CN103600624B - Can the Mecanum wheel pedestal of passive adjustment - Google Patents
Can the Mecanum wheel pedestal of passive adjustment Download PDFInfo
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- CN103600624B CN103600624B CN201310489237.6A CN201310489237A CN103600624B CN 103600624 B CN103600624 B CN 103600624B CN 201310489237 A CN201310489237 A CN 201310489237A CN 103600624 B CN103600624 B CN 103600624B
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- bottom base
- mecanum wheel
- circular hole
- pin
- spring
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Abstract
The invention provides a kind of can the Mecanum wheel pedestal of passive adjustment, comprise pedestal, bottom base, spring, pin, Mecanum wheel, wheel shaft, bearing and bearing jam nut, wherein: the side of top base arranges two waist holes run through, the relevant position, side of bottom base arranges two circular holes run through, and pin inserts between waist hole and circular hole to realize the pin joint of top base and bottom base; The lower surface of top base arranges a square groove, and the upper surface of bottom base arranges a square boss, and the relevant position of square groove and square boss is respectively arranged with the circular hole that two radiuses are equal, spring is positioned in circular hole; Mecanum wheel is arranged on the left end of wheel shaft; Bottom base is run through after the other end of wheel shaft inserts the inner ring of two bearings; Two bearings are back-to-back to be installed in bottom base, tightens bearing jam nut to realize the fixing of wheel shaft and bottom base.Use pedestal of the present invention can ensure friction force enough between Mecanum wheel and ground.
Description
Technical field
The present invention relates to field of mechanical technique, particularly, relate to a kind of can the Mecanum wheel pedestal of passive adjustment on support reaction direction.
Background technology
Mecanum wheels, with its variety of moving and alerting ability, are widely used in intelligent family moving platform.But only have when each Mecanum wheel in wheels can normally run, guarantee intelligent family moving platform realizes diversified mode of motion.In a practical situation, due to constraints such as the homogeneities that the planarization on ground, the homogeneity of friction coefficient and each Mecanum wheel carry, each Mecanum wheel in wheels is often caused to be subject to unbalanced load, particularly from the friction force on ground, cannot ensure that intelligent family moving platform can according to the mode of motion preset and route proper motion.In addition, intelligent family moving platform is many times responsible for the task of ensureing its top load bearing component attitude stabilization.So, on not too smooth road surface, ensureing, under the prerequisite that whole intelligent family moving platform runs according to desired trajectory and predetermined way, stationarity and the levelness of intelligent family moving platform vehicle frame to be ensured to greatest extent.Therefore, seek each Mecanum wheel in a kind of guarantee wheels and can obtain enough friction force, ensure that the device of intelligent family moving platform horizontal attitude just becomes important simultaneously as much as possible.
Through retrieval, the suspension frame structure that patent of invention " automobile suspension arrangement " (201010537374.9) propose can address this problem preferably, ensures 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 environment such as laboratory, workshop more, and ground is relatively smooth, does not need as automobile, have larger side-play amount.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of can the Mecanum wheel pedestal of passive adjustment on support reaction direction, realize when Mecanum wheel pedestal bears the outside support reaction of variation, top base and bottom base can 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 can the Mecanum wheel pedestal of passive adjustment on 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 run through, the lateral location of described bottom base arranges two circular holes 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, the relevant position of described square groove and described square boss is respectively arranged with the circular hole that two radiuses are equal, spring is positioned in described circular hole; Described Mecanum wheel is arranged on one end of described wheel shaft, runs through described bottom base after the other end of described wheel shaft inserts the inner ring of two described bearings; Two described bearings are back-to-back to be installed in described bottom base, tightens described bearing with jam nut to realize connecting 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 size of load and the position calculation of 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 in the maximum perpendicular direction designed.
