CN105667632B - A kind of Mecanum wheel Omni-mobile platform - Google Patents
A kind of Mecanum wheel Omni-mobile platform Download PDFInfo
- Publication number
- CN105667632B CN105667632B CN201610003440.1A CN201610003440A CN105667632B CN 105667632 B CN105667632 B CN 105667632B CN 201610003440 A CN201610003440 A CN 201610003440A CN 105667632 B CN105667632 B CN 105667632B
- Authority
- CN
- China
- Prior art keywords
- mecanum
- mecanum wheel
- wheel
- vehicle frame
- mobile platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
- B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
- B60G3/207—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid the arms being essentially parallel to the longitudinal axis of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/13—Independent suspensions with longitudinal arms only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0069—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle
- B60K2007/0076—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle the motor axle being horizontal
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of Mecanum to take turns Omni-mobile platform, including vehicle frame, Mecanum wheel, independent suspension module, actuating unit, primary control box and battery pack.Each Mecanum wheel is arranged below vehicle frame by independent suspension module；Primary control box can carry out Collaborative Control to all Mecanum revolving speed taken turns and steering.The connecting plate and damper that independent suspension module includes two cantilevers arranged in parallel, is fixedly connected with two cantilevers；One end of damper is connect with connecting plate, and the other end of damper is connected with vehicle frame；Wherein one end of two cantilevers passes through rolling bearing units and is connected with the transmission shaft for being set with Mecanum wheel.After adopting the above structure, omnidirectional moving can planar be neatly realized, it is simple and reliable for structure, integrated carrying ability is strong, and can guarantee that Mecanum wheel and ground come into full contact with, the running stability and control precision of mobile platform are improved, while having compact-sized, strong applicability is suitble to the characteristics of promoting.
Description
Technical field
The present invention relates to a kind of mobile devices, belong to transport conveyor technical field, and especially a kind of Mecanum wheel is complete
To mobile platform.
Background technique
With the continuous continuous development expanded with automatic control technology of manufacturing industry scale, based on wheel moving platform
The mobile device that carries obtained in the fields such as automated manufacturing, storage Material Transportation, industrial robot and daily life
A large amount of application.Conventional drum mobile device usually exist turning radius it is big, can not many unfavorable factors such as lateral displacement, therefore
Space utilization rate is low when its operation, and kinematic dexterity is poor.
Compared with other omni-directional wheels such as ball wheel, continuous switching wheel, Mecanum wheel has stronger bearing capacity；While because
For the special construction of Mecanum wheel, the Omni-mobile platform based on Mecanum wheel is not needed exclusively for wheel design turning machine
Structure.Currently, using Mecanum take turns technology as the all-around mobile equipment of representative can on two-dimensional surface realize around and
It the movement such as rotates in place, has in the case where not changing car body itself pose to the kinetic characteristic that any direction is mobile.Its energy
The defect for overcoming Conventional drum mobile device to cannot achieve transverse shifting and rotate in place, thus it is flexible with bigger movement
Property, it is especially suitable for working in the narrow occasion crowded, moving line is tortuous, more demanding to kinematic dexterity in operating space.
Mecanum takes turns Omni-mobile equipment at work, and athletic ground can not be substantially flat, this will be caused
The roller structure of Mecanum wheel is inevitably present the phenomenon that " hitting ground ", thus to body movement stationarity and its movement
Precision has an adverse effect.
Application No. is 201410427677 patent application (BJ University of Aeronautics & Astronautics, a kind of wheelspan stepless adjustable
Omni-directional moving platform chassis), a kind of omni-directional moving platform chassis of wheelspan electrodeless adjustment formula is disclosed, it is used
Mecanum wheel realizes all-around mobile, and vehicle is divided into four modules with modular design method, and each module uses rolling
Ballscrew, which is connected, realizes the function of wheelspan adjusting.
Chassis in above-mentioned patent application because chassis actually belongs to rigid body structure, therefore encounters ground after wheelspan adjusting
Slightly out-of-flatness will result in car body and obviously shake, and influence to control precision.
Summary of the invention
In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a kind of Mecanum wheel is complete
To mobile platform, the Mecanum take turns Omni-mobile Platform Machinery it is simple and reliable for structure, run smoothly, Mecanum wheel can always with
Ground face contact has stronger obstacle climbing ability and bearing capacity.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of Mecanum wheel Omni-mobile platform, including vehicle frame, Mecanum wheel, independent suspension module, power transmission dress
It sets, primary control box and battery pack；
Each Mecanum wheel is arranged below vehicle frame by independent suspension module, and each Mecanum wheel is all connected with one
Actuating unit；
Primary control box and battery pack are arranged in the lower section of vehicle frame, primary control box can to all Mecanum revolving speed taken turns and turn into
Row Collaborative Control.
