CN203752789U - Mecanum wheel - Google Patents
Mecanum wheel Download PDFInfo
- Publication number
- CN203752789U CN203752789U CN201420092246.1U CN201420092246U CN203752789U CN 203752789 U CN203752789 U CN 203752789U CN 201420092246 U CN201420092246 U CN 201420092246U CN 203752789 U CN203752789 U CN 203752789U
- Authority
- CN
- China
- Prior art keywords
- mecanum wheel
- roll
- roller
- spokes
- bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 229920002635 polyurethane Polymers 0.000 claims description 11
- 239000004814 polyurethane Substances 0.000 claims description 11
- 239000000853 adhesive Substances 0.000 claims description 4
- 230000001070 adhesive effect Effects 0.000 claims description 4
- 230000035939 shock Effects 0.000 abstract description 5
- 230000005489 elastic deformation Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 3
- 238000005299 abrasion Methods 0.000 abstract 1
- 229920003225 polyurethane elastomer Polymers 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000005336 cracking Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
Landscapes
- Rolls And Other Rotary Bodies (AREA)
Abstract
The utility model discloses a Mecanum wheel. The Mecanum wheel comprises two spokes arranged oppositely. A plurality of roll wheels are arranged between the two spokes, center shafts of the roll wheels are fixedly connected to the spokes through nuts and are sleeved with bearings, bearing protecting rings and adjusting washers, the bearings, the bearing protecting rings and the adjusting washers are located between the roll wheels and the spokes, and a spring washer is arranged between each spoke and the corresponding nut. Each roll wheel comprises a hollow roll core, each center shaft is sleeved with the corresponding roll core through a sleeve, each roll core is covered with a polyurethane rubber layer, and an outer ring of each bearing is embedded in the corresponding roll core. According to the Mecanum wheel, the roll wheels are separated from the spokes by certain distances by arranging the bearing protecting rings and the adjusting washers, so that the roll wheels rotate smoothly through the center shafts; certain elastic deformation is provided through the adjusting washers and the spring washers, abrasion to the roll wheels in a movement process is reduced effectively, and movement timeliness and precision are improved under heavy shock loads.
Description
Technical field
The utility model relates to a kind of all-directional mobile wheel, relates in particular to a kind of Mecanum wheel.
Background technology
Mecanum wheel is mainly used in all-around mobile mode.Which is to have many being positioned in the principle that center gear periphery wheel shafts (being running roller) rotate around center gear based on one, and the center gear steering effort of the part in the mobile system that these angled periphery wheel shafts form multiple (4 doubly several) center gear is transformed into above another part center gear normal force.Rely on direction and the speed of center gear separately, thereby finally synthesizing of these power produces a resultant force vector and ensured that this platform can freely move in the direction of final resultant force vector in the direction of any requirement, and do not change the direction of center gear self.Many little rollers that diagonally distributing on its wheel rim, therefore wheel can horizontal sliding.The bus of little roller is very special, and in the time that wheel rotates around fixing wheel arbor, the intrinsic curve of each running roller is the face of cylinder, can roll forward continuously so this is taken turns.Running roller has 3 degree of freedom, in rotating around self, can rotate around axletree again, can also rotate around roller and ground contact point.This makes Mecanum wheel also possess 3 degree of freedom, around the rotation of wheel shaft, along the translation of running roller axis vertical line direction with around the rotation of running roller and ground contact point.By being used in combination and controlling of Mecanum wheel, any direction that can make car body produce in plane of movement moves and rotates.And adopted the vehicle of Mecanum wheel can not produce and tremble because of the irregular of wheel.Center gear is equipped with many rollers that are circle distribution, and roller and center gear wheel shaft are at an angle.
The load that Mecanum wheel bears is periodic shock load, and running roller also bears periodic shock load, and Mecanum wheel often rotates a circle, and running roller contacts once with ground, and bears the impact load of a ground effects.The impact load that running roller is subject to is obviously greater than the suffered impact load of Mecanum wheel, therefore claims that the wearing and tearing meeting of middle roll is more serious moving.Therefore the total rigidity of running roller just becomes most important.Hence one can see that, and the running roller of Mecanum wheel is one of key of forming of whole wheel body, and when the contour structures of running roller and mounting structure can directly affects omnidirectional's car and move, all wheels coordinate the smooth degree of rotations, and the accuracy of move angle.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of Mecanum wheel, has rigid construction and elastic deformation concurrently, can greatly reduce to move to claim the wearing and tearing of middle roll, thereby greatly improve real-time and precision mobile under heavy shock loads.
