CN113602039A

CN113602039A - Mecanum wheel with variable diameter, walking structure and chassis structure

Info

Publication number: CN113602039A
Application number: CN202110926620.8A
Authority: CN
Inventors: 管奔; 刘廷航; 刘旭鹏; 郜志英; 吴迪平; 臧勇
Original assignee: University of Science and Technology Beijing USTB
Current assignee: University of Science and Technology Beijing USTB
Priority date: 2021-08-12
Filing date: 2021-08-12
Publication date: 2021-11-05
Anticipated expiration: 2041-08-12
Also published as: CN113602039B

Abstract

The invention relates to the technical field of moving wheels, in particular to a Mecanum wheel with variable diameter, a walking structure and a chassis structure. The variable diameter mecanum wheel includes: the Mecanum wheel comprises Mecanum wheel monomers, a guide mechanism and a connecting rod mechanism, wherein the Mecanum wheel monomers are sequentially arranged to form Mecanum wheels, the guide mechanism is arranged at the axis position of the Mecanum wheels, the connecting rod mechanism is arranged on two sides of the Mecanum wheels, one end of each connecting rod mechanism is hinged with the end part of each guide mechanism, and the other end of each connecting rod mechanism is movably connected with the side walls of two ends of each Mecanum wheel; one end of the guide mechanism is connected with the power unit. The invention has the beneficial effects that: the Mecanum wheel has the advantages of simple structure, reliable performance and convenient control, and can change the diameter at any time in the driving process. The Mecanum wheel is suitable for running in pipelines with different diameters when driving the pipeline detection device, and meanwhile, the real-time regulation and control of the trafficability and the stability of the driven device can be realized by changing the diameter of the wheel.

Description

Mecanum wheel with variable diameter, walking structure and chassis structure

Technical Field

The invention relates to the technical field of moving wheels, in particular to a Mecanum wheel with variable diameter, a walking structure and a chassis structure.

Background

A mecanum wheel is an omni-directional mobile wheel that is often used in large industrial or mobile robotic devices to achieve omni-directional movement of the device. However, in some applications, for example, a pipeline inspection device that travels linearly within a pipeline driven by the rotation of opposing mecanum wheels requires that the diameter of the mecanum wheels be equal to or similar to the diameter of the pipeline to ensure that the mecanum wheels are in sufficient contact pressure with the pipe wall to drive the device in motion. However, the Mecanum wheel driving device which can not change the diameter is difficult to adapt to the walking movement in pipelines with different diameters, so that the application of the detection device becomes difficult.

Disclosure of Invention

The invention discloses a Mecanum wheel with a variable diameter, a walking structure and a chassis structure, which aim to solve any problems in the prior art such as technical problems and other potential problems.

The technical scheme of the invention is as follows: a variable diameter mecanum wheel structure, the variable diameter mecanum wheel comprising:

the Mecanum wheel monomer is used for forming a Mecanum wheel and can freely change the diameter;

the guide mechanism is used for realizing axial relative sliding and matched transmission;

the connecting rod mechanism is used for connecting each Mecanum wheel monomer and the guide mechanism, so that force transmission is realized, and Mecanum wheels formed by the Mecanum wheel monomers are driven to realize free diameter change;

the linkage mechanism is arranged on two sides of the Mecanum wheel, one end of the linkage mechanism is hinged with the end part of the guide mechanism, and the other end of the linkage mechanism is movably connected with the side walls of two ends of the Mecanum wheel;

the end part of one end of the guide mechanism is connected with the power unit.

Further, the Mecanum wheel single body comprises a roller wheel base, an L-shaped roller wheel connecting arm and a roller wheel,

wherein, 2L type roller linking arms are positive and negative direction setting, 2L type roller linking arm with the tip bolt of running roller base, the other end is equipped with the running roller mounting hole, the running roller passes through the running roller mounting hole and sets up between 2L type roller linking arms.

Further, the guide mechanism comprises an inner guide rod, an outer guide sleeve, a fixed block, a sliding block and a motor connector,

wherein, a boss is arranged on the side wall of one end of the inner guide rod, a flange is arranged at the end part of the inner guide rod, a connecting hole and a slotted hole are arranged on the flange, the end part of the other end is provided with the motor connector,

the side wall of one end of the outer guide sleeve is provided with a sliding chute, the end part of the other end is provided with the fixed block,

the inner guide rod is arranged inside the outer guide sleeve, the end part of the outer guide sleeve, which is provided with the sliding chute, is inserted into the groove hole in the flange, and meanwhile, the boss is embedded into the sliding chute and can slide along the sliding chute;

the sliding block is arranged on one side of the flange and is connected with the flange through the connecting hole.

Further, fixed block and sliding block are the ring shape, and are the ring shape all be equipped with the engaging lug on the lateral wall of fixed block and sliding block.

Further, the connecting rod mechanism comprises a plurality of connecting rods, lug seats and cylindrical pins,

wherein, 2 the ear seat symmetry sets up 2 on the lateral wall of L type gyro wheel linking arm, and 2 the ear seat pass through the bolt respectively with 2 one of them one end swing joint of connecting rod, 2 the other end of connecting rod passes through the cylindric lock with link lug on fixed block and the sliding block is articulated.

Furthermore, the number of the bosses is at least 2, and the number of the chutes is the same as that of the bosses;

the section of the boss is rectangular;

the bosses are symmetrically arranged on the outer side wall of the inner guide rod.

Further, the length of the sliding groove is larger than that of the boss and smaller than 1/2 of the length of the outer guide sleeve.

A pipeline inspection robot comprises a robot main body and a walking mechanism, wherein the walking mechanism adopts the Mecanum wheels with the variable diameters.

A chassis structure comprising a chassis body, a motor and a variable diameter Mecanum wheel as described above,

the motor is installed on two sides of the chassis main body, and the Mecanum wheels with variable diameters are connected with the output end of the motor through a motor connector.

Compared with the prior art, the method has the beneficial effect of realizing the real-time diameter change of the Mecanum wheel structure. The diameter of the wheel can be changed to enable the Mecanum wheel to be suitable for running in pipelines with different diameters when the pipeline detection device is driven, and meanwhile, the diameter of the wheel can be changed to achieve real-time regulation and control of the trafficability and stability of the driven device.

Drawings

FIG. 1 is a schematic diagram of a variable diameter Mecanum wheel of the present invention;

FIG. 2 is a schematic rear view of a variable diameter Mecanum wheel of the present invention;

FIG. 3 is a schematic diagram of a variable diameter Mecanum wheel of the present invention in an extended state;

FIG. 4 is a schematic diagram of the outer guide sleeve structure of a variable diameter Mecanum wheel of the present invention;

FIG. 5 is a schematic view of the inner guide bar structure of a variable diameter Mecanum wheel of the present invention;

FIG. 6 is a schematic diagram of a slider configuration for a variable diameter Mecanum wheel of the present invention;

FIG. 7 is a schematic view of a variable diameter Mecanum wheel steering mechanism of the present invention;

FIG. 8 is a schematic representation of a linkage mechanism for a variable diameter Mecanum wheel of the present invention;

FIG. 9 is a schematic view of the pipeline inspection device of the present invention;

FIG. 10 is a schematic view of a chassis adjusting device according to the present invention.

In the figure:

1. the device comprises a Mecanum wheel monomer, 1-1 roller wheel base, 1-2L-shaped roller wheel connecting arms, 1-3 roller wheels, 1-4 roller wheel mounting holes, 2 guide mechanisms, 2-1 inner guide rods, 2-2 outer guide sleeves, 2-3 fixed blocks, 2-4 sliding blocks, 2-5 motor connectors, 2-6 bosses, 2-7 flanges, 2-8 connecting holes, 2-9 slotted holes, 2-10 sliding grooves, 2-11 connecting lugs, 2-12 bolt holes, 3 connecting rod mechanisms, 3-1 connecting rods, 3-2 ear seats, 3-3 cylindrical pins, 4 pipeline detection robots, 5 device chassis and 6 pipelines.

Detailed Description

The invention is described in detail below with reference to the figures and the specific embodiments.

As shown in fig. 1 and 2, the present invention is a variable diameter mecanum wheel structure, comprising:

the Mecanum wheel single body 1 is used for forming a Mecanum wheel and can freely change the diameter;

the guide mechanism 2 is used for realizing axial relative sliding and matched transmission;

the connecting rod mechanism 3 is used for connecting each Mecanum wheel monomer 1 and the guide mechanism 2, so that force transmission is realized, and Mecanum wheels formed by the Mecanum wheel monomers 1 are driven to realize free diameter change;

the linkage mechanisms 3 are arranged on two sides of the Mecanum wheel, one end of each linkage mechanism is hinged with the end part of each guide mechanism 2, and the other end of each linkage mechanism is movably connected with the side walls of two ends of each Mecanum wheel;

the end part of one end of the guide mechanism 2 is connected with a power unit.

