KR102500260B1 - Structure of mecanum wheel and manufacturing method thereof - Google Patents

Abstract

The present invention relates to a structure of a Mecanum wheel and a manufacturing method of a Mecanum wheel, and the structure of the Mecanum wheel includes: a plurality of roller members including a bush portion having a drive shaft through-hole formed therein, and a contact portion provided to surround the bush portion; a plurality of bracket members including a roller accommodating portion in which a portion of the roller member is accommodated to be exposed to the outside, and a roller drive shaft disposed parallel to the roller accommodating portion and passing through the drive shaft through-hole; When the roller drive shaft of the adjacent bracket member passes through the drive shaft through-hole of the roller member accommodated in the roller accommodating unit, the plurality of bracket members form a ring in a state in which the roller member is inclined with respect to the ground and a wheel body member formed by overmolding on the inner surface thereof. According to the above structure, the manufacturing method is simple, so productivity can be improved, and the thickness of the plastic of each part does not affect productivity. Productivity can be further improved by uniformly dispersing, and there is an excellent effect of easiness in recycling resources because steel-based parts are not used.

Description

Structure of mecanum wheel and manufacturing method of mecanum wheel {Structure of mecanum wheel and manufacturing method thereof}

The present invention relates to a structure of a mecanum wheel having a simple manufacturing method, improved productivity, and excellent recycling of resources because steel-based parts are not used, and a method for manufacturing a mecanum wheel.

In recent years, the field of application of mobile robots has been widening, and the level of expectations for mobile robots has increased. Examples include service robots to help the disabled, patients, and the elderly, and robots that have to perform various tasks in a complex and narrow environment.

Mobile robots that have been successfully applied and used in many industrial sites are generally driven by an independent two-wheel drive mechanism or a steering and driving mechanism. These existing mobile robots are robots There are many restrictions on its movement. For example, in the case of a service robot, when a person assisted by the robot tries to move in an arbitrary direction, the robot may interfere with the person's movement due to its own constraints, and may not rotate or turn in a narrow place. You may have to move to a large space or move on a complicated path to get there. Therefore, omnidirectional mobile robots are being studied. The omnidirectional robot improves the motor ability of the mobile robot and enables movement in three degrees of freedom (front and back, left and right, rotation) on a two-dimensional plane, so it can travel in any direction without changing the attitude of the wheels. At this time, various types of wheels such as omni-directional wheels including mecanum wheels may be used for the omnidirectional mobile robot.

A conventional 'electric wheelchair having Mecanum wheels driven by an in-wheel motor' is presented in Korean Patent Registration No. 10-1467081 (November 24, 2014).

However, the conventional mecanum wheel has a problem in that it is difficult to manufacture it as an injection molding integrated structure due to structural difficulties.

In addition, Mecanum wheels manufactured by assembling parts have been released in various ways by using and assembling plastic and steel-based materials. there is

The present invention has been made to solve the above-mentioned problems, and since the manufacturing method is simple, productivity can be improved, and productivity can be further improved by uniformly distributing the thickness of the plastic of each part so that it does not affect productivity, The purpose is to provide a Mecanum wheel structure and a manufacturing method of Mecanum wheels, which are excellent in recycling resources without using steel-based parts.

The structure of the Mecanum wheel according to the present invention includes a plurality of roller members including a bush portion having a drive shaft through hole and a contact portion provided surrounding the bush portion; a plurality of bracket members including a roller accommodating portion in which a portion of the roller member is accommodated to be exposed to the outside, and a roller drive shaft disposed parallel to the roller accommodating portion and passing through the drive shaft through-hole; When the roller drive shaft of the neighboring bracket member passes through the drive shaft through-hole of the roller member housed in the roller accommodating unit, the plurality of bracket members are connected in a ring shape, which is formed by overmolding on the inner surface Including the wheel body member, the roller driving shaft is inclined at a predetermined angle with respect to the axis of the wheel body member.

In the present invention, the bush portion is characterized in that irregularities are formed along the circumference of the outer circumferential surface.

In the present invention, the roller accommodating part has an open upper surface, a drive shaft fixing part into which the lower end of the roller drive shaft of the adjacent bracket member is inserted is formed on the lower surface, and the upper side of the roller drive shaft, the neighboring bracket It is characterized in that an upper surface closing portion is formed to block the open upper surface of the roller accommodating portion of the member.

In the present invention, the lower end of the roller driving shaft is characterized in that it is provided to be inserted into the driving shaft fixing part with a direction.

In the present invention, when the plurality of bracket members are connected in a ring shape, it is characterized in that the molten resin spill prevention bump is formed continuously along the circumferential edge.

