CN209888550U - Mecanum wheel and movable equipment - Google Patents
Mecanum wheel and movable equipment Download PDFInfo
- Publication number
- CN209888550U CN209888550U CN201920594785.8U CN201920594785U CN209888550U CN 209888550 U CN209888550 U CN 209888550U CN 201920594785 U CN201920594785 U CN 201920594785U CN 209888550 U CN209888550 U CN 209888550U
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- hub
- wheel
- mecanum wheel
- positioning
- spoke
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- 238000013016 damping Methods 0.000 claims description 23
- 230000035939 shock Effects 0.000 claims description 23
- 230000006978 adaptation Effects 0.000 claims description 9
- 239000000314 lubricant Substances 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 125000006850 spacer group Chemical group 0.000 claims 2
- 230000013011 mating Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 description 6
- 230000000994 depressogenic effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000012856 packing Methods 0.000 description 3
- 239000006096 absorbing agent Substances 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000003974 emollient agent Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model discloses a mecanum wheel and mobile device, this mecanum wheel includes: the wheel comprises a first wheel hub, a second wheel hub, a plurality of rollers and a positioning ring with an accommodating cavity; the positioning ring is provided with a guide part, the first hub and/or the second hub are/is provided with a positioning part matched with the guide part, the guide part is matched with the positioning part so that the positioning ring is assembled between the first hub and the second hub, and the rollers are distributed on the periphery of the positioning ring and are arranged at intervals at preset included angles. The utility model discloses a mecanum wheel passes through the position circle so that first wheel hub and second wheel hub cooperation assembly, distributes a plurality of gyro wheels in the periphery of position circle and be and predetermine contained angle interval arrangement simultaneously at the assembly to make a plurality of gyro wheels assemble between first wheel hub and second wheel hub, the assembly mode is swift, convenient.
Description
Technical Field
The utility model relates to an all direction movement takes turns technical field, especially relates to a mecanum wheel and mobile device.
Background
The Mecanum wheel is an all-directional moving wheel and can realize the movement modes of forward movement, transverse movement, oblique movement, rotation, combination thereof and the like. The plurality of rollers are obliquely distributed on the rim of the Mecanum wheel, and a resultant force vector is generated in any required direction by combining the directions and the speeds of the rollers, so that the final resultant force vector can freely move in the direction without changing the direction of the rollers.
Because gyro wheel and wheel hub have the angle of settlement assembly, need stabilize simultaneously and encircle all gyro wheels of the rim round of mecanum wheel in the assembling process, then carry out the assembly of both sides wheel hub, so lead to the degree of difficulty very big in mecanum wheel assembling process. In addition, the existing Mecanum wheel is complex in structure, and the difficulty of assembling the Mecanum wheel is further increased.
SUMMERY OF THE UTILITY MODEL
In view of this, the present invention provides a mecanum wheel and a mobile device with a novel structure to solve the above technical problems.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts is:
according to the utility model discloses a first aspect provides a mecanum wheel, include: the wheel hub comprises a first wheel hub, a second wheel hub, a plurality of rollers and a positioning ring with an accommodating cavity, wherein the first wheel hub comprises a first spoke and a plurality of first mounting parts extending outwards from the first spoke, and the second wheel hub comprises a second spoke and a plurality of second mounting parts extending outwards from the second spoke;
the positioning ring is provided with a guide part, the first hub and/or the second hub are/is provided with a positioning part matched with the guide part, the guide part is matched with the positioning part so that the positioning ring is assembled between the first hub and the second hub, and the rollers are distributed on the periphery of the positioning ring and are arranged at intervals at preset included angles.
The utility model discloses a mecanum wheel's further improvement lies in, the guide part sets up in at least one end of position circle, first spoke is provided with the first holding tank of assembling the one end of position circle, first holding tank is equipped with the first location portion with the guide part adaptation, the position circle through the guide part with the first location portion adaptation and assemble in first wheel hub; and/or
The second spoke is provided with a second accommodating groove for assembling the other end of the positioning ring, the second accommodating groove is provided with a second positioning part matched with the guide part, and the positioning ring is assembled on the second hub through the second positioning part and the guide part.
The utility model discloses mecanum wheel's further improvement lies in, the position circle is close to second wheel hub's one end is provided with the guide part, the second spoke is provided with the assembly the second holding tank of the one end of position circle, the second holding tank be equipped with the second location portion of guide part adaptation, the position circle passes through the guide part with second location portion adaptation and assemble in first wheel hub, the position circle is close to second wheel hub's the other end with second wheel hub fixed connection.
The utility model discloses mecanum wheel's further improvement lies in, the outer wall of second holding tank is kept away from the direction of second spoke is extended, and the extension length of outer wall surpasses the inner wall of second holding tank is kept away from the extension length that the direction of second spoke extends.
The utility model discloses mecanum wheel's further improvement lies in, the guide part includes at least one direction chute, location portion include at least one with the lug of direction chute adaptation.
The utility model discloses mecanum wheel's further improvement lies in, the periphery wall of position circle is provided with and is used for guiding the position circle assemble in first wheel hub with guide sign between the second wheel hub.
The utility model discloses mecanum wheel's further improvement lies in, first installation department with the second installation department respectively include with the axle head complex depressed part of gyro wheel, the depressed part is used for acceping at least part the axle head of gyro wheel, so that the gyro wheel assemble in first installation department with between the second installation department.
The utility model discloses mecanum wheel's further improvement lies in, be provided with in the depressed part with the axle head matched with packing ring of gyro wheel.
The utility model discloses mecanum wheel's further improvement lies in, the packing ring is the cross packing ring.
The utility model discloses mecanum wheel's further improvement lies in, still be provided with emollient in the depressed part, emollient is located the axle head of gyro wheel with in the clearance of depressed part.
The utility model discloses mecanum wheel's further improvement lies in, first wheel hub is a plurality of first installation department orientation is predetermine direction sequence, second wheel hub is a plurality of the second installation department orientation with predetermine opposite direction's direction sequence.
The Mecanum wheel of the utility model is further improved in that the Mecanum wheel also comprises a damping component assembled in the accommodating cavity, and the damping component is used for assembling a motor; the first wheel hub is provided with a first connecting portion, the damping assembly is provided with a second connecting portion, and the first wheel hub and the damping assembly are connected through the first connecting portion and the second connecting portion.
The utility model discloses mecanum wheel's further improvement lies in, damper includes the shock absorber support that is used for assembling the motor, shock absorber support is close to first wheel hub's one end interval is provided with at least one first connecting hole, first wheel hub wears to be equipped with at least one second connecting hole correspondingly at the interval.
The utility model discloses mecanum wheel's further improvement lies in, damper still locates including the cover damping support's damping ring, wherein, damping ring adaptation in damping support with between the position circle.
According to a second aspect of embodiments of the present invention, there is provided a mobile device comprising a motor and a mecanum wheel according to any one of the above embodiments.
The embodiment of the utility model provides a technical scheme can include following beneficial effect: the utility model discloses a simple structure's mecanum wheel and have its mobile device, this mecanum wheel pass through the position circle so that first wheel hub and second wheel hub cooperation assembly, distribute a plurality of gyro wheels in the periphery of position circle and be and predetermine contained angle interval arrangement simultaneously at the assembly to make a plurality of gyro wheels assemble between first wheel hub and second wheel hub, the assembly mode is swift, convenient.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
Fig. 1 is a schematic diagram of a mecanum wheel according to an exemplary embodiment of the present invention;
FIG. 2 is an exploded view of a Mecanum wheel in accordance with an exemplary embodiment of the present invention;
fig. 3 is a schematic structural view illustrating an assembly of a first hub and a retainer ring in a mecanum wheel according to an exemplary embodiment of the present invention;
fig. 4 is a schematic structural diagram of a second hub in a mecanum wheel according to an exemplary embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. However, these embodiments are not intended to limit the present invention, and structural, methodical, or functional changes that may be made by one of ordinary skill in the art based on these embodiments are all included in the scope of the present invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
In the following, some embodiments of the present invention will be described in detail with reference to the accompanying drawings, and features in the following examples and embodiments may be combined with each other without conflict.
As shown in fig. 1 to 4, the mecanum wheel 200 according to the embodiment of the present invention is applied to a mobile device (not shown), and the mecanum wheel 200 is an all-directional wheel, which can make the mobile device move forward, move laterally, tilt, rotate, and a combination thereof.
The mecanum wheel 200 of the present invention includes a first hub 21, a second hub 22, a plurality of rollers 23, and a cage 24 having a cavity. The first hub 21 includes a first spoke (not shown) and a plurality of first mounting portions 212 extending outwardly from the first spoke. The second hub 22 includes a second spoke 221 and a plurality of second mounting portions 222 extending outwardly from the second spoke 221.
The first mounting portions 212 of the first hub 21 are sequentially arranged in a predetermined direction, and the second mounting portions 222 of the second hub 22 are sequentially arranged in a direction opposite to the predetermined direction. For example, in one embodiment, the first mounting portions 212 of the first hub 21 are arranged in a 45-degree oblique upward sequence, and the second mounting portions 222 of the first hub 22 are arranged in a 45-degree oblique downward sequence, so that the first mounting portions 212 of the first hub 21 and the second mounting portions 222 of the second hub 22 are correspondingly arranged one by one, so that the rollers 23 are assembled between the corresponding first mounting portions 212 and the corresponding second mounting portions 222, and the requirement that the rollers 23 are arranged at intervals with a preset included angle can be met.
Further, the retainer ring 24 is provided with a guide portion 241, and the first hub 21 and/or the second hub 22 is provided with a positioning portion adapted to the guide portion 241, so that the retainer ring 24 is fitted between the first hub 21 and the second hub 22 by the cooperation of the guide portion 241 and the positioning portion. The rollers 23 are distributed on the periphery of the positioning ring 24 and arranged at intervals with a preset included angle, where the preset included angle is an included angle between the roller 23 and a plane where the first spoke or the second spoke 221 is located. Specifically, the roller 23 is distributed on the periphery of the retainer ring 24 by assembling two shaft ends with the first mounting portion 212 and the second mounting portion 222, respectively, and the preset included angle is formed by designing the corresponding first mounting portion 212 and the second mounting portion 222 in advance. For example, in one embodiment, the predetermined angle between the roller 23 and the plane of the first or second spoke 221 is 45 degrees.
The guide portion 241 is provided at least one end of the retainer ring 24, the first spoke is provided with a first receiving groove (not shown) for fitting one end of the retainer ring 24, the first receiving groove is provided with a first positioning portion (not shown) adapted to the guide portion 241, and the retainer ring 24 is fitted to the first hub 21 by the guide portion 241 being adapted to the first positioning portion; and/or the second spoke 221 is provided with a second receiving groove 225 to which the other end of the bezel 24 is fitted, the second receiving groove 225 is provided with a second positioning portion 226 fitted with the guide portion 241, and the bezel 24 is fitted to the second hub 22 through the second positioning portion 226 and the guide portion 241.
In one embodiment, one end of the bezel 24 close to the second hub 22 is provided with a guiding portion 241, the second spoke 221 is provided with a second receiving groove 225 for fitting one end of the bezel 24, the second receiving groove 225 is provided with a second positioning portion 226 adapted to the guiding portion 241, and the bezel 24 is fitted to the first hub 21 by the guiding portion 241 being adapted to the second positioning portion 226; the other end of the positioning ring 24 close to the first hub 21 is fixedly connected with the first hub 21. Wherein, the outer wall of the second receiving groove 225 extends away from the second spoke 221, and the extension length of the outer wall exceeds the extension length of the inner wall of the second receiving groove 225 extending away from the second spoke 221, so as to define the positioning ring 24 in the second receiving groove 225, so as to prevent the positioning ring 24 from being disengaged from the second hub 22.
In yet another embodiment, an end of the cage 24 adjacent the second hub 22 is fixedly coupled to the second hub 22; the other end of position circle 24 that is close to first wheel hub 21 is provided with guide portion 241, and first wheel hub 21 is provided with the first holding tank of the other end of assembly position circle 24, and first holding tank is equipped with the first location portion with guide portion 241 adaptation, and position circle 24 assembles in first wheel hub 21 through first location portion and guide portion 241.