The utility model is to solve the problems of the technologies described above the technical scheme adopting to be to provide a kind of Mecanum wheel; comprise two blocks of spokes that are oppositely arranged; between described two blocks of spokes, be provided with multiple running rollers; the center shaft of described running roller is fixedly linked by nut and spoke; wherein; on the center shaft of described running roller, be arranged with bearing, bearing back up ring and adjusting disk, described bearing, bearing back up ring and adjusting disk, between running roller and spoke, are provided with spring washer between described spoke and nut.
Above-mentioned Mecanum wheel, wherein, described running roller comprises the roller core of hollow, and described roller core is by jacket casing on center shaft, and described roller core is coated with polyurethane glue-line, and the outer ring of described bearing is embedded in roller core.
Above-mentioned Mecanum wheel, wherein, is provided with adhesive phase between described roller core and polyurethane glue-line.
Above-mentioned Mecanum wheel, wherein, the profile of described roller core and running roller is roughly the same.
Above-mentioned Mecanum wheel, wherein, the profile of described roller core and running roller is spindle.
The utility model contrast prior art has following beneficial effect: the Mecanum wheel that the utility model provides; by bearing back up ring and adjusting disk being set by spaced apart to running roller and spoke; be convenient to running roller and can carry out smooth rotation by center shaft; provide certain elastic deformation by adjusting disk and spring washer; effectively reducing moved claims the wearing and tearing of middle roll, thereby greatly improves real-time and precision mobile under heavy shock loads.In addition, the running roller that the utility model forms by roller core outer cladding polyurethane glue-line, the profile of described roller core and running roller is roughly the same, thereby avoids the height on Mecanum wheel shaft and ground to produce nonlinearities change and cause car body to produce non-linear twisting and glue-line cracking.
Brief description of the drawings
Fig. 1 is the utility model Mecanum wheel structural representation;
Fig. 2 is the running roller mounting structure schematic diagram of the utility model Mecanum wheel;
Fig. 3 is the running roller body construction schematic diagram of the utility model Mecanum wheel.
In figure:
1 running roller 2 spoke 3 nuts
4 bearing back up ring 5 bearing 6 center shafts
7 spring washer 8 adjusting disk 11 roller cores
12 sleeve 13 polyurethane glue-lines
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model will be further described.
Fig. 1 is the utility model Mecanum wheel structural representation; Fig. 2 is the running roller mounting structure schematic diagram of the utility model Mecanum wheel.
Refer to Fig. 1 and Fig. 2; the Mecanum wheel that the utility model provides comprises two blocks of spokes that are oppositely arranged 2; between described two blocks of spokes 2, be provided with multiple running rollers 1; the center shaft 6 of described running roller 1 is fixedly linked by nut 3 and spoke 2; wherein; on the center shaft 6 of described running roller 1, be arranged with bearing 5, bearing back up ring 4 and adjusting disk 8, described bearing 5, bearing back up ring 4 and adjusting disk 8, between running roller 1 and spoke 2, are provided with spring washer 7 between described spoke 2 and nut 3.
Fig. 3 is the running roller body construction schematic diagram of the utility model Mecanum wheel.
Please continue referring to Fig. 3, the Mecanum wheel that the utility model provides, wherein, described running roller 1 comprises the roller core 11 of hollow, described roller core 11 is enclosed within on center shaft 6 by sleeve 12, and described roller core 11 is coated with polyurethane glue-line 13, and the outer ring of described bearing 5 is embedded in roller core 11.Polyurethane glue-line 13 is for protecting whole running roller, and certain elastic deformation is provided, and polyurethane glue-line 13 is wrapped on roller core 11; Roller core 11 is rigid support of roller; The outer ring of bearing 5 is embedded in roller core 11, and the bearing back up ring 4 of center shaft 6 both sides and adjusting disk 8 and sleeve 12 clamp the inner ring of bearing 5, then passes center shaft 6 in centre, and roller core 11 just can rotate around center shaft 6 by bearing 5 like this.To center shaft 6 two tap outs, just whole running roller can be fixed between both sides spoke 2 by nut 3.
The Mecanum wheel that the utility model provides, the profile of described roller core 11 and running roller 1 is roughly the same; The profile of described roller core 11 and running roller 1 is preferably spindle.If spindle running roller coordinates cylindrical running roller, it is different easily making the roller middle part thickness t of glue-line and the thickness t ` of end glue-line.The drawback of this method is just, when roller bearing load, the deformation of glue-line is along axially can be produced nonlinearities change to center by two ends, so the internal stress of glue-line also can make whole glue-line along axially producing deformation by middle mind-set two ends, this will inevitably cause the height on Mecanum wheel shaft and ground to produce nonlinearities change, and make car body produce non-linear twisting, also can cause glue-line cracking.In addition, in order to ensure reliable the fixing between roller core 11 and polyurethane glue-line 13, between described roller core 11 and polyurethane glue-line 13, be provided with adhesive phase, and adopt the method for sand-blast finish to remove the organic or inorganic thing that roller core 11 surfaces are unfavorable for splicing, provide suitable roughness to surface, increase effective bond area, improve the wellability of adhesives to adherend surface, improve adhesion property.
