CN218986223U

CN218986223U - Mecanum wheel device and robot

Info

Publication number: CN218986223U
Application number: CN202222689577.0U
Authority: CN
Inventors: 张金龙; 招俊健; 关健泳
Original assignee: Shenzhen Gongjiangshe Technology Co ltd
Current assignee: Shenzhen Gongjiangshe Technology Co ltd
Priority date: 2022-10-12
Filing date: 2022-10-12
Publication date: 2023-05-09
Anticipated expiration: 2032-10-12

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 omni-directional mobile devices, in particular to a Mecanum wheel and a robot.

Background

Mecanum wheels are a special wheel that can achieve omni-directional movement. This omni-directional movement is based on the principle of a center wheel having a plurality of wheel axles located at the periphery of the wheel, the angled peripheral wheel axles translating a portion of the wheel steering force above a wheel normal force. Depending on the direction and speed of the respective wheel, the final combination of these forces creates a resultant force vector in any desired direction, thereby ensuring that the platform can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself. A plurality of small rollers are obliquely distributed on the rim of the wheel, so that the wheel can slide transversely. The generatrix of the small rollers is very specific, and when the wheel rotates around the fixed wheel spindle, the envelope of each small roller is a cylindrical surface, so that the wheel can roll forward continuously. In order to enable the Mecanum wheel to rotate, a driving device for driving the Mecanum wheel is needed, but the current driving device is often arranged outside the Mecanum wheel, so that the whole volume of the Mecanum wheel device after the driving device is connected with the Mecanum wheel is overlarge, and the robot is not conveniently driven to flexibly move by the omnidirectional moving chassis.

Disclosure of Invention

In view of the above, the embodiment of the utility model provides a Mecanum wheel device and a robot, which are used for solving the technical problems that the existing Mecanum wheel device is not compact in structure and occupies too large volume.

The technical scheme adopted by the utility model is as follows:

in a first aspect, the present utility model provides a Mecanum wheel device comprising:

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, the connecting part is positioned at one end opposite to the opening in the axial direction of the external brushless motor, and the input end of the speed reducer is connected with an output shaft of the external brushless motor;

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 the 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 opposite to 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 the diameter smaller than that of the inner wall of the accommodating cavity.

Preferably, the outer wall of the connection is tangential to the outer wall of the housing.

Preferably, the connection portion and the rotation axis of the Mecanum wheel are spaced apart from each other by a predetermined distance in a radial direction of the Mecanum wheel.

Preferably, the connecting part is provided with a positioning installation surface, and the positioning installation surface is parallel to the axis of the rotating shaft of the Mecanum wheel.

Preferably, the bracket is formed by splicing a first member and a second member, one end of the roller is in rotary connection with the first member, and the opposite end is in rotary connection with the second member.

Preferably, the speed reducer comprises a first connecting hole, a second connecting hole and a third connecting hole, wherein the first connecting hole is formed in the first member, the second connecting hole is formed in the second member, the third connecting hole is formed in the speed reducer output shaft, one end of the connecting piece sequentially penetrates through the first connecting hole, the second connecting hole and the third connecting hole and is in threaded connection with the third connecting hole, and the other end of the connecting piece is in butt joint with the surface of the second member opposite to the first member.

Preferably, the second member is provided with a protruding portion protruding towards the first member, the first mounting cavity is located in the protruding portion, the second member is recessed towards one end of the first member towards the direction away from the first member to form a second mounting cavity, and at least a part of the protruding portion is located in the second mounting cavity.

Preferably, the speed reducer is a planetary gear speed reducer.

In a second aspect the utility model provides a robot comprising a Mecanum wheel arrangement according to the first aspect.

The beneficial effects are that: the Mecanum wheel device provided by the utility model has the advantages that the bracket of the Mecanum wheel is arranged in a hollow structure, so that the part except the connecting part of the driving device consisting of the external brushless motor and the speed reducer can be hidden into the accommodating cavity of the Mecanum wheel, the inner space of the Mecanum wheel is ingeniously utilized, and most of the space occupied by the driving device is saved, so that the whole structure of the Mecanum wheel device is more compact, the volume is obviously reduced, and meanwhile, the rotation of the Mecanum wheel driven by the driving device is not influenced. Since the driving device only leaves the connecting part to be exposed out of the Mecanum wheel, the reliable connection between the driving device and the main body bracket of the omnidirectional mobile device is not influenced. In addition, because the external brushless motor has small volume and large output torque, the driving device is more easily hidden in the accommodating cavity of the Mecanum wheel.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present utility model, the drawings required to be used in the embodiments of the present utility model will be briefly described, and it is within the scope of the present utility model to obtain other drawings according to these drawings without inventive effort for a person skilled in the art.

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

fig. 2 is a schematic diagram of an exploded structure of a mecanum wheel device of the present utility model disassembled into an external brushless motor, a decelerator and a mecanum wheel;

FIG. 3 is an exploded view of the Mecanum wheel device of the present utility model;

FIG. 4 is a three-dimensional block diagram of the drive device of the present utility model;

FIG. 5 is a three-dimensional block diagram of a Mecanum wheel of the present utility model;

FIG. 6 is a three-dimensional block diagram of a speed reducer of the present utility model;

fig. 7 is a cross-sectional view of a Mecanum wheel device of the present utility model;

parts and numbers in the figure:

the drive device 1, the brushless motor 11, the housing 112, the motor shaft 113, the connection part 114, the mount 115, the stator 116, the outer rotor 117, the reduction gear 12, the reduction gear output shaft 121, the third connection hole 1211, the first sun gear 122, the first planet gears 123, the first carrier 124, the second sun gear 125, the second planet gears 126, the second carrier 127, the ring gear 128, the mecanum wheel 2, the first member 211, the first connection hole 2111, the second member 212, the second connection hole 2121, the boss 2122, the second mounting cavity 2123, the first mounting cavity 213, the roller 22, the connection piece 23, the accommodation cavity 214.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present utility model more clear, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In the description of the present utility model, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element. If not conflicting, the embodiments of the present utility model and the features of the embodiments may be combined with each other, which are all within the protection scope of the present utility model.

Example 1

As shown in fig. 1 and 3, the present embodiment provides a mecanum wheel device, which mainly includes a driving device 1 and a mecanum wheel 2.

As shown in fig. 4, wherein the driving device 1 includes an outer brushless motor 11 and a decelerator 12, the outer brushless motor 11 includes a cylindrical housing 112 having one end opened, a motor shaft 113, and a connection portion 114, the connection portion 114 is located at an end of the outer brushless motor 11 opposite to the opening in an axial direction, and an input end of the decelerator 12 is connected to an output shaft of the outer brushless motor 11.

Wherein the connection portion 114 is used to connect with the main body support of the omni-directional mobile device, so as to connect the mic-wheel 2 device of the present embodiment with the main body support of the omni-directional mobile device. An omni-directional mobile device can be formed by connecting more than 3 Mecanum wheel 2 devices together through a main body bracket. The cylindrical housing 112 has a cavity formed therein, the opening communicating with the cavity, and other parts of the external brushless motor 11 can be mounted in the cavity, thereby reducing the volume of the external brushless motor 11. The output shaft of the external brushless motor 11 transmits power to the speed reducer 12, and the power is output to the Mecanum wheel 2 with larger torque after the speed reduction and torque increase effects of the speed reducer 12.

As shown in fig. 7, the external brushless motor 11 used in this embodiment further includes a mounting base 115, a stator 116, an external rotor 117, and a motor shaft 113, where the motor shaft 113 is connected to the rotor, the rotor can rotate relative to the stator 116, and the stator 116 and the external rotor 117 are located inside the housing 112. The mounting seat 115 is fixedly mounted in the housing 112, a through hole is formed in the center of the stator 116, a part of the mounting base is mounted in the through hole of the stator 116, a first bearing and a second bearing are arranged in the mounting seat 115, and the motor shaft 113 is assembled with inner rings of the first bearing and the second bearing. Wherein the first bearing and the second bearing are disposed along the axial direction of the motor shaft 113. The outer rotor 117 is connected to the motor shaft 113. When the coils of the stator 116 are energized in a set manner, 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 fig. 2 and 4, the outer rotary brushless motor 11 and the decelerator 12 may have a cylindrical housing structure having the same outer diameter, so that the driving device 1 may be conveniently inserted into the hollow accommodating chamber 214 of the bracket of the Mecanum wheel 2. In order to integrate the external brushless motor 11 and the decelerator 12 after installation, the present embodiment is provided with a projection on one of the motor and the decelerator 12, and the other is provided with a fitting groove that matches the projection, into which the projection is fitted when the motor and the decelerator 12 are assembled. Wherein the profile of the bump and the inner wall of the recess may take complementary shapes.

As shown in fig. 6 and 7, in order to further reduce the volume of the driving device 1 in the case of outputting a large torque, the speed reducer 12 of the present embodiment may employ a planetary gear reducer 12. The speed reducer 12 includes an inner gear 128, a first sun gear 122, a plurality of first planet gears 123, a first planet carrier 124, a second sun gear 125, a plurality of second planet gears 126, and a second planet carrier 127. An output shaft of the speed reducer 12 is connected with a first sun gear 122, a first planet gear 123 is meshed with the first sun gear 122 and an inner gear 128 respectively, the first planet gear 123 is rotatably connected with a first planet carrier 124, and the first planet carrier 124 is rotatably connected with the inner gear 128; the first planet carrier 124 is connected with the second sun gear 125, the second planet gears 126 are respectively meshed with the second sun gear 125 and the inner gear ring 128, the second planet gears 126 are rotatably connected with the second planet carrier 127, and the second planet carrier 127 is rotatably connected with the inner gear ring 128.

When the speed reducer 12 works, the motor output shaft drives the first sun gear 122 to rotate, the first sun gear 122 drives the first planet gears 123 to rotate, and the first planet gears 123 drive 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 gears 126 to rotate, the second planet gears 126 drive the second planet carrier 127 to rotate, and the second planet carrier 127 drives the Mecanum wheel 2 to rotate. By adopting the two-stage planetary gear transmission structure, larger transmission ratio output can be realized under the condition of smaller occupied space.

As shown in fig. 1 and 5, the mecanum wheel 2 in this embodiment includes a support and a plurality of rollers 22 arranged along a circumferential direction of the support, the rollers 22 are rotatably connected with the support on an outer surface of the support, and an included angle between a rotation axis direction of the rollers 22 and a rotation axis direction of the support forms a preset angle, which is in a range of 0 to 90 degrees. The support is provided with a hollow accommodating cavity 214, at least a part of the driving device 1 is inserted into the accommodating cavity 214, the connecting portion 114 is exposed out of the accommodating cavity 214, and an output end of the driving device 1 is connected with the support from a side facing away from the connecting portion 114.

As shown in fig. 6, since the outer diameter of the mecanum wheel 2 is larger than that of the driving device 1, the bracket of the mecanum wheel 2 is hollow, so that the part of the driving device 1 consisting of the external brushless motor 11 and the decelerator 12 except the connecting part 114 can be hidden in the accommodating cavity 214 of the mecanum wheel 2, the inner space of the mecanum wheel 2 is skillfully utilized, and most of the space occupied by the driving device 1 is saved, so that the whole structure of the mecanum wheel 2 is more compact, the volume is obviously reduced, and the driving device 1 is not influenced to drive the mecanum wheel 2 to rotate. Since the driving device 1 only leaves the connection portion 114 exposed outside the Mecanum wheel 2, the reliable connection of the driving device 1 and the main body support of the omnidirectional mobile device is not affected. In addition, the external brushless motor 11 has small volume and large output torque, so that the driving device 1 is more easily hidden in the accommodating cavity 214 of the Mecanum wheel 2.

As an alternative but advantageous embodiment, as shown in fig. 3, the inner wall of the receiving chamber 214 on the bracket is cylindrical in this example, and the outer wall of the portion of the driving device 1 inserted into the receiving chamber 214 is cylindrical with a diameter smaller than the diameter of the inner wall of the receiving chamber 214.

In this embodiment, the inner wall of the accommodating cavity 214 and the other parts of the driving device 1 except the connecting part 114 are all cylindrical, so that when the driving device 1 drives the mecanum wheel 2 to rotate, the distance between the outer wall of the driving device 1 and the inner wall of the accommodating cavity 214 is not changed, the influence on the relative rotation between the mecanum wheel 2 and the driving device 1 during operation can be avoided, the shadow of the driving device 1 in the mecanum wheel 2 is realized, and the stability of the rotation of the mecanum wheel 2 during operation is ensured.

As an alternative but advantageous embodiment, as shown in fig. 4 and 6, the outer wall of the connecting portion 114 is tangential to the outer wall of the housing 112 in this example. With this structure, the connecting portion 114 and the housing 112 can be integrated, and the overall size of the outer wall of the outer brushless motor 11 can be reduced.

In this embodiment, the connection portion 114 and the rotation axis of the Mecanum wheel 2 are spaced apart from each other by a predetermined distance in the radial direction of the Mecanum wheel 2. In this embodiment, the connection portion 114 may be connected to the main body support of the omnidirectional mobile apparatus, and after the connection portion 114 is spaced from the axis of the rotation shaft of the mecanum wheel 2 by a predetermined distance in the radial direction of the mecanum wheel 2, the connection portion 114 may avoid a part of space for the main body support, so that the main body support may partially extend into the position above the connection portion 114 of the outer brushless motor 11, so as to increase the area of the overlapping portion of the main body support of the connection portion 114 in the axial direction of the outer brushless motor 11, thereby enabling the outer brushless motor 11 to form a more compact and reliable connection with the main body support. The aforementioned predetermined distance may be set according to the distance between the axis of the post-installation Mecanum wheel 2 and the main body bracket in the radial direction of the external brushless motor 11.

As an alternative but advantageous embodiment, a positioning mounting surface is provided on the first connection 114 in the present example, said positioning mounting surface being parallel to the axis of rotation of the mecanum wheel 2. The plane of the corresponding main body bracket, which is matched with the positioning installation surface, can also be arranged to be parallel to the axis of the rotating shaft of the Mecanum wheel 2. Thus, after the positioning mounting surface on the first connecting portion 114 is attached to the mounting surface of the main body bracket, the axis of the rotation shaft of the Mecanum wheel 2 can be parallel to the mounting surface of the main body bracket, so that the accuracy of the position of the axis of the rotation shaft of the Mecanum wheel 2 during mounting is improved.

As an alternative but advantageous embodiment, as shown in fig. 5, the bracket is formed by a splice of a first member 211 and a second member 212 in this example, one end of the roller 22 being in a rotational connection with the first member 211 and the opposite end being in a rotational connection with the second member 212. The rollers 22 of the Mecanum wheel 2 in this embodiment are mounted and fixed by brackets. Each roller 22 may be provided with a spindle for a particular installation. Each roller 22 is provided with a mounting hole at the center, a rotating shaft is mounted in the mounting hole, the end part of the rotating shaft extends out of the mounting hole, and the two ends of the rotating shaft are respectively connected with the first member 211 and the second member 212 for the rollers 22 to rotate around the rotating shaft, so that the rollers 22 can be rotatably connected with the bracket by adopting the structure. The shaft and its corresponding roller 22 may be assembled together at the time of installation, then one end of the 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 while the other end of the shaft is assembled to the second member 212. Such that the first member 211 and the second member 212 sandwich the roller 22.

As shown in fig. 7, the device for the mecanum wheel 2 of the present embodiment further includes a connecting piece 23, the output end of the driving device 1 is the reducer output shaft 121, a first mounting cavity 213 is provided on the first bracket, the first mounting cavity 213 is communicated with the accommodating cavity 214, the reducer output shaft 121 is mounted in the first mounting cavity 213, a first connecting hole 2111 is provided on the first member 211, a second connecting hole 2121 is provided on the second member 212, a third connecting hole 1211 is provided on the reducer output shaft 121, one end of the connecting piece 23 sequentially passes through the second connecting hole 2111, the first connecting hole 2121 and the third connecting hole 1211 and is in threaded connection with the third connecting hole 1211, and the other end is in abutment with the surface of the second member 212 opposite to the first member 211. Wherein the connection 23 may be a screw. An external thread is provided on the outer wall of the connection member 23, and an internal thread is provided on the inner wall of the third connection hole 1211.

The present embodiment inserts the assembled driving apparatus 1 into the accommodation chamber 214 of the bracket from the end of the bracket remote from the second member 212, and inserts the decelerator output shaft 121 into the first installation chamber 213, and then penetrates the connection piece 23 such that the side of the second member 212 remote from the second member 212 sequentially into the first connection hole 2111, the second connection hole 2121, and the third connection hole 1211, and then is screw-coupled with the third connection hole 1211. The outer diameter of the end of the connecting piece 23 far from the third connecting hole 1211 is larger than the inner diameter of the first connecting hole 2111, so that the connecting piece 23 can abut against the end of the second member 212 far from the first member 211 after being screwed with the third connecting hole 1211, thereby connecting the driving device 1, the first member 211 and the second member 212 together at one time.

The second member 212 is provided with a protruding portion 2122 protruding toward the first member 211, the first mounting cavity 213 is located in the protruding portion 2122, the second member 212 is recessed toward one end of the first member 211 in a direction away from the first member 211 to form a second mounting cavity 2123, and at least a portion of the second mounting cavity 2123 is located in the protruding portion 2122. For convenience of connection, in this embodiment, the output end of the speed reducer 12 is inserted into the first mounting cavity 213 of the first member 211, and the first mounting cavity 213 is inserted into the second mounting cavity 2123 of the second member 212, so that the output end of the speed reducer 12, the first member 211 and the second member 212 are nested, and the axial length of the driving device 1 for the Mecanum wheel 2 is further reduced.

Example 2

The present embodiment provides a robot comprising the mecanum wheel 2 device of embodiment 1.

In the foregoing, only the specific embodiments of the present utility model are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present utility model is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present utility model, and they should be included in the scope of the present utility model.

Claims

1. Mecanum wheel device, characterized in that it comprises:

2. The Mecanum wheel device according to claim 1, wherein an inner wall of the accommodating chamber on the bracket is cylindrical, and an outer wall of a portion of the driving device inserted into the accommodating chamber is cylindrical having a diameter smaller than that of the inner wall of the accommodating chamber.

3. The mecanum wheel device of claim 2, wherein an outer wall of the connection is tangential to an outer wall of the housing.

4. The mecanum wheel device according to claim 1 wherein the connection and the rotational axis of the mecanum wheel are separated by a predetermined distance in the radial direction of the mecanum wheel.

5. The Mecanum wheel device of claim 1, wherein a positioning mounting surface is provided on the connection portion, the positioning mounting surface being parallel to a rotational axis of the Mecanum wheel.

6. The Mecanum wheel device of claim 5, wherein the bracket is formed by a splice of a first member and a second member, one end of the roller being in rotational connection with the first member and the opposite end being in rotational connection with the second member.

7. The Mecanum wheel device according to claim 6, further comprising a connecting piece, wherein the output end of the driving device is the output shaft of the speed reducer, a first mounting cavity is arranged on the support and is communicated with the accommodating cavity, the output shaft of the speed reducer is arranged in the first mounting cavity, a first connecting hole is formed in the first member, a second connecting hole is formed in the second member, a third connecting hole is formed in the output shaft of the speed reducer, one end of the connecting piece sequentially penetrates through the second connecting hole, the first connecting hole and the third connecting hole and is in threaded connection with the third connecting hole, and the other end of the connecting piece is in butt joint with the surface of the second member, which faces away from the first member.

8. The Mecanum wheel device according to claim 7, wherein the second member is provided with a boss protruding toward the first member, the first mounting cavity is located in the boss, the second member is recessed toward one end of the first member in a direction away from the first member to form a second mounting cavity, and at least a part of the second mounting cavity is located in the boss.

9. The mecanum wheel device according to any one of claims 1 to 7 wherein the reducer is a planetary gear reducer.

10. Robot comprising a mecanum wheel device according to any of claims 1 to 9.