The connecting plate that the independent suspension module includes two cantilevers arranged in parallel, is fixedly connected with two cantilevers
And damper；One end of damper is connect with connecting plate, and the other end of damper is connected with vehicle frame；Wherein the one of two cantilevers
End is connected by rolling bearing units with the transmission shaft for being set with Mecanum wheel.
The other end of two cantilevers is fixedly connected on optical axis, and the both ends of optical axis pass through rolling bearing units and vehicle frame
It is connected.
A bracket is each provided between the damper and connecting plate and vehicle frame, damper is connect with holder pivots.
Axle sleeve is provided between the Mecanum wheel and transmission shaft.
Each Mecanum wheel includes that two wheel hub disks, roller and roller mandrel, roller are coaxially fixedly set in
The periphery of roller mandrel, the roller mandrel both ends for being set with roller are connected with revolute pair and are distributed in the circumference of wheel hub disk.
Each Mecanum wheel further includes the central connector with the coaxial arrangement of wheel hub disk, central connector position
In in the cavity that roller is enclosed, the both ends of central connector are fixedly connected with two wheel hub disks respectively.
Each actuating unit includes retarder and direct current generator, and one end of retarder is connected with direct current generator
It connects, the other end of retarder is connected with the transmission shaft for being set with Mecanum wheel.
The retarder is worm type of reduction gearing, the axis of direct current generator and the axis perpendicular of transmission shaft.
The bottom of frame is provided centrally with lock chamber, and primary control box and battery pack are mounted in the lock chamber.
The present invention with the above structure, it has the following beneficial effects:
1. the setting of above-mentioned Mecanum wheel, does not need exclusively for wheel design steering mechanism, and only need to be using between each wheel
Revolving speed and mutuals cooperation turned to achieve that the movement of mobile platform planar any direction, and especially it, which has, realizes cross
To sidesway, particular advantages such as (zero turning radius) are rotated in place, so that the kinematic dexterity of whole device is significantly improved.
2. the setting of above-mentioned independent suspension module, when encountering ground out-of-flatness, except bumper and absorbing shock can be played to car body
Effect is outer, moreover it is possible to guarantee coming into full contact between wheel and ground.Compared with rigid body suspension, platform movement can be significantly improved
Stability.In addition in the process of running, the wheelspan of vehicle, wheelbase change very little, and ensure that the control precision of platform movement.
3. the setting of above-mentioned worm type of reduction gearing can be such that direct current generator and transmission shaft is disposed vertically.In addition, primary control box and
Battery pack is mounted in the lock chamber of vehicle frame, so that Omni-mobile platform overall structure is more compact.
4. damper installation has general interchangeability, convenient for being replaced according to different load-carrying operating conditions, so that Omni-mobile
Platform stabilization and comfort are adjustable in a certain range.
5. the setting of above-mentioned Mecanum wheel, so that mobile platform bearing capacity is strong, platform maximum load-carrying capacity is 250 public
Jin (without self weight).
Detailed description of the invention
Fig. 1 is the main view of Mecanum wheel Omni-mobile platform of the present invention；
Fig. 2 is the left view of Mecanum wheel Omni-mobile platform of the present invention；
Fig. 3 is the bottom view of Mecanum wheel Omni-mobile platform of the present invention；
Fig. 4 is the axonometric drawing of Mecanum wheel Omni-mobile platform of the present invention；
Fig. 5 is the independent suspension module axonometric drawing of Mecanum wheel Omni-mobile platform of the present invention.
Fig. 6 is the Mecanum wheel explosive view of Mecanum wheel Omni-mobile platform of the present invention.
Fig. 7 is the independent suspension module partial sectional view of Mecanum wheel Omni-mobile platform of the present invention.
In figure:
1. vehicle frame；11. lock chamber；
2. independent suspension module；
21. cantilever；22. connecting plate；23. rolling bearing units；24. optical axis；25. bracket；26. damper；
3.Mecanum wheel；
31. wheel hub disk；32. central connector；33. roller；34. roller mandrel；
4. actuating unit；
41. retarder；42. direct current generator；43. transmission shaft；431. key；432. axle sleeve；433. holding screw；
5. primary control box；
6. battery pack.
