CN209351171U - A kind of Mecanum wheel in hydraulic regulation roller direction - Google Patents
A kind of Mecanum wheel in hydraulic regulation roller direction Download PDFInfo
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- CN209351171U CN209351171U CN201821590384.7U CN201821590384U CN209351171U CN 209351171 U CN209351171 U CN 209351171U CN 201821590384 U CN201821590384 U CN 201821590384U CN 209351171 U CN209351171 U CN 209351171U
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Abstract
A kind of Mecanum wheel in hydraulic regulation roller direction is related to field of electromechanical integration, including mechanical link and hydraulic control portion；Mechanical link includes first wheel and the second wheel hub, the first wheel rim and the second wheel rim, roller mounting portion and hub spindle；Roller mounting portion connects first wheel and the second wheel hub, and including roller and the ball constraints for being mounted on roller both ends, ball constraints are fastened between first wheel periphery and the first wheel rim, between the second wheel hub periphery and the second wheel rim；Roller is parallel to the first state of first wheel and the second hub centre axis, and the second state with first wheel and the second hub centre axis overturning angle at 45 °；Hub spindle first end is connected to first wheel, and hub spindle second end is fixed on the second wheel hub；For controlling first wheel and the second wheel hub relative motion occurs for hydraulic control portion, so that roller is in first state and the second state transformation；The utility model clever structure improves the velocity adaptive and service life of Mecanum wheel.
Description
Technical field
The utility model relates to field of electromechanical integration, and in particular to a kind of Mecanum in hydraulic regulation roller direction
Wheel.
Background technique
In recent years, artificial intelligence rapidly develops, the research and development of all-around mobile equipment, the original place of special task platform
How no-radius revolution and traversing feature receive significant attention in the mobility that small space is realized.Lot of domestic and international at present
The mechanism deploying development work of all-around mobile workbench, the design and manufacture of wheel, wheel wheel allocation plan, with
And machine human motion analysis and path planning etc., it conducts extensive research；There is vehicle machine based on Mecanum wheel
The advantages that tool is simple for structure, motion control is flexible, passability is good, is more widely applied in recent years.
But Mecanum wheel has moment of friction big, causes tire wear big, the big disadvantage of power loss, how to it
It is further improved, improves the velocity adaptive of Mecanum wheel, reduce its power consumption, tool is promoted to the application range of Mecanum wheel
There is realistic meaning.
Utility model content
The utility model aim is to provide a kind of Mecanum wheel in hydraulic regulation roller direction, effectively solves Mike and receive
The shortcomings that nurse wheel has moment of friction big, causes tire wear big, power loss.
To reach above-mentioned purpose, the utility model proposes following technical solutions: a kind of Mike in hydraulic regulation roller direction
Na Mu wheel, including mechanical link and hydraulic control portion；
The mechanical link includes that the first wheel of Parallel Symmetric setting and the second wheel hub, first wheel peripheral clearance are set
The first wheel rim set and the second wheel rim of the second wheel hub peripheral clearance setting, roller mounting portion and it is threaded through first wheel and the
Hub spindle on two hub centre axis, hub spindle first end are connected through a screw thread first wheel, and hub spindle second segment is fixed to be connected
The second wheel hub is connect, guarantees the global stiffness of Mecanum wheel construction；
The roller mounting portion is for connecting first wheel and the second wheel hub, including several rollers and is mounted on roller both ends
Ball constraints, ball constraints make the angle of roller and ball constraints not by hub spindle position of center line variation influenced；The ball is about
Beam is fastened between first wheel periphery and the first wheel rim, respectively between the second wheel hub periphery and the second wheel rim；The roller peace
Between first wheel and the second wheel hub, and roller is at least there are two types of location status, define roller be parallel to first wheel and
Second hub centre axis is first state, roller and first wheel and the second hub centre axis overturning angle at 45 ° is second
State；
For controlling first wheel and the second wheel hub relative motion occurs for the hydraulic control portion, so that roller is in the first shape
It is converted between state and the second state.
