CN115071331A - Coaxial Mecanum wheel transmission system - Google Patents

Abstract

The invention discloses a coaxial Mecanum wheel transmission system, which relates to the technical field of Mecanum wheels and comprises a fixed sleeve body arranged on a balance car, wherein the left end of the fixed sleeve body is rotatably provided with a second wheel set and a first wheel set, the right end of the fixed sleeve body is rotatably provided with a third wheel set and a fourth wheel set, two ends of the fixed sleeve body are provided with fixed shafts matched with the second wheel set, the first wheel set, the third wheel set and the fourth wheel set, and the second wheel set, the first wheel set, the third wheel set and the fourth wheel set are electrically connected with a controller arranged in the fixed sleeve body.

Description

Coaxial Mecanum wheel transmission system

Technical Field

The invention relates to the technical field of Mecanum wheels, in particular to a coaxial Mecanum wheel transmission system.

Background

Mecanum wheels are based on the principle of a central wheel with a number of axles located at the periphery of the wheels, these angled peripheral axles translating a portion of the wheel steering forces above a wheel normal force, the resulting combination of these forces, depending on the direction and speed of the respective wheels, producing a resultant force vector in any desired direction thereby ensuring that the platform is free to move in the direction of the 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. The generatrix of the small rollers is particularly so that the envelope of each small roller is cylindrical when the wheel is turned around a fixed wheel spindle, so that the wheel can roll forward continuously.

The structure is more complicated than the ordinary wheel, and is difficult to maintain. The bearing capacity is poor, the structure is complex, the bearing part is small, and the bearing capacity is poor compared with that of wheels with the same specification. The terrain is limited, the wheat wheel is contacted with the ground by a small wheel forming an angle of 45 degrees with the main wheel, and the position contacted with the ground is not only changed in the rolling direction of the main wheel, but also changed in the direction of a wheel axle, so that a relatively flat bottom surface is required when the required tire is used for walking. For example, if the wheel travels on two tracks that are much less than the width of the tire, the disadvantages of the mecanum wheel can be very great.

The advantages are as follows: the Mecanum wheel has compact structure and flexible movement, and is a very successful omnidirectional wheel. There are 4 this kind of novel wheels to make up, can be more nimble convenient realization all direction movement function, current mecanum wheel is used for the telecar or in the car of narrow and small space transport, very big improvement the flexibility of vehicle, but the increase of this kind of flexibility is based on the four-wheel setting, for example patent publication No. CN108502054B, wherein described a car body and warp mecanum wheel dolly, this dolly has installed mecanum wheel, connect independent worm gear motor respectively with four mecanum wheels, because mecanum wheel atress direction is not to the dead ahead at the in-process of advancing, so can adjust the motion state of car through the different rotation direction of mecanum wheel, realize to translation, turn, nimble motion etc. to left and right, the rotation of the car is not just, the realization is to the right side.

The Mecanum wheel trolley is further disclosed in the patent with the patent publication No. CN114408055A, wherein a support frame with a quadrilateral structure is adopted to assemble Mecanum wheel assemblies, so that the height of the Mecanum wheel assemblies can be adjusted according to the specific conditions of roads, the Mecanum wheel assemblies can be adapted to the roads with different conditions, and a damping cylinder is matched with a damping assembly consisting of a rotating shaft, a fisheye connecting rod and a triangular clamp, so that the Mecanum wheel trolley not only can play a role in damping the trolley, but also can bear the reaction moment caused by braking, the service lives of rollers and hubs are greatly prolonged, the abrasion of the rollers and the hubs is reduced, and the impact on a trolley body in the damping process is reduced.

However, it is not suitable for the balance car because the balance car is single-axle and cannot apply four mecanum wheels on the balance car.

Disclosure of Invention

It is an object of the present invention to provide a coaxial mecanum wheel drive system that solves the problems set forth in the background.

In order to achieve the purpose, the invention provides the following technical scheme:

coaxial mecanum wheel transmission system, including being used for installing the fixed cover body on the balance car, the fixed cover body left end rotates and is equipped with second wheelset and first wheelset, the fixed cover body right-hand member rotates and is equipped with third wheelset and fourth wheelset, the fixed cover body both ends be equipped with second wheelset, first wheelset, third wheelset and fourth wheelset matched with fixed axle, second wheelset, first wheelset, third wheelset and fourth wheelset electric connection set up the controller in the fixed cover body is inside.

On the basis of the technical scheme, the invention also provides the following optional technical scheme:

in the alternative: above-mentioned every wheelset all includes a first wheel hub and a second wheel hub, first wheel hub and second wheel hub pass through fixing bearing and rotate the setting on the fixed axle, be equipped with the roller of a plurality of and ground contact between first wheel hub and the second wheel hub, the axis of every roller is forty-five degrees contained angles setting with the axis of fixed axle, the roller tip rotates with second wheel hub and first wheel hub respectively and is connected, still be connected between first wheel hub and second wheel hub and the fixed axle and be used for driving its pivoted brushless driving piece.

In the alternative: the fixed cover body is internally provided with an installation cavity for installing the controller, and the surface of the fixed cover body is provided with a maintenance opening and a sealing cover arranged at the maintenance opening.

In the alternative: the rollers on the second wheel set and the first wheel set are symmetrically arranged, and the rollers on the third wheel set and the fourth wheel set are symmetrically arranged.

In the alternative: the wear-resistant layer is distributed on the surface of the roller, so that the service life of the product is greatly prolonged.

In the alternative: the roller is in a conical structure with two contracted ends.

In the alternative: the brushless driving part comprises an outer rotor which connects a first hub and a second hub, an inner stator is fixed on the outer side of a fixed shaft where the outer rotor is located, and a limiting piece is arranged between the inner stator and the fixed shaft.

In the alternative: a wiring channel is arranged in the fixed shaft, and a data line for electrically connecting the stator and the controller is arranged in the wiring channel; thus, the magnetic field change on the positioning can be controlled, and the walking direction can be controlled.

In the alternative: the limiting part comprises a limiting groove arranged on the inner wall of the inner stator mounting hole and a limiting protrusion arranged on the outer side of the fixed shaft, and the limiting protrusion is in sliding fit with the limiting groove.

In the alternative: the fixed shaft end is provided with an anti-disengaging cover for limiting the axial sliding of the fixed bearing, the anti-disengaging cover comprises a pressing plate for pressing the side face of the fixed bearing, and a connecting screw rod connected with the fixed shaft through threads is arranged in the middle of the pressing plate.

Compared with the prior art, the invention has the following beneficial effects:

the invention realizes the coexistence state of coaxial four wheels by improving the Mecanum wheels, so that a Mecanum wheel system can be operated on a single shaft, the maneuverability of the balance car is greatly improved, and the practicability is strong;

the single Mecanum wheel is driven by the brushless motor arranged in the Mecanum wheel, the wheel hub not only plays a role in fixing the roller, but also fixes the outer rotor of the brushless motor, and the arrangement of the brushless motor greatly improves the motion performance of the Mecanum wheel.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic structural diagram of a first wheel set and a second wheel set of the present invention.

FIG. 3 is an exploded view of the first and second wheelsets of the present invention.

Fig. 4 is a schematic structural view of the outer rotor and the inner stator of the present invention.

FIG. 5 is a schematic view of a state structure according to the present invention.

FIG. 6 is a schematic structural diagram of another embodiment of the present invention.

FIG. 7 is a schematic view of the roller wear force of the present invention.

Notations for reference numerals: the wheel assembly comprises a fixed sleeve body 100, a first wheel set 101, a second wheel set 102, an outer rotor 103, an inner stator 104, a first wheel hub 105, a fixed bearing 106, an anti-dropping cover 107, a roller 108, a second wheel hub 109, a third wheel set 110, a fourth wheel set 111 and a fixed shaft 112.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. In the present invention, the positive direction of the X axis is the left, the negative direction thereof is the right, the positive direction of the Y axis is the front, the negative direction thereof is the rear, the positive direction of the Z axis is the up, and the negative direction thereof is the down.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.

Example 1

In one embodiment, as shown in fig. 1 to 4, the coaxial mecanum wheel transmission system includes a fixed sleeve 100 for being mounted on a balance car, the left end of the fixed sleeve 100 is rotatably provided with a second wheel set 102 and a first wheel set 101, the right end of the fixed sleeve 100 is rotatably provided with a third wheel set 110 and a fourth wheel set 111, two ends of the fixed sleeve 100 are provided with a fixed shaft 112 matched with the second wheel set 102, the first wheel set 101, the third wheel set 110 and the fourth wheel set 111, the second wheel set 102, the first wheel set 101, the third wheel set 110 and the fourth wheel set 111 are electrically connected to a controller disposed inside the fixed sleeve 100, so that the forward movement, the backward movement, the lateral movement and the rotation of the fixed sleeve 100 can be realized by independently controlling the rotation of the second wheel set 102, the first wheel set 101, the third wheel set 110 and the fourth wheel set 111, and the flexibility of the balance car is greatly improved, an installation cavity for installing a controller is arranged in the fixed sleeve body 100, and a maintenance opening and a sealing cover arranged at the maintenance opening are arranged on the surface of the fixed sleeve body 100;

the brushless motor arranged in the Mecanum wheel drives the single Mecanum wheel, the wheel hub not only plays a role of fixing the roller, but also fixes the outer rotor of the brushless motor, and the arrangement of the brushless motor greatly improves the motion performance of the Mecanum wheel;

each wheel set comprises a first wheel hub 105 and a second wheel hub 109, the first wheel hub 105 and the second wheel hub 109 are rotatably arranged on a fixed shaft 112 through a fixed bearing 106, a plurality of rollers 108 in contact with the ground are arranged between the first wheel hub 105 and the second wheel hub 109, the axis of each roller 108 and the axis of the fixed shaft 112 form a forty-five degree included angle, the end parts of the rollers 108 are respectively rotatably connected with the second wheel hub 109 and the first wheel hub 105, a brushless driving part for driving the first wheel hub 105, the second wheel hub 109 and the fixed shaft 112 to rotate is further connected between the first wheel hub 105, the second wheel hub 109 and the fixed shaft 112, and under the action of the brushless driving part, the first wheel hub 105 and the second wheel hub 109 can rotate on the fixed shaft 112, so that a driving force is provided for walking;

the brushless driving member comprises an outer rotor 103 connecting a first hub 105 and a second hub 109, an inner stator 104 is fixed on the outer side of a fixed shaft 112 of the outer rotor 103, a limiting member is arranged between the inner stator 104 and the fixed shaft 112, a wiring channel is arranged in the fixed shaft 112, and a data line electrically connecting the stator and a controller is arranged in the wiring channel, so that the magnetic field conversion on the positioning can be controlled, and the walking direction can be controlled;

the limiting piece comprises a limiting groove arranged on the inner wall of the mounting hole of the inner stator 104 and a limiting bulge arranged on the outer side of the fixed shaft 112, and the rotation of the inner stator 104 is limited by the matching of the limiting bulge and the limiting groove, so that the mounting stability of the inner stator 104 is ensured;

the end part of the fixed shaft 112 is provided with an anti-falling cover 107 for limiting the fixed bearing 106 to slide axially, the anti-falling cover 107 comprises a pressing disc for pressing the side surface of the fixed bearing 106, and the middle position of the pressing disc is provided with a connecting screw rod in threaded connection with the fixed shaft 112, so that the anti-falling cover 107 can be arranged at the end part of the fixed shaft 112 for limiting;

the above embodiments disclose a coaxial mecanum wheel transmission system, wherein the wheels of the second wheel set 102 and the fourth wheel set 111 are in the forward direction, and the wheels of the first wheel set 101 and the third wheel set 110 are in the reverse direction, as shown in fig. 5;

when the two wheels rotate in a differential mode, a transverse movement trend is generated, and a longitudinal movement trend is counteracted at the same time, and the transverse movement trend is shown in fig. 6;

the total vehicle comprises four Mecanum wheels, a second wheel set 102, a first wheel set 101, a third wheel set 110 and a fourth wheel set 111 are sequentially arranged from left to right, and the rotation speeds of the wheels of the second wheel set 102, the first wheel set 101, the third wheel set 110 and the fourth wheel set 111 are the same.

When the wheels of the second wheel set 102, the first wheel set 101, the third wheel set 110 and the fourth wheel set 111 rotate forwards at the same time, the trolley runs forwards, and when the wheels rotate backwards, the trolley runs backwards;

when the wheels of the second wheel set 102 and the first wheel set 101 rotate in the forward direction and the wheels of the third wheel set 110 and the fourth wheel set 111 rotate in the reverse direction, the trolley rotates to the right, and conversely, the trolley rotates to the left.

When the wheels of the second wheel set 102 and the fourth wheel set 111 rotate forwards and the wheels of the first wheel set 101 and the third wheel set 110 rotate reversely, the trolley translates leftwards, otherwise, translates rightwards;

the single Mecanum wheel is driven by the inner stator 104 and the outer rotor 103, and the basic forward, backward, leftward and rightward travelling and steering are realized by controlling the forward, backward, leftward and rightward rotating speeds of the four Mecanum wheels. When the two wheels rotate in the same direction, a longitudinal movement trend is generated to counteract the transverse movement trend.

Example 2

The surface of the roller 108 is distributed with a wear-resistant layer, so that the service life of the product is greatly prolonged.

As shown in fig. 7, the ground friction force Ff is subjected to force decomposition along the directions perpendicular and parallel to the axis of the roller, and the roller is a driven wheel, so that the roller is passively rotated by a component force F ±, which is perpendicular to the axis of the hub, and also illustrates that the component force F ±, which is a rolling friction force, is large in abrasion to the roller; a force component F/, parallel to the axis of the hub also forces the roller to move but actively (the roller is mechanically restrained by the hub on either side of the axis), so the force component F/, is static friction. Summarizing, the friction force acted on the roller by the ground is decomposed into rolling friction force and static friction force, the rolling friction force causes the roller to rotate, and the roller belongs to invalid motion; the static friction forces cause the rollers to move relative to the ground (similar to the movement of a common rubber tire), and the rollers are "caught" by the hub, thereby driving the whole wheat wheel to move along the axis of the rollers (i.e., the hub rotates counterclockwise with the direction of movement being 45 degrees at the upper left; the hub rotates clockwise with the direction of movement being 45 degrees at the lower right). To further summarize: the motor inputs the torque of the wheel hub, one part is 'wasted' by the autorotation of the roller, and the other part forms static friction to drive the whole movement of the wheat wheel; the actual (stressed) moving direction of a single wheat wheel is the axial direction of the roller, so that the actual (stressed) moving direction of the wheat wheel can be changed by changing the included angle between the axis of the roller and the axis of the hub.

Example 3

The rollers 108 of the second wheel set 102 and the first wheel set 101 are symmetrically arranged, and the rollers 108 of the third wheel set 110 and the fourth wheel set 111 are symmetrically arranged.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. Coaxial mecanum wheel transmission system, including being used for installing fixed cover body (100) on the balance car, its characterized in that, fixed cover body (100) left end is rotated and is equipped with second wheelset (102) and first wheelset (101), fixed cover body (100) right-hand member is rotated and is equipped with third wheelset (110) and fourth wheelset (111), fixed cover body (100) both ends be equipped with second wheelset (102), first wheelset (101), third wheelset (110) and fourth wheelset (111) matched with fixed axle (112), second wheelset (102), first wheelset (101), third wheelset (110) and fourth wheelset (111) electric connection set up the controller in fixed cover body (100) inside.

2. The coaxial mecanum wheel transmission system of claim 1 wherein each wheel set includes a first hub (105) and a second hub (109), the first hub (105) and the second hub (109) are rotatably mounted on a fixed shaft (112) by a fixed bearing (106), a plurality of ground-contacting rollers (108) are mounted between the first hub (105) and the second hub (109), the axis of each roller (108) is disposed at a forty-five degree angle to the axis of the fixed shaft (112), the ends of the rollers (108) are rotatably connected to the second hub (109) and the first hub (105), and a brushless drive member is coupled between the first hub (105) and the fixed shaft (112) for driving the rollers to rotate.

3. Coaxial mecanum wheel transmission system according to claim 2, characterized in that inside the fixed housing (100) there is a mounting cavity for the installation of the controller, and in that on the surface of the fixed housing (100) there is a maintenance opening and a cover placed over the maintenance opening.

4. Coaxial mecanum wheel transmission according to claim 2, characterized in that the rollers (108) of the second wheel set (102) and of the first wheel set (101) are arranged symmetrically and the rollers (108) of the third wheel set (110) and of the fourth wheel set (111) are arranged symmetrically.

5. Coaxial mecanum wheel transmission according to claim 2, wherein the rollers (108) have a wear resistant layer distributed over their surface.

6. The coaxial mecanum wheel drive system of claim 2, wherein the rollers (108) are tapered structures that are tapered at both ends.

7. Coaxial mecanum wheel transmission according to claim 2, characterized in that the brushless drive comprises an outer rotor (103) connecting the first hub (105) and the second hub (109), an inner stator (104) being fixed outside the stationary shaft (112) on which the outer rotor (103) is located, and a limit stop being provided between the inner stator (104) and the stationary shaft (112).

8. Coaxial mecanum wheel transmission according to claim 7, wherein the stationary shaft (112) has wiring channels inside, in which data lines are provided for electrically connecting the stator to the controller.

9. The coaxial mecanum wheel drive system of claim 7, wherein the retaining member comprises a retaining groove disposed on an inner wall of the mounting hole of the inner stator (104) and a retaining protrusion disposed on an outer side of the fixed shaft (112), the retaining protrusion and the retaining groove being slidably engaged.

10. The coaxial mecanum wheel transmission system according to claim 2, wherein the fixed shaft (112) is provided at an end thereof with a retaining cap (107) for limiting the axial sliding of the fixed bearing (106), the retaining cap (107) including a pressing plate for pressing against the side of the fixed bearing (106), and the pressing plate is provided at a middle position thereof with a connecting screw for screw-connecting with the fixed shaft (112).

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