CN109017145B - Mecanum wheel for hydraulically adjusting roller direction - Google Patents
Mecanum wheel for hydraulically adjusting roller direction Download PDFInfo
- Publication number
- CN109017145B CN109017145B CN201811138635.2A CN201811138635A CN109017145B CN 109017145 B CN109017145 B CN 109017145B CN 201811138635 A CN201811138635 A CN 201811138635A CN 109017145 B CN109017145 B CN 109017145B
- Authority
- CN
- China
- Prior art keywords
- hub
- oil
- roller
- shaft
- mecanum wheel
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/86—Optimisation of rolling resistance, e.g. weight reduction
Abstract
A Mecanum wheel for hydraulically adjusting the direction of a roller relates to the field of electromechanical integration and comprises a mechanical connecting part and a hydraulic control part; the mechanical connection part comprises a first hub and a second hub, a first rim and a second rim, a roller mounting part and a hub shaft; the roller mounting part is connected with the first hub and the second hub and comprises a roller and ball restraints arranged at two ends of the roller, and the ball restraints are clamped between the periphery of the first hub and the first rim and between the periphery of the second hub and the second rim; the rollers have a first state parallel to the first hub and the second hub central axis and a second state inclined at 45 ° to the first hub and the second hub central axis; the first end of the hub shaft is connected with the first hub, and the second end of the hub shaft is fixedly connected with the second hub; the hydraulic control part is used for controlling the first hub and the second hub to perform relative movement so that the roller is changed between a first state and a second state; the invention has ingenious structure, improves the speed adaptability and the service life of the Mecanum wheel.
Description
Technical Field
The invention relates to the field of electromechanical integration, in particular to a Mecanum wheel for hydraulically adjusting the direction of a roller.
Background
In recent years, artificial intelligence is rapidly developed, research and development of all-around mobile equipment are carried out, and particularly, the characteristics of in-situ zero-radius turning and traversing of a working platform are greatly concerned about mobility realized in a narrow space. At present, a plurality of mechanisms at home and abroad develop the development work of an omnibearing mobile working platform, and the development work is widely conducted in the aspects of design and manufacture of wheels, wheel configuration schemes of the wheels, motion analysis and path planning of robots and the like; based on the advantages of simple mechanical structure, flexible motion control, good trafficability and the like of the Mecanum wheel, the Mecanum wheel has been widely applied in recent years.
However, the Mecanum wheel has the defects of large friction moment, large tire abrasion and large power loss, and has practical significance for popularization of the application range of the Mecanum wheel by further improving the Mecanum wheel, improving the speed adaptability of the Mecanum wheel and reducing the power consumption of the Mecanum wheel.
Disclosure of Invention
The invention aims to provide a Mecanum wheel with a hydraulic roller direction adjustment function, which effectively solves the defects of large friction moment, large tire abrasion and power loss of the Mecanum wheel.
In order to achieve the above purpose, the present invention proposes the following technical scheme: a Mecanum wheel for hydraulically adjusting the direction of a roller comprises a mechanical connecting part and a hydraulic control part;
the mechanical connecting part comprises a first hub and a second hub which are arranged in parallel and symmetrically, a first rim arranged in a peripheral gap of the first hub, a second rim arranged in a peripheral gap of the second hub, a roller mounting part and a hub shaft penetrating through central axes of the first hub and the second hub, wherein the first end of the hub shaft is connected with the first hub through threads, and the second section of the hub shaft is fixedly connected with the second hub, so that the overall rigidity of the Mecanum wheel structure is ensured;
the roller mounting part is used for connecting the first hub and the second hub and comprises a plurality of rollers and ball constraints arranged at two ends of the rollers, and the ball constraints enable the angles of the rollers and the ball constraints not to be influenced by the position change of the central line of the hub shaft; the ball constraint is respectively clamped between the periphery of the first hub and the first rim, and between the periphery of the second hub and the second rim; the rollers are arranged between the first hub and the second hub, at least two position states of the rollers are provided, the rollers are defined to be parallel to central axes of the first hub and the second hub and are in a first state, and the rollers are inclined at an angle of 45 degrees with the central axes of the first hub and the second hub and are in a second state;
the hydraulic control part is used for controlling the first hub and the second hub to move relatively so that the roller is changed between a first state and a second state.