Further, defining bottom surface of the first wheel far from the second wheel hub is upper bottom surface；
The first wheel upper bottom surface is provided with the toroidal shell along central axial direction, and the toroidal shell is to the first round
Protrusion on the outside of hub；Several blade limit plates are evenly arranged in the toroidal shell internal side wall, toroidal shell inner bottom surface is set
It is equipped with bearing plate, blade limit plate bottom abuts bearing plate, and bearing plate upper bottom surface is provided with surface rail；
The hub spindle is arranged on first wheel and the second hub centre axis, and hub spindle first end is pierced by bearing plate
Bottom surface, and blade limit plate abuts hub spindle first end；On the side wall of hub spindle first end protrusion bearing plate part uniformly
Several hub spindle blades are provided with, hub spindle blade is adapted to toroidal shell；The vertical bearing plate of the hub spindle blade, with blade
Limit plate is disposed adjacent；The hub spindle blade bottom abuts surface rail, and has the freedom degree slided on surface rail,
The integrated application of hub spindle blade and surface rail, Mecanum wheel is in hub spindle length direction when meeting the adjusting of roller direction
Variation；
Be provided with sealing cover at the top of the hub spindle first end, the sealing cover is adapted to toroidal shell, and sealing cover and
Hub spindle, bearing plate three constitute first annular seal space；Hub spindle blade and blade limit plate inside the first annular seal space will
First annular seal space is divided into several small seal chambers；
The hub spindle second end is fixed on the second wheel hub, and the second wheel rim bottom surface is provided with outward along central axial direction
The cavity of side protrusion, hub spindle second end are pierced by the second wheel hub bottom surface, are adapted to cavity.
Further, the hydraulic control portion includes the first oil duct, the second oil duct, the first oil groove, the second oil groove, the first oil
Hole, the second oilhole, several third oilholes, several 4th oilholes and hydraulic valve system；
First oil duct and the second oil duct are arranged inside hub spindle along hub spindle length direction, the first oil duct and second
Oil duct is not communicated with；First oil duct and the second oil duct are no more than bearing plate, the first oil duct and the second oil close to the end of first wheel
Road is no more than hub spindle second end end face close to the end of the second wheel hub；
The hydraulic valve system includes the oil storage cylinder being arranged between first wheel and the second wheel hub, and connection oil storage cylinder
Hydraulic three-way valve；The cavity sidewalls are provided with the mounting hole of connection cavity inside, and the hydraulic three-way valve is mounted on installation
In hole；
First oil groove and the second oil groove are arranged in hub spindle second end and are located on the side wall of chamber portion, and the first oil
Slot and the second oil groove are connected to hydraulic three-way valve；
In hub spindle second end, the first oilhole is connected to the first oil duct close to second for first oilhole and the setting of the second oilhole
The end of wheel hub and the first oil groove, the second oilhole are connected to end and second oil groove of second oil duct close to the second wheel hub；
The third oilhole and the 4th oilhole are arranged at hub spindle first end, and third oilhole is connected to the first oil duct, and the
On the alternate bearing plate that above-mentioned small seal chamber bottom is arranged in of three oilholes, the 4th oilhole is connected to the second oil duct, and the 4th oilhole is set
It sets on the bearing plate of the adjacent small seal chamber bottom of third oilhole.
Further, the hydraulic valve system further includes power supply, solenoid valve and oil pump；
The power supply is rechargeable type battery, for powering to hydraulic control portion；The solenoid valve is connected to threeway liquid
Pressure valve, for changing the hydraulic oil traffic direction of the first oil duct and the second oil duct；
The oil pump is arranged inside oil storage cylinder, for the hydraulic oil in oil storage cylinder is oily through the first oil duct and/or second
Road is delivered to first annular seal space, and pushes the sliding of hub spindle blade by oil pressure, realizes between first wheel and the second wheel hub
Transverse shifting.
Further, first oil duct and the second oil duct are hub spindle axial direction concentric holes, are set using the oil duct of axle sleeve type
Meter and oilhole match, and fuel feeding and oil return are spaced in the axial direction, and do not influence the rigidity of hub spindle, and avoid stress
It concentrates.
