CN113635707B - Wrapping belt for Mecanum wheel, walking wheel system and shifting equipment base - Google Patents
Wrapping belt for Mecanum wheel, walking wheel system and shifting equipment base Download PDFInfo
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- CN113635707B CN113635707B CN202110605977.6A CN202110605977A CN113635707B CN 113635707 B CN113635707 B CN 113635707B CN 202110605977 A CN202110605977 A CN 202110605977A CN 113635707 B CN113635707 B CN 113635707B
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- 238000003825 pressing Methods 0.000 claims abstract description 37
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- 229910000831 Steel Inorganic materials 0.000 claims description 17
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- 230000008569 process Effects 0.000 claims description 14
- 238000003860 storage Methods 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 210000003205 muscle Anatomy 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 6
- 125000004122 cyclic group Chemical group 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 8
- 238000004804 winding Methods 0.000 abstract description 5
- 238000003780 insertion Methods 0.000 description 10
- 230000037431 insertion Effects 0.000 description 10
- 230000006870 function Effects 0.000 description 9
- 238000009434 installation Methods 0.000 description 7
- 238000001125 extrusion Methods 0.000 description 5
- 239000004575 stone Substances 0.000 description 4
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- 230000002337 anti-port Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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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
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M3/00—Portable or wheeled frames or beds, e.g. for emergency power-supply aggregates, compressor sets
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Abstract
The invention relates to the technical field of shifting equipment, in particular to a winding belt and a traveling gear system for Mecanum wheels and a shifting equipment base. The whole wrapping belt is in a belt shape and is provided with a pressing end and a covering end, and locking structures are arranged on the pressing end and the covering end; the wrapping belt can be stably sleeved on the periphery of the Mecanum wheel, so that the Mecanum wheel is suitable for outdoor terrain; the walking wheel system can automatically realize two walking modes, so that the walking wheel system can not only fully exert the walking function of the Mecanum wheel, but also be suitable for outdoor terrain through deformation and overcome the defects of the Mecanum wheel; the shifting equipment base can facilitate the equipment to be used indoors and outdoors so as to better serve users and fully play the use value of the equipment.
Description
Technical Field
The invention belongs to the technical field of shifting equipment, and particularly relates to a wrapping belt and a walking wheel system for Mecanum wheels and a shifting equipment base.
Background
Mecanum wheels are based on the principle of a central wheel with a number of wheel axles located at the periphery of the wheel, these angled peripheral axles translating a portion of the wheel steering force to a wheel normal force. Depending on the direction and speed of the respective wheels, the resulting combination of these forces produces a resultant force vector in any desired direction thereby ensuring that the platform is free to move in the direction of the resulting resultant force vector without changing the direction of the wheels themselves. On its rim, many small rollers are obliquely distributed, so that the wheel can be transversely slided.
At present, the popularization rate of the Mecanum wheel is low, and the production process is complex, so that the Mecanum wheel is expensive, but the good steering function of the Mecanum wheel is irreplaceable for other wheels. For equipment using the Mecanum wheels, such as supporting equipment, the use scene is mainly indoor, for outdoor road conditions, the condition that stones are clamped into wheel gaps can occur, and wheels can be damaged, the use of the Mecanum wheels is limited to smooth ground by the hidden dangers, such as indoor, the value of the supporting equipment cannot be fully embodied, the research and development and the process of the similar equipment are prolonged, and the popularization and the use of the Mecanum wheel technology can be influenced.
Disclosure of Invention
The invention aims to provide a wrapping belt for a Mecanum wheel, which can wrap the periphery of the Mecanum wheel, so that the Mecanum wheel is protected and is suitable for outdoor road surfaces, and the defects of the Mecanum wheel are overcome.
In order to achieve the purpose, the invention provides the following technical scheme: a wrapping belt for a Mecanum wheel is a belt-shaped whole wrapping belt, and is provided with a pressing end and a covering end, wherein locking structures are arranged on the pressing end and the covering end; the wrapping belt comprises an outer belt and an inner belt, wherein the outer belt is arranged on the outer side, the inner belt is arranged on the surface of the inner belt and provided with matching grooves which are matched with partial surfaces of auxiliary wheels in the Mecanum wheel, convex inserting parts are arranged between the adjacent matching grooves, and the inserting parts are inserted into wheel gaps between the adjacent auxiliary wheels.
In the technical scheme, the inner belt on the inner side of the wrapping belt is provided with the matching grooves matched with the auxiliary wheels on the Mecanum wheels, so that the inner surface of the wrapping belt can be attached to the periphery of the Mecanum wheels, and meanwhile, the insertion parts between the adjacent matching grooves can be embedded into the wheel gaps, so that each matching groove and each auxiliary wheel have a relatively stable matching relation, and the combination stability of the wrapping belt and the Mecanum wheels is improved; whole parcel area closes the end through the pressfitting that sets up and holds the realization locking to make the parcel area tightly wrap around the periphery at mecanum wheel, mecanum wheel this moment contacts ground with continuous parcel area, not only can prevent during debris such as road surface stone from getting into the wheel clearance, can also prevent that the accessory wheel from receiving wearing and tearing in outdoor road conditions.
As preferred scheme, set up the steel muscle along length direction in the inside of wrapping the area, and the steel muscle extends to the pressfitting end and closes the end inside with the lid, and under the natural state, the steel muscle makes whole wrapping the area be arc or cyclic annular. The strength of the whole wrapping belt can be increased through the steel ribs, the service life of the wrapping belt is prolonged, the deformation amount of the wrapping belt can be reduced, the influence of weather on the length of the wrapping belt can be reduced, and the wrapping belt is enabled to be always kept in a compact installation state. Meanwhile, the steel ribs force the wrapping belt to naturally bend, so that the wrapping belt is automatically attached to the Mecanum wheel, and the rapid installation of the wrapping belt is facilitated.
