CN219427839U - Mecanum wheel and mobile robot - Google Patents

Abstract

The utility model provides a Mecanum wheel and a mobile robot, and relates to the technical field of intelligent robots. The Mecanum wheel comprises a first shell, a second shell, a supporting piece and a buffer piece, wherein the first shell is fixedly connected with the second shell to form an installation cavity, the buffer piece and the supporting piece are both arranged in the installation cavity, the buffer piece is provided with a first cavity which is concave inwards and a second cavity which is concave outwards, the first shell is inserted into the first cavity, and the supporting piece is inserted into the second cavity. According to the Mecanum wheel and the mobile robot, the buffer piece is provided with the first cavity and the second cavity, external impact is relieved by means of the opening gaps of the first cavity and the second cavity, the buffer piece is arranged in the mounting cavity, the buffer structure is integrated in the Mecanum wheel, and when the mobile robot is used, the buffer structure does not need to be arranged outside the Mecanum wheel, so that design complexity of the mobile robot is reduced.

Description

Mecanum wheel and mobile robot

Technical Field

The utility model relates to the technical field of intelligent robots, in particular to a Mecanum wheel and a mobile robot.

Background

Mecanum wheels are omni-wheels commonly used in the field of mobile robots. Through adopting the Mecanum wheel, the mobile robot can realize the movement modes of forward movement, transverse movement, oblique movement, rotation, combination thereof and the like.

The existing Mecanum wheel does not have a buffering function. On uneven ground, a plurality of Mecanum wheels arranged on a mobile robot cannot land at the same time, so that the movement direction deviates from a preset track, and accurate omnidirectional movement cannot be realized. For this purpose, the usual damping method is to combine the Mecanum wheel with an external suspension system, and to reduce the influence of the ground on the Mecanum wheel by means of a damping structure in the suspension system. But the manner in which the mecanum wheels are combined with an external suspension system increases the overall size and complexity of the mobile robot.

Disclosure of Invention

The utility model provides a Mecanum wheel and a mobile robot, which are used for solving the defects that the Mecanum wheel needs to be combined with an external suspension system damping structure, the damping design is complex and the whole size is large in the mobile robot in the prior art.

The utility model provides a Mecanum wheel which comprises a first shell, a second shell, a supporting piece and a buffer piece, wherein the first shell is fixedly connected with the second shell to form an installation cavity, the buffer piece and the supporting piece are both arranged in the installation cavity, the buffer piece is provided with a first cavity which is concave inwards and a second cavity which is concave outwards, the first shell is inserted into the first cavity, and the supporting piece is inserted into the second cavity.

According to the Mecanum wheel provided by the utility model, a plurality of first cavities and a plurality of second cavities are alternately distributed along the circumferential direction of the buffer piece.

According to the Mecanum wheel provided by the utility model, the first shell is provided with the first clamping ring, the supporting piece is provided with the second clamping ring, the first clamping ring is inserted into the first cavity, and the second clamping ring is inserted into the second cavity.

According to the Mecanum wheel provided by the utility model, the radial sections of the first cavity and the second cavity are all fan-shaped.

According to the Mecanum wheel provided by the utility model, the Mecanum wheel further comprises a damping ring, the first shell is provided with a groove, and the damping ring is arranged in the groove.

According to the Mecanum wheel provided by the utility model, a plurality of first bulges are arranged on one side of the supporting piece, which faces the first shell; and/or, a plurality of second bulges are arranged on one side of the support piece facing the second shell.

According to the Mecanum wheel provided by the utility model, the Mecanum wheel further comprises a plurality of rollers, one end of each roller is connected with the first shell, the other end of each roller is connected with the second shell, and the plurality of rollers are uniformly distributed along the circumferential direction of the first shell.

According to the Mecanum wheel provided by the utility model, a plurality of first connecting lugs are arranged along the circumferential direction of the first shell, a plurality of second connecting lugs are arranged along the circumferential direction of the second shell, one end of each roller is connected with one first connecting lug, and the other end of each roller is connected with the corresponding second connecting lug.

The utility model also provides a mobile robot comprising a Mecanum wheel as described above.