Further, the third oilhole and the 4th respective quantity of oilhole are used at least equal to the quantity of hub spindle blade
A third oilhole and the 4th oilhole is distributed in the two sides for ensuring every a piece of hub spindle blade, guarantees that hub spindle blade is equal
Sliding effect can be generated by hydraulic action.
From the above technical scheme, the Mike in the hydraulic regulation roller direction that the technical solution of the utility model provides receives
Nurse wheel, obtain it is following the utility model has the advantages that
The Mecanum wheel in hydraulic regulation roller disclosed by the utility model direction, including mechanical link and hydraulic control
Tire speed adaptability is improved by setting hydraulic control process, and reduces tire power consumption in portion；Mechanical link includes parallel right
Claim the first wheel and the second wheel hub, the first wheel rim and the second wheel rim, the hub spindle for connecting first wheel and the second wheel hub of setting
And roller mounting portion；Roller mounting portion includes roller and the ball constraints for being mounted on roller both ends, and ball constraints are fastened on the first round
Between hub periphery and the first wheel rim, between the second wheel hub periphery and the second wheel rim, ball constraints make the angle of roller and ball constraints
It is not influenced by the variation of hub spindle position of center line, the abrasion of wheel mechanical link when Mecanum wheel advances can also be reduced
Rate and power consumption；Roller is mounted between first wheel and the second wheel hub, and is at least parallel to first wheel and the second wheel
Hub central axis, and the two states with first wheel and the second hub centre axis overturning angle at 45 °.
The utility model is provided with toroidal shell, toroidal shell and hub spindle first end and sealing in first wheel upper surface
Lid forms first annular seal space, hub spindle blade and blade limit plate is evenly arranged with inside first annular seal space, first annular seal space is low
Portion is provided with inclined-plane sliding rail, and hub spindle blade has the freedom degree slided on inclined-plane sliding rail, by hub spindle blade with
The integrated application of surface rail, distance change of the Mecanum wheel in hub spindle length direction when meeting the adjusting of roller direction；Liquid
The fuel feeding of connection first annular seal space and the oil duct of oil return is arranged in pressure control unit inside hub spindle, by being passed through liquid to small seal chamber
Pressure oil slides hub spindle blade using oil pressure, so that relative motion occurs for first wheel and the second wheel hub, so that rolling
Son converts between the first state and a second state, realizes the change in roller direction, meets the needs of wheel high-speed adaptability.
It should be appreciated that as long as aforementioned concepts and all combinations additionally conceived described in greater detail below are at this
It can be viewed as a part of the utility model theme of the disclosure in the case that the design of sample is not conflicting.
The foregoing and other side of the utility model introduction can be more fully appreciated from the following description in conjunction with attached drawing
Face, embodiment and feature.The features and/or benefits of other additional aspects such as illustrative embodiments of the utility model
To be obvious in the following description, or will be learnt in the practice by the specific embodiment instructed according to the utility model.
Detailed description of the invention
Attached drawing is not intended to drawn to scale.In the accompanying drawings, identical or nearly identical group each of is shown in each figure
It can be indicated by the same numeral at part.For clarity, in each figure, not each component part is labeled.
Now, by by example and be described in reference to the drawings the utility model various aspects embodiment, in which:
Fig. 1 is Mecanum wheel overall structure figure；
Fig. 2 is Mecanum wheel hub spindle length direction sectional drawing；
Fig. 3 is Mecanum wheel hub spindle axial slices figure；
Fig. 4 is first annular seal space internal structure chart on first wheel；
Fig. 5 is hub spindle blade and first annular seal space matching chart.
Wherein, the specific meaning respectively marked are as follows: 1- first wheel, the second wheel hub of 2-, the first wheel rim of 3-, the second wheel hub of 4-,
5- roller, 6- ball constraints, 7- hub spindle, 8- toroidal shell, 9- blade limit plate, 10- hub spindle blade, 11- bearing plate, 12-
Surface rail, 13- sealing cover, 14- first annular seal space, the first oil duct of 15-, the second oil duct of 16-, the first oil groove of 17-, 18- second
Oil groove, the first oilhole of 19-, the second oilhole of 20-, 21- third oilhole, the 4th oilhole of 22-, 23- mounting hole, 24- cavity.
Specific embodiment
In order to know more about the technology contents of the utility model, spy lifts specific embodiment and institute's accompanying drawings is cooperated to be described as follows.
It is described with reference to the various aspects of the utility model in the disclosure, shown in the drawings of the implementation of many explanations
Example.It is not intended to cover all aspects of the utility model for embodiment of the disclosure.It should be appreciated that a variety of structures presented hereinbefore
Think and embodiment, and those of describe in more detail below design and embodiment can in many ways in any one
Implement, this is because conception and embodiment disclosed in the utility model are not limited to any embodiment.In addition, this is practical
Novel disclosed some aspects can be used alone, or with it is disclosed by the utility model it is otherwise it is any it is appropriately combined come
It uses.
Based in the prior art, Mecanum wheel has moment of friction big, causes tire wear big, and power loss lacks
Point, the utility model discloses a kind of using ball constraints connection roller, the Mecanum wheel construction of wheel hub and wheel hub, reduces friction
Torque and tire wear, are furthermore axially arranged hydraulic control portion on hub spindle, and hydraulic control portion drives the wheel hub being oppositely arranged
Relative motion occurs, reaches the technical effect for changing roller direction position, reduces power loss.
The Mecanum crop rotation to the utility model hydraulic regulation roller direction is further specific with reference to the accompanying drawing
It introduces.
In conjunction with shown in Fig. 1 to Fig. 5, a kind of Mecanum wheel in hydraulic regulation roller direction, including mechanical link and liquid
Press control unit；The mechanical link includes between the first wheel 1 and the second wheel hub 2,1 periphery of first wheel of Parallel Symmetric setting
First wheel rim 3 of gap setting and the second wheel rim 4 of 2 peripheral clearance of the second wheel hub setting, roller mounting portion and it is threaded through first
Hub spindle 7 on 2 central axis of wheel hub 1 and the second wheel hub；7 first end of hub spindle is threadingly attached to first wheel 1,
7 second end of hub spindle is fixedly connected on the second wheel hub 2；The roller mounting portion is used to connect first wheel 1 and the second wheel hub 2,
Including several rollers 5 and it is mounted on the ball constraints 6 at roller both ends；The ball constraints 6 be fastened on respectively the periphery of first wheel 1 and
Between first wheel rim 3, between 2 periphery of the second wheel hub and the second wheel rim 4；The roller 5 is mounted on first wheel 1 and the second wheel
Between hub 2, and at least there are two types of location status for roller 5, define roller 5 and are parallel to 2 central axis of first wheel 1 and the second wheel hub
For first state, roller 5 and first wheel 1 and 2 central axis of the second wheel hub overturning angle at 45 ° are the second state.
For controlling first wheel 1 and the second wheel hub 2 relative motion occurs for the hydraulic control portion, so that roller 5 is the
It is converted between one state and the second state, when roller 5 is in the second state, Mecanum wheel at this time is a typical wheat
Ke Namu wheel reduces the moment of friction of Mecanum wheel by 5 state transformation of roller, reduces tire wear and power loss；And
And the ball constraints 6 between wheel hub and wheel rim are avoided since 5 direction of roller changes, so that roller 5 and first wheel 1 and the second wheel
2 central axis of hub is not parallel, and the stress at the fixed both ends of caused roller 5 concentrates the phenomenon that influencing service life.
Wherein, defining bottom surface of the first wheel 1 far from the second wheel hub 2 is upper bottom surface.
1 upper bottom surface of first wheel is provided with the toroidal shell 8 along central axial direction, and the toroidal shell 8 is to
One wheel hub, 1 outside protrusion；Several blade limit plates 9 are evenly arranged in 8 internal side wall of toroidal shell, in toroidal shell 8
Portion bottom surface is provided with bearing plate 11, and 9 bottom of blade limit plate abuts bearing plate 11, adjacent blades limit plate 9 and bearing plate
11 form close semi-surrounding structure, and 11 upper bottom surface of bearing plate is provided with surface rail 12；7 first end of hub spindle is pierced by
11 upper bottom surface of bearing plate, and blade limit plate 9 abuts 7 first end of hub spindle；7 first end of hub spindle protrudes bearing plate 11
Several hub spindle blades 10 are evenly arranged on the side wall divided, hub spindle blade 10 is adapted to toroidal shell 8；The hub spindle leaf
The vertical bearing plate 11 of piece 10, is disposed adjacent with blade limit plate 9；10 bottom of hub spindle blade abuts surface rail 12, and
With the freedom degree slided on surface rail 12；7 second end of hub spindle is fixed on the second wheel hub 2, the second wheel rim 2 bottom
Face is provided with cavity 24 raised outward along central axial direction, and 7 second end of hub spindle is pierced by 2 bottom surface of the second wheel hub, with
Cavity 24 is adapted to；The first wheel 1 is fixed, and hub spindle blade 10 slides on surface rail 12 under external force, drives
Hub spindle 7 rotates, and then drives and rotate with the second fixed wheel hub 2 of hub spindle 7, and the second wheel hub 2 occurs and first wheel 1
Relative motion.
Specific embodiment combining Figure 1 and Figure 2,7 first end of the hub spindle top is provided with sealing cover 13, described
Sealing cover 13 is adapted to toroidal shell 8, and sealing cover 13 and hub spindle 7,11 three of bearing plate constitute first annular seal space 14；Institute
It states hub spindle blade 10 and blade limit plate 9 inside first annular seal space 14 and first annular seal space 14 is divided into several small sealings
Chamber, small seal chamber are connected to hydraulic control system, apply external force to the hub spindle blade 10 for forming small seal chamber, make hub spindle blade
10 rotations；The piece limit plate 9 and 7 side wall of hub spindle and bearing plate 11 that wherein every two pieces of leaves are disposed adjacent form a working seal
Chamber, each intracavitary portion of working seal are provided with a piece of hub spindle blade 10.
In embodiment shown in the drawings, blade limit plate 9 is identical with the quantity of hub spindle blade 10, is disposed as 4 pieces, because
This, 14 inner vanes limit plate 9 of first annular seal space constitutes four working seal chambers, and hub spindle blade 10 is in the intracavitary shape of working seal
At eight small seal chambers；The quantity of third oilhole 21 and the 4th oilhole 22 is also 4, is set in each small seal chamber bottom correspondence
It sets, and is uniformly arranged around hub spindle blade 10；The angle of adjacent blades limit plate 9 is 90 °, and hub spindle blade 10 is usually arranged
Among adjacent blades limit plate 9, for limiting hub spindle blade 10 biggish rotation occurs for blade limit plate 9.
As shown in connection with fig. 3, the hydraulic control portion includes the first oil duct 15, the second oil duct 16, first the 17, second oil of oil groove
Slot 18, the first oilhole 19, the second oilhole 20, several third oilholes 21, several 4th oilholes 22 and hydraulic valve system.
First oil duct 15 and the second oil duct 16 are arranged inside hub spindle 7 along 7 length direction of hub spindle, the first oil duct
15 and second oil duct 16 be not communicated with；First oil duct 15 and the second oil duct 16 are no more than bearing plate close to the end of first wheel 1
11, the first oil duct 15 and the second oil duct 16 are no more than 7 second end end face of hub spindle close to the end of the second wheel hub 2；It is described hydraulic
Valve system includes the oil storage cylinder being arranged between first wheel 1 and the second wheel hub 2, and the hydraulic three-way valve of connection oil storage cylinder；
24 side wall of cavity is provided with the mounting hole 23 inside connection cavity 24, and the hydraulic three-way valve is mounted in mounting hole 23；
First oil groove 17 and the second oil groove 18 are arranged in 7 second end of hub spindle and are located on the side wall of 24 part of cavity, and the first oil
Slot 17 and the second oil groove 18 are connected to hydraulic three-way valve；First oilhole 19 and the second oilhole 20 are arranged in hub spindle 7
Second end, the first oilhole 19 is for being connected to end and first oil groove 17 of first oil duct 15 close to the second wheel hub 2, the second oilhole 20
For being connected to end and second oil groove 18 of second oil duct 16 close to the second wheel hub 2, hydraulic oil passes through oil groove from hydraulic three-way valve
Flow into oil duct.