Preferably, a positioning plug is arranged on the back of the pressing end, the whole positioning plug extends towards the direction far away from the inner belt, and an engaging part extending backwards along the length direction of the wrapping belt is arranged at the end part of the positioning plug. When the wrapping tape is installed, the pressing end can be pre-fixed by inserting the positioning plug into a positioning hole which is preset in the hub of the Mecanum wheel, so that the rear structure is convenient to install, and the cover end and the pressing end are convenient to lock.
As a preferred scheme, the pressing end and the covering end are provided with mutually overlapped binding surfaces, and the total thickness of the binding parts after the pressing end and the covering end are bound is equal to the thickness of the wrapping tape; the locking structure comprises an upper clamping piece arranged on the binding surface of the pressing end and a lower clamping piece arranged on the binding surface of the cover closing end, and the upper clamping piece is clamped with the lower clamping piece. Whole package area has unified width, closes the binding face laminating of end through closing end and lid, and whole package area forms complete annular, not only can avoid going up fastener and fastener under and leak outward, makes whole package area have good outward appearance moreover.
As a preferred scheme, the upper clamping piece comprises an inverted V-shaped expansion clamping piece, the lower clamping piece comprises an inverted V-shaped fixed clamping piece, and the expansion clamping piece is clamped outside the fixed clamping piece and keeps fit with the fixed clamping piece; the inner side of the expansion clamping piece is provided with an inner clamping head protruding towards the fixed clamping piece, correspondingly, a clamping opening clamped with the inner clamping head is formed in the fixed clamping piece, and when the expansion clamping piece is completely clamped with the fixed clamping piece, the inner clamping head is clamped in the clamping opening. Because the portion of inserting closes inserts in the wheel clearance, to the bottom surface to the extrusion force of surrounding area have most transmit the auxiliary wheel through inserting the portion of closing on, consequently, before closing the end contact bottom surface at the lid, in, back in-process, the lid closes the end and mainly bears ground provides, act on the extrusion force that the lid closed end lateral part and middle part, along with the roll of wheel, the atress size and the direction of expansion fastener and fixed fastener all change, after closing end middle part and touchhing down, the atress of expansion fastener and fixed fastener reaches the biggest, lambda type expansion fastener and lambda type fixed fastener not only can provide suitable deformation with buffer pressure, simultaneously, the cooperation of interior dop and joint makes expansion fastener and fixed fastener all keep good clamping state in whole atress in-process, avoid in the walking in-process the unexpected unblock of upper and lower fastener.
Another object of the present invention is to provide a traveling wheel system, which uses a mecanum wheel as a basic traveling mechanism, and makes the mecanum wheel suitable for outdoor environment by adapting wrapping tape in a technology of keeping its own structural features, so as to compensate for the defects of the mecanum wheel, thereby forming a traveling wheel system suitable for indoor and outdoor use through deformation.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a walking wheel system, includes the walking wheel, the walking wheel includes mecanum wheel, and this walking wheel system still includes the above-mentioned wrapping area that is used for mecanum wheel, and this wrapping area can wrap up in the periphery of mecanum wheel, makes whole walking wheel be continuous structure with the position of ground contact, and the wrapping area also can be accomodate in the receiving mechanism of this walking wheel system setting, and the auxiliary wheel contact ground of walking wheel with mecanum wheel this moment.
In the technical scheme, the traveling wheel system has two use modes, namely a mode I: the Mecanum wheels are in contact with the ground, the Mecanum wheels can fully exert the walking function, and the walking wheel system is suitable for smooth and sundry-free road conditions (indoor ground); and a second mode: the wrapping band is sleeved on the periphery of the Mecanum wheel, and the wrapping band serves as an outer band of the Mecanum wheel, so that the traveling wheel system can be suitable for indoor ground and outdoor ground, but although the unique traveling function of the Mecanum wheel is lost, the application scene barrier of the Mecanum wheel is broken.
Preferably, the wheel hub of the Mecanum wheel is provided with positioning holes, and in the process of mounting the wrapping band on the Mecanum wheel, the positioning plugs on the wrapping band are inserted into the positioning holes and fix the press-fit ends, so that the bonding strength of the wrapping band and the Mecanum wheel is increased.
Preferably, the receiving mechanism comprises a receiving sleeve, the receiving sleeve is provided with a guide cavity, the width and the thickness of the guide cavity are larger than the corresponding size of the wrapping tape, and the end part of the guide cavity is provided with a receiving opening for the wrapping tape to enter and exit. The walking wheel system with the Mecanum wheels is mainly applied to indoor pavements, namely a mode I is used, and in the mode I, the wrapping belt is stored in the storage sleeve so as to prevent the wrapping belt from being lost due to separation of the wrapping belt and the walking wheel system.
Preferably, the traction mechanism further comprises a control system including a controller and an actuator controlled by the controller, wherein the actuator includes a drive wheel mechanism I disposed at the receiving opening, the drive wheel mechanism I having a drive wheel with a circumference contacting the wrap around belt and driving the wrap around belt to extend or retract into the guide cavity. Under the control of the controller, the driving wheel mechanism I can apply friction force to the wrapping belt, and therefore the wrapping belt can be rapidly stored or taken out.
