CN113511029B - Mecanum wheel driving unit with hydraulic suspension - Google Patents
Mecanum wheel driving unit with hydraulic suspension Download PDFInfo
- Publication number
- CN113511029B CN113511029B CN202110607319.0A CN202110607319A CN113511029B CN 113511029 B CN113511029 B CN 113511029B CN 202110607319 A CN202110607319 A CN 202110607319A CN 113511029 B CN113511029 B CN 113511029B
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- CN
- China
- Prior art keywords
- oil cylinder
- omnidirectional vehicle
- mecanum wheel
- oil
- frame
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/06—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type
- B60G13/08—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type hydraulic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/16—Understructures, i.e. chassis frame on which a vehicle body may be mounted having fluid storage compartment
Abstract
The invention belongs to the technical field of Mecanum wheels, and discloses a Mecanum wheel driving unit with a hydraulic suspension, which comprises: the Mecanum wheels are arranged at the bottom of the omnidirectional vehicle, and the number of the Mecanum wheels is two; the omnidirectional vehicle comprises at least one group of oil cylinder assemblies arranged on a frame of the omnidirectional vehicle, wherein each group of oil cylinder assemblies comprises two oil cylinders which can be mutually communicated, one oil cylinder is correspondingly matched with one Mecanum wheel, and the oil cylinder is rotationally matched with the frame of the omnidirectional vehicle; the swinging mechanism is connected with the Mecanum wheels, one end of the swinging mechanism is rotationally matched on the frame of the omnidirectional vehicle, and the other end of the swinging mechanism is rotationally connected with the bottom of the oil cylinder; in conclusion, the oil cylinder is used as a suspension main part, so that the invention has the advantages of large bearing capacity, compact structure, large stroke and the like, and meets the driving requirements of heavy load, complex road conditions and the like; in addition, the swing mechanism matched with the oil cylinder is further arranged, so that the support effect of the invention can be effectively improved, and the invention has the advantages of simple structure and convenient disassembly and assembly.
Description
Technical Field
The invention belongs to the technical field of Mecanum wheels, and particularly relates to a Mecanum wheel driving unit with a hydraulic suspension.
Background
The Mecanum wheel is a driving wheel structure capable of moving in all directions, particularly, when the Mecanum wheel is used for driving, a driving unit of the driving wheel is installed on a frame of the omnidirectional vehicle, and in actual production and life, due to the fact that the ground is uneven, each wheel set of the Mecanum wheel can effectively land by being provided with a suspension on the driving unit, and therefore the accuracy of the moving direction of the omnidirectional vehicle is guaranteed.
The current suspension forms on the market mainly comprise a plate spring suspension form and a cylindrical spring suspension form; the problem that the travel is small and the plate spring suspension cannot adapt to complex road conditions exists; aiming at the cylindrical spring suspension, the elastic coefficient is customized, so that the multi-working condition requirements of light load and heavy load cannot be met simultaneously; in addition, the two spring forms can cause the problems of larger driving mechanism and larger size of the whole vehicle under the condition of large load.
In addition to the two suspensions, chinese patent CN206446368U also discloses a mecanum wheel suspension device, which is provided with a driving mechanism, a suspension mechanism, a swing mechanism, etc. Specifically, the suspension mechanism in the patent is similar to a shock absorber on a battery car, the bearing capacity and the suspension stroke of the suspension mechanism are limited, and the use requirement of a low-speed large-bearing omnidirectional car cannot be met; in addition, the rotating shaft of the driving unit also adopts two hinged structures, so that the problem of complex disassembly and assembly exists.
Disclosure of Invention
In view of the above, the present invention provides a mecanum wheel drive unit with hydraulic suspension to solve the above-mentioned problems in the prior art and to meet the requirement of large stroke and high load bearing suspension in low-speed heavy-duty omnidirectional vehicles.
In order to achieve the purpose, the invention provides the following technical scheme: a mecanum wheel drive unit with hydraulic suspension, comprising:
the Mecanum wheels are arranged at the bottom of the omnidirectional vehicle, and the number of the Mecanum wheels is two;
the omnidirectional vehicle comprises at least one group of oil cylinder assemblies arranged on a frame of the omnidirectional vehicle, wherein each group of oil cylinder assemblies comprises two oil cylinders which can be mutually communicated, one oil cylinder is correspondingly matched with one Mecanum wheel, and the oil cylinder is rotationally matched with the frame of the omnidirectional vehicle;
and one end of the swinging mechanism is rotatably matched on the frame of the omnidirectional vehicle, and the other end of the swinging mechanism is rotatably connected with the bottom of the oil cylinder.
Preferably, an ear seat is rotatably connected to the top of each oil cylinder, and the ear seat is fixed to the frame of the omnidirectional vehicle.
Preferably, each group of the oil cylinder assemblies further comprises: and the oil pipe is connected between the two oil cylinders and is used for realizing the communication of hydraulic oil along the pressure from high to low between the two oil cylinders.