Further, defining the bottom surface of the first hub far away from the second hub as an upper bottom surface;
the upper bottom surface of the first hub is provided with an annular shell along the central axis direction, and the annular shell protrudes towards the outer side of the first hub; a plurality of blade limiting plates are uniformly arranged on the side wall of the inner part of the annular shell, a bearing plate is arranged on the bottom surface of the inner part of the annular shell, the bottoms of the blade limiting plates are abutted to the bearing plate, and an inclined guide rail is arranged on the upper bottom surface of the bearing plate;
the hub shafts are arranged on central axes of the first hub and the second hub, the first end of each hub shaft penetrates out of the upper bottom surface of the corresponding bearing plate, and the corresponding blade limiting plate abuts against the first end of each hub shaft; a plurality of hub shaft blades are uniformly arranged on the side wall of the part, protruding out of the bearing plate, of the first end of the hub shaft, and the hub shaft blades are matched with the annular shell; the hub shaft blade vertical bearing plate is arranged adjacent to the blade limiting plate; the bottoms of the hub axle blades are abutted against the inclined guide rail, the degree of freedom of sliding on the inclined guide rail is provided, and the hub axle blades and the inclined guide rail are comprehensively applied to meet the change of the Mecanum wheel in the length direction of the hub axle during the adjustment of the roller direction;
the top of the first end of the hub shaft is provided with a sealing cover which is matched with the annular shell, and the sealing cover, the hub shaft and the bearing plate form a first sealing cavity; the hub shaft blades and the blade limiting plates in the first sealing cavity divide the first sealing cavity into a plurality of small sealing cavities;
the second end of the hub shaft is fixedly connected to the second hub, a cavity protruding outwards is formed in the lower bottom surface of the second rim along the direction of the central axis, and the second end of the hub shaft penetrates out of the lower bottom surface of the second hub and is matched with the cavity.
Further, the hydraulic control part comprises a first oil duct, a second oil duct, a first oil groove, a second oil groove, a first oil hole, a second oil hole, a plurality of third oil holes, a plurality of fourth oil holes and a hydraulic valve system;
the first oil duct and the second oil duct are arranged inside the hub shaft along the length direction of the hub shaft, and the first oil duct is not communicated with the second oil duct; the end parts of the first oil duct and the second oil duct, which are close to the first hub, do not exceed the bearing plate, and the end parts of the first oil duct and the second oil duct, which are close to the second hub, do not exceed the second end face of the hub shaft;
the hydraulic valve system comprises an oil storage cylinder arranged between the first hub and the second hub, and a three-way hydraulic valve communicated with the oil storage cylinder; the side wall of the cavity is provided with a mounting hole communicated with the inside of the cavity, and the three-way hydraulic valve is arranged in the mounting hole;
the first oil groove and the second oil groove are arranged on the side wall of the hollow cavity part at the second end of the hub shaft, and the first oil groove and the second oil groove are respectively connected with the three-way hydraulic valve;
the first oil hole and the second oil hole are formed in the second end of the hub shaft, the first oil hole is communicated with the end part, close to the second hub, of the first oil channel and the first oil groove, and the second oil hole is communicated with the end part, close to the second hub, of the second oil channel and the second oil groove;
the third oil hole and the fourth oil hole are both arranged at the first end of the hub shaft, the third oil hole is communicated with the first oil duct, the third oil holes are alternately arranged on the bearing plate at the bottom of the small sealing cavity, the fourth oil hole is communicated with the second oil duct, and the fourth oil hole is arranged on the bearing plate at the bottom of the small sealing cavity adjacent to the third oil hole.
Further, the hydraulic valve system further comprises a power supply, an electromagnetic valve and an oil pump;
the power supply is a rechargeable storage battery and is used for supplying power to the hydraulic control part; the electromagnetic valve is connected to the three-way hydraulic valve and used for changing the running direction of hydraulic oil of the first oil duct and the second oil duct;
the oil pump is arranged inside the oil storage cylinder and used for conveying hydraulic oil in the oil storage cylinder to the first sealing cavity through the first oil duct and/or the second oil duct, and pushing the hub shaft blade to slide through oil pressure so as to realize transverse movement between the first hub and the second hub.
Furthermore, the first oil duct and the second oil duct are coaxial holes in the axial direction of the hub shaft, the oil duct design of the shaft sleeve is matched with the oil hole, oil supply and oil return are axially separated, the rigidity of the hub shaft is not affected, and stress concentration is avoided.
Further, the number of the third oil holes and the number of the fourth oil holes are at least equal to the number of the hub axle blades, so that the third oil holes and the fourth oil holes are distributed on two sides of each hub axle blade, and the hub axle blades can be enabled to generate a sliding effect by hydraulic action.