Preferably, the receiving opening of the receiving sleeve is positioned on the periphery of the Mecanum wheel and keeps a preset distance with the outer contour of the Mecanum wheel, and after the wrapping belt extends out of the receiving opening, the pressing end is actively attached to the Mecanum wheel. When the first mode is switched to the second mode, the wrapping belt actively extends out and is attached to the Mecanum wheels under the driving action of the driving wheel mechanism I, and the wrapping belt is actively wound on the Mecanum wheels along with the rotation of the Mecanum wheels and the driving of the driving wheel mechanism I, so that the switching efficiency is improved.
Preferably, the actuator further includes a detachable portion provided in front of the storage opening of the guide chamber and including a detachable head that can move up and down, and the detachable head can press the wrapping tape extending from the guide chamber against the mecanum wheel after moving down and can press and clamp the covering end of the wrapping tape in a wrapped state against the closing end. In the process that the wrapping belt is actively wound on the periphery of the Mecanum wheel, the dismounting part presses the wrapping belt, so that each inserting part can be accurately and stably inserted into a wheel gap, and automatic switching from a first mode to a second mode is realized.
Preferably, the detaching part is a detaching opening between the front part of the covering end and the rear part of the pressing end, the detaching head is provided with a starting head which can be inserted into the detaching opening, and when the Mecanum wheel rotates along the indication direction of the covering end, the starting head forces the covering end to be separated from the pressing end and enables the covering end to tilt upwards. The dismouting head can also be dismantled the wrapping area when realizing the installation wrapping area, removes the locking of closing end and pressfitting end fast with the help of mecanum wheel's rotation and lever principle, realizes automatic dismantlement, further reduces the mode two to the switching degree of difficulty of mode one.
As the preferred scheme, the traveling wheel system is further provided with a guide mechanism, the guide mechanism is located in front of the containing port of the guide cavity, the guide mechanism can limit the upwarping height of the separated cover closing end and the separated press closing end, and the cover closing end is guided to enter the guide cavity through the containing port. After the locking of lid end and pressfitting end is removed through the dismouting head, the lid is closed and is held and upwarp automatically, and guiding mechanism can restrict its upwarp height to make it just to the containing port, along with mecanum wheel's antiport, the lid is closed the end and can gets into the containing port automatically, especially under drive wheel mechanism I's reverse drive effect, whole package is taken turns and can is got into in the cover automatically, thereby realizes the automatic switching from mode two to mode one.
As preferred scheme, guiding mechanism is the deflector, this deflector and dismouting head fixed connection to reciprocate along with the dismouting head, the dismouting head closes the end with the lid and sticks up the back, makes the lid close the end through the rebound and is located dismouting head below, and the deflector is located the lid and closes the end top this moment, and can make the lid close the end just to accomodating the mouth through finely tuning dismouting head, and this scheme can simplify the structure of deflector and increase the fine setting function to the lid closes the end simultaneously.
Preferably, the actuating mechanism further comprises a limiting wheel mechanism, the limiting wheel mechanism and the accommodating sleeve are respectively arranged on two sides of the dismounting part, the limiting wheel mechanism comprises a moving mechanism and a contact wheel, the moving mechanism controls the contact wheel to be far away from or close to the mecanum wheel, and when the contact wheel is close to the mecanum wheel, the winding belt wound on the mecanum wheel can be extruded. During the process of switching from the first mode to the second mode, the contact wheel can press the part of the wrapping belt which is already wrapped on the Mecanum wheel, and the insertion part is completely inserted into the wheel gap; in addition, after the cover end is tilted and moves towards the disassembling and assembling head, the contact wheel can limit the wrapping belt so as to avoid the cover end from tilting to leave the coverage range of the guide plate.
Another objective of the present invention is to provide a base of a displacement device, which is equipped with the above walking wheel system based on mecanum wheels, so that the base of the displacement device can walk under the driving of the mecanum wheels to realize various moving modes, and can be deformed to adapt to outdoor road conditions, thereby overcoming the defects of the existing mecanum wheels and increasing the applicability of the base of the displacement device.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a shifting device base, includes the chassis and installs the running gear on the chassis, and running gear drives whole shifting device base and removes its characterized in that: the walking mechanism comprises a plurality of walking wheel systems.
In the technical scheme, the walking wheel system can realize switching between a first mode and a second mode, the Mecanum wheels can embody self motion characteristics in the first mode, the equipment base can be suitable for outdoor road conditions in the second mode, the use defect of the Mecanum wheels can be overcome through simple switching, the shifting equipment base integrates the advantages of common wheels and the Mecanum wheels, and by means of the base, the shifting equipment has a wider application range, such as shifting rehabilitation equipment and shifting supporting equipment.
As an optimal scheme who accomodates the cover, accomodate the cover in the walking wheel system and be the arc to set up in mecanum wheel's periphery, its arc breach is located the below, satisfies the wrapping tape and can normally roll up under the condition, and the accomodate cover occupation space of this kind of structure is little, is applicable to the less displacement equipment base of front and back wheel interval.
As another preferred embodiment of the receiving sleeve, the receiving sleeve has a straight section close to the mecanum wheel and an avoiding section far from the mecanum wheel, and the guide cavity smoothly transitions from the straight section to the avoiding section. To the great mecanum wheel of diameter ratio, adopt the interval between the front and back wheel of this kind of straight section and the cover of accomodating of dodging the section combination can effectively be utilized, avoid two front and back accomodating covers mutual interference through dodging the section simultaneously to make it be applicable to the less displacement equipment base of front and back wheel interval.
To the above-mentioned accomodate cover that has the section of dodging, it is the arc preferably to dodge the section, and dodge the section and set up drive wheel mechanism II with the region of meeting of straight section, and this drive wheel mechanism II has the same structure with drive wheel mechanism I, and can provide frictional force for wrapping the area. The avoiding section is set to be arc-shaped, so that four containing sleeves have the same shape, the parts of the same type are designed in a unified mode, and the production cost is reduced and the parts are convenient to replace.