In another embodiment, the two ends of the positioning ring 24 are both provided with the guiding portions 241, the first spoke is provided with a first receiving groove for assembling one end of the positioning ring 24, the first receiving groove is provided with a first positioning portion matched with the guiding portions 241, and the positioning ring 24 is assembled on the first hub 21 through the matching of the guiding portions 241 and the first positioning portion; the second spoke 221 is provided with a second receiving groove 225 to which the other end of the bezel 24 is fitted, the second receiving groove 225 is provided with a second positioning portion 226 fitted with the guide portion 241, and the bezel 24 is fitted to the second hub 22 through the second positioning portion 226 and the guide portion 241.
The utility model discloses in, this guide part 241 can be the compound mode such as guide post and guiding hole or recess and position of bone with location portion. In this embodiment, the guiding portion 241 is a groove formed on the positioning ring 24, and the positioning portion is a bone position formed in the receiving groove.
Further, the guiding portion 241 includes at least one guiding chute, and the positioning portion includes at least one protrusion adapted to the guiding chute. The guiding oblique grooves and the convex blocks can be matched to play a fool-proof role, so that the first hub 21 and/or the second hub 22 and the positioning ring 24 have a limited assembly posture.
In order to ensure the stability of the positioning ring 24 after being assembled with the first hub 21 and the second hub 22, the positioning ring 24, the first hub 21 and the second hub 22 are further provided with connecting holes correspondingly, and the positioning ring 24 is fixed with the first hub 21 and the second hub 22 is fixed with the positioning ring 24 by matching screws 26 with the connecting holes.
The utility model discloses a periphery wall of position circle 24 is provided with and is used for directing the guide sign (not shown) that position circle 24 assembled between first wheel hub 21 and second wheel hub 22 to be favorable to position circle 24 and first wheel hub 21 and second wheel hub 22's rapid Assembly, this guide sign can be arrow point, colour indication or other suitable signs.
In addition, the outer peripheral wall of the positioning ring 24 may be further provided with a guiding mark (not shown) for guiding the roller 23 to be assembled on the first mounting portion 212 and the second mounting portion 222 at a preset included angle with the first hub 21 and the second hub 22, so as to guide a worker to quickly assemble the roller 23 on the first hub 21 and the second hub 22, wherein the guiding mark may be an arrow mark, a color mark or other suitable marks.
In this embodiment, the first mounting portion 212 and the second mounting portion 222 each include a recess 213 for engaging an axial end of the roller 23, and the recesses 213 are configured to receive at least a portion of the axial end of the roller 23 such that the roller 23 is disposed between the first mounting portion 212 and the second mounting portion 222.
In one embodiment, a washer 214 is disposed in the recess 213 to engage the shaft end of the roller 23 to reduce friction at the shaft end and improve wear resistance. In this embodiment, the gasket 214 is a cross-shaped gasket. Of course, the washer 214 may have any other shape and is not limited to a cross shape.
In yet another embodiment, a lubricant is further disposed in the recess 213, and is located in a gap between the shaft end of the roller 23 and the recess 213, and the lubricant is used to provide continuous lubrication, thereby improving wear resistance.
The first hub 21 is provided with a first connecting portion (not shown), the damper assembly 25 is provided with a second connecting portion (not shown), and the first hub 21 and the damper assembly 25 are connected by the first connecting portion and the second connecting portion. Optionally, the first connecting portion and the second connecting portion are in a screw and screw hole matching manner. Additionally, the shock assembly 25 may be positioned within the receiving cavity of the mecanum wheel 200 by being defined by the first hub 21 and the second hub 22.
Specifically, the damping assembly 25 includes a damping bracket 251 for assembling a motor, at least one first connection hole is disposed at an interval at one end of the damping bracket 251 close to the first hub 21, and at least one second connection hole is correspondingly disposed at an interval through the first hub 21. When the shock absorbing bracket 251 is fixed to the first hub 21, the second connection hole is penetrated through by the screw fit and is in threaded connection with the first connection hole, so that the shock absorbing bracket 251 is fixedly connected with the first hub 21.
Further, the shock absorbing assembly 25 further includes a shock absorbing ring 252 sleeved on the shock absorbing bracket 251, and the shock absorbing ball is made of an elastic material. The damping ring 252 is adapted between the damping bracket 251 and the positioning ring 24 to reduce the vibration force applied to the damping bracket 251, so as to protect the motor in the damping bracket 251.
In this embodiment, a plurality of ribs are disposed on the circumferential side surface of the damping ring 252, and the damping ring 252 is provided with a limiting groove engaged with the ribs, so that the damping ring 252 is sleeved on the positioning ring 24 and the damping ring 252 is prevented from rotating relative to the positioning ring 24 by the engagement between the ribs and the limiting groove. Of course, a limiting groove may be provided on the damping ring 252, and a convex rib matched with the limiting groove may be provided on the damping ring 252.
During the assembly process of mecanum wheel 200, retainer 24 is fixed to first hub 21 in advance, then shock-absorbing assembly 25 is assembled in the accommodating cavity of retainer 24 and fixed with first hub 21, then one shaft end of roller 23 is assembled on first mounting portion 212 of first hub 21 in sequence, finally second hub 22 is assembled on retainer 24 correspondingly, and second mounting portion 222 is assembled on the other shaft end of roller 23 correspondingly, so that the assembly of mecanum wheel 200 is completed.
The present embodiment also provides a mobile device that includes a motor and a mecanum wheel 200 as shown in the various embodiments described above. The motor is mounted in the shock assembly 25 of the mecanum wheel 200 for cooperating with the mecanum wheel 200 for driving rotation of the mecanum wheel 200 to provide motive power for movement of the mecanum wheel 200. Wherein the movable equipment can be a carrying robot, a service robot or a survey robot, etc.
The utility model discloses a simple structure's mecanum wheel and have its mobile device, this mecanum wheel pass through the position circle so that first wheel hub and second wheel hub cooperation assembly, distribute a plurality of gyro wheels in the periphery of position circle and be and predetermine contained angle interval arrangement simultaneously at the assembly to make a plurality of gyro wheels assemble between first wheel hub and second wheel hub, the assembly mode is swift, convenient.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.
Claims (15)
1. A Mecanum wheel (200), comprising: the wheel hub comprises a first wheel hub (21), a second wheel hub (22), a plurality of rollers (23) and a positioning ring (24) with an accommodating cavity, wherein the first wheel hub (21) comprises a first wheel spoke and a plurality of first mounting parts (212) extending outwards from the first wheel spoke, and the second wheel hub (22) comprises a second wheel spoke (221) and a plurality of second mounting parts (222) extending outwards from the second wheel spoke (221);
wherein, position circle (24) are provided with guide part (241), first wheel hub (21) and/or second wheel hub (22) be provided with the location portion of guide part (241) adaptation, guide part (241) with location portion cooperation is so that position circle (24) assembly is in first wheel hub (21) with between second wheel hub (22), a plurality of gyro wheel (23) distribute in the periphery of position circle (24) and be and predetermine contained angle interval arrangement.
2. A mecanum wheel (200) according to claim 1, wherein the guide (241) is provided at least one end of the positioning ring (24), the first spoke being provided with a first receiving groove fitting one end of the positioning ring (24), the first receiving groove being provided with a first positioning portion fitting with the guide (241), the positioning ring (24) being fitted to the first hub (21) by fitting the guide (241) with the first positioning portion; and/or
The second spoke (221) is provided with a second accommodating groove (225) for assembling the other end of the positioning ring (24), the second accommodating groove (225) is provided with a second positioning part (226) matched with the guide part (241), and the positioning ring (24) is assembled on the second hub (22) through the second positioning part (226) and the guide part (241).
3. A mecanum wheel (200) according to claim 2, wherein the pilot portion (241) is provided at an end of the position ring (24) near the second hub (22), the second spoke (221) is provided with a second receiving groove (225) that fits the end of the position ring (24), the second receiving groove (225) is provided with a second positioning portion (226) that fits the pilot portion (241), the position ring (24) fits to the second hub (22) by fitting the pilot portion (241) to the second positioning portion (226), and the other end of the position ring (24) near the first hub (21) is fixedly connected to the first hub (21).