According to the technical scheme, the Mecanum wheel for hydraulically adjusting the direction of the roller provided by the technical scheme of the invention has the following beneficial effects:
the Mecanum wheel for hydraulically adjusting the roller direction comprises a mechanical connecting part and a hydraulic control part, wherein the hydraulic control process is arranged to improve the adaptability of the tire speed and reduce the power consumption of the tire; the mechanical connecting part comprises a first hub and a second hub which are arranged in parallel and symmetrically, a first rim and a second rim, a hub shaft for connecting the first hub and the second hub, and a roller mounting part; the roller mounting part comprises a roller and ball constraints arranged at two ends of the roller, the ball constraints are clamped between the periphery of the first hub and the first rim and between the periphery of the second hub and the second rim, the ball constraints enable the angle between the roller and the ball constraints not to be influenced by the position change of the central line of the hub shaft, and the wear rate and the power consumption of the mechanical connection part of the wheel when the Mecanum wheel advances can be reduced; the rollers are mounted between the first hub and the second hub and are at least parallel to the first hub and the second hub central axis and inclined at an angle of 45 degrees to the first hub and the second hub central axis.
According to the invention, the annular shell is arranged on the upper surface of the first hub, the annular shell, the first end of the hub shaft and the sealing cover form a first sealing cavity, hub shaft blades and blade limiting plates are uniformly arranged in the first sealing cavity, the lower part of the first sealing cavity is provided with an inclined slide rail, the hub shaft blades have the degree of freedom of sliding on the inclined slide rail, and the distance change of the Mecanum wheel in the length direction of the hub shaft during the roller direction adjustment is satisfied through the comprehensive application of the hub shaft blades and the inclined slide rail; the hydraulic control part sets up the oil duct that feeds through the fuel feeding and the oil return of first sealed chamber in the inside oil duct that feeds through of hub axle, through letting in hydraulic oil to little sealed chamber, utilizes the oil pressure to make hub axle blade slide, and then makes first wheel hub and second wheel hub take place relative movement for the roller changes between first state and second state, realizes the change of roller direction, satisfies the demand of the high-speed adaptability of wheel.
It should be understood that all combinations of the foregoing concepts, as well as additional concepts described in more detail below, may be considered a part of the inventive subject matter of the present disclosure as long as such concepts are not mutually inconsistent.
The foregoing and other aspects, embodiments, and features of the present teachings will be more fully understood from the following description, taken together with the accompanying drawings. Other additional aspects of the invention, such as features and/or advantages of the exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of the embodiments according to the teachings of the invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is an overall structure diagram of a Mecanum wheel;
FIG. 2 is a longitudinal section of a Mecanum wheel hub axle;
FIG. 3 is an axial cut-away view of a Mecanum wheel hub axle;
FIG. 4 is a view of the internal structure of the first seal cavity on the first hub;
FIG. 5 is a block diagram of the hub axle blade mated with the first seal cavity.
Wherein, the specific meaning of each mark is as follows: 1-first hub, 2-second hub, 3-first rim, 4-second hub, 5-roller, 6-ball constraint, 7-hub axle, 8-annular shell, 9-blade limiting plate, 10-hub axle blade, 11-bearing plate, 12-inclined guide rail, 13-sealing cover, 14-first sealing cavity, 15-first oil duct, 16-second oil duct, 17-first oil groove, 18-second oil groove, 19-first oil hole, 20-second oil hole, 21-third oil hole, 22-fourth oil hole, 23-mounting hole, 24-cavity.
Detailed Description
For a better understanding of the technical content of the present invention, specific examples are set forth below, along with the accompanying drawings.
Aspects of the invention are described in this disclosure with reference to the drawings, in which are shown a number of illustrative embodiments. The embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, may be implemented in any of a number of ways, as the disclosed concepts and embodiments are not limited to any implementation. Additionally, some aspects of the disclosure may be used alone or in any suitable combination with other aspects of the disclosure.
Based on the defects of large friction moment, large tire abrasion and power loss of a Mecanum wheel in the prior art, the invention discloses a Mecanum wheel structure which adopts balls to restrict and connect rollers, hubs and hubs, so that the friction moment and the tire loss are reduced.
The Mecanum wheel for hydraulically adjusting the roller orientation of the present invention is described in further detail below with reference to the accompanying drawings.
Referring to fig. 1 to 5, a mecanum wheel for hydraulically adjusting the direction of a roller includes a mechanical connection portion and a hydraulic control portion; the mechanical connecting part comprises a first hub 1 and a second hub 2 which are arranged in parallel and symmetrically, a first rim 3 arranged in a peripheral gap of the first hub 1, a second rim 4 arranged in a peripheral gap of the second hub 2, a roller mounting part and a hub shaft 7 penetrating through the central axes of the first hub 1 and the second hub 2; the first end of the hub shaft 7 is connected to the first hub 1 through threads, and the second end of the hub shaft 7 is fixedly connected to the second hub 2; the roller mounting part is used for connecting the first hub 1 and the second hub 2 and comprises a plurality of rollers 5 and ball restraints 6 arranged at two ends of the rollers; the ball restraints 6 are respectively clamped between the periphery of the first hub 1 and the first rim 3, and between the periphery of the second hub 2 and the second rim 4; the roller 5 is installed between the first hub 1 and the second hub 2, and the roller 5 has at least two positions, which define that the roller 5 is parallel to the central axes of the first hub 1 and the second hub 2 to be in a first state, and the roller 5 is inclined at an angle of 45 degrees to the central axes of the first hub 1 and the second hub 2 to be in a second state.
