CN209079549U - A kind of modular Mecanum wheels and its mobile robot - Google Patents
A kind of modular Mecanum wheels and its mobile robot Download PDFInfo
- Publication number
- CN209079549U CN209079549U CN201821430046.7U CN201821430046U CN209079549U CN 209079549 U CN209079549 U CN 209079549U CN 201821430046 U CN201821430046 U CN 201821430046U CN 209079549 U CN209079549 U CN 209079549U
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- roller
- modular
- mecanum wheels
- outer panel
- connector sleeve
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- 230000007246 mechanism Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 7
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000008439 repair process Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910021529 ammonia Inorganic materials 0.000 description 1
- QGZKDVFQNNGYKY-UHFFFAOYSA-N ammonia Natural products N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- -1 poly- ammonia Ester Chemical class 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The utility model discloses a kind of modular Mecanum wheels and its mobile robot, it includes the connector sleeve of outer panel, interior plate, the connection outer panel and the interior plate, around connector sleeve setting and both ends are separately fixed at several roller units on the outer panel and the interior plate, and the roller unit includes that support plate, two bearing blocks being fixed in the support plate, the support shaft being erected on the bearing block, the roller core wheel being set in the support shaft by bearing, the roller for being wrapped in the roller wheel wicking surface are encapsulated.The utility model installation and removal are convenient, and maintenance easy to repair reduces costs.
Description
[technical field]
The utility model belongs to traveling wheel technical field, more particularly to a kind of modular Mecanum wheels and its movement
Robot.
[background technique]
Mecanum wheels (Mecanum wheel) are one kind of omni-directional wheel, and omnidirectional moving XY both direction may be implemented
Independently moving and resultant motion can also realize the movement of any direction in plane, most according to the revolving speed difference of two cinctures
Representative is that transverse movement can be achieved, and is similar to crab and moves.The advantage is that car body need not turn can be realized transverse direction
Movement, reduces space, occupies a clear edge in the quarter bend of some narrow spaces place on the high side, generally use now
In AGV intelligent carriage, the transport capacity of AGV trolley is greatly strengthened, simultaneously can be used in mobile mechanical arm.In the prior art
Mecanum wheels structure its installation it is very troublesome, after some wheel damage in Mecanum wheels, removed when repairing
It is inconvenient.
Therefore, it is necessary to provide the new modular Mecanum wheels of one kind and its mobile robot to solve above-mentioned ask
Topic.
[utility model content]
One of main purpose of the utility model is to provide a kind of modular Mecanum wheels, installation and removal side
Just, maintenance easy to repair, reduces costs, and support strength is big, and overall structure is secured.
The utility model is achieved through the following technical solutions above-mentioned purpose: a kind of modular Mecanum wheels and its movement
Robot comprising outer panel, the connector sleeve for connecting the outer panel and the interior plate, surround the connector sleeve at interior plate
It is arranged and both ends is separately fixed at the outer panel and several roller units on the interior plate, the roller unit includes branch
Fagging, the support shaft being erected on the bearing block, is set in by bearing two bearing blocks being fixed in the support plate
Roller core wheel in the support shaft, the roller for being wrapped in the roller wheel wicking surface are encapsulated.
Further, one end of the support plate is provided with the first connecting portion connecting with the outside plate bolt and another
End is provided with the second connecting portion connecting with the inside plate bolt.
Further, the support plate and the angled setting of connector sleeve axis.
Further, the roller wheel wicking surface is equally spaced axially is provided with several annular grooves, the roller packet
Glue surface of internal cavity is provided with the annular bead being caught in the annular groove.
Further, the outer panel is identical as the interior plate structure, and several restrictions are provided on apparent surface
The limiting groove of the support plate link position.
Further, the first connecting portion or the second connecting portion are arranged in the limiting groove.
Further, the outer surface of the connector sleeve is provided with an annular convex platform, and the annular convex platform surface corresponds to institute
It states support Board position and forms plane.
One of the another main purpose of the utility model is to provide a kind of moving machine based on modular Mecanum wheels
Device people comprising the walking mechanism being made of the Mecanum wheels.