Although the utility model discloses as above with preferred embodiment; so it is not in order to limit the utility model; any those skilled in the art; not departing from spirit and scope of the present utility model; when doing a little amendment and perfect, therefore protection domain of the present utility model is worked as with being as the criterion that claims were defined.
Claims (5)
1. a Mecanum wheel, comprise two blocks of spokes that are oppositely arranged (2), between described two blocks of spokes (2), be provided with multiple running rollers (1), the center shaft (6) of described running roller (1) is fixedly linked by nut (3) and spoke (2), it is characterized in that, on the center shaft (6) of described running roller (1), be arranged with bearing (5), bearing back up ring (4) and adjusting disk (8), described bearing (5), bearing back up ring (4) and adjusting disk (8) are positioned between running roller (1) and spoke (2), between described spoke (2) and nut (3), be provided with spring washer (7).
2. Mecanum wheel as claimed in claim 1, it is characterized in that, described running roller (1) comprises the roller core (11) of hollow, described roller core (11) is enclosed within on center shaft (6) by sleeve (12), described roller core (11) is coated with polyurethane glue-line (13), and the outer ring of described bearing (5) is embedded in roller core (11).
3. Mecanum wheel as claimed in claim 2, is characterized in that, between described roller core (11) and polyurethane glue-line (13), is provided with adhesive phase.
4. Mecanum wheel as claimed in claim 2, is characterized in that, the profile of described roller core (11) and running roller (1) is roughly the same.
5. Mecanum wheel as claimed in claim 4, is characterized in that, the profile of described roller core (11) and running roller (1) is spindle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420092246.1U CN203752789U (en) | 2014-03-03 | 2014-03-03 | Mecanum wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420092246.1U CN203752789U (en) | 2014-03-03 | 2014-03-03 | Mecanum wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203752789U true CN203752789U (en) | 2014-08-06 |
Family
ID=51248095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420092246.1U Expired - Lifetime CN203752789U (en) | 2014-03-03 | 2014-03-03 | Mecanum wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203752789U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104325857A (en) * | 2014-10-24 | 2015-02-04 | 北京星达科技发展有限公司 | Mecanum wheel movement device |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN106994864A (en) * | 2016-01-25 | 2017-08-01 | 上海智远弘业机器人有限公司 | A kind of Mecanum wheel of multiple rows of roller arrangement |
| CN108407543A (en) * | 2018-03-13 | 2018-08-17 | 北京特种机械研究所 | A kind of inexpensive, Mecanum wheel construction easy to install |
| CN109922972A (en) * | 2017-05-31 | 2019-06-21 | 深圳市大疆创新科技有限公司 | Wheel cover, vehicle wheel component and step battlebus |
| CN112238708A (en) * | 2020-09-23 | 2021-01-19 | 北京特种机械研究所 | Reducing Mecanum wheel |
| CN112874650A (en) * | 2021-01-23 | 2021-06-01 | 张海丽 | Battlefield transportation machine |
| CN113602039A (en) * | 2021-08-12 | 2021-11-05 | 北京科技大学 | Mecanum wheel with variable diameter, walking structure and chassis structure |
-
2014
- 2014-03-03 CN CN201420092246.1U patent/CN203752789U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104325857A (en) * | 2014-10-24 | 2015-02-04 | 北京星达科技发展有限公司 | Mecanum wheel movement device |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN105479433B (en) * | 2016-01-04 | 2017-06-23 | 江苏科技大学 | A kind of Mecanum wheel Omni-mobile transfer robot |
| CN106994864A (en) * | 2016-01-25 | 2017-08-01 | 上海智远弘业机器人有限公司 | A kind of Mecanum wheel of multiple rows of roller arrangement |
| CN109922972A (en) * | 2017-05-31 | 2019-06-21 | 深圳市大疆创新科技有限公司 | Wheel cover, vehicle wheel component and step battlebus |
| CN108407543A (en) * | 2018-03-13 | 2018-08-17 | 北京特种机械研究所 | A kind of inexpensive, Mecanum wheel construction easy to install |
| CN112238708A (en) * | 2020-09-23 | 2021-01-19 | 北京特种机械研究所 | Reducing Mecanum wheel |
| CN112874650A (en) * | 2021-01-23 | 2021-06-01 | 张海丽 | Battlefield transportation machine |
| CN112874650B (en) * | 2021-01-23 | 2021-12-14 | 福建卓航特种设备有限公司 | Battlefield transportation machine |
| CN113602039A (en) * | 2021-08-12 | 2021-11-05 | 北京科技大学 | Mecanum wheel with variable diameter, walking structure and chassis structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140806 |