Specific embodiment
Xia Mianjiehefutuhejuti compare Jia Shishifangshiduibenfamingzuojinyibuxiangxishuoming.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of Mecanum takes turns Omni-mobile platform, including vehicle frame 1, Mecanum wheel
3, independent suspension module 2, actuating unit 4, primary control box 5 and battery pack 6.
The quantity of Mecanum wheel 3 is preferably 4, and 4 Mecanum wheels 3 are distributed in four edges of 1 lower section of vehicle frame.
The quantity of Mecanum wheel 3 also can according to need, and be set as multiple, also within the scope of the present invention.
Each Mecanum wheel 3 is connect by independent suspension module 2 with vehicle frame 1, and each Mecanum wheel 3 is all connected with one
Actuating unit 4.
Vehicle frame 1 is preferably angle steel welded type vehicle frame, and intensity is high, and light-weight, the load capacity of platform is strong.
1 bottom centre of vehicle frame is preferably provided with lock chamber 11, and primary control box 5 and battery pack 6 are installed in the lock chamber 11.
On the one hand space utilization rate is improved, on the other hand also plays certain protective effect.
Above-mentioned primary control box 5 corresponds to the control system of Omni-mobile platform, can to all Mecanum take turns 3 revolving speed with turn
To progress Collaborative Control；Battery pack 6 can be powered for the control system of entire mobile platform.
As shown in figure 5, each actuating unit 4 includes retarder 41, motor and transmission shaft 43, motor is preferred
For direct current generator 42.
One end of retarder 41 is connected with direct current generator 42, and the other end of retarder 41 takes turns 3 with Mecanum is set with
Transmission shaft 43 is connected.
Further, above-mentioned retarder 41 is preferably worm type of reduction gearing, axis and the transmission shaft 43 of direct current generator 42
Axis perpendicular.This setup is compared with the deceleration of common planetary gear, and mobile platform structure can be made more compact,
Convenient for assembly.
The revolving speed of above-mentioned 5 Neng Dui of primary control box No. tetra- direct current generator 42 and steering carry out Collaborative Control, to realize that omnidirectional moves
The movement of moving platform planar any direction.
As shown in fig. 6, each Mecanum wheel 3 includes two wheel hub disks 31, central connector 32, roller 33 and roller
Sub- mandrel 34.
Roller 33 is coaxially fixedly set in the periphery of roller mandrel 34, is set with 34 liang of several roller mandrels of roller 33
End is connected with revolute pair and is preferably evenly distributed through on 31 circumference of two wheel hub disks.
Above-mentioned central connector 32 is located at roller 33 and encloses shape with the preferred coaxial arrangement of wheel hub disk 31, central connector 32
At cavity in, the both ends of central connector 32 are fixedly connected with two wheel hub disks 31 respectively.
Above-mentioned central connector 32 and two wheel hub disks 31 all have the central through hole that can be sleeved on transmission shaft 43.
The roller 33 of above-mentioned Mecanum wheel 3 is both ends supporting way, and wheel hub disk 31 is high hardness alloy workpiece, is made
Obtaining the Mecanum wheel 3 of the invention used has higher lifting capacity.
The quantity of above-mentioned independent suspension module 2 is preferably also 4, and it is only that each independent suspension module 2 is both preferably trailing arm type
Vertical suspension.
As shown in figure 5, each independent suspension module 2 includes two cantilevers 21, connecting plate 22, several rolling bearing units
23,24, two brackets 25 of optical axis and damper 26.
Two cantilevers 21 are arranged in parallel, and preferred length is equal.
The middle part of two cantilevers 21 is arranged in above-mentioned 22 preferred vertical of connecting plate, and connecting plate 22 is preferably the angle steel of L-type, even
The both ends of fishplate bar 22 and the inner sidewall of two cantilevers 21 are welded and fixed.
The top center of above-mentioned connecting plate 22 is preferably fixedly welded with a bracket 25, the other end of damper 26 it is also preferred that
It is connected by bracket 25 with 1 bottom of vehicle frame.Bracket 25 and damper 26, which are both preferably, to be rotatablely connected.
Wherein one end of two cantilevers 21, left-hand end bottom as shown in Figure 5 are each provided with a rolling bearing units 23.Pass through
Two rolling bearing units 23 are connected with the transmission shaft 43 for being set with Mecanum wheel 3.