According to the mobile robot provided by the utility model, the mobile robot further comprises a motor, the supporting piece is provided with a shaft hole, a motor shaft of the motor is inserted into the shaft hole, and the end part of the motor shaft is fixedly connected with the supporting piece.

According to the Mecanum wheel and the mobile robot, the buffer piece is provided with the first cavity and the second cavity, external impact is relieved by means of the opening gaps of the first cavity and the second cavity, the buffer piece is arranged in the mounting cavity, the buffer structure is integrated in the Mecanum wheel, and when the mobile robot is used, the buffer structure does not need to be arranged outside the Mecanum wheel, so that design complexity of the mobile robot is reduced.

Drawings

In order to more clearly illustrate the utility model or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is an exploded view of a Mecanum wheel provided by the present utility model;

FIG. 2 is a cross-sectional view of a Mecanum wheel provided by the utility model;

FIG. 3 is a schematic view of a buffer provided by the present utility model;

FIG. 4 is a schematic view of the structure of the first housing provided by the present utility model;

FIG. 5 is a schematic view of a support member according to the present utility model;

FIG. 6 is a second schematic view of a support member according to the present utility model;

FIG. 7 is a schematic view of a damping ring provided by the present utility model.

Reference numerals:

10. a first housing; 11. a first snap ring; 12. a first fastening hole; 13. a groove; 14. a first connection lug; 20. a second housing; 21. a second fastening hole; 22. the second connecting support lug; 30. a support; 31. a second snap ring; 32. a first protrusion; 33. a second protrusion; 34. a shaft hole; 40. a buffer member; 41. a first cavity; 42. a second cavity; 50. a damping ring; 60. a roller; 70. a fastener; 80. a motor; 81. a motor shaft; 90. and a fixing piece.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The features of the terms "first", "second" and the like in the description and in the claims of this application may be used for descriptive or implicit inclusion of one or more of the features. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

The Mecanum wheel provided by the present utility model is described below with reference to FIGS. 1-7.

The utility model provides a Mecanum wheel, as shown in fig. 1 and 2, this Mecanum wheel includes first casing 10, second casing 20, support piece 30 and bolster 40. The first housing 10 and the second housing 20 are fixedly connected to form a mounting cavity, and the buffer member 40 and the support member 30 are both disposed in the mounting cavity. As shown in fig. 3, the buffer member 40 has a first cavity 41 recessed inward and a second cavity 42 recessed outward. The first housing 10 is inserted into the first cavity 41, and the supporting member 30 is inserted into the second cavity 42.

As shown in fig. 4, the first housing 10 is provided with first fastening holes 12. As shown in fig. 1, the second housing 20 is provided with a second fastening hole 21. The fastener 70 passes through the first fastening hole 12 and the second fastening hole 21 to fix the first casing 10 and the second casing 20 together. As shown in fig. 4, a plurality of connection posts, each provided with one first fastening hole 12, are arranged along the circumferential direction of the first housing 10. A plurality of second fastening holes 21 are arranged along the circumferential direction of the second housing 20, and the second fastening holes 21 and the first fastening holes 12 are arranged in one-to-one correspondence. Alternatively, the fastener 70 is a screw, and the first fastening hole 12 and the second fastening hole 21 are screw holes, and the screw is installed in the first fastening hole 12 and the corresponding second fastening hole 21, so that the first housing 10 and the second housing 20 are butted together to form an installation cavity.

The support 30 is inserted into the second cavity 42, and the first housing 10 is inserted into the first cavity 41, so that the support 30 is connected to the first housing 10 through the buffer 40. Specifically, the support 30 is located in the mounting cavity, one end of the support 30 is in contact with the first housing 10, and the other end of the support 30 is in contact with the second housing 20. As shown in fig. 5 and 6, the support 30 has a columnar shape; the support 30 has a greater stiffness and provides a strong support for the cushion 40.

As shown in fig. 3, the buffer member 40 has a circular shape, and its wall surface is recessed inward to form a first cavity 41, and recessed outward to form a second cavity 42. Wherein the number of the first cavities 41 and the second cavities 42 may be one or more. As shown in fig. 3, a plurality of first cavities 41 and a plurality of second cavities 42 are provided along the circumferential direction of the cushion member 40. In a natural state, an opening gap is reserved between the first cavity 41 and the second cavity 42; when external impact is applied, the cavity walls of the first cavity 41 and the second cavity 42 are extruded and deformed, and the opening gap is reduced or even eliminated, so that the external impact is counteracted, and the effects of buffering and damping are achieved. Specifically, when the external impact is small, the opening gap is reduced, and buffering is realized; when the external impact is large, the opening gap disappears, the rigidity of the cushion 40 is enhanced, and the supporting performance is improved.

