CN107599739A - Mecanum wheel with suction-operated - Google Patents
Mecanum wheel with suction-operated Download PDFInfo
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- CN107599739A CN107599739A CN201710820512.6A CN201710820512A CN107599739A CN 107599739 A CN107599739 A CN 107599739A CN 201710820512 A CN201710820512 A CN 201710820512A CN 107599739 A CN107599739 A CN 107599739A
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- wheel
- wall
- mecanum
- suction
- operated
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Abstract
A kind of Mecanum wheel wheel to ferromagnetism wall with suction-operated, is related to a kind of new structure of Mecanum wheel.It is an object of the invention to provide a kind of novel Mecanum wheel with suction-operated of structure, omni-directional wheel of the present invention relies on magnetic absorption, pass through the magnet in roller centre and both sides spoke, so that the omni-directional wheel can realize omnidirectional moving on the ground, the function such as the advance on ferromagnetism wall, transverse direction can be also realized, tiltedly walks, turn to.There is the present invention Mecanum wheel of suction-operated and the maximum difference of common wheel to be having several small rollers that can freely roll oblique placement equipped with magnet in wheel circumference to ferromagnetism wall, with the various combination turned to it is that the travel mechanism equipped with the wheel can be achieved to do all-around mobile freely on ferromagnetism wall by wheel wheel speed with wheel axis into having certain speed on the direction for determining 45 ° of angle when it makes the wheel be contacted with wall.
Description
Technical field
The present invention relates to a kind of Mecanum wheel to ferromagnetism wall with suction-operated, it is related to a kind of Mecanum wheel
New structure.
Background technology
At present, the species of travel mechanism's exploitation is quite various, and only for planar movement, just there is wheel in travel mechanism
The forms such as formula, crawler type, leg foot formula.Various travel mechanisms are each has something to recommend him, have adapted to the different requirements of various working environments,
But wheel type travel mechanism seems especially prominent.Its advantages of, is a lot：Can stably it move at a high speed, energy utilization rate is high, mechanism
Simply, it is easy to control, increasingly perfect automotive engineering and experience etc. can be used for reference, it the shortcomings that be that mobile place is limited to plane.
But the place of robot work at present is nearly all the level land manually built, and even if there is step, as long as being moved with wheel type
Several frees degree are added based on motivation structure again to be just not difficult to solve.Thus, wheeled locomotion mechanism obtains extensively in robot technology
General application.
The type of wheeled locomotion mechanism is a lot, in general wheeled locomotion mechanism, is impossible to arbitrarily be positioned
And orientation, and omni-directional moving mechanism can then utilize positioning and orientating function possessed by wheel, realize the freedom in plane
Motion.Because All-directional Moving Mechanism has the unique property that in general wheeled locomotion mechanism can not substitute, thus turn into machine
The development trend of Qi Ren travel mechanisms.
Current omni-directional moving mechanism mainly has three kinds of forms：All-wheel steering formula omni-directional moving mechanism, orthogonal wheel and wheat
Ke Namu takes turns.Wherein, Mecanum wheel (Mecanum) is wherein to be made more successful, technology more maturation a kind of comprehensive
Wheel.By the way that multiple (being typically three or four) wheels are combined in some way, travel mechanism can be made to possess all-around mobile
Function.The all directionally movable robot for the four-wheel that Muir, Neuman of Carnegie Mellon University of the U.S. et al. are developed
URANUS, the robot can neatly autokinetic movements on the ground.
The robot that can be attached on a face and can move progress operation is very necessary, and currently there is an urgent need to exploitation
Project.The object of its demand is such as：The robot to be cleared the pollution off on the intracardiac wall of Nuclear Power Station；For Spent Radioactive liquid storage tank
The wall-surface mobile robot of welding inspection；For checking the robot of big shape coal-gas welds in spherical tanks automatically；For fire-fighting first aid
Wall-surface mobile robot；The diagnosing machinery people of ceramic tile attachment state, and outer wall spray robot are checked for outer wall of the building
Deng.Wall-surface mobile robot must have two basic functions：Adsorption function and locomotive function on wall.Suction type one
As be divided into two major classes：Vacuum suction and magnetic suck.Move mode has wheel type and sufficient pin to draw formula etc..
The content of the invention
In view of this, it is an object of the invention to provide a kind of novel wheat to ferromagnetism wall with suction-operated of structure
Ke Namu takes turns, and manned device of the present invention relies on magnetic absorption, passes through the magnet in roller centre and both sides spoke so that this is complete
Omnidirectional moving can be realized on the ground to wheel, the work(such as can also realize the advance on ferromagnetism wall, transverse direction, tiltedly walk, turn to
Energy.
In order to reach foregoing invention purpose, the invention provides the Mecanum wheel with suction-operated, it is characterised in that：
It overcomes general wheel type traveling mechanism and is turned on wall, positions more difficult deficiency.The travel mechanism being made up of the wheel, passes through
Directional-sliding wheel independence drive control, it can realize and be walked in the case of car body is non-rotary along arbitrary line direction.
The maximum difference of the above-mentioned Mecanum wheel to ferromagnetism wall with suction-operated and common wheel is wheel
There are several small rollers that can freely roll oblique placement equipped with magnet on circumference, when it makes the wheel be contacted with wall and wheel axle
Line can be achieved with the various combination turned to that the wheel is housed into having certain speed on the direction for determining 45 ° of angle, by wheel wheel speed
Travel mechanism do all-around mobile freely on ferromagnetism wall.