Preferably, the containing sleeve is mounted on the chassis through a sliding mechanism, a translation mechanism for driving the containing sleeve to be close to or far away from the Mecanum wheel is arranged, the translation mechanism is controlled by the controller, in a mode, the wrapping belt is contained in the containing sleeve, and the translation mechanism pushes the containing sleeve to be far away from the Mecanum wheel, so that enough movement space can be reserved for the Mecanum wheel; and in the mode two and mode one switching process each other, translation mechanism promotes and accomodates the cover and is close to mecanum wheel, and the wrapping band of being convenient for this moment is in accurate work position, improves the security and the efficiency of switching process.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic diagram of a Mecanum wheel of the background art;
FIG. 2 is a schematic view of a wrap strip provided herein;
FIG. 3 is a schematic view of the pre-engagement state of the tape-wrapped splice of FIG. 2;
FIG. 4 is a schematic view of the upper and lower clamping members of the arrangement of FIG. 3;
FIG. 5 is a schematic view of the wrapping band provided by the present application in an installed state and partially cut away;
FIG. 6 is a schematic diagram of a Mecanum wheel I of the walking wheel system provided by the present application;
FIG. 7 is a schematic structural view of a walking wheel system provided by the present application;
FIG. 8 is an enlarged, fragmentary, schematic view of the structure of FIG. 7;
FIG. 9 is a plan view of the detachable portion of the structure of FIG. 7;
FIG. 10 is a schematic view of a road wheel system in a first stage of stowing a wrap-around strap;
FIG. 11 is a schematic view of the traveling wheel system in a second stage of stowing the wrap-around strap;
FIG. 12 is a third state schematic view of the road wheel system in stowing the wrap around strap;
FIG. 13 is a schematic plan view of a base of the shifting apparatus provided herein in a Mecanum wheel walking mode;
fig. 14 is a schematic plan structural diagram of the base of the displacement apparatus provided in the present application in a normal wheel walking mode.
In the figure, a chassis 1, a mecanum wheel 2, a wrapping belt 3, a storage sleeve 4, a guide cavity 5, a driving wheel mechanism I6, a dismounting part 7, a limiting wheel mechanism 8, a fixing frame 9, an avoiding section 10, a guide mounting part 11, an electromagnetic insertion shaft mechanism 12, a driving wheel mechanism II13, a press-fit end 14, a covering end 15, an avoiding port 16, an upper clamping piece 17, a lower clamping piece 18, a hub 20, a secondary wheel 21, a wheel gap 22, a positioning hole 23, an outer belt 31, an inner belt 32, an insertion part 33, a matching groove 34, an anti-skid pattern 35, a positioning plug 36, an electromagnetic insertion shaft mechanism I70, a dismounting head 71, a guide plate 72, a pressing surface 73, a starting head 74, an electromagnetic insertion shaft mechanism II81, a contact wheel 82, a sliding block 83, a guide rail 84, a dismounting port 100, an expansion clamping piece 171, an inner clamping piece 172, a fixing clamping piece 181 and a clamping port 182 are arranged.
Detailed Description
The embodiments of the present application will be described in detail with reference to the drawings and examples, so that how to implement the technical means for solving the technical problems and achieving the technical effects of the present application can be fully understood and implemented.
Fig. 1 shows a prior art mecanum wheel as mentioned in the background, the basic structure of which includes an inner electromagnetic structure, an outer hub 20 and auxiliary wheels 21 arranged around the hub, with wheel gaps 22 formed between adjacent auxiliary wheels 21, which have different specific forms and specifications. The embodiments in this application are exemplified by the one shown in fig. 1.
The first embodiment is as follows: wrap-around band for mecanum wheel
As shown in fig. 2-5, the whole wrapping band is in a band shape and has a pressing end 14 and a covering end 15, the pressing end 14 and the covering end 15 are provided with locking structures, and after the pressing end 14 and the covering end 15 are locked, the whole wrapping band is in a ring shape. Specifically, the wrapping band comprises an outer band 31 on the outer side and an inner band 32 on the inner side, wherein the exposed surface of the inner band 32 is provided with matching grooves 34 which are attached to partial surfaces of the auxiliary wheels 21 in the mecanum wheel 2, convex inserting portions 33 are arranged between the adjacent matching grooves 34, the inserting portions 33 are inserted into wheel gaps 22 between the adjacent auxiliary wheels 21, anti-skid threads 35 are arranged on the outer surface of the outer band 31 at equal intervals along the axial direction, and strip-shaped grooves are formed between the adjacent anti-skid threads 35.
In addition, the steel strip 36 is arranged inside the wrapping belt along the length direction, and the steel strip 36 extends to the inside of the pressing end 14 and the covering end 15, namely the whole wrapping belt is provided with an inner framework made of the steel strip 36, and the steel strip 36 enables the whole wrapping belt to be in an arc shape or an annular shape under the natural state. The strength of the whole wrapping belt can be increased through the steel belt, the service life of the wrapping belt is prolonged, the deformation amount of the wrapping belt can be reduced, the influence of weather on the length of the wrapping belt can be reduced, and the wrapping belt can be kept in a compact installation state all the time. Meanwhile, the steel belt forces the wrapping belt to naturally bend, so that the wrapping belt is automatically attached to the Mecanum wheel 2, and the rapid installation of the wrapping belt is facilitated.
Meanwhile, a positioning plug 36 fixedly connected with the steel belt 36 is arranged on the back of the pressing end 14, the whole positioning plug 36 extends towards the direction far away from the inner belt 32, and a clamping part extending backwards along the length direction of the wrapping belt is arranged at the end part of the positioning plug 36, namely, when the whole wrapping belt is in a flat extending state, the clamping part at the top end of the positioning plug 36 protrudes towards the direction of the covering end 15. The positioning plug 36 is adapted to be inserted into a predetermined positioning hole 23 formed in the hub of the mecanum wheel 2, which allows the press-fit end 14 to be pre-fixed, thereby facilitating not only the installation of the rear structure, but also the locking of the cap end 15 to the press-fit end 14.
In addition, based on the appearance of the wrapping belt and the vibration consideration after the wrapping belt touches the ground, the pressing end 14 and the covering end 15 are arranged to be locked in a splicing mode, the wrapping belt after being locked is in a complete annular shape, and no redundant structure is exposed and touches the ground. Specifically, the pressing end 14 and the covering end 15 have mutually overlapped adhering surfaces, the total thickness of the adhering parts after the two adhering surfaces are equal to the thickness of the wrapping tape, and a strip-shaped groove between the front part of the covering end 15 and the rear part of the pressing end 14 is used as a detaching opening 100 of the wrapping tape, that is, the pressing end 14 and the covering end 15 can be separated by prying the detaching opening 100 (one strip-shaped groove), so as to realize unlocking.
In view of the above structure, the locking structure used in this embodiment includes a steel upper clip piece 17 disposed on the abutting surface of the press-fit end 14, and a steel lower clip piece 18 disposed on the abutting surface of the cover end 15, and the upper clip piece 17 engages with the lower clip piece 18. Specifically, the upper clamping piece 17 comprises an inverted V-shaped expansion clamping piece 171, the lower clamping piece 18 comprises an inverted V-shaped fixed clamping piece 181, and the expansion clamping piece 171 is clamped outside the fixed clamping piece 181 and keeps fit with the fixed clamping piece 181; set up the protruding interior dop 172 towards fixed fastener 181 in the inboard of expansion fastener 171, correspondingly, set up the block mouth 182 with interior dop 172 block on fixed fastener 181, when the fixed fastener 181 of expansion fastener 171 complete block, interior dop 172 block is in block mouth 182, and including the in-process of dop 172 block income block mouth 182, elastic deformation takes place for the both sides portion of expansion fastener 171, expansion fastener 171 recovers the back, interior dop 172 is restricted in block mouth 182, and under the exogenic action, expansion fastener 171 is from new expansion deformation, interior dop 172 can break away from block mouth 182 this moment. Because the inserting part 33 is inserted into the wheel gap 22, most of the extrusion force of the bottom surface to the wrapping tape 3 is transmitted to the auxiliary wheel 21 through the inserting part 33, therefore, in the processes of the front, middle and rear of the covering end 15 contacting the bottom surface, the covering end 15 mainly bears the extrusion force provided by the ground and acting on the side part and the middle part of the covering end 15, along with the rolling of the wheels, the stress magnitude and direction of the expansion clamping piece 171 and the fixed clamping piece 181 are changed, after the middle part of the covering end 15 lands, the stress of the expansion clamping piece 171 and the fixed clamping piece 181 is the maximum, the Λ -shaped expansion clamping piece 171 and the Λ -shaped fixed clamping piece 181 can provide proper deformation to buffer pressure, meanwhile, the matching of the inner clamping head 172 and the clamping opening 182 ensures that the expansion clamping piece 171 and the fixed clamping piece 181 keep a good clamping state in the whole stress process, and the accidental unlocking of the upper clamping piece 17 and the lower clamping piece 18 in the walking process is avoided.
In this embodiment, the inner band 32 on the inner side of the wrapping band has matching grooves 34 which are matched with the auxiliary wheels 21 on the mecanum wheel 2, as shown in fig. 3, in the wrapping state, the inner surface of each matching groove 34 can be attached to the periphery of the mecanum wheel 2, meanwhile, the insertion parts 33 between the adjacent matching grooves 34 can be embedded into the wheel gaps 22, and each insertion part 33 can decompose the extrusion force on the ground, so that the excessive deformation of the wrapping band is avoided, and therefore each matching groove 34 and the auxiliary wheel 21 can have a relatively stable matching relationship, and the combination stability of the wrapping band and the mecanum wheel 2 is improved; the whole wrapping belt is locked through the pressing end 14 and the covering end 15, so that the wrapping belt is tightly wrapped on the periphery of the Mecanum wheel 2, the Mecanum wheel 2 at the moment contacts the ground through the continuous wrapping belt, sundries such as road stones can be prevented from entering the wheel gap 22, and the auxiliary wheel 21 can be prevented from being worn in outdoor road conditions.
Example two: traveling wheel system
As shown in fig. 7, the traveling wheel system uses a mecanum wheel as a base traveling mechanism, and in the technology of keeping the structural characteristics of the traveling wheel system, the mecanum wheel can be suitable for the outdoor environment by adapting the wrapping belt to make up for the defects of the mecanum wheel, so that the traveling wheel system which can be suitable for the indoor and outdoor conditions through deformation is formed.
Specifically, the road wheel system comprises a Mecanum wheel I, and as shown in FIG. 6, a positioning hole 23 is formed in the hub of the Mecanum wheel I. The wrapping tape 3 is further included, and the positioning plug 36 on the wrapping tape 3 can be inserted into the positioning hole 23 and fix the press-fit end 14. And this wrapping band 3 can wrap up in mecanum wheel's periphery, makes the structure of whole walking wheel and ground contact be annular wrapping band 3, because wrapping band 3 is continuous structure, consequently debris such as stone on the outdoor road surface can not block in wheel clearance 22, and wrapping band 3 also can be accomodate in the receiving mechanism of this walking wheel system setting, and the walking wheel contacts ground with auxiliary wheel 21 of mecanum wheel this moment. Thus, the road wheel system has two modes of use, mode one: the Mecanum wheels are in contact with the ground, the Mecanum wheels can fully exert the walking function, and the walking wheel system is suitable for smooth and sundry-free road conditions (indoor ground); and a second mode: the winding band 3 is sleeved on the periphery of the Mecanum wheel, and the winding band 3 serves as an outer band of the Mecanum wheel, so that the traveling wheel system can be suitable for indoor ground and outdoor ground, but although the traveling wheel system loses the unique traveling function of the Mecanum wheel, the application scene barrier of the Mecanum wheel is broken.
Specifically, the above-mentioned receiving mechanism includes receiving sleeve 4, and this receiving sleeve 4 has the straight section that sets up the level in mecanum wheel I's top and the section of dodging 10 of smooth connection straight section, and direction chamber 5 extends to dodging section 10 from the straight section, and as shown in the figure, this section of dodging 10 is the arc, and has the trend towards the crooked extension of direction that is close to mecanum wheel I, and the winding area passes in and out direction chamber 5 from the receiving port of direction chamber 5. In addition, the containing sleeve 4 is installed through a guide installation piece 11, an electromagnetic inserting shaft mechanism 12 which drives the containing sleeve 4 to be close to or far away from the Mecanum wheel I is arranged, the electromagnetic inserting shaft mechanism is controlled by a controller, in a mode, the wrapping belt 3 is contained in the containing sleeve 4, and the electromagnetic inserting shaft mechanism pushes the containing sleeve 4 to be far away from the Mecanum wheel I, so that enough movement space can be reserved for the Mecanum wheel I; and in the mode two and mode one switching process each other, the electromagnetism is inserted a mechanism and is promoted and accomodate cover 4 and be close to mecanum wheel I, and the wrapping tape 3 of being convenient for this moment is in accurate work position, improves the security and the efficiency of switching process.
Because the used wrapping belt 3 has shape memory and the deformation capability is influenced by temperature, in order to enable the wrapping belt to smoothly enter and exit the containing sleeve 4, the width and the thickness of the guide cavity 5 are firstly set to be larger than the corresponding sizes of the wrapping belt 3, and enough moving space is provided for the wrapping belt 3. In addition, as shown in the figure, the walking wheel system is also provided with a control system consisting of a controller and an actuating mechanism controlled by the controller, wherein the actuating mechanism comprises a driving wheel mechanism I6 arranged above the receiving port and a driving wheel mechanism II13 positioned at the joint of the straight section and the avoiding section 10, the driving wheel mechanism I6 and the driving wheel mechanism II13 have the same structure and are provided with driving wheels, and the receiving sleeve 4 is provided with an avoiding port 16 for the driving wheel of the driving wheel mechanism II13 to contact with the wrapping belt 3. During the process of the wrapping belt 3 entering and exiting the housing sleeve 4, the driving wheel mechanism I6 and the driving wheel mechanism II13 act on the wrapping belt 3 simultaneously, so that the wrapping belt slides automatically.
In addition, the embodiment realizes the full-automatic switching between the first mode and the second mode. Specifically, the implementation is as follows:
as shown in fig. 8, the actuator further includes a detachable section 7 attached to the guide chamber 5 via a fixing frame 9, and the detachable section 7 is provided in front of the receiving opening of the guide chamber 5 and includes a detachable head 71 that can move up and down and an electromagnetic shaft insertion mechanism I70 that controls the detachable head 71 to move up and down. After moving downwards, the dismounting head 71 can press the wrapping belt 3 extending out of the guide cavity 5 on the mecanum wheel I and can press and clamp the covering end 15 of the wrapping belt 3 in a wrapping state to the pressing end 14. In the process that the wrapping belt 3 is actively wound on the periphery of the Mecanum wheel I, the dismounting part 7 presses the wrapping belt 3, so that each inserting part 33 can be accurately and stably inserted into the wheel gap 22, and automatic switching from a mode I to a mode II is realized.
As shown in fig. 9, the detachable head 71 includes a trigger head 74 insertable into the detachable opening 100, and the back surface of the trigger head 74 is an arc-shaped pressing surface 73, and a guide plate 72 directed to the storage opening is provided above the pressing surface 73. When mecanum wheel I is rotated in the direction indicated by closing end 15 (clockwise as viewed in fig. 10), trigger head 74 forces closing end 15 away from press-fit end 14 and lifts closing end 15 upward. Therefore, the locking of the covering end 15 and the pressing end 14 is quickly released by means of the rotation of the Mecanum wheel and the lever principle, automatic disassembly is realized, and the difficulty in switching from the mode two to the mode one is further reduced. And after the covering end 15 tilts upwards for a certain distance, the dismounting head 71 is moved upwards to be away from the covering end 15, and the covering end 15 (wrapping belt) moves to the position below the guide plate 72 after being elastically deformed, as shown in fig. 11, along with the continuous rotation of the mecanum wheel, the guide plate 72 can limit the moving direction of the covering end 15, meanwhile, under the action of the driving wheel mechanism I6, the wrapping belt enters the storage sleeve 4, as shown in fig. 12, the wrapping belt is finally stored in the storage sleeve 4, and therefore the automatic switching from the mode two to the mode one is achieved.
In conclusion, the traveling wheel system provided with the control system can realize the full-automatic switching between the first mode and the second mode.
In addition to the above structure, the present embodiment further provides a safety measure, specifically, a limiting wheel mechanism 8 controlled by a controller shown in fig. 8, the limiting wheel mechanism 8 is disposed on the left side of the dismounting portion 7, and includes a horizontally disposed electromagnetic shaft inserting mechanism II81 and a sliding block 83 directly connected to the telescopic shaft of the electromagnetic shaft inserting mechanism II81, a contact wheel 82 having an axis parallel to the rotating shaft of the mecanum wheel 2 is mounted on the sliding block, and a guide rail 84 for limiting and guiding the sliding block 83 is disposed on the fixing frame 9. The electromagnetic spindle mechanism II81 controls the contact wheel 82 to be away from or close to the mecanum wheel I, and the contact wheel 82 can press the wrapping tape 3 wrapped around the mecanum wheel I when being close to the mecanum wheel 2. During the switching from mode one to mode two, contact wheel 82 is able to compress the part of wrapping band 3 that has been wound onto the mecanum wheel, ensuring the complete insertion of spigot 33 into wheel gap 22; in addition, after the fitting head 71 tilts and moves the fitting end 15, the contact roller 82 can restrict the wrapping tape 3 so as to prevent the fitting end 15 from tilting to a range of coverage away from the guide plate 72.
Example three: shifting device base
As shown in fig. 13, the base of the displacement equipment comprises a chassis 1 and four traveling wheel systems installed on the chassis 1, wherein the four traveling wheel systems are distributed in a front-back symmetrical manner and a left-right symmetrical manner, and the storage sleeves 4 in the front thick wheels do not interfere with each other, the situation that the avoidance section 10 is bent downwards is shown in the figure, and the avoidance section 10 can also be bent upwards. Based on the above structural features of the traveling wheel system, the base of the shifting apparatus also has two usage modes, one is a mecanum wheel traveling mode, that is, the state shown in fig. 13, the wrapping belt 3 is completely accommodated in the accommodating sleeve 4, and the base of the shifting apparatus at this time can fully exert the characteristic traveling function of the mecanum wheel I, thereby providing convenience for the user. The other is a normal wheel walking mode, namely the state shown in fig. 14, the wrapping belt 3 is completely wrapped on the Mecanum wheels I, and the four Mecanum wheels I are driven independently, so that the mode can realize the front-back and turning walking of the base of the displacement device.
Taking the supporting device as an example, if the base is used, the supporting device can help a user to move in various ways, so that the indoor moving requirement of the user is met. The base can be free to walk without being affected by road conditions and fully exert the functions of the outdoor mobile base for expensive assisting equipment, the base breaks the defect that the outdoor mobile base can only walk on a flat road (such as indoors) for expensive Mecanum wheel products, the Mecanum wheel can be protected from being damaged, and the upgrading design of the mobile base is realized.
The shifting equipment base is not only used for assisting equipment, shifting equipment, rehabilitation equipment and the like, but also can meet the use requirements of devices with moving requirements, such as a carrying device, a forklift, an engineering truck and the like.
In the technical scheme, the four walking wheel systems can realize the switching between the first mode and the second mode, in the first mode, the four Mecanum wheels can control the whole base to complete all-directional movement, in the second mode, the equipment base can be suitable for outdoor road conditions, the use defect of the Mecanum wheels can be overcome through simple switching, the shifting equipment base integrates the advantages of common wheels and the Mecanum wheels, and by means of the base, the shifting equipment has a larger application range, such as shifting rehabilitation equipment and shifting help equipment.
The embodiment shows the common quantity proportion of the Mecanum wheels, the quantity of the walking wheel systems can be properly increased by four times, and meanwhile, three walking wheel systems can be selected and distributed in a radiation mode with the axes at 120 degrees. In addition, one or two equal irregular number of road wheel systems can be selected to meet special requirements.
As used in the specification and in the 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. The description 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.
It is 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 a … …" does not exclude the presence of additional like elements in a commodity or system comprising the element.
The foregoing description shows and describes several preferred embodiments of the invention, but as aforementioned, it is to be understood that the invention 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 inventive concept as expressed 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 invention as defined by the appended claims.
Claims (17)
1. A walking wheel system, includes the walking wheel, its characterized in that: the walking wheel comprises a Mecanum wheel, the walking wheel system also comprises a wrapping belt, the wrapping belt can wrap the periphery of the Mecanum wheel, so that the contact part of the whole walking wheel and the ground is of a continuous structure, the wrapping belt can also be accommodated in an accommodating mechanism arranged on the walking wheel system, and the walking wheel is in contact with the ground through an auxiliary wheel of the Mecanum wheel; the wrapping belt is in a belt shape and is provided with a pressing end and a covering end, locking structures are arranged on the pressing end and the covering end, after the pressing end and the covering end are locked, the whole wrapping belt is in a ring shape, and a dismounting part is arranged between the pressing end and the covering end; the wrapping belt comprises an outer belt on the outer side and an inner belt on the inner side, wherein matching grooves which are attached to partial surfaces of auxiliary wheels in the Mecanum wheel are arranged on the surface of the inner belt, a convex inserting part is arranged between every two adjacent matching grooves, and the inserting part is inserted into a wheel gap between every two adjacent auxiliary wheels; the storage mechanism comprises a storage sleeve, the storage sleeve is provided with a guide cavity, the width and the thickness of the guide cavity are both larger than the corresponding size of the wrapping tape, and the end part of the guide cavity is provided with a storage opening for the wrapping tape to enter and exit; the travelling wheel system also comprises a control system, wherein the control system comprises a controller and an actuating mechanism controlled by the controller, the actuating mechanism comprises a driving wheel mechanism I arranged at the containing opening, the driving wheel mechanism I is provided with a driving wheel, and the circumference of the driving wheel is in contact with the wrapping belt and drives the wrapping belt to extend out of or retract into the guide cavity.
2. The road wheel system of claim 1, wherein: set up the steel muscle along length direction in the inside in the parcel area, and the steel muscle extends to the pressfitting end and the lid closes the end inside, and under the natural state, the steel muscle makes whole parcel area be arc or cyclic annular.
3. The road wheel system of claim 1, wherein: set up the location plug at the back of pressfitting end, whole location plug extends towards the direction of keeping away from the inner band, and sets up the block portion of extending backward along the length direction of package area at the tip of location plug.
4. The road wheel system of claim 1, wherein: the pressing end and the covering end are provided with mutually overlapped binding surfaces, and the total thickness of the binding parts after the pressing end and the covering end are bound is equal to the thickness of the wrapping tape; the locking structure comprises an upper clamping piece arranged on the binding surface of the pressing end and a lower clamping piece arranged on the binding surface of the cover closing end, and the upper clamping piece is clamped with the lower clamping piece.
5. The running wheel system of claim 4, wherein: the upper clamping piece comprises an inverted V-shaped expansion clamping piece, the lower clamping piece comprises an inverted V-shaped fixing clamping piece, and the expansion clamping piece is clamped outside the fixing clamping piece and keeps fit with the fixing clamping piece; the inner side of the expansion clamping piece is provided with an inner clamping head protruding towards the fixed clamping piece, correspondingly, a clamping opening clamped with the inner clamping head is formed in the fixed clamping piece, and when the expansion clamping piece is completely clamped with the fixed clamping piece, the inner clamping head is clamped in the clamping opening.
6. The running wheel system of claim 3, wherein: the wheel hub of the Mecanum wheel is provided with a positioning hole, and in the process of installing the wrapping belt on the Mecanum wheel, a positioning plug on the wrapping belt is inserted into the positioning hole and the pressing end is fixed.
7. The road wheel system of claim 1, wherein: the containing port of the containing sleeve is positioned on the periphery of the Mecanum wheel and keeps a reserved interval with the outer contour of the Mecanum wheel, and the wrapping belt stretches out of the containing port, and the pressing end is actively attached to the Mecanum wheel.
8. The running wheel system of claim 7, wherein: the actuating mechanism also comprises a dismounting part which is arranged in front of the containing hole of the guide cavity and is provided with a dismounting head capable of moving up and down, the dismounting head can press the wrapping belt extending out of the guide cavity on the Mecanum wheel after moving down, and the covering end of the wrapping belt in a wrapping state can be pressed and clamped to press the closing end.
9. The running wheel system of claim 8, wherein: the disassembly part is a disassembly opening between the front part of the cover closing end and the rear part of the press-fit end, the disassembly head is provided with a starting head capable of being inserted into the disassembly opening, and when the Mecanum wheel rotates along the direction indicated by the cover closing end, the starting head forces the cover closing end to be separated from the press-fit end and enables the cover closing end to tilt upwards.
10. The road wheel system of claim 9, wherein: the travelling wheel system is further provided with a guide mechanism, the guide mechanism is located in front of the containing opening of the guide cavity, the guide mechanism can limit the upwarping height of the separated cover closing end and the separated press closing end, and the cover closing end is guided to enter the guide cavity through the containing opening.
11. The road wheel system of claim 10, wherein: the guide mechanism is a guide plate, and the guide plate is fixedly connected with the dismounting head and moves up and down along with the dismounting head.
12. The road wheel system of any one of claims 8-11, wherein: actuating mechanism still includes spacing wheel mechanism, and this spacing wheel mechanism sets up respectively in the both sides of dismouting portion with accomodating the cover, and it includes moving mechanism and contact wheel, and moving mechanism control contact wheel keeps away from or is close to mecanum wheel, and the contact wheel can extrude the wrapping tape of wrapping on mecanum wheel.
13. The utility model provides a shifting device base, includes the chassis and installs the running gear on the chassis, and running gear drives whole shifting device base and removes its characterized in that: the walking mechanism comprising a plurality of walking wheel systems of any of claims 1-12.
14. A displacement apparatus base as claimed in claim 13, wherein: the storage sleeve in the walking wheel system is arc-shaped and is arranged on the periphery of the Mecanum wheel, and the arc-shaped notch is positioned below the storage sleeve.
15. A displacement apparatus base as claimed in claim 13, wherein: the containing sleeve is provided with a straight section close to the Mecanum wheel and an avoiding section far away from the Mecanum wheel, and the guide cavity is smoothly transited from the straight section to the avoiding section.
16. A displacement apparatus base as claimed in claim 15, wherein: the avoidance section is arc-shaped, a driving wheel mechanism II is arranged in a connection area of the avoidance section and the straight section, the driving wheel mechanism II and the driving wheel mechanism I have the same structure, and friction force can be provided for the wrapping belt.
17. A displacement apparatus base according to claim 15 or 16, wherein: the containing sleeve is installed on the chassis through a sliding mechanism, a translation mechanism for driving the containing sleeve to be close to or far away from the Mecanum wheel is arranged, and the translation mechanism is controlled by the controller.
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| CN202110605977.6A CN113635707B (en) | 2021-05-31 | 2021-05-31 | Wrapping belt for Mecanum wheel, walking wheel system and shifting equipment base |
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| CN202110605977.6A CN113635707B (en) | 2021-05-31 | 2021-05-31 | Wrapping belt for Mecanum wheel, walking wheel system and shifting equipment base |
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| CN115635485B (en) * | 2022-11-09 | 2024-03-15 | 嘉兴智康机器人有限公司 | Real-time human-computer interaction force control method of mobile rehabilitation robot |
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