As shown in fig. 7, being further preferably provided with the axle sleeve of energy axially position between above-mentioned Mecanum wheel 3 and rolling bearing units 23
432.Transmission shaft 43 transmits torque by key 431, realizes radial positioning using holding screw 433.
The other end of two cantilevers 21 is fixedly connected on optical axis 24, is preferably welded on optical axis 24.The two of optical axis 24
End is each provided with a rolling bearing units 23, and the pedestal of the rolling bearing units 23, which is preferably fixed with 11 side wall of lock chamber on vehicle frame 1, to be connected
It connects.
In the actual moving process of Omni-mobile platform, since ground is unlikely to be absolutely smooth, if on not
The setting of independent suspension module 2 is stated, i.e. wheel and chassis is rigid connection.In this way, wheel contacts will occur less than ground
Or the case where insufficient contact, cause wheel to dally or skid.Wheel in the case where idle running, platform will not be four-wheel drive from
And it can not achieve all-around mobile；It skids if it is wheel, then the frictional force on the wheel and ground can become smaller, meeting in this way
The running track of mobile platform is set error occur.
The setting of above-mentioned independent suspension module 2 can guarantee coming into full contact with for four Mecanum wheel and ground, wheel
Bounce will be absorbed by damper 26 and cannot be transmitted to entire car body, to effectively increase stationarity；On the other hand, damper
In spring rate it is moderate change four wheel bases and wheelspan in minimum range, to ensure that control precision.In addition, also
The damper of different-stiffness coefficient can be replaced according to different load-carrying operating conditions, there is general interchangeability in mechanical structure.
The preferred embodiment of the present invention has been described above in detail, still, during present invention is not limited to the embodiments described above
Detail a variety of equivalents can be carried out to technical solution of the present invention within the scope of the technical concept of the present invention, this
A little equivalents all belong to the scope of protection of the present invention.
Claims (3)
1. a kind of Mecanum takes turns Omni-mobile platform, it is characterised in that: including vehicle frame, Mecanum wheel, independent suspension module, move
Force actuators, primary control box and battery pack；Each Mecanum wheel is arranged below vehicle frame by independent suspension module, each
Mecanum wheel is all connected with an actuating unit；The lower section of vehicle frame is arranged in primary control box and battery pack, and primary control box can be to all
The revolving speed of Mecanum wheel and steering carry out Collaborative Control；The independent suspension module include two cantilevers arranged in parallel,
The connecting plate and damper that two cantilevers are fixedly connected；One end of damper is connect with connecting plate, the other end of damper with
Vehicle frame is connected；Wherein one end of two cantilevers passes through rolling bearing units and is connected with the transmission shaft for being set with Mecanum wheel；Two
The other end of cantilever described in root is fixedly connected on optical axis, and the both ends of optical axis pass through rolling bearing units and are connected with vehicle frame.
2. Mecanum according to claim 1 takes turns Omni-mobile platform, it is characterised in that: each Mecanum wheel is equal
Including two wheel hub disks, roller and roller mandrel, roller is coaxially fixedly set in the periphery of roller mandrel, is set with roller
Roller mandrel both ends are connected with revolute pair and are distributed in the circumference of wheel hub disk；Each Mecanum wheel further include with
The central connector of wheel hub disk coaxial arrangement, central connector are located in the cavity that roller is enclosed, central connector
Both ends are fixedly connected with two wheel hub disks respectively.
3. Mecanum according to claim 1 takes turns Omni-mobile platform, it is characterised in that: each power transmission dress
Setting includes retarder and direct current generator, and one end of retarder is connected with direct current generator, the other end of retarder be set with
The transmission shaft of Mecanum wheel is connected；The retarder is worm type of reduction gearing, the axis of direct current generator and the axis of transmission shaft
Line is perpendicular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610003440.1A CN105667632B (en) | 2016-01-04 | 2016-01-04 | A kind of Mecanum wheel Omni-mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610003440.1A CN105667632B (en) | 2016-01-04 | 2016-01-04 | A kind of Mecanum wheel Omni-mobile platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105667632A CN105667632A (en) | 2016-06-15 |
| CN105667632B true CN105667632B (en) | 2019-04-23 |
Family
ID=56298797
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610003440.1A Active CN105667632B (en) | 2016-01-04 | 2016-01-04 | A kind of Mecanum wheel Omni-mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105667632B (en) |
Families Citing this family (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741299A (en) * | 2016-12-21 | 2017-05-31 | 深圳若步智能科技有限公司 | A kind of merchandising machine people's body structure based on Mecanum wheel |
| CN108215654B (en) * | 2016-12-22 | 2023-11-03 | 北京京东乾石科技有限公司 | Wheel and transport vehicle |
| CN106515346A (en) * | 2016-12-26 | 2017-03-22 | 芜湖哈特机器人产业技术研究院有限公司 | Suspension fork structure of transfer car |
| CN106629482A (en) * | 2017-02-27 | 2017-05-10 | 青岛霍博智能设备有限公司 | turnover multi-functional omnidirectional mobile platform vehicle |
| CN106882034A (en) * | 2017-03-17 | 2017-06-23 | 西南交通大学 | A kind of supporting construction of power wheel |
| CN106938666A (en) * | 2017-03-17 | 2017-07-11 | 西南交通大学 | A kind of all-terrain moving robot chassis |
| CN107297744A (en) * | 2017-06-16 | 2017-10-27 | 江苏科技大学 | A kind of multifunctional household mobile device and its paths planning method |
| CN107310378A (en) * | 2017-07-19 | 2017-11-03 | 深圳航天科技创新研究院 | Multidirectional motion car body |
| CN107953342A (en) * | 2017-11-30 | 2018-04-24 | 北京建筑大学 | One kind endowment disabled aiding robot Omni-mobile platform |
| CN108819647A (en) * | 2018-07-10 | 2018-11-16 | 苏州宏奇锐自动化有限公司 | A kind of wheeled supporting mechanism of robot |
| CN108942864A (en) * | 2018-08-01 | 2018-12-07 | 东南大学 | A kind of shared bicycle intelligent management robot based on mobile platform |
| CN110498060B (en) * | 2019-08-15 | 2022-06-28 | 燕山大学 | Mecanum wheel series branched chain leg and omnidirectional moving posture adjusting platform thereof |
| CN110588839A (en) * | 2019-10-17 | 2019-12-20 | 河海大学常州校区 | Service robot removes chassis based on mecanum wheel |
| CN110851775B (en) * | 2019-10-31 | 2023-06-13 | 江苏大学 | Motion analysis method of Mecanum wheel omnibearing mobile platform |
| CN110962923B (en) * | 2019-11-13 | 2021-12-14 | 北京建筑大学 | All-terrain suspension steering device |
| CN111113363A (en) * | 2019-12-31 | 2020-05-08 | 西安交通大学 | Arm moving platform suitable for complicated road conditions |
| CN111114415B (en) * | 2020-03-09 | 2024-05-31 | 安徽兴宇轨道装备有限公司 | Trolley of carriage trailer |
| CN111409737A (en) * | 2020-03-27 | 2020-07-14 | 吉林大学 | Electric carrying platform without steering system and capable of moving in all directions and control method thereof |
| CN112276447B (en) * | 2020-10-23 | 2023-07-18 | 金陵科技学院 | Electric welding device for building construction |
| CN112677702A (en) * | 2020-12-23 | 2021-04-20 | 沈机（上海）智能***研发设计有限公司 | Parallel double Mecanum wheel set and mobile equipment |
| CN113580025A (en) * | 2021-07-14 | 2021-11-02 | 中国长江三峡集团有限公司 | Mecanum wheel brake door panel spraying device with uniform stress and control method |
| CN116048012B (en) * | 2022-11-02 | 2024-05-03 | 盐城工学院 | Heavy-load mecanum-wheel mobile platform suspension structure and anti-unbalanced-load motion track control method thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3746112A (en) * | 1970-12-14 | 1973-07-17 | B Ilon | Directionally stable self propelled vehicle |
| US3876255A (en) * | 1972-11-13 | 1975-04-08 | Ilon B E | Wheels for a course stable selfpropelling vehicle movable in any desired direction on the ground or some other base |
| CN202896207U (en) * | 2012-09-28 | 2013-04-24 | 浙江国自机器人技术有限公司 | All-dimensional mobile chassis |
| CN203381701U (en) * | 2012-02-23 | 2014-01-08 | 库卡罗伯特有限公司 | Mobile robot |
| CN103600624A (en) * | 2013-10-17 | 2014-02-26 | 上海交通大学 | Mecanum wheel base capable of being adjusted passively |
| CN104149857A (en) * | 2014-08-27 | 2014-11-19 | 北京航空航天大学 | Wheel track stepless regulation type omnibearing mobile platform truck chassis |
| CN104875575A (en) * | 2014-03-19 | 2015-09-02 | 上海瀚创机器人技术有限公司 | Independent suspension support mechanism of AGV (automatic guided vehicle) with Mecanum wheels |
| CN104908547A (en) * | 2015-06-19 | 2015-09-16 | 北京特种机械研究所 | Mecanum wheel device capable of independently and self-adaptively carrying out downward pressing |
| CN204712815U (en) * | 2015-05-19 | 2015-10-21 | 上海智远弘业机器人有限公司 | A kind of suspension gear for Mecanum wheel sliding platform |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202911836U (en) * | 2012-10-24 | 2013-05-01 | 武汉汉迪机器人科技有限公司 | Omni-directional moving platform |
-
2016
- 2016-01-04 CN CN201610003440.1A patent/CN105667632B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3746112A (en) * | 1970-12-14 | 1973-07-17 | B Ilon | Directionally stable self propelled vehicle |
| US3876255A (en) * | 1972-11-13 | 1975-04-08 | Ilon B E | Wheels for a course stable selfpropelling vehicle movable in any desired direction on the ground or some other base |
| CN203381701U (en) * | 2012-02-23 | 2014-01-08 | 库卡罗伯特有限公司 | Mobile robot |
| CN202896207U (en) * | 2012-09-28 | 2013-04-24 | 浙江国自机器人技术有限公司 | All-dimensional mobile chassis |
| CN103600624A (en) * | 2013-10-17 | 2014-02-26 | 上海交通大学 | Mecanum wheel base capable of being adjusted passively |
| CN104875575A (en) * | 2014-03-19 | 2015-09-02 | 上海瀚创机器人技术有限公司 | Independent suspension support mechanism of AGV (automatic guided vehicle) with Mecanum wheels |
| CN104149857A (en) * | 2014-08-27 | 2014-11-19 | 北京航空航天大学 | Wheel track stepless regulation type omnibearing mobile platform truck chassis |
| CN204712815U (en) * | 2015-05-19 | 2015-10-21 | 上海智远弘业机器人有限公司 | A kind of suspension gear for Mecanum wheel sliding platform |
| CN104908547A (en) * | 2015-06-19 | 2015-09-16 | 北京特种机械研究所 | Mecanum wheel device capable of independently and self-adaptively carrying out downward pressing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105667632A (en) | 2016-06-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105667632B (en) | A kind of Mecanum wheel Omni-mobile platform | |
| US7938210B2 (en) | Wheel-embedded suspension | |
| CN105947506B (en) | A kind of warehouse Intelligent transfer robot | |
| WO2014043841A1 (en) | Track type omnibearing moving platform | |
| CN110654194A (en) | Six-wheel independently-steering liftable mobile platform | |
| CN111196309A (en) | Wheel track adjustable carrying platform | |
| CN111377006A (en) | Chassis of all-terrain wheeled robot | |
| CN216185444U (en) | Four-wheel-drive four-rotation robot wheel train structure | |
| CN112066155B (en) | Differential supporting wheel type pipeline robot | |
| WO2006062905A2 (en) | Omnidirectional wheel modules and vehicles and methods employing same | |
| CN212667480U (en) | Steering mechanism of wheeled robot chassis | |
| CN210455014U (en) | Omnidirectional chassis structure based on universal wheels | |
| CN206049224U (en) | Omni-mobile platform and its steering wheel and driving wheel | |
| CN216128082U (en) | Gear planet swing arm wheel structure | |
| CN102806955B (en) | Six-wheeled full-drive fire-fighting robot moving carrier | |
| CN212220365U (en) | Driving wheel mechanism of multidirectional driving transfer vehicle | |
| CN204937293U (en) | The crawler-type mobile platform of passive adaptation landform and there is its robot | |
| CN113232716A (en) | Controllable differential omnidirectional wheel set | |
| CN113212058A (en) | Gear planet swing arm wheel structure | |
| CN110356489B (en) | Transport vehicle and travelling mechanism thereof | |
| CN107458460B (en) | Forklift steering mechanism capable of increasing turning angle | |
| CN212890667U (en) | Synchronous pulley group | |
| CN215398049U (en) | Compact independent damping type differential wheel set power assembly | |
| CN219821146U (en) | Vertical damping mechanism for driving wheel of omnidirectional mobile robot and robot | |
| CN215398892U (en) | Controllable differential omnidirectional wheel set |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |