2023-08-11 | 常熟理工学院 | Omnidirectional mobile storage and transportation engineering robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104325857B (en) | 2016-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104325857A (en) | Mecanum wheel movement device | |
| WO2014101756A1 (en) | Steer-by-wire apparatus independently steering and driving electric automobile, and suspension system thereof | |
| CN104070958A (en) | Vehicle chassis height adjusting device and vehicle applying same | |
| CN109760742A (en) | A kind of changeable wheel track omnidirectional four-wheel drive mobile chassis | |
| CN204037656U (en) | A kind of combined type tierod | |
| CN204184160U (en) | Mecanum wheel running gear | |
| CN204210435U (en) | Automobile side position lugs | |
| CN108297636A (en) | It is a kind of have can swinging arm extension wheel foot structure the full landform wheeled vehicle of multiaxis | |
| CN109641500A (en) | " AFW-4 " vehicle suspension system | |
| CN204624994U (en) | A kind of rubber tired gantry crane and door frame thereof | |
| CN209600610U (en) | A kind of changeable wheel track omnidirectional four-wheel drive mobile chassis | |
| CN204077790U (en) | A kind of automotive steering structure and automobile | |
| CN203974941U (en) | Vehicle multiple-shaft synchronous steering mechanism and vehicle | |
| CN203237344U (en) | Electric car | |
| CN107009831B (en) | A kind of town road is with can flying robot | |
| CN206606019U (en) | It is a kind of have can the sufficient structure of swinging arm extension wheel the full landform wheeled vehicle of multiaxis | |
| JP6564782B2 (en) | Connectable car with improved coupler | |
| CN204123892U (en) | Diamond type changeable wheel track mechanism | |
| CN206885013U (en) | Car Electronic Control non-steering wheels traverse displacement unit | |
| CN104960558B (en) | The front-wheel mechanism and child's three-wheeled cart of child's three-wheeled cart | |
| CN104309431A (en) | T-shaped inverted triangular servo electro-tricycle | |
| CN104973110B (en) | A kind of wheel universal structure and children trolley | |
| CN103661597A (en) | Steering mechanism capable of automatically tilting when vehicle corners | |
| CN203854807U (en) | Child bicycle | |
| CN203698408U (en) | Handling vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yang Hui Inventor after: Wang Haifeng Inventor after: Ju Xingquan Inventor after: Pang Longliang Inventor before: Yang Hui Inventor before: Li Xingbao Inventor before: Ju Xingquan Inventor before: Chen Bao Inventor before: Wang Haifeng Inventor before: Pang Longliang |
|
| COR | Change of bibliographic data | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160921 Termination date: 20211024 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |