CN218986223U - Mecanum wheel device and robot - Google Patents

Abstract

The utility model belongs to the technical field of omni-directional mobile devices, and particularly relates to a Mecanum wheel and a robot. The Mecanum wheel device of the utility model comprises: the driving device comprises an external brushless motor and a speed reducer, wherein the external brushless motor comprises a cylindrical shell with one end being opened, a motor shaft and a connecting part, and the connecting part is positioned at one end, opposite to the opening, of the external brushless motor in the axial direction. The Mecanum wheel comprises a support and a plurality of rollers which are arranged along the circumferential direction of the support, wherein the rollers are rotatably connected with the support on the outer surface of the support, the rotating shaft direction of the rollers and the rotating shaft direction of the support form a preset angle, a hollow accommodating cavity is formed in the support, at least one part of a driving device is inserted into the accommodating cavity, the connecting part is exposed out of the accommodating cavity, and the output end of the driving device is connected with the support from one side which faces away from the connecting part. The utility model has compact structure, small volume and large output torque.

Description

Mecanum wheel device and robot

technical field

The utility model relates to the technical field of omnidirectional mobile devices, in particular to a mecanum wheel and a robot.

Background technique

Mecanum wheels are special wheels that can move in all directions. This omnidirectional movement is based on the principle of a central wheel with a number of axles located at the periphery of the wheel. These angled peripheral axles convert a portion of the wheel steering force into a wheel normal force. Depending on the direction and speed of the respective wheels, the final combination of these forces produces a resultant force vector in any desired direction thus ensuring that the platform is free to move in the direction of the final resultant force vector without changing the direction of the wheels themselves . There are many small rollers distributed obliquely on its rim, so the wheel can slide laterally. The generatrix of the small rollers is very special. When the wheel rotates around the fixed wheel mandrel, the envelope of each small roller is a cylindrical surface, so the wheel can roll forward continuously. In order to make the mecanum wheel rotate, it is necessary to drive the driving device of the mecanum wheel, but the current driving device is usually arranged outside the mecanum wheel, so that the whole mecanum wheel device after the driving device is connected with the mecanum wheel The volume is too large, which is not conducive to the flexible movement of the robot driven by the omnidirectional mobile chassis.

Utility model content

In view of this, the embodiments of the present invention provide a mecanum wheel device and a robot, which are used to solve the technical problems that the existing mecanum wheel device is not compact in structure and takes up too much volume.

The technical scheme that the utility model adopts is:

In the first aspect, the utility model provides a mecanum wheel device, comprising:

The driving device includes an externally rotating brushless motor and a reducer. The externally rotating brushless motor includes a cylindrical shell with one end open, a motor shaft and a connecting part, and the connecting part is located in the axial direction of the externally rotating brushless motor. On the opposite end of the opening, the input end of the reducer is connected to the output shaft of the externally rotating brushless motor;

The Mecanum wheel comprises a bracket and several rollers arranged along the circumferential direction of the bracket, the rollers are rotatably connected to the bracket on the outer surface of the bracket, and the direction of the rotation axis of the rollers is the same as the rotation axis of the bracket The direction is at a preset angle, the bracket is provided with a hollow accommodation chamber, at least a part of the driving device is inserted into the accommodation chamber, the connecting part is exposed outside the accommodation chamber, and the driving device The output end of the output end is connected to the support by the side facing away from the connecting part.

Preferably, the inner wall of the accommodating cavity on the bracket is cylindrical, and the outer wall of the part of the driving device inserted into the accommodating cavity is cylindrical with a diameter smaller than that of the inner wall of the accommodating cavity.

Preferably, the outer wall of the connection part is tangent to the outer wall of the housing.

Preferably, the connecting portion and the shaft axis of the mecanum wheel are separated by a predetermined distance in the radial direction of the mecanum wheel.

Preferably, a positioning mounting surface is provided on the connecting portion, and the positioning mounting surface is parallel to the shaft axis of the Mecanum wheel.

Preferably, the bracket is formed by splicing a first member and a second member, one end of the roller is rotatably connected to the first member, and the opposite end is rotatably connected to the second member.

Preferably, it also includes a connecting piece, the output end of the driving device is the output shaft of the reducer, the bracket is provided with a first installation cavity, the first installation cavity communicates with the accommodating cavity, and the The output shaft of the reducer is installed in the first installation cavity, the first member is provided with a first connection hole, the second member is provided with a second connection hole, and the output shaft of the reducer is provided with a first connection hole. Three connection holes, one end of the connector passes through the first connection hole, the second connection hole and the third connection hole in turn and is screwed to the third connection hole, and the other end is against the surface of the second member facing away from the first member. catch.

Preferably, the second member is provided with a protruding portion protruding toward the first member, the first installation cavity is located in the protruding portion, and the end of the second member facing the first member is away from The direction depression of the first member forms a second installation cavity, and at least a part of the protrusion is located in the second installation cavity.

Preferably, the reducer is a planetary gear reducer.

In the second aspect, the utility model provides a robot, which includes the Mecanum wheel device described in the first aspect.

Beneficial effects: the mecanum wheel device of the utility model sets the support of the mecanum wheel in a hollow structure, so that the drive device composed of the externally rotating brushless motor and the reducer can be used except for the connecting part. Hidden in the accommodation chamber of the mecanum wheel, the internal space of the mecanum wheel is cleverly used, saving most of the space occupied by the drive device, so that the overall structure of the mecanum wheel device is more compact, and the volume is also obvious decrease, and at the same time, it does not affect the driving device to drive the mecanum wheel to rotate. Since only the connecting portion of the driving device is exposed outside the mecanum wheel, the reliable connection between the driving device and the main body bracket of the omnidirectional mobile device is not affected. In addition, because the external rotation brushless motor has a small volume and a large output torque, the driving device is more easily hidden in the accommodation chamber of the mecanum wheel.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings used in the embodiments of the present invention. , and other drawings can also be obtained according to these drawings, which are all within the protection scope of the present utility model.

Fig. 1 is the three-dimensional structure schematic diagram of the Mecanum wheel device of the present utility model;

Fig. 2 is a schematic diagram of the decomposed structure of the mecanum wheel device of the present invention disassembled into an externally rotating brushless motor, a reducer and a mecanum wheel;

Fig. 3 is the explosion diagram of the Mecanum wheel device of the present utility model;

Fig. 4 is the three-dimensional structural diagram of the driving device of the present utility model;

Fig. 5 is the three-dimensional structural diagram of the Mecanum wheel of the present invention;

Fig. 6 is a three-dimensional structural diagram of the reducer of the present invention;

Figure 7 is a sectional view of the Mecanum wheel device of the present invention;

Parts and their numbers in the figure:

Drive device 1, brushless motor 11, housing 112, motor shaft 113, connection part 114, mounting base 115, stator 116, outer rotor 117, reducer 12, reducer output shaft 121, third connection hole 1211, first Sun gear 122, first planet gear 123, first planet carrier 124, second sun gear 125, second planet gear 126, second planet carrier 127, ring gear 128, Mecanum wheel 2, first member 211, The first connecting hole 2111 , the second member 212 , the second connecting hole 2121 , the raised portion 2122 , the second mounting cavity 2123 , the first mounting cavity 213 , the roller 22 , the connecting piece 23 , and the accommodating cavity 214 .

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. In describing the present invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal" , "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or It should not be construed as limiting the invention by implying that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the statement "comprising..." does not exclude the presence of additional same elements in the process, method, article or device comprising said element. If there is no conflict, the embodiments of the present invention and the various features in the embodiments can be combined with each other, all within the protection scope of the present invention.

Example 1

As shown in FIG. 1 and FIG. 3 , this embodiment provides a mecanum wheel device, which mainly includes two parts: a driving device 1 and a mecanum wheel 2 .

As shown in Figure 4, the driving device 1 includes an externally rotating brushless motor 11 and a reducer 12, the externally rotating brushless motor 11 includes a cylindrical shell 112 with one end open, a motor shaft 113 and a connecting portion 114, the The connecting portion 114 is located at the end of the outwardly rotating brushless motor 11 opposite to the opening in the axial direction, and the input end of the reducer 12 is connected to the output shaft of the outwardly rotating brushless motor 11 .

The connection part 114 is used to connect with the main body support of the omnidirectional mobile device, so as to connect the Mecanum wheel 2 device of this embodiment with the main body support of the omnidirectional mobile device. An omnidirectional mobile device can be formed by connecting more than three Mecanum wheel 2 devices together through the main body bracket. A cavity is formed in the cylindrical housing 112, and the opening communicates with the cavity, and other parts of the externally rotating brushless motor 11 can be installed in this cavity, thereby reducing the size of the externally rotating brushless motor 11. volume of. The output shaft of the externally rotating brushless motor 11 transmits the power to the speed reducer 12, and after the deceleration and torque increase of the speed reducer 12, it is output to the mecanum wheel 2 with a larger torque.

As shown in Figure 7, the external rotation brushless motor 11 adopted in this embodiment also includes a mounting seat 115, a stator 116, an external rotor 117, and a motor shaft 113, the motor shaft 113 is connected to the rotor, and the rotor can Rotating relative to the stator 116 , the stator 116 and the outer rotor 117 are located inside the housing 112 . The mounting base 115 is fixedly installed in the housing 112, the center of the stator 116 is provided with a through hole, a part of the mounting base is installed in the through hole of the stator 116, and the mounting base 115 is provided with a first bearing and the second bearing, the motor shaft 113 is assembled with the inner rings of the first bearing and the second bearing. Wherein the first bearing and the second bearing are arranged along the axial direction of the motor shaft 113 . The outer rotor 117 is connected to the motor shaft 113 . When the coil of the stator 116 is energized according to the set method, a rotating magnetic field is generated, and the outer rotor 117 rotates under the action of the rotating magnetic field and drives the motor shaft 113 to rotate together.

As shown in Figure 2 and Figure 4, the external rotation brushless motor 11 and the reducer 12 can adopt the structure of a cylindrical shell with the same outer diameter, so that the driving device 1 can be easily inserted into the hollow on the support of the Mecanum wheel 2 in the accommodation cavity 214 . In order to combine the externally rotating brushless motor 11 and the reducer 12 into a whole after installation, in this embodiment, one of the motor and the reducer 12 is provided with a bump, and the other is provided with a fitting groove matching the bump. The protrusions are fitted into the fitting grooves when the motor and the speed reducer 12 are assembled. Wherein the shape of the bump and the inner wall of the groove can adopt complementary shapes.

As shown in FIG. 6 and FIG. 7 , in order to further reduce the volume of the driving device 1 under the condition of outputting relatively large torque, the speed reducer 12 of this embodiment may adopt a planetary gear speed reducer 12 . The speed reducer 12 includes an inner ring gear 128 , a first sun gear 122 , several first planet gears 123 , a first planet carrier 124 , a second sun gear 125 , several second planet gears 126 and a second planet carrier 127 . The output shaft of the speed reducer 12 is connected with the first sun gear 122, the first planetary gear 123 meshes with the first sun gear 122 and the ring gear 128 respectively, the first planetary gear 123 is rotatably connected with the first planet carrier 124, and the first The planet carrier 124 is rotatably connected with the ring gear 128; the first planet carrier 124 is connected with the second sun gear 125, the second planet gear 126 meshes with the second sun gear 125 and the ring gear 128 respectively, and the second planet gear 126 and The second planet carrier 127 is rotatably connected, and the second planet carrier 127 is rotatably connected to the ring gear 128 .

When the reducer 12 is working, the motor output shaft drives the first sun gear 122 to rotate, the first sun gear 122 drives the first planetary gear 123 to rotate, and the first planetary gear 123 drives the first planet carrier 124 to rotate. The first planet carrier 124 drives the second sun gear 125 to rotate, the second sun gear 125 drives the second planet gear 126 to rotate, the second planet gear 126 drives the second planet carrier 127 to rotate, and the second planet carrier 127 drives the Mecanum wheel 2 turn. By adopting the aforementioned two-stage planetary gear transmission structure, a larger transmission ratio output can be realized while occupying less space.

As shown in Figures 1 and 5, the Mecanum wheel 2 in this embodiment comprises a bracket and several rollers 22 arranged along the circumferential direction of the bracket, and the rollers 22 are arranged on the outer surface of the bracket and The bracket is rotatably connected, and the angle between the rotation axis direction of the roller 22 and the rotation axis direction of the bracket forms a preset angle, and the angle is in the range of 0 to 90 degrees. A hollow accommodating cavity 214 is provided on the bracket, at least a part of the driving device 1 is inserted into the accommodating cavity 214, the connecting portion 114 is exposed outside the accommodating cavity 214, and the driving device 1 The output end of the output end is connected to the support by the side facing away from the connecting portion 114 .

As shown in Figure 6, since the outer diameter of the mecanum wheel 2 is larger than that of the driving device 1, the support of the mecanum wheel 2 is set as a hollow structure in this embodiment, so that the brushless motor 11 rotating outward The driving device 1 composed of the reducer 12 can be hidden in the accommodation cavity 214 of the mecanum wheel 2 except for the connecting part 114, so that the internal space of the mecanum wheel 2 is cleverly utilized, saving Most of the space occupied by the driving device 1 makes the overall structure of the mecanum wheel 2 device more compact, and the volume is also significantly reduced, and at the same time it does not affect the driving device 1 to drive the mecanum wheel 2 to rotate. Since only the connecting portion 114 of the driving device 1 is exposed outside the mecanum wheel 2, the reliable connection between the driving device 1 and the main body support of the omnidirectional mobile device is not affected. In addition, since the externally rotating brushless motor 11 has a small volume and a large output torque, the driving device 1 is more easily hidden in the accommodating cavity 214 of the mecanum wheel 2 .

As shown in FIG. 3 , as an optional but advantageous implementation, in this embodiment, the inner wall of the accommodating cavity 214 on the bracket is cylindrical, and the driving device 1 is inserted into the accommodating cavity 214 The outer wall of the middle portion is cylindrical with a diameter smaller than the inner wall diameter of the accommodating cavity 214 .

In this embodiment, the inner wall of the accommodating cavity 214 and other parts of the driving device 1 except the connection part 114 are set as cylindrical, so that when the driving device 1 drives the Mecanum wheel 2 to rotate, the outer wall of the driving device 1 and the housing The distance between the inner walls of the cavity 214 will not change, which can avoid affecting the relative rotation between the mecanum wheel 2 and the driving device 1 during operation, and realizes the hiding of the driving device 1 in the mecanum wheel 2, and The rotation stability of the mecanum wheel 2 is guaranteed when it is working.

As shown in FIG. 4 and FIG. 6 , as an optional but favorable implementation manner, in this embodiment, the outer wall of the connecting portion 114 is tangent to the outer wall of the housing 112 . With this structure, the connecting portion 114 can be integrated with the housing 112 , and the overall size of the outer wall of the externally rotating brushless motor 11 can be reduced.

In this embodiment, the connecting portion 114 and the axis of the rotating shaft of the mecanum wheel 2 are separated by a predetermined distance in the radial direction of the mecanum wheel 2 . In this embodiment, the connection part 114 can be used to connect the main body bracket of the omnidirectional mobile device. When the connection part 114 and the shaft axis of the mecanum wheel 2 are separated by a predetermined distance in the radial direction of the mecanum wheel 2, The connecting part 114 can avoid a part of space for the main body support, so that the main body support can be partially extended to the position above the connecting part 114 of the externally rotating brushless motor 11, so as to increase the connection part 114. The area of the overlapped part that can be connected in the direction, so that the outer rotation brushless motor 11 can form a more compact and reliable connection with the main body bracket. The aforementioned predetermined distance can be set according to the distance between the axis of the mecanum wheel 2 and the main body support in the radial direction of the outwardly rotating brushless motor 11 after installation.

As an optional but advantageous implementation, in this embodiment, the first connecting portion 114 is provided with a positioning installation surface, and the positioning installation surface is parallel to the axis of the rotation shaft of the Mecanum wheel 2 . The plane on the corresponding main body bracket that cooperates with the positioning installation surface can also be set to be parallel to the shaft axis of the mecanum wheel 2 . In this way, when the positioning installation surface on the first connecting portion 114 is fitted and installed with the installation surface of the main body support, the shaft axis of the mecanum wheel 2 can be parallel to the installation surface of the main body support, thereby improving the performance of the mecanum wheel 2 during installation. The accuracy of the shaft axis position.

As shown in Figure 5, as an optional but advantageous implementation, in this embodiment, the bracket is formed by splicing a first member 211 and a second member 212, and one end of the roller 22 is connected to the first member 211 A rotational connection is formed, and the opposite end forms a rotational connection with the second member 212 . In this embodiment, the rollers 22 of the Mecanum wheel 2 are installed and fixed through the bracket. Each roller 22 can be equipped with a rotating shaft during specific installation. The center of each roller 22 is provided with a mounting hole, and the rotating shaft is installed in the mounting hole. The child 22 can rotate around the rotating shaft, so the aforementioned structure can realize the rotational connection between the roller 22 and the bracket. During installation, the rotating shaft and the corresponding roller 22 can be assembled first, then one end of the rotating shaft is assembled to the first member 211, and finally the second member 212 is spliced to the first member 211 from the other side, And at the same time, let the other end of the rotating shaft be assembled on the second member 212 . Thus the first member 211 and the second member 212 sandwich the roller 22 .

As shown in Figure 7, the Mecanum wheel 2 device of this embodiment also includes a connecting piece 23, the output end of the drive device 1 is the output shaft 121 of the reducer, and the first bracket is provided with a first installation cavity 213, the first installation cavity 213 communicates with the accommodating cavity 214, the reducer output shaft 121 is installed in the first installation cavity 213, and the first member 211 is provided with a first connection hole 2111, the second member 212 is provided with a second connecting hole 2121, the output shaft 121 of the reducer is provided with a third connecting hole 1211, and one end of the connecting piece 23 passes through the second connecting hole 2111, the second The first connecting hole 2121 and the third connecting hole 1211 are threadedly connected with the third connecting hole 1211 , and the other end abuts against the surface of the second member 212 facing away from the first member 211 . Wherein the connecting piece 23 can adopt screws. External threads are provided on the outer wall of the connecting member 23 , and internal threads are provided on the inner wall of the third connecting hole 1211 .

In this embodiment, the assembled driving device 1 is inserted into the accommodating cavity 214 of the bracket from the end of the bracket away from the second member 212, and the reducer output shaft 121 is inserted into the first installation cavity 213, and then the connecting piece 23 Therefore, the side of the second member 212 away from the second member 212 passes through the first connecting hole 2111 , the second connecting hole 2121 and the third connecting hole 1211 in sequence, and then is screwed to the third connecting hole 1211 . The outer diameter of the end of the connecting piece 23 away from the third connecting hole 1211 is greater than the inner diameter of the first connecting hole 2111, so that after the connecting piece 23 is screwed to the third connecting hole 1211, it can be pressed against the second member 212 away from the first member 211. One end, so as to connect the driving device 1 , the first component 211 and the second component 212 together at one time.

The second member 212 is provided with a raised portion 2122 protruding toward the first member 211, the first installation cavity 213 is located in the raised portion 2122, and the second member 212 faces the first member 211 One end of the second mounting cavity 2123 is recessed toward a direction away from the first member 211 , and at least a part of the second mounting cavity 2123 is located in the raised portion 2122 . In order to facilitate the connection, in this embodiment, the output end of the reducer 12 is inserted into the first installation cavity 213 of the first component 211, and the first installation cavity 213 is inserted into the second installation cavity 2123 of the second component 212 to form a deceleration The output end of the device 12, the first member 211 and the second member 212 are nested and installed, so that the axial length of the mecanum wheel 2 driving device 1 is further reduced.

Example 2

This embodiment provides a robot, which includes the Mecanum wheel 2 device described in Embodiment 1.

The above is only a specific embodiment of the utility model, and those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, modules and units can be implemented with reference to the aforementioned method The corresponding process in the example will not be repeated here. It should be understood that the protection scope of the present utility model is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the utility model, and these modifications or replacements are all Should be covered within the protection scope of the present utility model.

Claims (10)

1. Mecanum wheel device, is characterized in that, comprises: The driving device includes an externally rotating brushless motor and a reducer. The externally rotating brushless motor includes a cylindrical shell with one end open, a motor shaft and a connecting part, and the connecting part is located in the axial direction of the externally rotating brushless motor. On the opposite end of the opening, the input end of the reducer is connected to the output shaft of the externally rotating brushless motor; The Mecanum wheel comprises a bracket and several rollers arranged along the circumferential direction of the bracket, the rollers are rotatably connected to the bracket on the outer surface of the bracket, and the direction of the rotation axis of the rollers is the same as the rotation axis of the bracket The direction is at a preset angle, the bracket is provided with a hollow accommodation chamber, at least a part of the driving device is inserted into the accommodation chamber, the connecting part is exposed outside the accommodation chamber, and the driving device The output end of the output end is connected to the support by the side facing away from the connecting part. 2. The Mecanum wheel device according to claim 1, characterized in that, the inner wall of the accommodation cavity on the support is cylindrical, and the outer wall of the part where the driving device is inserted into the accommodation cavity is A cylinder with a diameter smaller than the diameter of the inner wall of the accommodating cavity. 3 . The mecanum wheel device according to claim 2 , wherein the outer wall of the connecting portion is tangent to the outer wall of the housing. 4 . 4 . The mecanum wheel device according to claim 1 , characterized in that, the connecting portion and the axis of rotation of the mecanum wheel are separated by a predetermined distance in the radial direction of the mecanum wheel. 5 . The mecanum wheel device according to claim 1 , wherein a positioning mounting surface is provided on the connecting portion, and the positioning mounting surface is parallel to the shaft axis of the mecanum wheel. 6 . 6. The Mecanum wheel device according to claim 5, wherein the bracket is formed by splicing the first member and the second member, one end of the roller forms a rotational connection with the first member, and the opposite end One end forms a rotational connection with the second member. 7. The Mecanum wheel device according to claim 6, further comprising a connecting piece, the output end of the driving device is the output shaft of the reducer, and the bracket is provided with a first installation cavity, The first installation chamber communicates with the accommodating chamber, the output shaft of the reducer is installed in the first installation chamber, the first member is provided with a first connecting hole, and the second member is provided with There is a second connecting hole, the output shaft of the reducer is provided with a third connecting hole, one end of the connecting piece passes through the second connecting hole, the first connecting hole and the third connecting hole in sequence and is threaded with the third connecting hole connected, and the other end abuts against the surface of the second member facing away from the first member. 8. The Mecanum wheel device according to claim 7, characterized in that, the second member is provided with a protruding portion protruding toward the first member, and the first installation cavity is located on the protruding portion In the portion, one end of the second member facing the first member is recessed in a direction away from the first member to form a second installation cavity, and at least a part of the second installation cavity is located in the raised portion. 9. The Mecanum wheel device according to any one of claims 1 to 7, characterized in that the speed reducer is a planetary gear speed reducer. 10. The robot, characterized in that it comprises the Mecanum wheel device according to any one of claims 1 to 9.

Images