CN103600624A - Mecanum wheel base capable of being adjusted passively - Google Patents
Mecanum wheel base capable of being adjusted passively Download PDFInfo
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- CN103600624A CN103600624A CN201310489237.6A CN201310489237A CN103600624A CN 103600624 A CN103600624 A CN 103600624A CN 201310489237 A CN201310489237 A CN 201310489237A CN 103600624 A CN103600624 A CN 103600624A
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 7
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
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Abstract
本发明提供了一种可被动调整的麦克纳姆轮基座，包括基座、下基座、弹簧、销、麦克纳姆轮、轮轴、轴承和轴承用锁紧螺母，其中：上基座的侧面设置两个贯穿的腰孔，下基座的侧面相应位置设置两个贯穿的圆孔，销插入腰孔和圆孔之间以实现上基座与下基座的销接；上基座的下表面设置一个方形凹槽，下基座的上表面设置一个方形凸台，方形凹槽和方形凸台的相应位置上分别设置有两个半径相等的圆孔，弹簧放置于圆孔内；麦克纳姆轮安装在轮轴的左端；轮轴的另一端插入两个轴承的内圈后贯穿下基座；两个轴承背对背的安装于下基座中，拧紧轴承用锁紧螺母以实现轮轴与下基座的固定。使用本发明所述的基座可以保证麦克纳姆轮与地面之间足够的摩擦力。
The invention provides a passively adjustable mecanum wheel base, which includes a base, a lower base, a spring, a pin, a mecanum wheel, a wheel shaft, a bearing and a lock nut for the bearing, wherein: the upper base Two penetrating waist holes are set on the side, and two penetrating round holes are set on the side of the lower base, and the pins are inserted between the waist holes and the round holes to realize the pin connection between the upper base and the lower base; A square groove is arranged on the lower surface, a square boss is arranged on the upper surface of the lower base, and two round holes with equal radii are respectively arranged on the corresponding positions of the square groove and the square boss, and the spring is placed in the round hole; Mike The Namm wheel is installed on the left end of the axle; the other end of the axle is inserted into the inner rings of the two bearings and passes through the lower base; the two bearings are installed back to back in the lower base, and the lock nuts for the bearings are tightened to realize the connection between the axle and the lower base. Seat fixation. Using the base of the invention can ensure sufficient frictional force between the mecanum wheel and the ground.
Description
Technical field
The present invention relates to field of mechanical technique, particularly, relate to a kind of Mecanum wheel pedestal that can passive adjustment in support reaction direction.
Background technology
Mecanum wheels, with variety and the alerting ability of its motion, are widely used in intelligent family moving platform.But, only having in the situation that each Mecanum wheel in wheels can normally move, guarantee intelligent family moving platform is realized diversified mode of motion.In actual conditions, due to the planarization on ground, the constraints such as homogeneity of the homogeneity of friction coefficient and each Mecanum wheel carrying, tend to cause each Mecanum wheel in wheels to be subject to unbalanced load, particularly, from the friction force on ground, cannot guarantee that intelligent family moving platform can be according to predefined mode of motion and route proper motion.In addition, intelligent family moving platform is many times being undertaken the task of guaranteeing its top load bearing component attitude stabilization.So, on not too smooth road surface, under guaranteeing that whole intelligent family moving platform is according to the prerequisite of desired trajectory and predetermined way operation, should guarantee to greatest extent stationarity and the levelness of intelligent family moving platform vehicle frame.Therefore, seek each Mecanum wheel in a kind of assurance wheels and can obtain enough friction force, guarantee that as much as possible the device of intelligent family moving platform horizontal attitude just becomes important simultaneously.
Through retrieval, the suspension frame structure that patent of invention " automobile suspension arrangement " (201010537374.9) proposes can address this problem preferably, guarantees the good kiss the earth of each wheel.But, automobile hanging complicated structure, difficulty of processing is also larger.In addition, above-mentioned intelligent family moving platform is applied in the indoor environments such as laboratory, workshop more, and ground is relatively smooth, and do not need has larger side-play amount as automobile.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of Mecanum wheel pedestal that can passive adjustment in support reaction direction, realize when Mecanum wheel pedestal bears the outside support reaction of change, top base and bottom base can be to slide up and down the passive adjustment of mode under the constraint in pin and waist hole, and spring occurs flexible until reach balance with outside support reaction simultaneously.
For realizing above object, the invention provides a kind of Mecanum wheel pedestal that can passive adjustment in support reaction direction, comprise: top base, bottom base, spring, pin, Mecanum wheel, wheel shaft, bearing and bearing jam nut, wherein: the side of described top base arranges two waist holes of running through, the lateral location of described bottom base arranges two circular holes that run through, and described pin inserts between described waist hole and described circular hole to realize the pin joint of described top base and described bottom base; The lower surface of described top base arranges a square groove, the upper surface of described bottom base arranges a square boss, described square groove coordinates with square boss and has a gap between the two, on the relevant position of described square groove and described square boss, be respectively arranged with two circular holes that radius is equal, spring is positioned in described circular hole; Described Mecanum wheel is arranged on one end of described wheel shaft, after the inner ring of two described bearings of other end insertion of described wheel shaft, runs through described bottom base; Two back-to-back being installed in described bottom base of described bearing, tighten described bearing with jam nut to realize being connected of described wheel shaft and described bottom base.
Preferably, described waist hole and pin, and be free-running fit between the circular hole of bottom base side and pin.
Preferably, the position of the circular hole of the rigidity of described spring and square groove, square boss obtains according to the position calculation of the size of load and acting point.
Preferably, the size of the radius of the circular hole of described square groove, square boss and the degree of depth decide by the parameter of spring.
Preferably, the position of the circular hole of described waist hole and bottom base side and radius size are calculated by load, acting point position Synthesis.
Preferably, the length in described waist hole is determined by the stroke of the maximum perpendicular direction designing.
Compared with prior art, the present invention has following beneficial effect:
The present invention can realize when Mecanum wheel pedestal bears the outside support reaction of change, top base and bottom base can be to slide up and down the passive adjustment of mode under the constraint in pin and waist hole, spring occurs flexible until reach balance with outside support reaction simultaneously, to avoid Mecanum wheel to depart from ground, guarantee friction force enough between Mecanum wheel and ground.
Accompanying drawing explanation
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is decomposition chart of the present invention;
Fig. 3 is upper frame of the present invention and lower pedestal structure figure.
In figure: 1 is Mecanum wheel, 2 is wheel shaft, and 3 is axle sleeve, and 4 is top base, and 5 is spring, and 6 is pin, and 7 is bottom base, and 8 is bearing jam nut, and 9 is bearing, and 10 is waist hole, and 11,12,13 is circular hole, and 14 is square groove, and 15 is square boss.
The specific embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art further to understand the present invention, but not limit in any form the present invention.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of Mecanum wheel pedestal that can passive adjustment, comprise Mecanum wheel 1, wheel shaft 2, axle sleeve 3, top base 4, spring 5, sell 6, bottom base 7, jam nut 8 and bearing 9 for bearing, wherein: Mecanum wheel 1 is arranged on one end of wheel shaft 2, after the inner ring of the other end of wheel shaft 2 through axle sleeve 3 insertion bearings 9, run through bottom base 7, bearing 9 is back-to-back to be arranged in bottom base 7, tighten bearing with jam nut 8 to realize being connected of wheel shaft 2 and bottom base 7; The lower surface of top base 4 arranges a square groove 14, the upper surface of bottom base 7 arranges a square boss 15, correspondence position in square groove 14 and square boss 15 arranges respectively two circular holes 12,13 that radius is equal, and spring 5 is positioned in circular hole 12,13; Two waist holes 10 of running through are set in the side of top base 4, at the side of bottom base 7 correspondence position, two circular holes that run through 11 are set, sell between 6 insertion waist holes 10 and circular hole 11, thereby realize the pin joint of top base 4 and bottom base 7.
In the present embodiment, described square groove 14 and described square boss 15 are with certain free-running fit.
In the present embodiment, between described waist hole 10 and described pin 6 and described circular hole 11 and described pin 6, be free-running fit.
In the present embodiment, the position of the rigidity of described spring 5 and described circular hole 12,13 obtains according to the position calculation of the size of load and acting point.
In the present embodiment, the radius size of described circular hole 12,13 and the degree of depth decide by the parameter of described spring 5.
In the present embodiment, the position of described waist hole 10 and described circular hole 11 and radius size are calculated by load, acting point position Synthesis.
In the present embodiment, the length in described waist hole 10 is determined by the stroke of the maximum perpendicular direction designing.
The present embodiment is when practice, when the power at the touchdown point place of Mecanum wheel 1 increases, power passes to spring 5 by wheel shaft 2, bearing 3, bottom base 7, causes the amount of compression of spring 5 to increase, sell 6 under the directional tagging in top base 4 holes, the middle part of the side 10, upward sliding; Otherwise when the power at the touchdown point place of Mecanum wheel 1 reduces, the amount of compression of spring 5 reduces, under the directional tagging in the pin 6 waist holes 10 at top base 4, down sliding, to avoid Mecanum wheel 1 to depart from ground, guarantees friction force enough between Mecanum wheel 1 and ground.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310489237.6A CN103600624B (en) | 2013-10-17 | 2013-10-17 | Can the Mecanum wheel pedestal of passive adjustment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310489237.6A CN103600624B (en) | 2013-10-17 | 2013-10-17 | Can the Mecanum wheel pedestal of passive adjustment |
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| Publication Number | Publication Date |
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| CN103600624A true CN103600624A (en) | 2014-02-26 |
| CN103600624B CN103600624B (en) | 2015-12-09 |
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| CN201310489237.6A Expired - Fee Related CN103600624B (en) | 2013-10-17 | 2013-10-17 | Can the Mecanum wheel pedestal of passive adjustment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104494382A (en) * | 2015-01-13 | 2015-04-08 | 辽宁欣海弘业航空科技有限公司 | Independent suspension mechanism of intelligent Mecanum wheel movement platform |
| CN105667632A (en) * | 2016-01-04 | 2016-06-15 | 江苏科技大学 | Omnidirectional mobile platform for Mecanum wheels |
| CN112874650A (en) * | 2021-01-23 | 2021-06-01 | 张海丽 | Battlefield transportation machine |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101654039A (en) * | 2009-09-15 | 2010-02-24 | 东南大学 | Embedded type straight gear reversing Mecanum wheel |
| CN101954844A (en) * | 2009-07-15 | 2011-01-26 | 中国科学院沈阳自动化研究所 | Triphibian omnibearing moving mechanism |
-
2013
- 2013-10-17 CN CN201310489237.6A patent/CN103600624B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101954844A (en) * | 2009-07-15 | 2011-01-26 | 中国科学院沈阳自动化研究所 | Triphibian omnibearing moving mechanism |
| CN101654039A (en) * | 2009-09-15 | 2010-02-24 | 东南大学 | Embedded type straight gear reversing Mecanum wheel |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104494382A (en) * | 2015-01-13 | 2015-04-08 | 辽宁欣海弘业航空科技有限公司 | Independent suspension mechanism of intelligent Mecanum wheel movement platform |
| CN105667632A (en) * | 2016-01-04 | 2016-06-15 | 江苏科技大学 | Omnidirectional mobile platform for Mecanum wheels |
| CN105667632B (en) * | 2016-01-04 | 2019-04-23 | 江苏科技大学 | A Mecanum wheel omnidirectional mobile platform |
| CN112874650A (en) * | 2021-01-23 | 2021-06-01 | 张海丽 | Battlefield transportation machine |
| CN112874650B (en) * | 2021-01-23 | 2021-12-14 | 福建卓航特种设备有限公司 | Battlefield transportation machine |
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| CN103600624B (en) | 2015-12-09 |
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Granted publication date: 20151209 Termination date: 20181017 |