The hydraulic control part is used for controlling the first wheel hub 1 and the second wheel hub 2 to move relatively, so that the roller 5 is changed between a first state and a second state, when the roller 5 is in the second state, the Mecanum wheel is a typical Mecanum wheel, and the friction moment of the Mecanum wheel is reduced through the state change of the roller 5, so that the tire abrasion and the power loss are reduced; and the ball constraint 6 between the wheel hub and the wheel rim avoids the phenomenon that the service life is influenced by stress concentration at the two fixed ends of the roller 5 caused by the fact that the central axes of the roller 5 and the first wheel hub 1 and the second wheel hub 2 are not parallel due to the change of the direction of the roller 5.
Wherein the bottom surface of the first hub 1 remote from the second hub 2 is defined as the upper bottom surface.
The upper bottom surface of the first hub 1 is provided with an annular shell 8 along the central axis direction, and the annular shell 8 protrudes towards the outer side of the first hub 1; a plurality of blade limiting plates 9 are uniformly arranged on the inner side wall of the annular shell 8, a bearing plate 11 is arranged on the inner bottom surface of the annular shell 8, the bottoms of the blade limiting plates 9 are abutted against the bearing plate 11, the adjacent blade limiting plates 9 and the bearing plate 11 form a compact semi-surrounding structure, and an inclined guide rail 12 is arranged on the upper bottom surface of the bearing plate 11; the first end of the hub shaft 7 penetrates out of the upper bottom surface of the bearing plate 11, and the blade limiting plate 9 abuts against the first end of the hub shaft 7; a plurality of hub shaft blades 10 are uniformly arranged on the side wall of the part, protruding out of the bearing plate 11, of the first end of the hub shaft 7, and the hub shaft blades 10 are matched with the annular shell 8; the hub shaft blade 10 is vertical to the bearing plate 11 and is arranged adjacent to the blade limiting plate 9; the bottom of the hub axle blade 10 is abutted against the inclined guide rail 12, and has the freedom of sliding on the inclined guide rail 12; the second end of the hub shaft 7 is fixedly connected to the second hub 2, a cavity 24 protruding outwards is formed in the lower bottom surface of the second rim 2 along the central axis direction, and the second end of the hub shaft 7 penetrates out of the lower bottom surface of the second hub 2 and is matched with the cavity 24; the first hub 1 is fixed, the hub axle blades 10 slide on the inclined guide rails 12 under the action of external force, the hub axle 7 is driven to rotate, the second hub 2 fixed with the hub axle 7 is driven to rotate, and the second hub 2 moves relatively to the first hub 1.
In combination with the specific embodiment shown in fig. 1 and fig. 2, a sealing cover 13 is arranged at the top of the first end of the hub shaft 7, the sealing cover 13 is matched with the annular shell 8, and the sealing cover 13, the hub shaft 7 and the bearing plate 11 form a first sealing cavity 14; the hub axle blade 10 and the blade limiting plate 9 in the first sealing cavity 14 divide the first sealing cavity 14 into a plurality of small sealing cavities, the small sealing cavities are communicated with a hydraulic control system, and an external force is applied to the hub axle blade 10 forming the small sealing cavities so that the hub axle blade 10 rotates; wherein every two adjacent piece limiting plates 9 that set up of leaf and hub axle 7 lateral wall and bearing plate 11 constitute a work seal chamber, and every work seal intracavity all is provided with a piece hub axle blade 10.
In the embodiment shown in the drawings, the number of the blade limiting plates 9 is the same as that of the hub axle blades 10, and the number of the blade limiting plates is 4, so that the blade limiting plates 9 in the first sealing cavity 14 form four working sealing cavities, and the hub axle blades 10 form eight small sealing cavities in the working sealing cavities; the number of the third oil holes 21 and the fourth oil holes 22 is also 4, and the third oil holes and the fourth oil holes 22 are correspondingly arranged at the bottom of each small sealing cavity and uniformly arranged around the hub shaft blades 10; the angle of the adjacent blade limiting plates 9 is 90 °, the hub axle blade 10 is generally disposed in the middle of the adjacent blade limiting plates 9, and the blade limiting plates 9 are used for limiting the hub axle blade 10 from larger rotation.