Compared with prior art, the beneficial effect of a kind of modular Mecanum wheels of the utility model and its mobile robot
Fruit is: by the way that roller unit is carried out modularized design, in production, roller unit completing first, forms one
Modular member；In assembling, first outer panel and interior plate are connected with connector sleeve, then by the upper and lower side of roller unit
It is caught in the quick location and installation that roller unit is realized in limiting groove；The structure is easy for assemble or unload, and easy to operate, installation effect
Rate is high；If wherein some roller unit damages, directly the roller unit is quickly removed, then change one it is new up i.e.
Can, it is easy to maintenance；Annular convex platform is provided in the middle part of connector sleeve, it is strong to the support of support plate in roller unit for enhancing
Degree, prevents support plate from being occured bending and deformation and influencing the normal rotation of idler wheel by weight, to effectively avoid walking not
The phenomenon that smooth, Caton phenomenon or walking distance control precision or controlling steering angle precision reduce.
[Detailed description of the invention]
Fig. 1 is the structural schematic diagram of the utility model embodiment；
Fig. 2 is the attachment structure schematic diagram of outer panel, interior plate and connector sleeve in the utility model embodiment；
Fig. 3 is the structural schematic diagram of roller unit in the utility model embodiment；
Fig. 4 is that roller unit dismantles structural schematic diagram in the utility model embodiment；
Digital representation in figure:
100 modular Mecanum wheels；1 outer panel, 11 limiting grooves；2 interior plates；3 connector sleeves, 31 annular convex platform；4
Roller unit, 41 support plates, 42 bearing blocks, 43 support shafts, 44 bearings, 45 roller core wheels, 46 rollers are encapsulated, 47 first connections
Portion, 48 second connecting portions, 49 annular grooves.
[specific embodiment]
Embodiment:
Please refer to Fig. 1-Fig. 4, the present embodiment is modular Mecanum wheels 100 comprising outer panel 1, interior plate 2,
The connector sleeve 3 of outer panel 1 and interior plate 2 is connected, is arranged around connector sleeve 3 and both ends are separately fixed at outer panel 1 and interior plate 2
On several roller units 4, roller unit 4 include support plate 41, be fixed in support plate 41 two bearing blocks 42, be erected at
Support shaft 43 on bearing block 42, is wrapped in roller core wheel 45 at the roller core wheel 45 being set in support shaft 43 by bearing 44
The roller on surface encapsulated 46.
One end of support plate 41 is provided with the first connecting portion 47 connecting with 1 screw of outer panel and the other end be provided with it is interior
The second connecting portion 48 of 2 screw of side plate connection.Support plate 41 and the angled setting of 3 axis of connector sleeve.45 surface axis of roller core wheel
There are several annular grooves 49 to being equidistantly spaced, encapsulated 46 surface of internal cavity of roller is provided with the ring being caught in annular groove 49
Shape flange collar (does not identify) in figure.Roller core wheel 45 is made by steel material or aluminum alloy material, and roller encapsulated 46 is by poly- ammonia
Ester rubber material is made, and by the setting of annular groove 49, can increase the contact of roller core wheel 45 with roller encapsulated 46
Area, so that roller encapsulated 46 is not easy from degumming on roller core wheel 45 or slipping phenomenon occurs.
Outer panel 1 is identical as 2 structure of interior plate, and several 41 link positions of restriction support plate are provided on apparent surface
Limiting groove 11, first connecting portion 47 or second connecting portion 48 are arranged in limiting groove 11.It can be real by limiting groove 11
The quick positioning of existing support plate 41 is quickly fixedly mounted to realize.
The outer surface of connector sleeve 3 is provided with an annular convex platform 31, and 31 surface of annular convex platform corresponds to support plate 41 and position is arranged
It sets to form plane, for enhancing the support strength of support plate 41.
Roller unit 4 is provided with 8 in the present embodiment, and 6,10,12 also can be set into other embodiments
It determines Deng, particular number according to receiving the diameter of nurse wheel.