On the other hand, a method for manufacturing a Mecanum wheel includes a first step of manufacturing a plurality of roller members including a bush portion having a drive shaft through hole and a contact portion provided to surround the bush portion; A plurality of bracket members including a roller accommodating part accommodated so that a portion of the roller member is exposed to the outside, and a roller drive shaft disposed parallel to the roller accommodating part and penetrating the drive shaft through-hole, the roller accommodating part A second step of assembling the plurality of bracket members to be connected in a ring shape when the roller drive shaft of the neighboring bracket member passes through the drive shaft through-hole of the roller member housed in; A third step of overmolding a wheel body member on an inner surface in a state in which the plurality of bracket members are assembled to be connected in a ring shape; including, the roller driving shaft is inclined at a predetermined angle with respect to the axis of the wheel body member It is a state.

In the present invention, when the plurality of bracket members are connected in a ring shape, it is characterized in that the molten resin spill prevention bump is formed continuously along the circumferential edge.

According to the structure of the Mecanum wheel and the manufacturing method of the Mecanum wheel of the present invention, there are the following effects.

First, when a roller drive shaft of a neighboring bracket member passes through the drive shaft through-hole of a roller member housed in a roller accommodating unit, a plurality of bracket members are connected in a ring shape while the roller member is inclined with respect to the ground, and the By forming a wheel body member by overmolding on the inner surface to manufacture a mecanum wheel in which the roller drive shaft is tilted at a predetermined angle with respect to the axis of the wheel body member, productivity can be improved because the manufacturing method is simple.

In addition, productivity can be further improved by uniformly distributing the plastic thickness of each part consisting of roller member, bracket member, and wheel body member so as not to affect productivity, and resource recycling is easy because steel-based parts are not used. great.

Second, since irregularities are formed along the outer circumference of the bush unit, the bush unit and the contact unit having different materials can be firmly fixed to each other during insert injection.

Third, the insertion protrusion of the roller driving shaft is inserted into the driving shaft fixing unit with a directionality, so that the roller member and the bracket member can be prevented from being disturbed after assembling them.

Fourth, when a plurality of bracket members are connected in a ring shape, molten resin outflow prevention jaws are continuously formed along the circumferential edge, so that molten resin is released to the outside when the wheel body member is injected due to the jaw structure continuously formed on the outer portion after assembling the bracket member. leakage can be prevented.

1 and 2 are views showing a roller member according to a preferred embodiment of the present invention.
Figure 3 is a view showing a bracket member according to a preferred embodiment of the present invention.
4 and 5 are views showing a process in which the roller member of FIG. 2 and the bracket member of FIG. 3 are assembled.
6 and 7 are views showing a state in which a plurality of roller members and a plurality of bracket members are connected in a ring shape.
8 and 9 are views showing a Mecanum wheel according to a preferred embodiment of the present invention in which the wheel body member is formed on the inner surface of FIG. 6 by overmolding.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Prior to this, the terms or words used in this specification and claims should not be construed as being limited to the usual or dictionary meaning, and the inventor appropriately uses the concept of the term in order to explain his/her invention in the best way. Based on the principle that it can be defined, it should be interpreted as meaning and concept consistent with the technical spirit of the present invention.

Therefore, since the embodiments described in this specification and the configurations shown in the drawings are only one of the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention, various alternatives may be used at the time of this application. It should be understood that there may be equivalents and variations.

The present invention relates to a structure and manufacturing method of a mecanum wheel among omni-directional wheels.

The structure of the Mecanum wheel according to a preferred embodiment of the present invention includes a roller member 100, a bracket member 200, and a wheel body member 300.

The roller member 100 preferably includes a bush portion 110 and a contact portion 150 as shown in FIGS. 1 and 2 .

The bush portion 110 has a cylindrical or barrel shape, and in this embodiment, the bush portion 110 has a barrel shape in which the central portion is more convex outward than both ends, as shown in FIG. 1 .

A drive shaft through hole 111 is formed in the bush portion 110 along the longitudinal direction.

Extensions 112 extending outward along the circumference are formed at both ends of the bush portion 110, and contact portions 150 to be described below are disposed between the extension portions 112 at both ends of the bush portion 110. .

It is preferable that irregularities 113 are formed along the circumference of the outer circumferential surface of the bush portion 110 . In this embodiment, a convex portion 113a is formed convexly around the outer circumferential surface of the bush portion 110, and a plurality of grooves 113b are formed in the convex portion 113a. A plurality of grooves 113b formed in the convex portion 113a become recessed portions 113b. The shape of the concavo-convex 113 presented in this specification is only one embodiment, and the concavo-convex 113 may be formed in various shapes according to the embodiment. In this way, when the irregularities 113 are formed along the circumference of the outer circumferential surface of the bush portion 110, the bush portion 110 and the contact portion 150 having different materials can be firmly fixed to each other during insert injection.