As shown in fig. 3, the hydraulic control portion includes a first oil passage 15, a second oil passage 16, a first oil groove 17, a second oil groove 18, a first oil hole 19, a second oil hole 20, a plurality of third oil holes 21, a plurality of fourth oil holes 22, and a hydraulic valve system.
The first oil duct 15 and the second oil duct 16 are arranged inside the hub shaft 7 along the length direction of the hub shaft 7, and the first oil duct 15 is not communicated with the second oil duct 16; the end parts of the first oil duct 15 and the second oil duct 16, which are close to the first hub 1, do not exceed the bearing plate 11, and the end parts of the first oil duct 15 and the second oil duct 16, which are close to the second hub 2, do not exceed the second end face of the hub shaft 7; the hydraulic valve system comprises an oil storage cylinder arranged between the first hub 1 and the second hub 2, and a three-way hydraulic valve communicated with the oil storage cylinder; the side wall of the cavity 24 is provided with a mounting hole 23 communicated with the inside of the cavity 24, and the three-way hydraulic valve is arranged in the mounting hole 23; the first oil groove 17 and the second oil groove 18 are arranged on the side wall of the part, located at the cavity 24, of the second end of the hub shaft 7, and the first oil groove 17 and the second oil groove 18 are respectively connected with a three-way hydraulic valve; the first oil hole 19 and the second oil hole 20 are arranged at the second end of the hub shaft 7, the first oil hole 19 is used for communicating the end part of the first oil passage 15, which is close to the second hub 2, with the first oil groove 17, the second oil hole 20 is used for communicating the end part of the second oil passage 16, which is close to the second hub 2, with the second oil groove 18, and hydraulic oil flows into the oil passages from the three-way hydraulic valve through the oil grooves.
The third oil hole 21 and the fourth oil hole 22 are both arranged at the first end of the hub shaft 7, the third oil hole 21 is communicated with the first oil duct 15, the third oil hole 21 is arranged on the pressure bearing plate 11 at the bottom of the small seal cavity which is arranged at intervals in the first seal cavity 14, the fourth oil hole 22 is communicated with the second oil duct 16, and the fourth oil hole 22 is arranged on the pressure bearing plate 11 at the bottom of the small seal cavity which is adjacent to the small seal cavity where the third oil hole 21 is arranged; at least one third oil hole 21 and one fourth oil hole 22 are arranged on the bearing plate in each working seal cavity, namely, the number of the third oil holes 21 and the fourth oil holes 22 is at least equal to that of the hub shaft blades 10, the third oil holes 21 and the fourth oil holes 22 are uniformly arranged around the hub shaft blades 10, and the third oil holes 21 and the fourth oil holes 22 are respectively used for feeding oil into or returning oil from the first oil duct 15 and the second oil duct 16 to the corresponding small seal cavities.
With further reference to the specific embodiment, the hydraulic valve system further includes a power source, a solenoid valve, and an oil pump; the power supply selects a rechargeable storage battery for supplying power to the hydraulic control part, and the electromagnetic valve is connected to the three-way hydraulic valve for changing the running direction of the hydraulic oil of the first oil duct 15 and the second oil duct 16, namely changing the direction of supplying oil and returning oil to the small sealing cavity; the oil pump is arranged in the oil storage cylinder, and is used for conveying hydraulic oil in the oil storage cylinder to the first sealing cavity 14 through the first oil duct 15 and/or the second oil duct 16 and pushing the hub axle blade 10 to slide through oil pressure; for example, the electromagnetic valve controls the three-way hydraulic valve to supply oil to the corresponding small sealing cavity through the first oil duct 15 communicated with the third oil duct 21, and the hub axle blade 10 in the working sealing cavity is pushed to be extruded to the adjacent small sealing cavity along with the gradual increase of the volume of hydraulic oil, and the hydraulic oil in the adjacent small sealing cavity is communicated with the second oil duct 16 from the fourth oil duct 22 and communicated with the three-way hydraulic valve to return oil to the oil storage cylinder; the oil is supplied from the second oil passage 16, and the oil return process of the first oil passage 15 is the same as that described above.
With further reference to the embodiment shown in fig. 3, in order to set the oil channels so as not to affect the rigidity of the hub axle 7 during use of the mecanum wheel and to avoid concentration of stress during use, the first oil channel 15 and the second oil channel 16 are set to be axially concentric holes of the hub axle 7, that is, the oil channels of the sleeve type are matched with the oil holes, and the oil supply and the oil return are axially separated.
The specific principle of the invention is that the hub axle blade 10 slides on the inclined guide rail 12 through the oil pressure action, so that the first hub 1 and the second hub 2 are matched to perform relative rotation movement, the axial distance between the first hub 1 and the second hub 2 is changed, the axial distance between the first hub 1 and the second hub 2 is just compensated for the change caused by the change of the direction of the roller 5 through the design of the molded line of the inclined guide rail 12, the direction of oil supply and oil return to a small sealing cavity is switched through the electromagnetic valve matched with a three-way hydraulic valve, the stress direction on the hub axle blade 10 is changed, the roller 5 on a Mecanum wheel is selected in a first state and a second state, and the mode switching of the Mecanum wheel is completed; and the first oil duct 15 and the second oil duct 16 are respectively used as an oil inlet duct and an oil return duct through the selection of the three-way hydraulic valve, and when the state direction of the roller 5 is determined and the required position is kept, the first oil hole or the second oil hole corresponding to the oil inlet duct and the oil return duct is sealed through the vacancy of the three-way hydraulic valve, so that the hydraulic locking effect is realized, and the state position of the roller 5 is kept.
In addition, in the implementation process of the Mecanum wheel with the hydraulic direction adjusting function, the roller mounting part comprises 12 rollers 5, and when the Mecanum wheel is used, at least two rollers 5 in the roller mounting part are always in contact with the ground, so that the rollers 5 can be switched along with the rotation of the wheels.
While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Those skilled in the art will appreciate that various modifications and adaptations can be made without departing from the spirit and scope of the present invention. Accordingly, the scope of the invention is defined by the appended claims.
Claims (9)
1. The Mecanum wheel for hydraulically adjusting the direction of the roller is characterized by comprising a mechanical connecting part and a hydraulic control part; the mechanical connecting part comprises a first hub and a second hub which are parallel and symmetrically arranged, a first rim arranged at a peripheral gap of the first hub, a second rim arranged at a peripheral gap of the second hub, a roller mounting part and a hub shaft penetrating through central axes of the first hub and the second hub; the roller mounting part is used for connecting the first hub and the second hub and comprises a plurality of rollers and ball restraints arranged at two ends of the rollers; the ball constraint is respectively clamped between the periphery of the first hub and the first rim, and between the periphery of the second hub and the second rim; the rollers are arranged between the first hub and the second hub, at least two position states of the rollers are provided, the rollers are defined to be parallel to central axes of the first hub and the second hub and are in a first state, and the rollers are inclined at an angle of 45 degrees with the central axes of the first hub and the second hub and are in a second state; the first end of the hub shaft is connected with the first hub, and the second end of the hub shaft is fixedly connected with the second hub; the hydraulic control part is used for controlling the first hub and the second hub to move relatively so that the roller is changed between a first state and a second state; defining the bottom surface of the first hub far away from the second hub as an upper bottom surface; the upper bottom surface of the first hub is provided with an annular shell along the central axis direction, and the annular shell protrudes to the outer side of the first hub; a plurality of blade limiting plates are arranged on the side wall of the inner part of the annular shell, a bearing plate is arranged on the bottom surface of the inner part of the annular shell, the bottoms of the blade limiting plates are abutted against the bearing plate, and an inclined guide rail is arranged on the upper bottom surface of the bearing plate; the first end of the hub shaft penetrates out of the upper bottom surface of the bearing plate, and the blade limiting plate is abutted against the first end of the hub shaft; the side wall of the part of the first end of the hub shaft protruding out of the bearing plate is provided with a plurality of hub shaft blades which are matched with the annular shell; the hub shaft blade is perpendicular to the bearing plate and is arranged adjacent to the blade limiting plate; the bottom of the hub shaft blade is abutted against the inclined guide rail and has the freedom degree of sliding on the inclined guide rail; the top of the first end of the hub shaft is provided with a sealing cover which is matched with the annular shell, and the sealing cover, the hub shaft and the bearing plate form a first sealing cavity; the hub shaft blades and the blade limiting plates in the first sealing cavity divide the first sealing cavity into a plurality of small sealing cavities; the second end of the hub shaft is fixedly connected to the second hub, a cavity protruding outwards is formed in the lower bottom surface of the second rim along the direction of the central axis, and the second end of the hub shaft penetrates out of the lower bottom surface of the second hub and is matched with the cavity.