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 variation, top base and bottom base can 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, ensure friction force enough between Mecanum wheel and ground.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
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.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, the present embodiment provide a kind of can the Mecanum wheel pedestal of passive adjustment, comprise Mecanum wheel 1, wheel shaft 2, axle sleeve 3, top base 4, spring 5, pin 6, bottom base 7, bearing jam nut 8 and bearing 9, wherein: Mecanum wheel 1 is arranged on one end of wheel shaft 2, the other end of wheel shaft 2 passes after axle sleeve 3 inserts the inner ring of bearing 9 and runs through bottom base 7, bearing 9 is back-to-back to be arranged in bottom base 7, tightens bearing with jam nut 8 to realize connecting 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, arrange the equal circular hole 12,13 of two radiuses respectively at the correspondence position of square groove 14 and square boss 15, spring 5 is positioned in circular hole 12,13; Arrange two waist holes 10 run through in the side of top base 4, arrange two circular holes run through 11 at the side correspondence position of bottom base 7, pin 6 inserts between waist hole 10 and circular hole 11, thus realizes 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, described waist hole 10 and described pin 6 and be free-running fit between described circular hole 11 and described pin 6.
In the present embodiment, the rigidity of described spring 5 and the position of described circular hole 12,13 obtain according to the size of load and the position calculation of 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 in the maximum perpendicular direction designed.
The present embodiment is when practice, when the power at the touchdown point place of Mecanum wheel 1 increases time, power passes to spring 5 by wheel shaft 2, bearing 3, bottom base 7, causes the amount of compression of spring 5 to increase, then pin 6 is under the directional tagging in hole, top base 4 middle part of the side 10, upward sliding; Otherwise when the power at the touchdown point place of Mecanum wheel 1 reduces time, the amount of compression of spring 5 reduces, pin 6 is under the directional tagging in the waist hole 10 of top base 4, slide downward, to avoid Mecanum wheel 1 to depart from ground, ensures friction force enough between Mecanum wheel 1 and ground.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (5)
1. one kind can the Mecanum wheel pedestal of passive adjustment, it is characterized in that, 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 run through, the relevant position, side of described bottom base arranges two circular holes run through, described pin inserts to realize the pin joint of described top base and described bottom base between described waist hole and described circular hole, is free-running fit between the circular hole of described waist hole and pin and bottom base side and pin; 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, the relevant position of described square groove and described square boss is respectively arranged with the circular hole that two radiuses are equal, spring is positioned in described circular hole; Described Mecanum wheel is arranged on one end of described wheel shaft, runs through described bottom base after the other end of described wheel shaft inserts the inner ring of two described bearings; Two described bearings are back-to-back to be installed in described bottom base, tightens described bearing jam nut to realize the fixing of described wheel shaft and described bottom base.
2. according to claim 1 a kind of can the Mecanum wheel pedestal of passive adjustment, it is characterized in that, 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.
3. according to claim 1 and 2 a kind of can the Mecanum wheel pedestal of passive adjustment, it is characterized in that, the position of the circular hole of the rigidity of described spring and square groove, square boss obtains according to the size of load and the position calculation of acting point.
4. according to claim 1 a kind of can the Mecanum wheel pedestal of passive adjustment, it is characterized in that, 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.
5. according to claim 1 a kind of can the Mecanum wheel pedestal of passive adjustment, it is characterized in that, the length in described waist hole is determined by the stroke in the maximum perpendicular direction designed.
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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103600624A CN103600624A (en) | 2014-02-26 |
| CN103600624B true CN103600624B (en) | 2015-12-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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Families Citing this family (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 |
| CN105667632B (en) * | 2016-01-04 | 2019-04-23 | 江苏科技大学 | A kind of Mecanum wheel Omni-mobile platform |
| CN112874650B (en) * | 2021-01-23 | 2021-12-14 | 福建卓航特种设备有限公司 | Battlefield transportation machine |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101954844B (en) * | 2009-07-15 | 2012-07-25 | 中国科学院沈阳自动化研究所 | Triphibian omnibearing moving mechanism |
| CN101654039B (en) * | 2009-09-15 | 2012-02-01 | 东南大学 | Embedded type straight gear reversing Mecanum wheel |
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| CN103600624A (en) | 2014-02-26 |
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