4. A mecanum wheel (200) according to claim 3, wherein the outer wall of the second receiving groove (225) extends away from the direction of the second spoke (221) and the extension length of the outer wall exceeds the extension length of the inner wall of the second receiving groove (225) extending away from the direction of the second spoke (221).
5. A mecanum wheel (200) according to claim 1, wherein the guide portion (241) comprises at least one guide chute and the positioning portion comprises at least one projection that fits into the guide chute.
6. A mecanum wheel (200) according to claim 1, wherein the peripheral wall of the spacer (24) is provided with guide markings to guide the fitting of the spacer (24) between the first hub (21) and the second hub (22).
7. A mecanum wheel (200) as claimed in claim 1, wherein the first mount portion (212) and the second mount portion (222) each include a recess (213) that mates with an axial end of the roller (23), the recesses (213) being configured to receive at least a portion of the axial end of the roller (23) such that the roller (23) fits between the first mount portion (212) and the second mount portion (222).
8. A Mecanum wheel (200) as claimed in claim 7, wherein a washer (214) is provided in said recess (213) for mating with an axial end of said roller (23).
9. A mecanum wheel (200) in accordance with claim 8, wherein the washer (214) is a cross washer.
10. A Mecanum wheel (200) as claimed in claim 7, wherein a lubricant is also provided in the recess (213) in the gap between the axle end of the roller (23) and the recess (213).
11. A mecanum wheel (200) as claimed in claim 1 wherein the first plurality of mounting portions (212) of the first hub (21) are sequentially aligned in a predetermined direction and the second plurality of mounting portions (222) of the second hub (22) are sequentially aligned in a direction opposite to the predetermined direction.
12. A mecanum wheel (200) as claimed in claim 1, wherein the mecanum wheel (200) further comprises a shock assembly (25) mounted to the receiving cavity, the shock assembly (25) configured to mount a motor; the first hub (21) is provided with a first connecting portion, the damping assembly (25) is provided with a second connecting portion, and the first hub (21) and the damping assembly (25) are connected through the first connecting portion and the second connecting portion.
13. A mecanum wheel (200) as claimed in claim 12, wherein the shock absorbing assembly (25) includes a shock absorbing mount (251) to mount a motor, the shock absorbing mount (251) having at least one first coupling hole spaced proximate to one end of the first hub (21), the first hub (21) having at least one second coupling hole correspondingly spaced therethrough.
14. A mecanum wheel according to claim 13, wherein the shock absorbing assembly further comprises a shock absorbing collar (252) that is sleeved over the shock absorbing mount (251), wherein the shock absorbing collar (252) fits between the shock absorbing mount (251) and the locating collar (24).
15. A mobile device, characterized in that it comprises a motor and a mecanum wheel (200) according to any of claims 1-14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920594785.8U CN209888550U (en) | 2019-04-28 | 2019-04-28 | Mecanum wheel and movable equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920594785.8U CN209888550U (en) | 2019-04-28 | 2019-04-28 | Mecanum wheel and movable equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209888550U true CN209888550U (en) | 2020-01-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920594785.8U Expired - Fee Related CN209888550U (en) | 2019-04-28 | 2019-04-28 | Mecanum wheel and movable equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209888550U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113366A (en) * | 2020-01-10 | 2020-05-08 | 杭州程天科技发展有限公司 | Omnidirectional movement general robot carrying mechanical arms |
| NO347549B1 (en) * | 2022-06-30 | 2024-01-08 | Wheel Me As | Locking ring for rollers on a mecanum wheel |
-
2019
- 2019-04-28 CN CN201920594785.8U patent/CN209888550U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113366A (en) * | 2020-01-10 | 2020-05-08 | 杭州程天科技发展有限公司 | Omnidirectional movement general robot carrying mechanical arms |
| NO347549B1 (en) * | 2022-06-30 | 2024-01-08 | Wheel Me As | Locking ring for rollers on a mecanum wheel |
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Granted publication date: 20200103 |