The Mecanum wheel monomer 1 comprises a roller base 1-1, an L-shaped roller connecting arm 1-2 and a roller 1-3,

wherein, 2L type roller linking arms 1-2 are arranged in the positive and negative direction, 2L type roller linking arms 1-2 are fixedly connected with the end part of the roller base 1-1, the other end is provided with roller mounting holes 1-4, the rollers 1-3 are arranged between the 2L type roller linking arms 1-2 through the roller mounting holes 1-4, as shown in figure 8.

The guide mechanism 2 comprises an inner guide rod 2-1, an outer guide sleeve 2-2, a fixed block 2-3, a sliding block 2-4 and a motor connector 2-5, as shown in figure 5,

wherein, the side wall of one end of the inner guide rod 2-1 is provided with a boss 2-6, the end part is provided with a flange 2-7, the flange 2-7 is provided with a connecting hole 2-8 and a slotted hole 2-9, the end part of the other end is provided with the motor connector 2-5,

the side wall of one end of the outer guide sleeve 2-2 is provided with a sliding chute 2-10, the end part of the other end is provided with the fixed block 2-3,

the inner guide rod 2-1 is arranged inside the outer guide sleeve 2-2, the end part of one end of the outer guide sleeve 2-2, which is provided with a sliding chute 2-10, is inserted into a slotted hole 2-9 on the flange 2-7, meanwhile, the boss 2-6 is embedded into the sliding chute 2-10, and the boss 2-6 can slide along the sliding chute 2-10, as shown in fig. 7;

the sliding blocks 2-4 are arranged on one side of the flanges 2-7 and connected with the flanges 2-7 through the connecting holes 2-8, and the sliding blocks 2-4 are provided with bolt holes 2-12 matched with the connecting holes 2-8, as shown in fig. 7.

The fixed block 2-3 and the sliding block 2-4 are both circular rings, and the outer side walls of the circular fixed block 2-3 and the circular sliding block 2-4 are both provided with connecting lugs 2-11, as shown in fig. 6.

The connecting rod mechanism 3 comprises a plurality of connecting rods 3-1, lug seats 3-2 and cylindrical pins 3-3,

the 2 ear seats 3-2 are symmetrically arranged on the side wall of the 2L-shaped roller connecting arms 1-2, the 2 ear seats 3-2 are respectively movably connected with one end of the 2 connecting rods 3-1 through bolts, and the other end of the 2 connecting rods 3-1 is hinged with the connecting ears 2-11 on the fixed block 2-3 and the sliding block 2-4 through the cylindrical pins 3-3.

Further, the number of the bosses 2-6 is at least 2, and the number of the chutes 2-10 is the same as that of the bosses;

the section of the boss 2-6 is rectangular;

the bosses 2-6 are symmetrically arranged on the outer side wall of the inner guide rod 2-1.

The length of the sliding groove 2-10 is greater than the length of the boss 2-6 and less than 1/2 of the length of the jacket 2-1, as shown in fig. 7.

A travel mechanism, the travel mechanism comprising: a drive motor and the variable diameter mecanum wheel described above,

the output end of the driving motor is connected with a motor connector of the Mecanum wheel with the variable diameter.

A pipeline inspection robot 4 includes a robot main body and a traveling mechanism.

A chassis structure 5 comprising a chassis body, a motor and a variable diameter Mecanum wheel as described above,

The guide mechanism 2 comprises an inner guide rod 2-1, an outer guide sleeve 2-2 and a sliding block 2-4 which are connected in a sliding way, one end of the inner guide rod 2-1 can be connected with a linear rotating motor through a motor connector 2-5 to realize the axial movement and the rotating movement of the inner guide rod 2-1, a boss 2-6 is processed on the excircle of the other end shaft, a flange 2-7 is arranged at the shaft end, a symmetrical slotted hole 2-9 and a connecting hole 2-8 are formed on the flange 2-7, a fixed block 2-3 is processed at one end of the outer guide sleeve 2-1, a plurality of connecting lugs 2-11 are uniformly arranged on the fixed block 2-3 along the circumferential direction, the connecting lugs 2-11 are hinged with a connecting rod 3-1 of a connecting rod mechanism 3, a sliding groove 2-10 with the same width as the boss 2-6 of the inner guide rod 2-1 is formed at the other end of the outer guide sleeve 2-2, the boss 2-6 and the slotted hole 2-9 on the inner guide rod 2-1 are matched with the sliding groove 2-10 and the outer side wall of the outer guide sleeve to realize the axial relative sliding and matched transmission of the inner guide rod 2-1 and the outer guide sleeve 2-2, the sliding block 2-4 is assembled on the outer side of the inner guide rod 2-1 of the guide mechanism 2, a plurality of connecting lugs 2-11 and threaded holes 2-12 are uniformly arranged along the circumferential direction, and are hinged with the connecting rod 3-1 of the connecting rod mechanism 3 through the connecting lugs 2-11 and connected with the connecting holes 2-8 on the flange 2-7 on the inner guide rod 2-1 of the guide mechanism 2 through screws, as shown in figure 2.

