CN213831926U - Four-wheel robot based on Mecanum wheels - Google Patents

Abstract

The utility model discloses a four-wheeled robot based on Mecanum wheels, which comprises a base and a robot main body, wherein a controller is arranged in the robot main body; four Mecanum wheels are arranged below the base, the Mecanum wheels are positioned at the midpoints of the front end face, the rear end face, the left end face and the right end face of the base, and the inner side of each Mecanum wheel is arranged towards the center point of the base; each Mecanum wheel is provided with a rotating rod, the left end of the rotating rod is fixedly connected with the output end of a motor, the motor is positioned in the base and is in sliding connection with the base, and the motor is electrically connected with the controller; the two sides of the Mecanum wheel are respectively provided with a connecting frame, the connecting frames penetrate through the bottom of the base and are in sliding connection with the base, the top of each connecting frame is fixedly provided with a sliding block, and the sliding blocks are positioned in the base and are in sliding connection with the base; this dress all is equipped with damping device on every mikelim wheel, can prevent that the robot from turning on one's side because of the uneven production in road surface, makes the robot more have stability ability.

Description

Four-wheel robot based on Mecanum wheels

Technical Field

The utility model relates to a robot field specifically is a four rounds of robots based on mecanum wheel.

Background

The Mcromb depends on the direction and the speed of the wheels, the final combination of the forces generates a resultant force vector in any required direction, so that the platform can be ensured to move freely in the direction of the final resultant force vector without changing the direction of the wheels, and a plurality of small rollers are distributed on the rims of the wheels in an inclined way, so that the wheels can slide transversely; the Mecanum wheel has compact structure and flexible movement, is a very successful omnidirectional wheel, and can realize the omnidirectional movement function more flexibly and conveniently by combining 4 novel wheels.

On the basis, the Chinese patent CN208992695U discloses a guiding service robot based on Mecanum wheels, which comprises a chassis and a robot body which is fixed on the chassis and is provided with a positioning module, a camera module, a voice interaction module, a touch display screen and a laser radar; the chassis comprises a chassis frame and a wheel mechanism fixed on the chassis frame; the wheel mechanism comprises a fixed seat, a wheel driving assembly fixed on the fixed seat and a Mecanum wheel connected with the wheel driving assembly; the chassis frame is provided with a suspension plate, the fixed seat is fixed on the suspension plate, and the output end of the wheel driving assembly is connected to the Mecanum wheel; the device has realized that the robot chassis does not rotate and changes the function of whole direction of motion, but the device does not possess shock-absorbing function, and stability is not strong, turns on one's side easily to take place at the in-process of walking.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a four rounds of robots based on mecanum wheel to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a four-wheeled robot based on Mecanum wheels comprises a base and a robot main body, wherein the robot main body is fixedly connected with the top of the base, and a controller is arranged in the robot main body; four Mecanum wheels are arranged below the base, the Mecanum wheels are positioned at the midpoints of the front end face, the rear end face, the left end face and the right end face of the base, and the inner side of each Mecanum wheel is arranged towards the center point of the base; each Mecanum wheel is provided with a rotating rod arranged in the horizontal direction, the left end of the rotating rod is fixedly connected with the output end of a motor, a first groove is formed in the base, the motor is positioned in the first groove and is in sliding connection with the first groove, and the motor is electrically connected with the controller; the both sides at mecanum wheel all are equipped with the link, and the dwang runs through the link and rotates rather than being connected, is equipped with in the top of link and is equipped with the second recess, and the link runs through the bottom of base and rather than sliding connection, is fixed with the slider at the top of link, and the slider is located the inside of second recess and rather than sliding connection, is fixed with the second spring that is vertical direction setting at the top of slider, the top fixed connection of second spring and second recess.

As the preferred scheme of the utility model: the rotating rod penetrates through the center point of the Mecanum wheel and is fixedly connected with the Mecanum wheel.

As a further preferred embodiment of the present invention: the top of motor is fixed with the first spring that is vertical direction setting, the top of first spring and the top fixed connection of first recess.

As a further preferred embodiment of the present invention: the both ends of slider are equipped with the arch, and the both sides of second recess are equipped with the spout, and the arch is located the inside of spout and rather than sliding connection.

As a further preferred embodiment of the present invention: and magnets are arranged at the top of the sliding block and the inner top of the base and are homopolar magnets.

Compared with the prior art, the beneficial effects of the utility model are that: the device is provided with four motors, each motor respectively controls an independent McRohm, and each motor is controlled by the controller, so that the robot can move back and forth and left and right, the function that the base does not rotate and the overall movement direction is changed is realized, and the device is simple and easy to operate; simultaneously, each McRohm wheel is provided with a damping device, so that the robot can be prevented from turning over due to uneven road surface, and the robot has higher stability.

Drawings

Figure 1 is an illustration of the interior of a four-wheeled robot base based on mecanum wheels.

FIG. 2 is a McRenmum distribution diagram of a four-wheeled robot based on Mecanum wheels.

FIG. 3 is an enlarged view of a four-wheeled robot based on Mecanum wheels at A in FIG. 1.

In the figure: 1-controller, 2-robot body, 3-first groove, 4-motor, 5-first spring, 6-base, 7-Mecanum wheel, 8-rotating rod, 9-connecting frame, 10-sliding groove, 11-bulge, 12-sliding block, 13-second spring, 14-magnet and 15-second groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-3, in an embodiment of the present invention, a four-wheeled robot based on mecanum wheels 7 includes a base 6 and a robot main body 2, the robot main body 2 is fixedly connected to the top of the base 6, and a controller 1 is disposed inside the robot main body 2; four Mecanum wheels 7 are arranged below the base 6, the Mecanum wheels 7 are positioned at the midpoints of the front, rear, left and right end faces of the base 6, and the inner side of each Mecanum wheel 7 is arranged towards the central point of the base 6; each mecanum wheel 7 is provided with a rotating rod 8 arranged in the horizontal direction, the rotating rod 8 penetrates through the central point of the mecanum wheel 7 and is fixedly connected with the central point, the left end of the rotating rod 8 is fixedly connected with the output end of the motor 4, a first groove 3 is arranged inside the base 6, the motor 4 is positioned inside the first groove 3 and is in sliding connection with the first groove 3, the motor 4 is electrically connected with the controller 1, the top of the motor 4 is fixedly provided with a first spring 5 arranged in the vertical direction, and the top of the first spring 5 is fixedly connected with the top of the first groove 3; both sides at mecanum wheel 7 all are equipped with link 9, dwang 8 runs through link 9 and rotates rather than being connected, top at link 9 is equipped with second recess 15, link 9 runs through the bottom of base 6 and rather than sliding connection, top at link 9 is fixed with slider 12, slider 12 is located the inside of second recess 15 and rather than sliding connection, both ends at slider 12 are equipped with protruding 11, the both sides of second recess 15 are equipped with spout 10, protruding 11 is located the inside of spout 10 and rather than sliding connection, top at slider 12 is fixed with the second spring 13 that is vertical direction setting, second spring 13 and the top fixed connection of second recess 15.

The utility model discloses a theory of operation is: the Mecanum wheels 7 arranged in the device are respectively controlled by a single motor 4, all the motors 4 are controlled by a controller 1, the controller 1 can control the mutual conversion among the motors 4, when the robot moves forwards, the motors 4 on the left Mecanum wheel 7 and the right Mecanum wheel 7 are controlled by the motors 4 to operate, so that the robot moves forwards, when the robot needs to turn, the controller 1 controls the motors 4 on the front Mecanum wheel 7 and the rear Mecanum wheel 7 to operate, so that the left and right movement of the robot is realized, the controller 1 can also control the single motor 4 to operate, and the turning of the robot at different angles is realized; in the process that the robot gos forward, when meetting uneven road surface, mecanum wheel 7 is through driving dwang 8, and dwang 8 drives the connecting rod, and the connecting rod drives slider 12 up-and-down motion, has played a fine cushioning effect to mecanum wheel 7, makes the robot have anti-pitch performance.

Example 2:

on the basis of embodiment 1, in the embodiment of the utility model, a four-wheel robot based on Mecanum wheels 7; magnets 14 are arranged on the top of the sliding block 12 and the inner top of the base 6, and the magnets 14 are homopolar magnets 14.

When second spring 13 cushions mecanum wheel 7, magnet 14 has also played the effect of buffering to mecanum wheel 7, lets the buffering effect of device more obvious, makes the robot more have anti-pitch function.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (5)

1. A four-wheeled robot based on Mecanum wheels comprises a base (6) and a robot main body (2), wherein the robot main body (2) is fixedly connected with the top of the base (6), and a controller (1) is arranged in the robot main body (2); the automatic feeding device is characterized in that four Mecanum wheels (7) are arranged below the base (6), the Mecanum wheels (7) are positioned at the midpoints of the front end face, the rear end face, the left end face and the right end face of the base (6), and the inner side of each Mecanum wheel (7) is arranged towards the center point of the base (6); each Mecanum wheel (7) is provided with a rotating rod (8) which is arranged in the horizontal direction, the left end of each rotating rod (8) is fixedly connected with the output end of a motor (4), a first groove (3) is formed in the base (6), the motor (4) is positioned in the first groove (3) and is in sliding connection with the first groove, and the motor (4) is electrically connected with the controller (1); both sides at mecanum wheel (7) all are equipped with link (9), dwang (8) run through link (9) and rotate rather than being connected, top at link (9) is equipped with second recess (15), link (9) run through the bottom of base (6) and rather than sliding connection, top at link (9) is fixed with slider (12), slider (12) are located the inside of second recess (15) and rather than sliding connection, top at slider (12) is fixed with second spring (13) that are vertical direction setting, second spring (13) and the top fixed connection of second recess (15).

2. A mecanum wheel based four-wheeled robot according to claim 1, characterised in that the swivelling levers (8) extend through the centre point of the mecanum wheels (7) and are fixedly connected thereto.

3. A mecanum wheel based four-wheeled robot as claimed in claim 1 or 2, wherein the top of the motor (4) is fixed with a first spring (5) vertically arranged, and the top of the first spring (5) is fixedly connected with the top of the first groove (3).

4. A mecanum wheel based four-wheeled robot as claimed in claim 1, wherein the two ends of the slide block (12) are provided with protrusions (11), the two sides of the second groove (15) are provided with sliding grooves (10), and the protrusions (11) are located inside the sliding grooves (10) and are slidably connected with the sliding grooves.

5. A mecanum wheel based four-wheeled robot as claimed in claim 1, characterised in that magnets (14) are provided on both the top of the slide (12) and the inner top of the base (6), the magnets (14) being homopolar magnets (14).

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