Brief description of the drawings
Fig. 1 is the overall structure profile that the present invention has that nurse wheel of the Mike of suction-operated.
Fig. 2 is 45 ° of profiles of roller structure that the present invention has that nurse wheel of the Mike of suction-operated.
Fig. 3 is that the present invention has motion schematic diagram of that nurse wheel of the Mike of suction-operated on ferromagnetism wall.
Symbol description
1 roller, 2 wheel sides, 3 internal magnetic poles, 4 outer magnetic poles, 5 outside flux plates, 6 wheel shafts, 7 mandrels, 8 ferromagnetism walls, 9
Mobile platform equipped with the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, with reference to the accompanying drawings and examples to the present invention
It is described in further detail.
The structure composition of 4 cun 45 degree omni-directional wheel of the present invention with suction-operated is introduced referring to Fig. 1：The omni-directional wheel is by 9
With wheel shaft into 45 degree of roller 1, internal magnetic pole 3,9 outer magnetic pole 4 on spoke of two 2,9, the side wheel sides inside roller, two
Individual 5,9 wheel shafts 6 of outside flux plate and 9 mandrels 7 form.
Referring to 45 ° of profiles of 9 rollers 1 that Fig. 2 is omni-directional wheel, the axis of roller 1, into 45 angles, rolls with the axis of wheel
Son 1 has two frees degree, and and can rotates around axletree while around own rotation.Such special construction causes wheel body to possess
Three degree of freedom：Around the rotation and the translation along roller axis vertical line direction and the rotation around roller and ground contact points of wheel shaft.
So, while driving wheel has active drive ability in one direction, another direction, which also has, to be moved freely (passively
It is mobile) kinetic characteristic.When power wheel rotates, wheel is in normal way along before the direction of drive shaft
Enter, while the roller on wheel periphery rotates freely along its respective axis.
Referring to two side wheel sides 2 of omni-directional wheel in Fig. 1, there are 9 nuts for placing roller mandrel 7, and 9 placements on spoke
The through hole of 9 outer magnetic poles 4, for its magnetic pole towards unanimously, there be the screw thread of 6 fixing vehicle wheels centre.The circumference of wheel be not by
Common tire composition, but many doffers are distributed, the axis of these rollers and the circumference of wheel are tangent, and roller energy
Rotate freely.
Referring to internal magnetic pole 3, outer magnetic pole 4 and the flux plate 5 in Fig. 1 being omni-directional wheel, by the magnetic on magnetic wheel and spoke
Iron to wall produce absorption affinity, can adsorb on the wall of various macrostructure things, by and Mecanum wheel combination, change
The function such as become four wheels wheel speed advance on wall, transverse direction can be realized with the combination turned to, tiltedly walks, turn to.
It is that the center of roller 1 has between wheel shaft 6 and mandrel 7 referring to the wheel shaft 6 and mandrel 7 of omni-directional wheel roller in Fig. 1 and Fig. 2
Cylinder-shaped magnet, magnetic pole direction is consistent, also consistent with the magnet poles direction of both sides spoke.
Claims (3)
- It is 1. a kind of with to Mecanum wheel of the ferromagnetism wall with suction-operated, its outer one helical teeth of image of Mecanum wheel Wheel, the gear teeth are the barrel shaped rollers that can be rotated, and the axis of roller is with the axis of wheel into 45 angles, and the wheel is by several such rollings Son composition, roller centre have cylinder-shaped magnet, and magnetic pole is towards unanimously.The spoke of both sides also has magnet, and magnetic pole direction is also consistent, with The magnetic pole of steamboat is substantially in the same direction.It is magnetic conductive board on the outside of spoke.Roller has two frees degree, while around own rotation and can around Axletree rotates.
- 2. Mecanum wheel according to claim 1, ferromagnetism wall is produced by the magnet on magnetic wheel and spoke Raw absorption affinity, can be adsorbed on the ferromagnetism wall of various macrostructure things, by and Mecanum wheel combination, change four Individual wheel wheel speed such as can realize advance on ferromagnetism wall, transverse direction with the combination turned to, tiltedly walk, turn at the function.
- 3. Mecanum wheel according to claim 1, its feature is exactly that can produce an axial thrust load relative to wheel body, Using steering of its travel mechanism by adjusting each wheel and rotating speed, one is formed with earth-fixed axis system into certain Angle is made a concerted effort, it is achieved thereby that the omnibearing movable of whole train.Transition matrix of four wheels in motion model come Try to achieve steering and the rotating speed of each directional wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710820512.6A CN107599739A (en) | 2017-09-13 | 2017-09-13 | Mecanum wheel with suction-operated |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710820512.6A CN107599739A (en) | 2017-09-13 | 2017-09-13 | Mecanum wheel with suction-operated |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107599739A true CN107599739A (en) | 2018-01-19 |
Family
ID=61063644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710820512.6A Pending CN107599739A (en) | 2017-09-13 | 2017-09-13 | Mecanum wheel with suction-operated |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107599739A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7048136B1 (en) * | 2021-11-01 | 2022-04-05 | 啓太 遠藤 | Transportation system and transportation trolley |
-
2017
- 2017-09-13 CN CN201710820512.6A patent/CN107599739A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7048136B1 (en) * | 2021-11-01 | 2022-04-05 | 啓太 遠藤 | Transportation system and transportation trolley |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180119 |
|
| WD01 | Invention patent application deemed withdrawn after publication |