Alternatively, the cushioning member 40 is an elastic member having sufficient strength and elastic deformability. In an alternative embodiment, the buffer member 40 is a silicone member, which has good bending resistance and a large elastic coefficient. In other alternative embodiments, the cushioning member 40 is a structural member made of a rubber member or polyurethane composite material, or the like. Thus, the dual cushioning effect is achieved by the elasticity of the cushioning material 40 itself and the first and second cavities 41 and 42 provided on the cushioning material 40.

According to the Mecanum wheel provided by the utility model, the buffer member 40 is provided with the first cavity 41 and the second cavity 42, external impact is relieved by means of the opening gaps of the first cavity 41 and the second cavity 42, and the buffer structure is integrated in the Mecanum wheel by arranging the buffer member 40 in the mounting cavity, so that the damping structure is not required to be arranged outside the Mecanum wheel when the Mecanum wheel is used, and the design complexity of a mobile robot is reduced.

Specifically, the plurality of first cavities 41 and the plurality of second cavities 42 are alternately distributed along the circumferential direction of the cushion member 40.

As shown in fig. 3, the cushion member 40 has a plurality of first cavities 41 and a plurality of second cavities 42, and the plurality of first cavities 41 and the plurality of second cavities 42 are alternately arranged in the circumferential direction of the cushion member 40. Wherein, the bottoms of the first cavities 41 and the openings of the second cavities 42 are located on a first circumference, the openings of the first cavities 41 and the bottoms of the second cavities 42 are located on a second circumference, and the first circumference is located in the second circumference.

The Mecanum wheel provided by the utility model has the buffer member 40 provided with the plurality of first cavities 41 and the plurality of second cavities 42 which are alternately arranged along the circumferential direction, so that external impact can be relieved from all directions, and the damping effect can be exerted.

As shown in fig. 4, the first housing 10 is provided with a first snap ring 11. As shown in fig. 5, the support 30 is provided with a second snap ring 31. The first clamping ring 11 is inserted into the first cavity 41, and the second clamping ring 31 is inserted into the second cavity 42.

Specifically, as shown in fig. 4, the first snap ring 11 is an arc-shaped clamping block, a plurality of first snap rings 11 are arranged in the first housing 10, and the plurality of first snap rings 11 are located on the same circumference and distributed at equal intervals. It will be appreciated that the first snap ring 11 is in one-to-one correspondence with the first cavity 41. An annular groove is formed between the circumference surrounded by the plurality of first snap rings 11 and the inner wall of the first housing 10. Specifically, when the first snap rings 11 are inserted into the corresponding first cavities 41, the outer walls of the first snap rings 11 are tightly attached to the inner walls of the bottoms of the first cavities 41, the walls of the first cavities 41 pass through gaps between two adjacent first snap rings 11, and bottoms of the first cavities 41 are located in the annular grooves.

The support 30 includes a support body and a second snap ring 31 provided on an outer wall of the support body. Wherein, the supporting body is cylindrical, in order to lighten the weight of the whole supporting member 30, the supporting body is provided with a plurality of lightening slots. As shown in fig. 5 and 6, the second clamping ring 31 is an arc-shaped clamping block, and is provided with a plurality of second clamping rings. The plurality of second snap rings 31 are located on the same circumference and are equally spaced around the circumference of the support body. Wherein, a clamping groove is formed between the circumference formed by the surrounding of the second clamping rings 31 and the outer wall of the supporting main body. When the second clamping ring 31 is inserted into the second cavity 42, the inner walls of the bottoms of the second cavities 42 are attached to the inner walls of the second clamping rings 31, the walls of the cavities of the second cavities 42 pass through gaps between two adjacent second clamping rings 31, the supporting body is inserted into the first circumference, and the bottoms of the second cavities 42 are located in the clamping grooves.

According to the Mecanum wheel provided by the embodiment of the utility model, the first shell 10 is connected with the buffer member 40 through the first clamping ring 11, the buffer member 40 is connected with the support member 30 through the second clamping ring 31, and the connecting structure is simple and easy to assemble.

Specifically, the radial cross-sections of the first cavity 41 and the second cavity 42 are each sector-shaped.

Wherein the first cavity 41 and the second cavity 42 gradually increase in width in a direction extending from the opening to the cavity. That is, the first cavity 41 and the second cavity 42 are both cavity structures with small open bottom width. As shown in fig. 3, the radial cross section of the first cavity 41 is in a sector shape, and the central angle of the sector shape of the first cavity 41 is located in the first circumference. The radial cross section of the second cavity 42 is also fan-shaped, and the fan-shaped central angle of the second cavity 42 is located outside the second circumference.

Optionally, the cavity bottom arc length of the first cavity 41 is longer than the cavity bottom arc length of the second cavity 42. Of course, the cavity bottom arc length of the first cavity 41 and the cavity bottom arc length of the second cavity 42 may also be the same, and the size relationship between the cavity bottom arc length of the first cavity 41 and the cavity bottom arc length of the second cavity 42 is not specifically limited in this embodiment of the present utility model.

As shown in fig. 1, the mecanum wheel provided by the present utility model further comprises a damping ring 50. The first housing 10 is provided with a recess 13 and the damping ring 50 is mounted in the recess 13.

As shown in fig. 7, the damper ring 50 has a circular ring shape. As shown in fig. 4, the middle part of the first housing 10 is provided with a notch facing the groove 13 of the second housing 20. As shown in fig. 2, the damping ring 50 is clamped in the groove 13, and one side of the damping ring 50 away from the bottom of the groove 13 abuts against the end surface of the support member 30, so that vibration transmission between the first housing 10 and other components is isolated, and vibration absorption and energy dissipation are realized.

The support 30 is provided with a plurality of first protrusions 32 on a side facing the first housing 10; and/or, a side of the support 30 facing the second housing 20 is provided with a plurality of second protrusions 33.

As shown in fig. 6, the first protrusion 32 is a bar-shaped block extending radially along the support 30. The plurality of first protrusions 32 are radially disposed on the surface of the support 30. In addition, the first bump 32 may be other bump structures such as a bump or a ridge. The surface of the support 30 on the side facing the first housing 10 may be uneven due to the manufacturing error, and uneven friction caused by the uneven surface may be reduced by providing the first protrusions 32 on the surface. In addition, the first protrusion 32 abuts against the damping ring 50, so that the damping force between the damping ring 50 and the support 30 can be increased, and the damping effect in the damping process can be improved.

The support 30 is provided with a plurality of second protrusions 33 on a side facing the second housing 20. As shown in fig. 5, the second protrusion 33 is a sector, and a side of the support 30 facing the first housing 10 is provided with a plurality of sectors. Wherein the outer edge of the second protrusion 33 is flush with the outer edge of the support 30. Uneven friction between the side surface of the support 30 and the second housing 20 can be reduced by providing the second protrusions 33. It will be appreciated that the support 30 is provided with a first projection 32 on one side and a second projection 33 on the other side, reducing uneven friction from opposite sides of the support 30.

It should be noted that only the first protrusion 32 or the second protrusion 33 may be provided on the support 30, or the first protrusion 32 and the second protrusion 33 may be provided at the same time.

The present utility model provides a Mecanum wheel further comprising a plurality of rollers 60. Wherein one end of each roller 60 is connected to the first housing 10 and the other end is connected to the second housing 20. The plurality of rollers 60 are uniformly distributed along the outer circumference of the first housing 10.

As shown in fig. 1, the roller 60 is ellipsoidal. Connectors are provided at both ends of the roller 60, respectively. Wherein, the connector at one end of the roller 60 is fixedly connected with the first shell 10; the joint at the other end of the roller 60 is fixedly connected with the second housing 20.

Specifically, a plurality of first connection lugs 14 are provided in the circumferential direction of the first housing 10, a plurality of second connection lugs 22 are provided in the circumferential direction of the second housing 20, one end of the roller 60 is connected to the first connection lugs 14, and the other end of the roller 60 is connected to the second connection lugs 22.

According to the Mecanum wheel provided by the embodiment of the utility model, two ends of the rollers 60 are respectively connected with the first shell 10 and the second shell 20, and a plurality of rollers 60 are circumferentially distributed along the periphery of the first shell 10, so that the Mecanum wheel can move in all directions by means of rotation of the rollers 60.

In addition, the utility model also provides a mobile robot which comprises the Mecanum wheel.

By adopting the Mecanum wheel, the mobile robot does not need to be provided with a complex external shock absorption structure, so that the structural design of the mobile robot is simplified, and the size of the mobile robot is reduced.

The utility model provides a mobile robot still includes motor 80. As shown in fig. 5, the support 30 is provided with a shaft hole 34, and a motor shaft 81 of a motor 80 is inserted into the shaft hole 34 and fixedly connected to the support 30.

Specifically, the mobile robot includes a chassis and Mecanum wheels as described above. The casing of the motor 80 is fixed on the chassis, and the motor shaft 81 of the motor 80 is inserted into the shaft hole 34. As shown in fig. 5, the shaft hole 34 is a special-shaped hole such as a hexagonal hole, and the motor shaft 81 is inserted into the shaft hole 34 so as not to rotate relatively. In assembly, the motor shaft 81 is inserted into the shaft hole 34 from one side of the support 30, and the fixing member 90 is penetrated from the other side of the support 30 to fix the motor shaft 81. Alternatively, the fixing member 90 is a bolt or screw, or the like.

When the mobile robot walks, if external impact occurs, the first cavity 41 and the second cavity 42 deform, so that buffering is realized, and an opening gap between the first cavity 41 and the second cavity 42 can be closed when the impact is large, so that the overall rigidity of the support 30 and the buffer 40 which are arranged on the motor shaft 81 in a embracing way is improved, the influence of the external impact on the chassis is reduced, the damping performance is improved, and the mobile robot walks more stably.

By inserting the end of the motor shaft 81 into the shaft hole 34 and fixedly connecting the support member 30 and the motor shaft 81 with the fixing member 90, a stable connection of the support member 30 and the motor 80 can be achieved.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims (10)

1. The utility model provides a Mecanum wheel, its characterized in that includes first casing, second casing, support piece and bolster, first casing with second casing fixed connection forms the installation cavity, bolster with support piece all sets up in the installation cavity, wherein, the bolster has inwards sunken first cavity and outwards sunken second cavity, first casing peg graft in first cavity, support piece peg graft in second cavity.

2. The Mecanum wheel of claim 1, wherein a plurality of said first cavities and a plurality of said second cavities are alternately distributed along a circumference of said bumper.

3. The Mecanum wheel according to claim 1 or 2, wherein the first housing is provided with a first snap ring, the support is provided with a second snap ring, the first snap ring is inserted into the first cavity, and the second snap ring is inserted into the second cavity.

4. The Mecanum wheel of claim 1, wherein radial cross-sections of the first cavity and the second cavity are each fan-shaped.

5. The Mecanum wheel of claim 1, further comprising a dampening ring, the first housing being provided with a groove, the dampening ring being mounted within the groove.

6. The Mecanum wheel according to claim 4, wherein a side of the support facing the first housing is provided with a plurality of first protrusions; and/or, a plurality of second bulges are arranged on one side of the support piece facing the second shell.

7. The Mecanum wheel of claim 1, further comprising a plurality of rollers, each of said rollers having one end connected to said first housing and another end connected to said second housing, said plurality of rollers being circumferentially spaced about the periphery of said first housing.

8. The Mecanum wheel of claim 7, wherein a plurality of first connection lugs are provided along a circumferential direction of the first housing, a plurality of second connection lugs are provided along a circumferential direction of the second housing, one end of each of the rollers is connected to one of the first connection lugs, and the other end of the rollers is connected to the corresponding second connection lug.

9. Mobile robot comprising a mecanum wheel as claimed in any of claims 1 to 8.

10. The mobile robot of claim 9, further comprising a motor, wherein the support is provided with a shaft hole, a motor shaft of the motor is inserted into the shaft hole, and an end of the motor shaft is fixedly connected with the support.