The present embodiment additionally provides a kind of mobile robot based on modular Mecanum wheels comprising by the mould
The walking mechanism that the Mecanum wheels 100 of block form.
The beneficial effect of the modular Mecanum wheels of the present embodiment and its mobile robot 100 is: by by idler wheel
Unit 4 carries out modularized design, in production, roller unit completes first, forms a modular member；It is assembling
When, outer panel and interior plate are connected with connector sleeve first, then the upper and lower side of roller unit is caught in limiting groove real
The Fast Installation of existing roller unit；The structure is easy for assemble or unload, and easy to operate, and installation effectiveness is high；If wherein some idler wheel
Unit damage, then directly quickly remove the roller unit, then change one it is new up, it is easy to maintenance.
Above-described is only some embodiments of the utility model.For those of ordinary skill in the art,
Without departing from the concept of the present invention, various modifications and improvements can be made, these belong to practical
Novel protection scope.
Claims (8)
1. a kind of modular Mecanum wheels, it is characterised in that: it include outer panel, interior plate, the connection outer panel with
The connector sleeve of the interior plate, circular connector sleeve setting and both ends are separately fixed on the outer panel and the interior plate
Several roller units, the roller unit includes support plate, two bearing blocks being fixed in the support plate, is erected at institute
It states the support shaft on bearing block, the roller core wheel that is set in the support shaft by bearing, be wrapped in the roller core wheel table
The roller in face is encapsulated.
2. modular Mecanum wheels as described in claim 1, it is characterised in that: one end of the support plate be provided with
The first connecting portion and the other end of the outside plate bolt connection are provided with the second connecting portion connecting with the inside plate bolt.
3. modular Mecanum wheels as described in claim 1, it is characterised in that: the support plate and the connector sleeve axis
The angled setting of line.
4. modular Mecanum wheels as described in claim 1, it is characterised in that: the roller wheel wicking surface is axially equidistant
From several annular grooves are arranged at intervals with, the encapsulated surface of internal cavity of roller is provided with the convex annular being caught in the annular groove
Circle.
5. modular Mecanum wheels as claimed in claim 2, it is characterised in that: the outer panel and the inside are hardened
Structure is identical, and several limiting grooves for limiting the support plate link position are provided on apparent surface.
6. modular Mecanum wheels as claimed in claim 5, it is characterised in that: the first connecting portion or described second
Interconnecting piece is arranged in the limiting groove.
7. modular Mecanum wheels as described in claim 1, it is characterised in that: the outer surface of the connector sleeve is provided with
One annular convex platform, the annular convex platform surface correspond to the support Board position and form plane.
8. a kind of mobile robot based on Mecanum wheels such as according to any one of claims 1 to 7, it is characterised in that:
It includes the walking mechanism being made of the Mecanum wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821430046.7U CN209079549U (en) | 2018-09-03 | 2018-09-03 | A kind of modular Mecanum wheels and its mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821430046.7U CN209079549U (en) | 2018-09-03 | 2018-09-03 | A kind of modular Mecanum wheels and its mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209079549U true CN209079549U (en) | 2019-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821430046.7U Active CN209079549U (en) | 2018-09-03 | 2018-09-03 | A kind of modular Mecanum wheels and its mobile robot |
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| CN (1) | CN209079549U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109094296A (en) * | 2018-09-03 | 2018-12-28 | 健芮智能科技（昆山）有限公司 | A kind of modular Mecanum wheels and its mobile robot |
-
2018
- 2018-09-03 CN CN201821430046.7U patent/CN209079549U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109094296A (en) * | 2018-09-03 | 2018-12-28 | 健芮智能科技（昆山）有限公司 | A kind of modular Mecanum wheels and its mobile robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 215300 room 1, No. 1187, Foxconn Road, north of Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Jiangsu Jianrui Intelligent Technology Co.,Ltd. Country or region after: China Address before: 215000, 1st Floor, Building 1, No. 15 Huanqing Road, Chengbei, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee before: JIANRUI INTELLIGENT TECHNOLOGY (KUNSHAN) CO.,LTD. Country or region before: China |