The working principle of the invention is as follows:

when the diameter is changed, the spatial position of the outer guide sleeve 2-2 is fixed, the motor connector 2-5 at one end of the inner guide rod 2-1 is used for inputting external power to drive the inner guide rod 2-1 to move axially, the sliding block 2-4 is connected with the inner guide rod 2-1 through screws, so that the sliding block 2-4 moves along the axis along with the inner guide rod 2-1 to drive the support connecting rod 3-1 hinged on the fixed block 2-3 and the sliding block 2-4 to move in an opening and closing mode, and the Mecanum wheel unit 1 is driven by the support connecting rod 3-1 to move to realize the diameter change, as shown in figures 2 and 3.

Example 1:

referring to the schematic diagram of the pipeline detection device shown in FIG. 9, the invention uses the inner guide rod motor connectors 2-5 of the guide mechanism to connect the pipeline detection robot 4 for power input. The guide mechanism 2 is matched with the Mecanum wheel radial motion of the connecting rod mechanism 3, so that the roller wheels 1-3 of the Mecanum wheel single body 1 are tightly attached to the reducing pipe wall and form contact pressure, the opposite Mecanum wheel single body 1 rotates to drive the pipeline detection robot 4 to linearly walk in the pipeline 6, and the purpose of automatically detecting the reducing pipeline by using a single set of device is achieved.

Example 2:

referring to the schematic diagram of the chassis adjusting device shown in fig. 10, the power input is carried out by connecting the inner guide rod motor connectors 2-5 of the guide mechanism with the chassis 5 of the device. The diameter-variable operation of the invention realizes the real-time regulation and control of the ground clearance of the chassis of the driven device, and further improves the stability and the trafficability of the driven device under different application occasions and working conditions. When the chassis is low in height, the center of gravity is low, and the running stability of the driving device is good; when the chassis is high, the ground clearance is high, and the road surface trafficability of the driving device is good.

The variable diameter mecanum wheel, the walking structure and the chassis structure provided by the embodiments of the present application are described in detail above. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

As used in the specification and claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.

Claims

1. A variable diameter mecanum wheel, comprising:

2. A variable diameter Mecanum wheel as in claim 1, wherein the Mecanum wheel cell comprises a roller base, an L-shaped roller link arm, and a roller,

wherein, 2L type roller linking arms are positive and negative direction setting, 2L type roller linking arm one end with the tip bolt of running roller base, the other end are equipped with the running roller mounting hole, the running roller passes through the running roller mounting hole and sets up between 2L type roller linking arms.

3. A variable diameter Mecanum wheel as in claim 2, wherein the guide mechanism comprises an inner guide rod, an outer guide sleeve, a fixed block, a sliding block, and a motor connector,

4. A variable diameter mecanum wheel as claimed in claim 3 wherein the fixed block and sliding block are both circular and the outer side walls of the circular blocks and sliding blocks are provided with lugs.

5. A variable diameter Mecanum wheel as in claim 4, wherein the linkage comprises a plurality of links, ear mounts and cylindrical pins,

6. A variable diameter mecanum wheel according to claim 3 wherein the number of bosses is at least 2, and the number of runners is the same as the number of bosses;

the section of the boss is rectangular;

7. A variable diameter mecanum wheel as claimed in claim 3 wherein the length of the runner is greater than the length of the boss and less than 1/2 of the length of the jacket.

8. A travel mechanism, comprising: a drive motor and a variable diameter mecanum wheel according to any of claims 1-7,

9. A pipeline inspecting robot comprising a robot main body and the traveling mechanism of claim 8.

10. Chassis structure comprising a chassis body and a motor, characterized in that the chassis structure further comprises variable-diameter Mecanum wheels according to any of claims 1-7,