2. The hydraulic pressure adjustment roller direction mecanum wheel of claim 1 wherein said hydraulic control portion comprises a first oil passage, a second oil passage, a first oil groove, a second oil groove, a first oil hole, a second oil hole, a third oil hole, a fourth oil hole, and a hydraulic valve system; the first oil duct and the second oil duct are arranged inside the hub shaft along the length direction of the hub shaft, and the first oil duct is not communicated with the second oil duct; the end parts of the first oil duct and the second oil duct, which are close to the first hub, do not exceed the bearing plate, and the end parts of the first oil duct and the second oil duct, which are close to the second hub, do not exceed the second end face of the hub shaft; the hydraulic valve system comprises an oil storage cylinder arranged between the first hub and the second hub, and a three-way hydraulic valve communicated with the oil storage cylinder; the side wall of the cavity is provided with a mounting hole communicated with the inside of the cavity, and the three-way hydraulic valve is arranged in the mounting hole; the first oil groove and the second oil groove are arranged on the side wall of the hollow cavity part at the second end of the hub shaft, and the first oil groove and the second oil groove are respectively connected with the three-way hydraulic valve; the first oil hole is used for communicating the end part of the first oil duct, which is close to the second hub, with the first oil groove, and the second oil hole is used for communicating the end part of the second oil duct, which is close to the second hub, with the second oil groove; the third oil hole and the fourth oil hole are both arranged at the first end of the hub shaft, the third oil hole is communicated with the first oil duct, the third oil hole is arranged on the bearing plate at the bottom of the small sealing cavity which is arranged in the first sealing cavity at intervals, the fourth oil hole is communicated with the second oil duct, and the fourth oil hole is arranged on the bearing plate at the bottom of the small sealing cavity adjacent to the small sealing cavity where the third oil hole is.
3. The hydraulically adjusted roller directional mecanum wheel of claim 2 wherein said hydraulic valve system further comprises a power source, solenoid valve and oil pump; the power supply is used for supplying power to the hydraulic control part, and the electromagnetic valve is connected to the three-way hydraulic valve and used for changing the running direction of hydraulic oil of the first oil duct and the second oil duct; the oil pump is arranged inside the oil storage cylinder and used for conveying hydraulic oil in the oil storage cylinder to the first sealing cavity through the first oil duct and/or the second oil duct and pushing the hub shaft blade to slide through oil pressure.
4. A roller direction hydraulically adjusted mecanum wheel according to claim 3 wherein said power source is a rechargeable battery.
5. The hydraulically adjusted roller directional Mecanum wheel of claim 2, wherein the first and second oil passages are provided as hub axle axially concentric bores.
6. The hydraulically adjustable roller directional Mecanum wheel of claim 1, wherein the hub axle vanes and vane limiting plates are disposed uniformly within the first seal cavity.
7. The hydraulically adjustable roller directional Mecanum wheel of claim 2, wherein the number of third oil holes is at least equal to the number of hub axle lobes and is evenly disposed about the hub axle lobes.
8. The hydraulically adjustable roller directional Mecanum wheel of claim 2, wherein the number of fourth oil holes is at least equal to the number of hub axle lobes and is evenly disposed about the hub axle lobes.
9. The hydraulically adjustable roller directional Mecanum wheel of claim 1, wherein the hub axle is threadably engaged with the first hub.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811138635.2A CN109017145B (en) | 2018-09-28 | 2018-09-28 | Mecanum wheel for hydraulically adjusting roller direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811138635.2A CN109017145B (en) | 2018-09-28 | 2018-09-28 | Mecanum wheel for hydraulically adjusting roller direction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109017145A CN109017145A (en) | 2018-12-18 |
| CN109017145B true CN109017145B (en) | 2023-06-13 |
Family
ID=64615231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811138635.2A Active CN109017145B (en) | 2018-09-28 | 2018-09-28 | Mecanum wheel for hydraulically adjusting roller direction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109017145B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774332A (en) * | 2008-12-18 | 2010-07-14 | 萨洛蒙股份有限公司 | Freewheel hub and bicycle wheel fitted with the same |