Preferably, each group of the cylinder assemblies further comprises: and the stop valve is arranged on the oil pipe and used for executing oil pipe blocking when the pressures of the two oil cylinders are equal and executing oil pipe conduction when the pressures of the two oil cylinders are unequal.
Preferably, the swing mechanism includes: the bearing seat is in rotating fit with the Mecanum wheel, and two sides of the bearing seat extend outwards to form outward extending shafts; the end parts of the two overhanging shafts are respectively in rotating fit with the frame of the omnidirectional vehicle and the bottom of the oil cylinder.
Preferably, the end parts of the two overhanging shafts are rotatably connected with copper sleeves, one copper sleeve is fixed on the frame of the omnidirectional vehicle, and the other copper sleeve is fixed at the bottom of the oil cylinder.
Preferably, the driving unit further includes: the drive motor, be connected with the drive shaft between drive motor and the mecanum wheel, the drive shaft runs through bearing frame, and drive motor orders about the rotation of mecanum wheel through the drive shaft.
Preferably, the driving unit further includes: and the speed reducer is connected between the driving shaft and the driving motor and is fixed on the bearing seat.
Compared with the prior art, the invention has the following beneficial effects:
in the driving unit, the oil cylinder is used as a suspension main part, so that the whole driving unit has the advantages of large bearing capacity, compact structure, large stroke and the like, and the driving requirements of heavy load, complex road conditions and the like can be effectively met.
In the driving unit, the swing mechanism matched with the oil cylinder is arranged, and the swing mechanism consists of the outward extending shaft and the copper sleeve which are matched with each other, so that the whole bending moment and half load force of the driving unit can be effectively borne, and in addition, the whole structure is simple and compact, and the assembly and disassembly are convenient.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a rear view of the present invention;
FIG. 3 is a schematic view of a group of cylinder assemblies according to the present invention;
FIG. 4 is a schematic view of a swing mechanism according to the present invention;
in the figure: a driving motor-1; a speed reducer-2; a bearing seat-3; ear seat-4; an oil cylinder-5; mecanum wheel-6; 7, a copper sleeve; an oil pipe-8; a stop valve-9.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-4, in the present invention, there is provided a mecanum wheel drive unit with hydraulic suspension, specifically the drive unit comprising:
at least one group of Mecanum wheels 6 arranged at the bottom of the omnidirectional vehicle, wherein the number of the group of Mecanum wheels 6 is two;
the speed reducer 2 and the driving motor 1 are connected with each Mecanum wheel 6, and each driving motor 1 drives the corresponding Mecanum wheel 6 to rotate through the speed reducer 2;
the omnidirectional vehicle comprises at least one group of oil cylinder assemblies, wherein each group of oil cylinder assemblies comprises two oil cylinders 5 which can be communicated with each other, one oil cylinder 5 is correspondingly matched with one Mecanum wheel 6, and the oil cylinders 5 are rotationally matched with the frame of the omnidirectional vehicle;
and one end of the swinging mechanism is rotatably matched on the frame of the omnidirectional vehicle, and the other end of the swinging mechanism is rotatably connected with the bottom of the oil cylinder 5.
As described above
Preferably, as can be seen in fig. 3, the cylinder assembly further includes:
the oil pipe 8 is connected between the two oil cylinders 5, and the oil pipe 8 is used for realizing the conduction of hydraulic oil between the two oil cylinders 5 from high pressure to low pressure;
and the stop valve 9 is arranged on the oil pipe 8, the stop valve 9 is used for executing the blocking of the oil pipe 8 when the pressures of the two oil cylinders 5 are equal, and the oil pipe 8 is executed to be communicated when the pressures of the two oil cylinders 5 are unequal.
The top of each oil cylinder 5 is rotatably connected with an ear seat 4, and the ear seats 4 are fixed on the frame of the omnidirectional vehicle.
Preferably, as can be seen in fig. 4, the swing mechanism includes:
the bearing seat 3 is rotationally matched with the Mecanum wheel 6, and two sides of the bearing seat 3 extend outwards to form outward extending shafts; the end parts of the two outward extending shafts are respectively in rotating fit with the frame of the omnidirectional vehicle and the bottom of the oil cylinder 5;
the end parts of the two overhanging shafts are rotatably connected with copper sleeves 7, one copper sleeve 7 is fixed on the frame of the omnidirectional vehicle, and the other copper sleeve 7 is fixed at the bottom of the oil cylinder 5.
The speed reducer 2 is fixed on the bearing seat 3, a driving shaft is connected between the bearing seat 3 and the Mecanum wheel 6, and the driving shaft penetrates through the bearing seat 3 and is in running fit with the bearing seat 3.
In summary, it can be known from the drawings that when the omnidirectional vehicle runs on an uneven road surface, two cylinders 5 in each group of cylinder assemblies of the omnidirectional vehicle are subjected to different pressures, in this case, the stop valve 9 is opened to realize the conduction of the oil pipe 8, and after the oil pipe 8 is conducted, hydraulic oil is made to flow from the cylinder 5 with high pressure to the cylinder 5 with low pressure, so as to respectively realize the shortening and the extension of the two cylinders 5; at the same time, the stretching of the oil cylinder 5 drives the copper sleeve 7 connected with the oil cylinder to move, and then the oil cylinder 5, the extending shaft and the bearing seat 3 are driven to rotate (shown in principle of fig. 4), so that the suspension adjustment of the overall driving unit on the mecanum wheel 6 is realized. Wherein: the oil cylinder 5 is used as a suspension main part to provide suspension support and stroke adjustment, so that the device has the advantages of large bearing capacity, compact structure, large stroke and the like; the swing mechanism is matched with the oil cylinder 5, so that the rotary support in the whole suspension adjusting process is realized, the supporting effect of the whole driving unit is effectively improved, and the structure is simple and the assembly and disassembly are convenient.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. A mecanum wheel drive unit with hydraulic suspension, comprising:
at least one group of Mecanum wheels (6) arranged at the bottom of the omnidirectional vehicle, wherein the number of the group of Mecanum wheels (6) is two;
the omnidirectional vehicle comprises at least one group of oil cylinder assemblies arranged on a frame of the omnidirectional vehicle, wherein each group of oil cylinder assemblies comprises two oil cylinders (5) which can be communicated with each other, one oil cylinder (5) is correspondingly matched with one Mecanum wheel (6), and the oil cylinder (5) is rotationally matched with the frame of the omnidirectional vehicle;
the swing mechanism is connected with the Mecanum wheels (6), one end of the swing mechanism is rotationally matched with the frame of the omnidirectional vehicle, the other end of the swing mechanism is rotationally connected with the bottom of the oil cylinder (5), and each group of oil cylinder assemblies further comprises: connect in two oil pipe (8) between hydro-cylinder (5), just oil pipe (8) are used for realizing following the hydraulic oil of pressure from high to low and lead to between two hydro-cylinders (5), still include in every group the oil cylinder subassembly: install in stop valve (9) on oil pipe (8), just stop valve (9) are used for executing oil pipe (8) when two hydro-cylinder (5) pressure equal and block, execute oil pipe (8) when two hydro-cylinder (5) pressure are unequal and switch on, swing mechanism includes: the bearing seat (3) is in running fit with the Mecanum wheel (6), and two sides of the bearing seat (3) extend outwards to form outward extending shafts; the end parts of the two extending shafts are respectively in rotating fit with the frame of the omnidirectional vehicle and the bottom of the oil cylinder (5), the end parts of the two extending shafts are respectively connected with a copper sleeve (7) in a rotating mode, one copper sleeve (7) is fixed on the frame of the omnidirectional vehicle, and the other copper sleeve (7) is fixed at the bottom of the oil cylinder (5).
2. A mecanum wheel drive unit with hydraulic suspension according to claim 1, characterised in that an ear mount (4) is rotatably attached to the top of each cylinder (5) and the ear mount (4) is fixed to the omni-directional vehicle frame.
3. A mecanum wheel drive unit with hydraulic suspension as claimed in claim 2 further comprising:
the driving device comprises a driving motor (1), a driving shaft is connected between the driving motor (1) and the Mecanum wheel (6), the driving shaft penetrates through a bearing seat (3), and the driving motor (1) drives the Mecanum wheel (6) to rotate through the driving shaft.
4. A mecanum wheel drive unit with hydraulic suspension as claimed in claim 3 further comprising:
the speed reducer (2) is connected between the driving shaft and the driving motor (1), and the speed reducer (2) is fixed on the bearing seat (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110607319.0A CN113511029B (en) | 2021-06-01 | 2021-06-01 | Mecanum wheel driving unit with hydraulic suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110607319.0A CN113511029B (en) | 2021-06-01 | 2021-06-01 | Mecanum wheel driving unit with hydraulic suspension |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113511029A CN113511029A (en) | 2021-10-19 |
| CN113511029B true CN113511029B (en) | 2022-11-04 |
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ID=78065271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110607319.0A Active CN113511029B (en) | 2021-06-01 | 2021-06-01 | Mecanum wheel driving unit with hydraulic suspension |
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| Country | Link |
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| CN (1) | CN113511029B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2312822Y (en) * | 1997-12-19 | 1999-04-07 | 任淑君 | Suspension rack of motor vehicle |
| DE102007053266A1 (en) * | 2007-11-08 | 2009-05-14 | Agco Gmbh | Commercial vehicle with at least three drivable vehicle axles |
| JP6235307B2 (en) * | 2013-11-11 | 2017-11-22 | 株式会社ショーワ | Shock absorber |
| CN207028756U (en) * | 2017-07-14 | 2018-02-23 | 冯华川 | A kind of automobile automatic suspension device |
| CN209051264U (en) * | 2018-10-08 | 2019-07-02 | 罗建勋 | A kind of automobile hydraulic balance bracket |
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2021
- 2021-06-01 CN CN202110607319.0A patent/CN113511029B/en active Active
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| Publication number | Publication date |
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| CN113511029A (en) | 2021-10-19 |
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