The third oilhole 21 and the 4th oilhole 22 are arranged at 2 first end of hub spindle, first oil of the connection of third oilhole 21
Road 15, and third oilhole 21 is arranged on the bearing plate 11 of the alternate small seal chamber bottom in above-mentioned 14 inside of first annular seal space, the
Four oilholes 22 are connected to the second oil duct 16, and the adjacent small seal chamber of the 21 small seal chamber in place of third oilhole is arranged in the 4th oilhole 22
On the bearing plate 11 of bottom；At least one third oilhole 21 and the 4th oilhole on each intracavitary portion's bearing plate of working seal
22, i.e., the quantity of third oilhole 21 and the 4th oilhole 22 at least equal to hub spindle blade 10 quantity, and surround hub spindle blade
10 are uniformly arranged, and third oilhole 21 and the 4th oilhole 22 are respectively used to the first oil duct 15, the second oil duct 16 to the small seal chamber of correspondence
Oil inlet or oil return.
Further combined with specific embodiment, the hydraulic valve system further includes power supply, solenoid valve and oil pump；The power supply choosing
Rechargeable type battery is selected, for powering to hydraulic control portion, the solenoid valve is connected to hydraulic three-way valve, for changing first
The hydraulic oil traffic direction of oil duct 15 and the second oil duct 16 converts the direction to small seal chamber fuel feeding and oil return；The oil pump
It is arranged inside oil storage cylinder, for the hydraulic oil in oil storage cylinder to be delivered to first through the first oil duct 15 and/or the second oil duct 16
Seal chamber 14, and push hub spindle leaf 10 to slide by oil pressure；Such as solenoid valve control hydraulic three-way valve connects through the first oil duct 15
Lead to third oilhole 21 to the small seal chamber fuel feeding of correspondence, gradually increases with hydraulic oil volume, the hub spindle in the seal chamber that pushes the work forward
Leaf 10 is squeezed to adjacent small seal chamber, and the hydraulic oil in adjacent small seal chamber is connected to the connection of the second oil duct 16 from the 4th oilhole 22
Hydraulic three-way valve is to oil storage cylinder oil return；From 16 fuel feeding of the second oil duct, the process of 15 oil return of the first oil duct is same as described above.
Further combined with embodiment shown in Fig. 3, in order to which oil duct setting does not influence to take turns Mecanum wheel in use
The rigidity of hub axle 7, and the concentration for avoiding stress in use process, first oil duct 15 and the second oil duct 16 are arranged
For the axial concentric holes of hub spindle 7, i.e., matched using the oil duct design and oilhole of axle sleeve type, fuel feeding and oil return are separated by the axial direction
It opens.
The concrete principle of the utility model is to slide hub spindle blade 10 on surface rail 12 by oil pressure effect,
So that relative rotary motion occurs for first wheel 1 and the cooperation of the second wheel hub 2, to make the axis of first wheel 1 and the second wheel hub 2
It changes to distance, by 12 Profile Design of surface rail, makes the variation of the axial distance of first wheel 1 and the second wheel hub 2 just
Compensation 5 direction of roller changes bring variation well, cooperates three-way hydraulic Vavle switching to small seal chamber fuel feeding by solenoid valve and returns
The direction of oil changes the Impact direction to hub spindle blade 10, so that roller 5 is in first state and the second shape on Mecanum wheel
State selection, completes the pattern switching of Mecanum wheel；And it selects to determine the first oil duct 15 and the second oil duct by hydraulic three-way valve
16, respectively as oil inlet oil duct and oil return oil duct, pass through hydraulic three-way valve when 5 state direction of roller determines, and position is needed to keep
Vacancy seal the oil inlet and corresponding first oilhole of oil return oil duct or the second oilhole, realize hydraulic Lock effect, keep roller 5
State position.
In addition, the Mecanum wheel in the hydraulic regulation roller direction of the utility model design is in the specific implementation process, rolling
It include 12 rollers 5 in sub- mounting portion, and Mecanum wheel is when in use, at least there are two begin for the roller 5 in roller mounting portion
Whole and ground face contact, to realize the switching that roller 5 is rotated with wheel.
Although the utility model has been disclosed with preferred embodiment as above, so it is not intended to limit the utility model.This reality
It is without departing from the spirit and scope of the utility model, each when that can make with novel those of ordinary skill in the art
Kind changes and retouches.Therefore, the protection scope of the utility model is subject to view those as defined in claim.
Claims (10)
1. a kind of Mecanum wheel in hydraulic regulation roller direction, which is characterized in that including mechanical link and hydraulic control portion；
The mechanical link includes being parallel to each other and symmetrically arranged first wheel and the second wheel hub, first wheel peripheral clearance
The first wheel rim being arranged and the second wheel hub peripheral clearance setting the second wheel rim, roller mounting portion and be threaded through first wheel and
Hub spindle on second hub centre axis；
The roller mounting portion is for connecting first wheel and the second wheel hub, including several rollers and the ball for being mounted on roller both ends
Constraint；The ball constraints be fastened on respectively first wheel periphery the first wheel rim between, the second wheel hub periphery and the second wheel rim it
Between；The roller is mounted between first wheel and the second wheel hub, and at least there are two types of location status for roller, and it is parallel to define roller
It is first state in first wheel and the second hub centre axis, roller and first wheel and the second hub centre axis are at 45 °
Overturning angle is the second state；
The hub spindle first end is connected to first wheel, and hub spindle second end is fixedly connected on the second wheel hub；
For controlling first wheel and the second wheel hub relative motion occurs for the hydraulic control portion so that roller in first state and
It is converted between second state.
2. the Mecanum wheel in hydraulic regulation roller according to claim 1 direction, which is characterized in that define first wheel
Bottom surface far from the second wheel hub is upper bottom surface；
The first wheel upper bottom surface is provided with the toroidal shell along central axial direction, and toroidal shell is to convex on the outside of first wheel
It rises；Several blade limit plates are provided in the toroidal shell internal side wall, toroidal shell inner bottom surface is provided with bearing plate, institute
It states blade limit plate bottom and abuts bearing plate, and bearing plate upper bottom surface is provided with surface rail；
The hub spindle first end is pierced by bearing plate upper bottom surface, and blade limit plate abuts hub spindle first end；The hub spindle
Several hub spindle blades are provided on the side wall of first end protrusion bearing plate part, hub spindle blade is adapted to toroidal shell；Institute
The vertical bearing plate of hub spindle blade is stated, and is disposed adjacent with blade limit plate；The hub spindle blade bottom abuts surface rail,
And there is the freedom degree slided on surface rail；
It is provided with sealing cover at the top of the hub spindle first end, the sealing cover is adapted to toroidal shell, and sealing cover and wheel hub
Axis, bearing plate three constitute first annular seal space；Hub spindle blade and blade limit plate inside the first annular seal space are by first
Seal chamber is divided into several small seal chambers；
The hub spindle second end is fixed on the second wheel hub, and the second wheel rim bottom surface is provided with convex outward along central axial direction
The cavity risen, hub spindle second end are pierced by the second wheel hub bottom surface, are adapted to cavity.