The bush unit 110 in contact with the roller drive shaft 250 is preferably made of a material capable of having durability and rigidity while having a low coefficient of friction so as to enable smooth rotation.

The contact portion 150 has a cylindrical or barrel shape, and in this embodiment, the contact portion 150 has a barrel shape with a central portion more convex outward as shown in FIG. 2 .

The contact part 150 is provided surrounding the bush part 110, and in this embodiment, the contact part 150 is disposed between the extension parts 112 at both ends of the bush part 110, so that the outer surface of the contact part 150 and the bush The outer surface of the extension part 112 at both ends of the part 110 is smoothly connected so that the overall appearance forms a barrel shape.

The extension part 112 of the bush part 110 protrudes outward than the contact part 150, so the total length of the bush part 110 is set to be longer than the whole length of the contact part 150. In this way, setting the total length of the bush portion 110 to be longer than the total length of the contact portion 150 is preferable in terms of preventing the contact portion 150 having high frictional force from contacting the side surface of the wheel body member 300 later. .

It is preferable that the contact portion 150 in contact with the external ground has a high friction coefficient characteristic so as not to slip, and at the same time, it is a flexible material for wear resistance and vibration damping function.

A plurality of roller members 100 configured as described above are assembled by a plurality of bracket members 200.

As shown in FIG. 3, the bracket member 200 preferably includes a roller accommodating part 210 and a roller driving shaft 250.

The roller accommodating part 210 is provided so that a portion of the roller member 100 is exposed to the outside. In this embodiment, the roller accommodating part 210 is provided along the longitudinal direction of the roller member 100 so that only half of it can be accommodated along the radial direction of the roller member 100 .

The upper surface of the roller accommodating part 210 is open, and the drive shaft fixing part 230 is formed in a groove shape on the lower surface of the roller accommodating part 210 . Therefore, as shown in FIG. 4, a portion of the outer surface of the roller member 100 accommodated in the roller accommodating unit 210 is exposed to the outside, the upper surface of the roller member 100 is exposed to the outside, and the lower surface of the roller member 100 is exposed to the outside. is closed

The roller drive shaft 250 is disposed parallel to the roller accommodating portion 210 on one side of the roller accommodating portion 210 as shown in FIG. 3 . At this time, the roller accommodating part 210 and the roller driving shaft 250 are not provided in parallel, and the inclination (S) of the roller accommodating part 210 with respect to the ground and the inclination (s) of the roller driving shaft 250 with respect to the ground are They may be arranged differently.

In addition, the roller drive shaft 250 can pass through the drive shaft through-hole 111 of the roller member 100 stored in the roller accommodating part 210 of the neighboring bracket member 200, as shown in FIGS. 4 and 5. arranged so that At this time, at the lower end of the roller drive shaft 250, there is an insertion protrusion 251 so that the lower end of the roller drive shaft 250 passing through the drive shaft through hole 111 is easily inserted into the drive shaft fixing part 230 on the lower surface of the roller receiving part 210. ) is formed. Furthermore, it is preferable that the insertion protrusion 251 of the roller driving shaft 250 is inserted into the driving shaft fixing part 230 with a direction to prevent it from being disturbed after assembly. To this end, in the present embodiment, the driving shaft fixing part 230 is not completely circular, but a portion extends outward on one side of the circular shape, and the insertion protrusion 251 is also formed in a shape corresponding to the shape of the driving shaft fixing part 230. has been Accordingly, the insertion protrusion 251 may be inserted into the driving shaft fixing part 230 with a directionality.

An upper surface closure part 260 is formed on the upper part of the roller drive shaft 250, and the upper surface closure part 260 is connected to the outer surface of the roller accommodating part 210. As shown in FIGS. 4 and 5 , the upper surface closure part 260 is provided to block the open upper surface of the roller receiving part 210 of the adjacent bracket member 200 .