| CN101925476A (en) * | 2008-03-05 | 2010-12-22 | 格罗塞+弗勒利希有限及两合公司 | Wheel for furniture roller with locking device |
| KR20120065299A (en) * | 2012-05-09 | 2012-06-20 | 에버테크노 주식회사 | Mecanum diverter |
| CN103625828A (en) * | 2012-08-24 | 2014-03-12 | 天津冠博科技有限公司 | Roller conveyer |
| CN104228456A (en) * | 2014-10-09 | 2014-12-24 | 中国矿业大学 | Middle supporting type Mecanum wheel hub |
| CN106026504A (en) * | 2016-07-27 | 2016-10-12 | 深圳先进技术研究院 | Mecanum electric wheel and omnibearing mobile platform |
| WO2016177806A1 (en) * | 2015-05-06 | 2016-11-10 | Omniroll Ag | Mecanum-wheeled vehicle and operating method |
| CN106808427A (en) * | 2017-03-17 | 2017-06-09 | 南京工业职业技术学院 | A kind of automatic dress vehicle skidproof chain apparatus |
| CN209351171U (en) * | 2018-09-28 | 2019-09-06 | 南京工业职业技术学院 | A kind of Mecanum wheel in hydraulic regulation roller direction |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006068007A1 (en) * | 2004-12-20 | 2006-06-29 | Shinichiro Fuji | Omnidirectionally moving wheel, moving device, carrying device, and massage device |
| ITMI20062215A1 (en) * | 2006-11-20 | 2008-05-21 | Campagnolo Srl | BICYCLE RADIUS WHEEL AND HUB FOR SUCH WHEEL AND WHEEL ASSEMBLY METHOD |
| US7980335B2 (en) * | 2009-01-26 | 2011-07-19 | Foster-Miller, Inc. | Omni-directional wheel |
| DE102011053903A1 (en) * | 2011-09-23 | 2013-03-28 | Zdenek Spindler | Mecanumrad as well as Mecanumradfahrzeug |
| JP6417263B2 (en) * | 2015-04-16 | 2018-11-07 | 本田技研工業株式会社 | Friction type traveling device and omnidirectional moving device |
-
2018
- 2018-09-28 CN CN201811138635.2A patent/CN109017145B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101925476A (en) * | 2008-03-05 | 2010-12-22 | 格罗塞+弗勒利希有限及两合公司 | Wheel for furniture roller with locking device |
| CN101774332A (en) * | 2008-12-18 | 2010-07-14 | 萨洛蒙股份有限公司 | Freewheel hub and bicycle wheel fitted with the same |
| KR20120065299A (en) * | 2012-05-09 | 2012-06-20 | 에버테크노 주식회사 | Mecanum diverter |
| CN103625828A (en) * | 2012-08-24 | 2014-03-12 | 天津冠博科技有限公司 | Roller conveyer |
| CN104228456A (en) * | 2014-10-09 | 2014-12-24 | 中国矿业大学 | Middle supporting type Mecanum wheel hub |
| WO2016177806A1 (en) * | 2015-05-06 | 2016-11-10 | Omniroll Ag | Mecanum-wheeled vehicle and operating method |
| CN106026504A (en) * | 2016-07-27 | 2016-10-12 | 深圳先进技术研究院 | Mecanum electric wheel and omnibearing mobile platform |
| CN106808427A (en) * | 2017-03-17 | 2017-06-09 | 南京工业职业技术学院 | A kind of automatic dress vehicle skidproof chain apparatus |
| CN209351171U (en) * | 2018-09-28 | 2019-09-06 | 南京工业职业技术学院 | A kind of Mecanum wheel in hydraulic regulation roller direction |
Non-Patent Citations (2)
| Title |
|---|
| Mecanum轮全方位移动机器人的速度修正;贾茜;王兴松;夏国庆;;制造技术与机床(第11期);49-52 * |
| 基于Mecanum轮的全向移动机器人的研制;石维亮等;机械工程师;18-21 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109017145A (en) | 2018-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110182269B (en) | Crawler wheel walking device capable of realizing wheel-track conversion | |
| CN104736865B (en) | linear motion guidance device | |
| CN103573320B (en) | Hydraulic camshaft adjuster | |
| CN103481895B (en) | A kind of RGV dolly | |
| CN104896257A (en) | Circulating variable-pitch propeller pipeline robot | |
| WO2020029899A1 (en) | Piston pump and piston motor | |
| CN201998045U (en) | Swing head mechanism for superfinishing machine | |
| CN109017145B (en) | Mecanum wheel for hydraulically adjusting roller direction | |
| US4188859A (en) | Fluid drive mechanisms and methods | |
| CN206988546U (en) | A kind of novel signal gate valve | |
| CN209351171U (en) | A kind of Mecanum wheel in hydraulic regulation roller direction | |
| CN114263582A (en) | Plunger structure and double-motion-freedom-degree piston pump | |
| CN209743287U (en) | servo spiral oscillating cylinder controlled by high-speed switch valve | |
| CN107504145B (en) | Speed reducer with eccentric compensation follow-up mechanism | |
| CN101813078A (en) | Discrete valve of hydraulic cylinder body having radial flow reciprocating pump | |
| CN220660321U (en) | Planet wheel hole drum shape raceway processing equipment convenient to use | |
| CN207018534U (en) | A kind of linear contact sealing ring | |
| CN116576101B (en) | Bidirectional axial plunger device for flow distribution of motor valve | |
| CN206655916U (en) | A kind of spherical roller | |
| CN204658177U (en) | Lathe grinding electric main shaft | |
| CN212898824U (en) | Miniature water hydraulic motor pump driven by roller carrier | |
| CN219344954U (en) | Gear for gear pump | |
| CN110588928A (en) | Bionic flexible mass center adjusting mechanism for underwater vehicle | |
| CN212052700U (en) | Hand-push type foundation soil tamping machine for building construction | |
| CN219768087U (en) | High-precision movable sleeve |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |