CN117944396A - Mecanum wheel and mobile platform - Google Patents
Mecanum wheel and mobile platform Download PDFInfo
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- CN117944396A CN117944396A CN202211300868.4A CN202211300868A CN117944396A CN 117944396 A CN117944396 A CN 117944396A CN 202211300868 A CN202211300868 A CN 202211300868A CN 117944396 A CN117944396 A CN 117944396A
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- roller
- hub
- mecanum wheel
- flexible
- mecanum
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- 238000009434 installation Methods 0.000 claims abstract description 6
- 230000000712 assembly Effects 0.000 claims abstract description 5
- 238000000429 assembly Methods 0.000 claims abstract description 5
- 239000003292 glue Substances 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 2
- 230000005489 elastic deformation Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000003139 buffering effect Effects 0.000 description 6
- 239000012530 fluid Substances 0.000 description 4
- 239000000126 substance Substances 0.000 description 4
- 239000000725 suspension Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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Abstract
The application discloses a Mecanum wheel and a mobile platform, and belongs to the technical field of mobile wheels. The Mecanum wheel includes a hub, a flexible support, and a roller assembly. Wherein, a plurality of roller assemblies assemble in wheel hub's periphery, and wheel hub is equipped with the installation cavity, and flexible support body detachable installs in the installation cavity, and flexible support body produces elastic deformation under the exogenic action to the impact force of unsmooth road surface transmission for the Mecanum wheel. According to the Mecanum wheel provided by the application, the flexible supporting bodies are detachably arranged on the wheel hub, so that different flexible supporting bodies can be replaced and arranged according to load requirements to match the load requirements, and the compatibility of the Mecanum wheel is improved.
Description
Technical Field
The invention relates to the technical field of mobile wheels, in particular to a Mecanum wheel and a mobile platform.
Background
The existing Mecanum wheel is usually a rigid hub, and a suspension system is required to be arranged on the Mecanum wheel of the mobile platform by using the rigid hub, so that the mobile platform has a complex structure, and meanwhile, the weight of the mobile platform is increased; in the Mecanum wheel provided with the flexible wheel hub, the flexible body is arranged inside the wheel hub, the wheel hub and the flexible body are integrally processed, so that the processing of the wheel hub becomes complex, after the integrated processing and forming, the bearing capacity of the wheel hub of the Mecanum wheel is determined, the bearing capacity of the Mecanum wheel cannot be changed according to different loads, and the Mecanum wheel has poor compatibility. Therefore, how to improve the compatibility of the mecanum wheel is a technical problem to be solved.
Disclosure of Invention
The application provides a Mecanum wheel which can solve the problem of poor compatibility of Mecanum wheels.
In order to solve the technical problems, the application provides a Mecanum wheel which comprises a wheel hub, a flexible supporting body and a roller assembly. Wherein, a plurality of roller assemblies assemble in wheel hub's periphery, and wheel hub is equipped with the installation cavity, and flexible support body detachable installs in the installation cavity, and flexible support body produces elastic deformation under the exogenic action to the impact force of unsmooth road surface transmission for the Mecanum wheel.
The application provides a mobile platform, which comprises a vehicle body bracket and a plurality of Mecanum wheels, wherein the Mecanum wheels are assembled on the vehicle body bracket, so that the mobile platform can translate back and forth, left and right and rotate in a fixed shaft manner.
According to the Mecanum wheel provided by the application, the flexible supporting bodies are detachably arranged on the wheel hub, so that different flexible supporting bodies can be replaced and arranged according to load requirements to match the load requirements, and the compatibility of the Mecanum wheel is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an embodiment of a Mecanum wheel according to the present application;
FIG. 2 is a schematic diagram of an exploded structure of an implementation of Mecanum wheel according to the present application;
FIG. 3 is a schematic view of an embodiment of a flexible support provided by the present application;
FIG. 4 is a schematic top view of an embodiment of a flexible support provided by the present application;
FIG. 5 is a schematic exploded view of another embodiment of a Mecanum wheel provided by the present application;
FIG. 6 is a schematic view of another embodiment of a flexible support provided by the present application;
FIG. 7 is a schematic cross-sectional view of another embodiment of a flexible support according to the present application from a diametrical perspective;
FIG. 8 is a schematic view of an exploded construction of one embodiment of a roller assembly provided by the present application;
FIG. 9 is a schematic cross-sectional view of an embodiment of a roller assembly according to the present application taken along a longitudinal direction of the roller assembly;
fig. 10 is a schematic structural diagram of an embodiment of a mobile platform according to the present application.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is specifically noted that the following examples are only for illustrating the present invention, but do not limit the scope of the present invention. Likewise, the following examples are only some, but not all, of the examples of the present invention, and all other examples, which a person of ordinary skill in the art would obtain without making any inventive effort, are within the scope of the present invention.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The carrying arm mobile robot based on the omnidirectional mobile platform is applied in various fields, wherein the omnidirectional mobile platform mainly has the following schemes:
1. The omnidirectional mobile platform based on the Mecanum wheels can realize omnidirectional movement by respectively controlling different rotating speeds and steering of the four Mecanum wheels through four motors by utilizing the characteristics of the Mecanum wheels;
2. The omnidirectional moving platform comprises at least two motors for each wheel, wherein one motor drives the wheel to rotate, and the other motor drives the wheel to rotate, so that omnidirectional movement is realized by controlling at least eight motors;
3. The mobile platform based on the Ackerman steering mechanism is similar to a common automobile, steering is realized by the Ackerman mechanism, and the mobile platform is commonly provided with a front drive, a rear drive or a four-drive, but the mobile platform cannot realize transverse movement, and has a certain limit on turning radius.
In the various schemes, the omnidirectional mobile platform based on the Mecanum wheel has the advantages of small motor number and simple control, and is often used as a mobile platform scheme of the mobile robot.
The stability and dynamic performance of the mobile platform of the carrier arm mobile robot based on the Mecanum wheel mobile platform are related to the working accuracy of the carried mechanical arm. When the mobile platform runs, four Mecanum wheels are required to touch the ground simultaneously, if a certain Mecanum wheel is not grounded, the running state and the track can be influenced, and in order to ensure that the Mecanum wheels touch the ground simultaneously, a suspension system is adopted, so that the mobile robot has certain obstacle crossing performance, and the stable posture of the mechanical arm is ensured.
Most of hubs of the existing Mecanum wheels are rigid bodies, namely, the hubs do not generate obvious deformation, and elastic buffering cannot be achieved. There are also partly the Mecanum wheel schemes with buffering characteristic, there are thin-walled pieces in the wheel hub, used for producing the elastic deformation to realize buffering, but its wheel hub needs to process with the thin-walled piece integrally, and the special shape of the thin-walled piece makes the processing of Mecanum wheel complicated; after the integrated processing and forming, the bearing capacity of the Mecanum wheel is determined, the bearing capacity of the Mecanum wheel cannot be changed according to different load demands, and the compatibility is poor.
In view of the above, the present application provides a Mecanum wheel with good compatibility. Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of an embodiment of a mecanum wheel provided by the present application, and fig. 2 is an exploded structural diagram of an embodiment of a mecanum wheel provided by the present application. The Mecanum wheel 100 may include a hub 10, a flexible support body 20, and a roller assembly 30, the plurality of roller assemblies 30 being fitted to the outer circumference of the hub 10, the flexible support body 20 being detachably mounted to the hub 10.
The hub 10 is provided with a mounting cavity 11 for mounting a flexible support 20. The hub 10 is provided with a hub power assembly, which may be a hub motor 12, the hub motor 12 being adapted to drive the movement of the hub 10.
According to the Mecanum wheel 100 provided by the application, the flexible support body 20 and the wheel hub 10 are separated, and the flexible support body 20 and the wheel hub 10 are respectively processed, so that the wheel hub 10 only needs to be processed with the mounting cavity 11, the processing technology of the wheel hub 10 is simplified, and the development cost and the processing difficulty of the Mecanum wheel 100 can be reduced.
When the Mecanum wheel 100 bears a load, the flexible support body 20 is compressed radially, the radial compression causes axial deformation in a direction perpendicular to the load, the axial deformation of the flexible support body 20 is limited, the hub 10 is further provided with a hub end cover 13, and the hub end cover 13 covers the mounting cavity 11.
The flexible supporting body 20 is elastically deformed by an external force to buffer the impact force transmitted to the Mecanum wheel 100 by the concave-convex road surface. The flexible support 20 is made of a material having both rigidity and flexibility, such as rubber.
According to the Mecanum wheel 100 provided by the application, the flexible support body 20 is detachably arranged on the wheel hub 10, the wheel hub 10 is not required to be replaced according to the use scenes of different loads, only the rigidity and the elasticity of the flexible support body 20 are required to be redesigned, and different flexible support bodies 20 are replaced and arranged according to the load demands so as to match the load demands, so that the Mecanum wheel 100 is flexible to use, the compatibility of the Mecanum wheel 100 is improved, and the development time and the development cost are reduced.
Referring to fig. 3 and 4, fig. 3 is a schematic structural diagram of an embodiment of a flexible support body according to the present application, and fig. 4 is a schematic top view of an embodiment of the flexible support body according to the present application. The flexible support body 20 includes a support ring 21 with mounting holes 22 for mounting a hub power assembly, such as the in-wheel motor 12.
The support ring 21 has a load-bearing capacity that ensures the rigidity of the flexible support body 20 in the radial and axial directions.
In an embodiment, the supporting ring 21 has a plurality of flexible pads 23 distributed on the periphery thereof, and the flexible pads are provided with deformation holes 24 to elastically deform the flexible pads 23 under the action of external force. The number of the flexible pads 23 and the size of the deformation holes 24 can affect the carrying capacity of the flexible support body 20 and the deformation under the action of external load, and the use requirements of different Mecanum wheels 100 can be met by adjusting the number of the flexible pads 23 and the size of the deformation holes 24.
The flexible pad 23 can generate elastic deformation under the action of external force, so that the flexible support body 20 has certain flexibility in the radial direction and the axial direction, and the support ring 21 can ensure the rigidity of the flexible support body 20 in the radial direction and the axial direction, and the flexible support body 20 provided by the application has both supporting rigidity and elasticity. When the mecanum wheel 100 encounters obstacles such as protrusions or pits, namely uneven road surfaces, the flexible support body 20 can generate radial deformation, impact force transmitted to the mecanum wheel 100 by the road surfaces is buffered, vibration caused by the impact force is attenuated, stability of a moving platform assembled with the mecanum wheel 100 is guaranteed, and accuracy of a moving track of the moving platform is guaranteed. Therefore, the Mecanum wheel 100 provided with the flexible support body 20 has a certain bearing capacity and can realize elastic buffering, and the mobile platform based on the Mecanum wheel 100 has a certain obstacle surmounting capacity without adding a suspension system, so that the whole structure of the mobile platform can be simplified.
Referring to fig. 5 to 7, fig. 5 is an exploded schematic view of another embodiment of a mecanum wheel provided by the present application, fig. 6 is a schematic view of another embodiment of a flexible support provided by the present application, and fig. 7 is a schematic view of a cross section of another embodiment of a flexible support provided by the present application along a diameter direction. In this embodiment, the outer periphery of the supporting ring 21 is distributed with a plurality of pockets 25, the pockets 25 are filled with a fluid substance, which may be gas or liquid, and the pockets 25 can elastically deform under the action of external force because the fluid substance has no fixed shape, so that the mecanum wheel 100 with the flexible supporting body 20 can realize elastic buffering. The number of the cavities 25, the type of the fluid substances filled in the cavities 25 and the filling amount can affect the carrying capacity of the flexible support body 20 and the deformation amount under the action of external load, and the use requirements of different Mecanum wheels 100 can be met by adjusting the number of the cavities 25, the type of the fluid substances filled in the cavities 25 and the filling amount.
Referring to fig. 8 and 9, fig. 8 is an exploded view of an embodiment of a roller assembly according to the present application, and fig. 9 is a schematic cross-sectional view of an embodiment of a roller assembly according to the present application along a longitudinal direction of the roller assembly. Roller assembly 30 includes a roller shaft 31, a roller bearing 32, a roller bracket 33, a soft rubber roller 34, and a roller end cap 35.
The roller assembly 30 is mounted to the hub 10 by a roller shaft 31. Roller bearings 32 are fitted over both ends of the roller shaft 31, and the roller shaft 31 is rotatable within the roller bearings 32 to reduce rotational friction when the roller assembly 30 rotates.
The roller shaft 31 and the roller bearing 32 are accommodated and installed in the roller bracket 33, and the soft rubber roller 34 is wrapped outside the roller bracket 33. The roller support 33 ensures the bearing capacity of the roller assembly 30, and the soft rubber roller 34 can increase the friction between the roller assembly 30 and the ground, so that the roller assembly 30 is prevented from slipping.
The roller end covers 35 are sleeved at two ends of the roller shaft 31, the roller end covers 35 are arranged corresponding to the roller bearings 32, the roller end covers 35 are located on the outer sides of the corresponding roller bearings 32, one ends of the roller end covers 35 are abutted to the roller bearings 32 to limit displacement of the roller bearings 32, end cover shaft shoulders 351 are arranged at the opposite ends of the roller end covers 35, and the end cover shaft shoulders 351 are abutted to the outer edges of the flexible glue rollers 34 to limit axial deformation of the flexible glue rollers 34. When the roller assembly 30 is in bearing operation, the soft rubber roller 34 is stressed and extruded to be easy to extend and deform towards the edges of the two sides, and if the deformation is too large, the bus of the roller assembly 30 is changed to influence the rotation rule of the Mecanum wheel 100; in addition, the excessive deformation of the soft rubber roller 30 to two sides can squeeze other parts to increase the rotation friction, so that the rotation efficiency is affected, and the roller end cover 35 can effectively restrain the axial deformation of the soft rubber roller 34.
The application provides a mobile platform. Referring to fig. 10, fig. 10 is a schematic structural diagram of a mobile platform according to an embodiment of the application. Mobile platform 1000 may include a plurality of mecanum wheels 100 and a body frame 200, with the plurality of mecanum wheels 100 mounted to body frame 200 such that mobile platform 1000 may translate back and forth, side to side, and pivot. The mobile platform 1000 provided by the application can be used for driving robots, including mechanical arm robots, sweeping robots, storage, freight, rescue robots and the like.
The Mecanum wheel provided by the application has at least the following beneficial effects:
1. Because the flexible supporting body 20 is detachably mounted on the hub 10, different flexible supporting bodies 20 can be replaced and mounted according to the load requirement so as to match the load requirement, and the compatibility of the Mecanum wheel 100 is improved.
2. The flexible support body 20 and the hub 10 are arranged to be separated, and the flexible support body 20 and the hub 10 are respectively processed, so that the processing technology of the hub 10 is simplified, and the development cost and the processing difficulty of the Mecanum wheel 100 are reduced.
3. The flexible support body 20 has both supporting rigidity and elasticity, the Mecanum wheel 100 provided with the flexible support body 20 has a certain bearing capacity and can realize elastic buffering, and a suspension system is not required to be added on the basis of the mobile platform of the Mecanum wheel 100, so that the whole structure of the mobile platform can be simplified.
The foregoing description is only a partial embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes using the descriptions and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (10)
1.A mecanum wheel, comprising:
The novel microphone comprises a hub, a flexible support body and roller assemblies, wherein the roller assemblies are assembled on the periphery of the hub, the hub is provided with an installation cavity, the flexible support body is detachably installed in the installation cavity, and the flexible support body is elastically deformed under the action of external force so as to buffer the impact force transmitted to the Mecanum wheel by the concave-convex pavement.
2. The Mecanum wheel of claim 1, wherein the flexible support body includes a support ring having mounting holes formed therein for mounting a hub power assembly.
3. The Mecanum wheel of claim 2, wherein a plurality of flexible pads are distributed on the periphery of the support ring, and deformation holes are formed in the flexible pads so that the flexible pads are elastically deformed under the action of external force.
4. The Mecanum wheel of claim 2, wherein a plurality of pockets are distributed around the periphery of the support ring, and wherein the pockets are filled with gas or liquid to cause the pockets to elastically deform under the action of an external force.
5. The Mecanum wheel of claim 2, wherein the hub power assembly is a hub motor that fits within a mounting hole of the support ring, the hub motor being configured to drive the hub in motion.
6. The Mecanum wheel of claim 1, wherein the hub includes a hub end cap disposed over the mounting cavity to limit axial deformation of the flexible support body.
7. The Mecanum wheel of claim 1, wherein the roller assembly includes a roller shaft by which the roller assembly is mounted to the hub.
8. The Mecanum wheel of claim 7, wherein said roller assembly further comprises roller bearings, roller brackets, and soft rubber rollers, said roller bearings being sleeved on both ends of said roller shaft, said roller bearings being received in said roller brackets, said soft rubber rollers being wrapped around said roller brackets.
9. The Mecanum wheel of claim 8, wherein said roller assembly further comprises roller end caps sleeved on both ends of said roller shaft, said roller end caps disposed in correspondence with said roller bearings, said roller end caps positioned outside of the respective roller bearings, one end of said roller end caps abutting said roller bearings, an end cap shoulder disposed on an opposite end of said roller end caps, said end cap shoulder abutting an outer edge of said flexible glue roller to limit axial deformation of said flexible glue roller.
10. A mobile platform, comprising:
a vehicle body bracket and a plurality of Mecanum wheels as claimed in any one of claims 1 to 9, wherein a plurality of Mecanum wheels are assembled on the vehicle body bracket so that the mobile platform can translate back and forth, left and right and rotate on a fixed axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211300868.4A CN117944396A (en) | 2022-10-21 | 2022-10-21 | Mecanum wheel and mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211300868.4A CN117944396A (en) | 2022-10-21 | 2022-10-21 | Mecanum wheel and mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117944396A true CN117944396A (en) | 2024-04-30 |
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ID=90800545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211300868.4A Pending CN117944396A (en) | 2022-10-21 | 2022-10-21 | Mecanum wheel and mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117944396A (en) |
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2022
- 2022-10-21 CN CN202211300868.4A patent/CN117944396A/en active Pending
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