CN109863041A - 麦克纳姆轮及具有该麦克纳姆轮的机器人 - Google Patents

麦克纳姆轮及具有该麦克纳姆轮的机器人 Download PDF

Info

Publication number
CN109863041A
CN109863041A CN201780065963.1A CN201780065963A CN109863041A CN 109863041 A CN109863041 A CN 109863041A CN 201780065963 A CN201780065963 A CN 201780065963A CN 109863041 A CN109863041 A CN 109863041A
Authority
CN
China
Prior art keywords
wheel
spoke
wheel hub
mecanum
robot
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.)
Pending
Application number
CN201780065963.1A
Other languages
English (en)
Inventor
王振旭
左川露
黄宏升
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of CN109863041A publication Critical patent/CN109863041A/zh
Pending legal-status Critical Current

Links

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
    • B60B19/003—Multidirectional wheels
    • 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
    • B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B9/00—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces
    • B60B9/02—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces using springs resiliently mounted bicycle rims
    • B60B9/10—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces using springs resiliently mounted bicycle rims of rubber or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B9/00—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces
    • B60B9/26—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces comprising resilient spokes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

Abstract

一种麦克纳姆轮(200)及具有该麦克纳姆轮(200)的机器人，所述麦克纳姆轮(200)包括轮辐(1)、轮毂(2)及设于所述轮辐(1)周向外边缘的多个滚轮(3)，所述轮辐(1)包括用于容纳所述轮毂(2)的容纳空间(13)，所述麦克纳姆轮(200)还包括缓冲件(4)，所述缓冲件(4)一端连接所述轮辐(1)，另一端连接所述轮毂(2)，所述缓冲件(4)受力后产生变形以使得所述轮毂(2)相对所述轮辐(1)产生位移变化。在轮辐(1)和轮滚(3)的连接面处增加可变形的缓冲件(4)，能够对施加在麦克纳姆轮(200)上的冲击进行消除，实现避震功能。

Description

PCT国内申请，说明书已公开。

Claims (12)

  1. PCT国内申请，权利要求书已公开。
CN201780065963.1A 2017-05-31 2017-06-29 麦克纳姆轮及具有该麦克纳姆轮的机器人 Pending CN109863041A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN2017206194870 2017-05-31
CN201720619487.0U CN206856399U (zh) 2017-05-31 2017-05-31 麦克纳姆轮及具有该麦克纳姆轮的机器人
PCT/CN2017/090952 WO2018218726A1 (zh) 2017-05-31 2017-06-29 麦克纳姆轮及具有该麦克纳姆轮的机器人

Publications (1)

Publication Number Publication Date
CN109863041A true CN109863041A (zh) 2019-06-07

Family

ID=60825725

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201720619487.0U Active CN206856399U (zh) 2017-05-31 2017-05-31 麦克纳姆轮及具有该麦克纳姆轮的机器人
CN201780065963.1A Pending CN109863041A (zh) 2017-05-31 2017-06-29 麦克纳姆轮及具有该麦克纳姆轮的机器人

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN201720619487.0U Active CN206856399U (zh) 2017-05-31 2017-05-31 麦克纳姆轮及具有该麦克纳姆轮的机器人

Country Status (3)

Country Link
US (1) US20200094617A1 (zh)
CN (2) CN206856399U (zh)
WO (1) WO2018218726A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112874650A (zh) * 2021-01-23 2021-06-01 张海丽 一种战地运输机器
WO2022262714A1 (zh) * 2021-06-16 2022-12-22 江苏邦邦智能科技有限公司 全向轮及移动设备

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018131068A (ja) * 2017-02-15 2018-08-23 ナブテスコ株式会社 運搬台車用の駆動装置
CN206856399U (zh) * 2017-05-31 2018-01-09 深圳市大疆创新科技有限公司 麦克纳姆轮及具有该麦克纳姆轮的机器人
USD939637S1 (en) * 2018-07-17 2021-12-28 SZ DJI Technology Co., Ltd. Vehicle
KR102621117B1 (ko) 2018-11-14 2024-01-04 삼성전자주식회사 다방향 바퀴 및 이를 포함하는 이동 장치
CN110170979B (zh) * 2019-05-30 2022-11-04 南方科技大学 一种适用于非结构化环境下进行物理交互的轮式机器人
CN112141235A (zh) * 2020-09-21 2020-12-29 桂林电子科技大学 一种仿生树栖侦察监测机器人

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2343005Y (zh) * 1998-09-25 1999-10-13 李卫东 一种减震车轮
CN202879149U (zh) * 2012-10-31 2013-04-17 成都航发液压工程有限公司 一种45度全向轮
CN104512195A (zh) * 2013-09-28 2015-04-15 黄石高新科技企业加速器发展有限公司 减震车轮
US9216612B2 (en) * 2011-09-23 2015-12-22 Omniroll Ag Mecanum wheel and Mecanum-wheeled vehicle
CN205853754U (zh) * 2016-08-05 2017-01-04 南京亚标机器人有限公司 一种改进的麦克纳姆轮
CN106696593A (zh) * 2017-01-06 2017-05-24 苏州凤凰动力工业有限公司 带减速机构的麦克纳姆轮
CN206856399U (zh) * 2017-05-31 2018-01-09 深圳市大疆创新科技有限公司 麦克纳姆轮及具有该麦克纳姆轮的机器人

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106671720A (zh) * 2017-03-15 2017-05-17 桂林理工大学 减震装置及全向车

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2343005Y (zh) * 1998-09-25 1999-10-13 李卫东 一种减震车轮
US9216612B2 (en) * 2011-09-23 2015-12-22 Omniroll Ag Mecanum wheel and Mecanum-wheeled vehicle
CN202879149U (zh) * 2012-10-31 2013-04-17 成都航发液压工程有限公司 一种45度全向轮
CN104512195A (zh) * 2013-09-28 2015-04-15 黄石高新科技企业加速器发展有限公司 减震车轮
CN205853754U (zh) * 2016-08-05 2017-01-04 南京亚标机器人有限公司 一种改进的麦克纳姆轮
CN106696593A (zh) * 2017-01-06 2017-05-24 苏州凤凰动力工业有限公司 带减速机构的麦克纳姆轮
CN206856399U (zh) * 2017-05-31 2018-01-09 深圳市大疆创新科技有限公司 麦克纳姆轮及具有该麦克纳姆轮的机器人

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112874650A (zh) * 2021-01-23 2021-06-01 张海丽 一种战地运输机器
CN112874650B (zh) * 2021-01-23 2021-12-14 福建卓航特种设备有限公司 一种战地运输机器
WO2022262714A1 (zh) * 2021-06-16 2022-12-22 江苏邦邦智能科技有限公司 全向轮及移动设备

Also Published As

Publication number Publication date
US20200094617A1 (en) 2020-03-26
WO2018218726A1 (zh) 2018-12-06
CN206856399U (zh) 2018-01-09

Similar Documents

Publication Publication Date Title
CN109863041A (zh) 麦克纳姆轮及具有该麦克纳姆轮的机器人
CN108942300B (zh) 一种新能源汽车零部件夹紧装置
WO2018218505A1 (zh) 麦克纳姆轮及具有该麦克纳姆轮的机器人
US9156323B2 (en) Suspension device for a vehicle
US7422080B2 (en) In-wheel motor system
CN101541573B (zh) 通过采用流体弹性接头主动控制转向角的扭转柔性轮轴
CN201884533U (zh) 一种可调阻尼组合隔振器
US20210114406A1 (en) Shock-Tolerant Omni Wheel
CN202623789U (zh) 一种新型全向轮结构
CN106799976B (zh) 用于汽车座椅调节器的传动装置
CN102094924B (zh) 一种可调阻尼组合隔振器
US8298039B2 (en) Two-wheel toy car
CA2739073A1 (en) Skid steer loaders with variable isolation on vibratory roller
CN107364279B (zh) 车辆及其全向轮
CN206856400U (zh) 麦克纳姆轮及具有该麦克纳姆轮的机器人
CN208962774U (zh) 一种特制的新型全向轮
CN107444008B (zh) 全向移动轮
CN103249957B (zh) 具有弹性环的三销轴式滚动元件
CN210503036U (zh) 减震结构、车头结构以及滑板
US10875565B2 (en) Steering arrangement
CN209466938U (zh) 一种悬挂系统及具有该悬挂系统的托盘车
CN205859068U (zh) 一种张紧轮
KR102616483B1 (ko) 완충지지기능을 갖는 캐스터
CN220320167U (zh) 电磁弹簧及车辆
CN215970996U (zh) 下支架及具有其的车辆

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