3. the Mecanum wheel in hydraulic regulation roller according to claim 2 direction, which is characterized in that the hydraulic control
Portion includes the first oil duct, the second oil duct, the first oil groove, the second oil groove, the first oilhole, the second oilhole, several third oilholes, several
4th oilhole and hydraulic valve system；
First oil duct and the second oil duct are arranged inside hub spindle along hub spindle length direction, the first oil duct and the second oil duct
It is not communicated with；First oil duct and the second oil duct are no more than bearing plate close to the end of first wheel, and the first oil duct and the second oil duct lean on
The end of nearly second wheel hub is no more than hub spindle second end end face；
The hydraulic valve system includes the oil storage cylinder being arranged between first wheel and the second wheel hub, and is connected to the three of oil storage cylinder
Logical hydraulic valve；The cavity sidewalls are provided with the mounting hole of connection cavity inside, and the hydraulic three-way valve is mounted in mounting hole；
First oil groove and the second oil groove are arranged in hub spindle second end and are located on the side wall of chamber portion, and the first oil groove and
Second oil groove is connected to hydraulic three-way valve；
First oilhole and the setting of the second oilhole are in hub spindle second end, and the first oilhole is for being connected to the first oil duct close to second
The end of wheel hub and the first oil groove, the second oilhole is for being connected to end and second oil groove of second oil duct close to the second wheel hub；
The third oilhole and the 4th oilhole are arranged at hub spindle first end, and third oilhole is connected to the first oil duct, and third oil
Hole is arranged on the bearing plate of small seal chamber bottom alternate inside above-mentioned first annular seal space, and the 4th oilhole is connected to the second oil duct,
And the 4th oilhole be arranged on the bearing plate of the small seal chamber bottom adjacent with seal chamber small where third oilhole.
4. the Mecanum wheel in hydraulic regulation roller according to claim 3 direction, which is characterized in that the hydraulic valve system
System further includes power supply, solenoid valve and oil pump；
The power supply is used to power to hydraulic control portion, and the solenoid valve is connected to hydraulic three-way valve, for changing the first oil duct
With the hydraulic oil traffic direction of the second oil duct；
The oil pump is arranged inside oil storage cylinder, for the hydraulic oil in oil storage cylinder is defeated through the first oil duct and/or the second oil duct
It send to first annular seal space, and the sliding of hub spindle blade is pushed by oil pressure.
5. the Mecanum wheel in hydraulic regulation roller according to claim 4 direction, which is characterized in that the power supply is can
Charging battery.
6. the Mecanum wheel in hydraulic regulation roller according to claim 3 direction, which is characterized in that first oil duct
Hub spindle axial direction concentric holes are set as with the second oil duct.
7. the Mecanum wheel in hydraulic regulation roller according to claim 2 direction, which is characterized in that the hub spindle leaf
Piece and blade limit plate are uniformly arranged inside first annular seal space.
8. the Mecanum wheel in hydraulic regulation roller according to claim 3 direction, which is characterized in that the third oilhole
Quantity at least equal to the quantity of hub spindle blade, and be uniformly arranged around hub spindle blade.
9. the Mecanum wheel in hydraulic regulation roller according to claim 3 direction, which is characterized in that the 4th oilhole
Quantity at least equal to the quantity of hub spindle blade, and be uniformly arranged around hub spindle blade.
10. the Mecanum wheel in hydraulic regulation roller according to claim 1 direction, which is characterized in that the hub spindle
It is adapted to by screw thread with first wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821590384.7U CN209351171U (en) | 2018-09-28 | 2018-09-28 | A kind of Mecanum wheel in hydraulic regulation roller direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821590384.7U CN209351171U (en) | 2018-09-28 | 2018-09-28 | A kind of Mecanum wheel in hydraulic regulation roller direction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209351171U true CN209351171U (en) | 2019-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821590384.7U Withdrawn - After Issue CN209351171U (en) | 2018-09-28 | 2018-09-28 | A kind of Mecanum wheel in hydraulic regulation roller direction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109017145A (en) * | 2018-09-28 | 2018-12-18 | 南京工业职业技术学院 | A kind of Mecanum wheel in hydraulic regulation roller direction |
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2018
- 2018-09-28 CN CN201821590384.7U patent/CN209351171U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109017145A (en) * | 2018-09-28 | 2018-12-18 | 南京工业职业技术学院 | A kind of Mecanum wheel in hydraulic regulation roller direction |
| CN109017145B (en) * | 2018-09-28 | 2023-06-13 | 南京工业职业技术学院 | Mecanum wheel for hydraulically adjusting roller direction |
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| AV01 | Patent right actively abandoned |