As shown in FIGS. 4 and 5, the bracket member 200 configured as described above is a drive shaft through hole of the roller member 100 accommodated in the roller receiving portion 210 of any one bracket member 200 ( 111), when the roller drive shaft 250 of the neighboring bracket member 200 passes through, as shown in FIGS. 6 and 7, a plurality of bracket members 200 are connected in a ring shape. When the plurality of bracket members 200 are connected in a ring shape, a joint 220 is formed on the outside of the roller receiving portion 210 as shown in FIG. 4 so that there is no gap between each bracket member 200. . That is, on the outer side of the opposite side to which the roller drive shaft 250 of the roller accommodating part 210 is connected, the joint 220 is formed protruding outward, so that when the bracket member 200 is connected as shown in FIG. 5, any one bracket member The joint 220 of the 200 is in contact with the outer side and lower end of the roller receiving portion 210 of the neighboring bracket member 200, and a plurality of bracket members 200 are formed in a ring shape as shown in FIGS. 6 and 7. connected without In this way, the bracket member 200 is connected in a ring shape while partially overlapping the joint 220, and the contact area of the roller member 100 with the ground can be freely adjusted according to the number of bracket members 200. That is, as the number of roller members 100 increases, the contact area with the ground increases.

Considering the driving characteristics of the mecanum wheel, it is preferable that the roller driving shaft 250 of the roller member 100 is assembled in a state inclined at about 45 degrees with respect to the axis of the wheel body member 300 to be described below. In the example, it is shown that 10 roller members 100 are assembled as shown in FIG. 6 .

As such, when the plurality of bracket members 200 are connected in a ring shape, it is preferable that the molten resin outflow prevention bump 270 is continuously formed along the circumferential edge. To this end, in this embodiment, as shown in FIG. 3, the upper surface closure part 260 is connected to the outer surface of the roller accommodating part 210, and the edge of the upper surface closure part 260 and the outer surface of the roller accommodating part 210 are connected. A molten resin outflow prevention bump 270 is formed continuously in the shape of a protruding jaw. The molten resin outflow prevention bump 270 thus formed is continuously formed along the circumference of the upper surface where the upper surface closing part 260 is located when the plurality of bracket members 200 are connected in a ring shape as shown in FIG. 6, so that the bracket member 200 ) Due to the jaw structure continuously formed on the outer portion after assembly, it is possible to prevent the molten resin from leaking out when the wheel body member 300 is ejected.

As shown in FIG. 9 , the wheel body member 300 is formed by overmolding on an inner surface where a plurality of bracket members 200 are connected in a ring shape.

As mentioned above, when the plurality of bracket members 200 are connected in a ring shape, the molten resin outflow prevention bump 270 is continuously formed along the circumferential edge, so that the molten resin flows out when the wheel body member 300 is formed. It doesn't work.

The diameter (d) of the wheel body member 300 is formed to be smaller than the diameter (D) according to the outer spacing of the roller member 100, so that the ground does not touch the wheel body member 300, and durability and functionality are improved can make it

The wheel body member 300 is preferably made of a material with excellent durability and rigidity.

On the other hand, the manufacturing method of the mecanum wheel according to a preferred embodiment of the present invention can be made as follows.

First, as shown in FIGS. 1 and 2 , a plurality of roller members 100 including a bush portion 110 having a drive shaft through hole 111 formed thereon and a contact portion surrounding the bush portion 110 are manufactured. (Step 1)

The roller member 100 is preferably composed of two types of materials through insert molding in order to provide different functionalities for each part. That is, the bush part 110 in contact with the roller drive shaft 250 is preferably made of a material that can have durability and rigidity while having a low friction coefficient characteristic to enable smooth rotation, and the contact part 150 in contact with the external ground It is preferable to have a high friction coefficient characteristic to prevent slipping and at the same time be a flexible material for abrasion resistance and vibration damping function.

It is preferable to use one injection molding machine capable of producing the bush part 110 and the contact part 150 made of different materials in this way, but it is also possible to use two general injection molding machines capable of injecting only one material. possible. For companies using one injection molding machine capable of producing two moving materials, it is desirable to use automated equipment for insert work, but work by manpower is also possible.

Next, as shown in FIG. 3, a roller accommodating portion 210 accommodated so that a portion of the roller member 100 is exposed to the outside, and a roller disposed parallel to the roller accommodating portion 210 and penetrating the drive shaft through hole 111. A plurality of bracket members 200 including drive shafts 250 are manufactured, and as shown in FIGS. 4 and 5, the drive shaft through-hole 111 of the roller member 100 accommodated in the roller accommodating part 210, the neighboring When the roller drive shaft 250 of the bracket member 200 passes through, as shown in FIG. 6, a plurality of bracket members 200 are assembled to be connected in a ring shape. (Phase 2)

As such, the bracket member 200 is formed to maintain a circular shape during assembly, and the upper surface of the open roller accommodating part 210 is closed by the upper surface closure part 260 of the neighboring bracket member 200. clogged

In addition, the lower end of the roller driving shaft 250 is inserted into and fixed to the driving shaft fixing part 230 formed at the lower end of the roller accommodating part 210 of the neighboring bracket member 200, and the roller driving shaft 250 The lower end and the drive shaft fixing part 230 are formed in a directional shape.

Furthermore, after assembling the plurality of bracket members 200, the molten resin outflow prevention bump 270 is formed in a continuous jaw structure on the outer portion to prevent the molten resin from leaking out when the wheel body member 300 is ejected. can

Next, when the wheel body member 300 is overmolded on the inner surface as shown in FIGS. 8 and 9 in a state in which the plurality of bracket members 200 are assembled to be connected in a ring shape, the roller drive shaft of the roller member 100 ( 250) is inclined at about 45 degrees with respect to the axis of the wheel body member 300. (Step 3)

At this time, when the plurality of bracket members 200 are connected in a ring shape, the molten resin leakage prevention bump 270 is continuously formed along the circumferential edge, so that the molten resin does not flow out when the wheel body member 300 is formed.

The wheel body member 300 is preferably made of a material with excellent durability and rigidity.

According to the structure of the Mecanum wheel and the manufacturing method of the Mecanum wheel of the present invention, there are the following effects.

The manufacturing method is simple, and the plastic of each part composed of the roller member 100, the bracket member 200, and the wheel body member 300 is uniformly dispersed so that the thickness does not affect productivity, improving productivity, and steel-based It is easy to recycle resources because it does not use parts of

As described above, although the present invention has been described by the limited embodiments and drawings, the present invention is not limited thereto, and the technical spirit of the present invention and the following by those skilled in the art to which the present invention belongs Of course, various modifications and variations are possible within the equivalent scope of the claims to be described.

100: roller member 110: bush part
111: drive shaft through hole 113: unevenness
150: contact part 200: bracket member
210: roller receiving part 230: drive shaft fixing part
250: roller drive shaft 260: upper surface closure
270: molten resin outflow prevention bump 300: wheel body member

Claims (7)

a plurality of roller members including a bush portion having a drive shaft through hole and a contact portion provided to surround the bush portion;
a plurality of bracket members including a roller accommodating portion in which a portion of the roller member is accommodated to be exposed to the outside, and a roller drive shaft disposed parallel to the roller accommodating portion and passing through the drive shaft through-hole;
When the roller drive shaft of the neighboring bracket member passes through the drive shaft through hole of the roller member housed in the roller accommodating unit, the plurality of bracket members are connected in a ring shape, which is formed by overmolding on the inner surface Including; wheel body member;
A structure of a mecanum wheel in which the roller drive shaft is inclined at a predetermined angle with respect to the axis of the wheel body member. According to claim 1,
In the bush part,
Structure of the mecanum wheel, characterized in that irregularities are formed along the outer circumference. According to claim 1,
The roller storage unit,
An upper surface is open, and a drive shaft fixing part into which the lower end of the roller drive shaft of the neighboring bracket member is inserted is formed on the lower surface,
At the top of the roller drive shaft,
The structure of the mecanum wheel, characterized in that the upper surface closing portion is formed to block the open upper surface of the roller accommodating portion of the neighboring bracket member. According to claim 3,
The structure of the Mecanum wheel, characterized in that the lower end of the roller drive shaft is provided to be inserted into the drive shaft fixing part with a direction. According to claim 1,
The structure of the mecanum wheel, characterized in that when the plurality of bracket members are connected in a ring shape, a molten resin outflow prevention bump is continuously formed along the circumferential edge.
A first step of manufacturing a plurality of roller members including a bush portion having a drive shaft through hole and a contact portion provided to surround the bush portion;
Manufacturing a plurality of bracket members including a roller accommodating portion in which a portion of the roller member is accommodated so as to be exposed to the outside, and a roller drive shaft disposed parallel to the roller accommodating portion and passing through the drive shaft through-hole,
a second step of assembling the plurality of bracket members to be connected in a ring shape when the roller drive shaft of the adjacent bracket member passes through the drive shaft through hole of the roller member housed in the roller accommodating unit;
A third step of overmolding the wheel body member on the inner surface in a state in which the plurality of bracket members are assembled to be connected in a ring shape; including,
A method of manufacturing a mecanum wheel in which the roller drive shaft is inclined at a predetermined angle with respect to the axis of the wheel body member. According to claim 6,
In the second step,
A method of manufacturing a mecanum wheel, characterized in that when the plurality of bracket members are connected in a ring shape, molten resin outflow prevention bumps are continuously formed along the circumferential edge.

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