CN106026504A - Mecanum electric wheel and omnibearing mobile platform - Google Patents
Mecanum electric wheel and omnibearing mobile platform Download PDFInfo
- Publication number
- CN106026504A CN106026504A CN201610603210.9A CN201610603210A CN106026504A CN 106026504 A CN106026504 A CN 106026504A CN 201610603210 A CN201610603210 A CN 201610603210A CN 106026504 A CN106026504 A CN 106026504A
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- China
- Prior art keywords
- mecanum
- stator
- mover
- support
- electric motor
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/006—Structural association of a motor or generator with the drive train of a motor vehicle
-
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention relates to the technical field of vehicle engineering, and provides a Mecanum electric wheel and an omnibearing mobile platform. The Mecanum electric wheel comprises a rotating mechanism and multiple Mecanum components. The rotating mechanism comprises a stator part and a rotor part which can coaxially rotate relative to the stator part. All the Mecanum components are equidistantly and circumferentially arranged outside the side wall of the rotor part in a surrounding way with the rotating shaft of the stator part acting as the center. All the Mecanum components are fixedly connected on the rotor part. According to the Mecanum electric wheel, the whole structure is simple and the conventional wheel hub structure is replaced by the rotating mechanism so that the number of parts of the whole electric wheel can be reduced, and the matching precision required for the stator part and the rotor part is low and thus the Mecanum electric wheel is more suitable for production and processing.
Description
Technical field
The present invention relates to Vehicle Engineering technical field, particularly relate to a kind of Mecanum Electric Motor Wheel and there is this
The omni-directional moving platform of Mecanum Electric Motor Wheel.
Background technology
Mecanum wheel (Mecanum Wheel) is a kind of all-around mobile wheel, in 1973, by auspicious
Scholar inventor Bengt Iion invents.This feature taken turns is on the basis of conventional wheel, on wheel outer shroud
Some rotatable rollers are installed along direction at 45 ° with wheel axis, so, become when wheel rotates
The free rollers of 45 ° of arrangements are when contacting with ground, and ground can give wheel and rotating shaft is the friction of angle 45 °
Power, this frictional force can be divided into X-component and Y-component, and rotating or halted state by wheel change
The direction of XY component force, thus realize platform and advance, traversing, diagonal, other motion sides such as rotate in place
Formula.Mecanum wheel application relates to the fork truck of all-around mobile, mover, wheelchair and mobile machine
People etc., have the fork truck of Mecanum wheel, mover, wheelchair and mobile robot and are especially suitable for operating sky
Between limited, environment that operation path is narrow, have bright in terms of improving space availability ratio and reducing human cost
Aobvious effect.
There is following two version in existing Mecanum wheel: first, uses motor biasing, passes through skin
The reducing gear such as belt wheel or gear drive drives Mecanum wheel to rotate.This structure member quantity is many, takies peace
Dress space is big, increases complexity and the global design difficulty of body construction, and the installation site of motor is tied by vehicle
Structure impact is relatively big, and drive-train efficiency is relatively low, pause and transition in rhythm or melody easily occurs, cause parts rapid wear during rotating switching,
Poor reliability；Second, motor and decelerator integrated structure, Mecanum wheel body arranges ring gear,
Rotor realizes connecting transmission by gear engagement.In this kind of structure, motor size is by wheel size
The i.e. restriction of hub size, structure is complicated, and in wheel, assembling required precision is high, and easy care is not changed, and,
Gear train assembly lubricating requirement is high, and therefore, integrated cost is higher.
Summary of the invention
In sum, it is an object of the invention to provide a kind of Mecanum Electric Motor Wheel, it is intended to solve existing
The problem that Mecanum wheel integrated model is complicated, wheel interior assembling required precision is high.
The present invention is achieved in that Mecanum Electric Motor Wheel, including rotating mechanism and multiple Mecanum
Assembly, described rotating mechanism includes stator department and is oppositely arranged with described stator department and can relative described stator
The mover portion that portion rotates coaxially, each described Mecanum assembly is centered by the pivot center in described mover portion etc.
Spacing is that circumference encloses the lateral wall being located at described mover portion, and each described Mecanum assembly is fixedly connected on described
Mover portion, and rotate with described mover portion.
Further, described stator department includes the stator support in hollow posts nested structure, is covered on described stator
The stator end cap of support one end and be sheathed on the stator winding on described stator support, described mover portion wraps
Include mover housing, be vertical at described mover housing bottom center and be arranged in the rotation of described stator support
Axle and multiple be located in described mover housing sidewall and the magnetic part corresponding with described stator winding, described
Stator lid and described mover housing are oppositely arranged, and enclose formation accommodation space, and described rotary shaft is with described
If being provided with dry bearing between stator support；
Or, described stator department includes the stator support in hollow posts nested structure, is covered on described stator support
The stator end cap of one end, it is vertical at described stator end cap center and stretches out in consolidating of described stator support
Dead axle and be sheathed on the stator winding outside described stator support, described mover portion includes being sheathed on described stator
Mover support in support, it is covered on the mover housing of described mover support one end and is located at described mover
The magnetic part that housing sidewall is interior and corresponding with described stator winding, described stator end cap and described mover housing
Being oppositely arranged, and enclose formation accommodation space, described fixing axle is through described mover support and extend out to outside,
If being provided with dry bearing between described fixing axle and described mover support.
Further, the external part of described rotary shaft is provided with keyway.
Further, described stator end cap is shaped in the one end of described stator support, described stator terminal
Cover and offer some fixing holes.
Specifically, described magnetic part is a magnet steel, and each described magnet steel is equally distributed in centered by rotary shaft
In the sidewall in described mover portion and corresponding with described stator winding.
Further, described Mecanum assembly includes being fixedly connected on propping up outside described mover housing sidewall
Support member and be articulated in described support member and the roller that can rotate relative to described support member.
Specifically, described support member is a straight plate of installation being erected on outside described mover housing sidewall, described
Install and on straight plate, offer the pivoted hole for roller described in pivot joint；
Or, described support member is a U-shaped support being erected on outside described mover housing sidewall, described U
Two vertical end symmetries of type support offer the pivoted hole for roller described in pivot joint.
Compared with prior art, the Mecanum Electric Motor Wheel that the present invention provides, rotating mechanism includes being oppositely arranged
Stator department and mover portion, and, mover portion can relative stator rotate coaxially, each Mecanum assembly with
Equidistantly enclosing outside the sidewall being located at mover portion in circumference centered by the rotary shaft in mover portion, so, each Mike receives
Nurse assembly then rotates around mover portion and with mover portion, therefore, and this Mecanum Electric Motor Wheel overall structure letter
Single, and utilize rotating mechanism to replace traditional wheel hub structure, decrease whole Electric Motor Wheel number of components, and,
Quality of fit required by stator department and mover portion is low, is more suitable for production and processing.
The present invention also provides for a kind of omni-directional moving platform, including platform body and be located at described platform body
In control system, the most multiple include Mecanum Electric Motor Wheel described above, each Mecanum Electric Motor Wheel
Stator end cap is fixedly connected on platform body, and the stator winding of each described Mecanum Electric Motor Wheel is electrically connected to
Described control system.
Compared with prior art, on the basis of above-mentioned Mecanum Electric Motor Wheel, this omni-directional moving platform can
Advance, traversing, diagonal, the multi-motion mode such as rotate in place, be suitable for that apron space is limited, operation is led to
Running in the environment that road is narrow, meanwhile, overall control is efficiently.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention implements the Mecanum Electric Motor Wheel that an example provides；
Fig. 2 is the explosive view that the present invention implements the Mecanum Electric Motor Wheel that an example provides；
Fig. 3 is the front view that the present invention implements the Mecanum Electric Motor Wheel that an example provides；
Fig. 4 is the profile in Fig. 3 at A-A；
Fig. 5 is the enlarged drawing in Fig. 4 at C-C；
Fig. 6 is the explosive view that the present invention implements the Mecanum Electric Motor Wheel that two examples provide；
Fig. 7 is the front view that the present invention implements the Mecanum Electric Motor Wheel that two examples provide；
Fig. 8 is the sectional view in Fig. 7 at B-B.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and reality
Execute example, the present invention is further elaborated.Only should be appreciated that specific embodiment described herein
Only in order to explain the present invention, it is not intended to limit the present invention.
It should be noted that when element is referred to as on " being fixed on " or " being arranged at " another element,
It can be directly on another element or be connected on another element.When an element is known as " even
Connect " another element, it can be to be directly connected to another element or be indirectly connected to this another element
On.
Also, it should be noted the orientation term such as left and right, upper and lower, top in the present embodiment, end, only
It is relative concept or with the normal operating condition of product as reference each other, and should not be regarded as that there is limit
Property processed.
Below in conjunction with specific embodiment, the realization of the present invention is described in detail.
The Mecanum Electric Motor Wheel that the embodiment of the present invention provides, including rotating mechanism and multiple Mecanum group
Part, rotating mechanism includes stator department and the mover portion being oppositely arranged, and mover portion can rotate coaxially in relative stator portion,
Each Mecanum assembly equidistantly encloses the sidewall being located at mover portion centered by the pivot center in mover portion in circumference
Outward, each Mecanum assembly is fixedly connected on mover portion, and rotates with mover portion.
The Mecanum Electric Motor Wheel that the embodiment of the present invention provides, rotating mechanism include the stator department that is oppositely arranged and
Mover portion, and, mover portion can relative stator rotate coaxially, each Mecanum assembly turning with mover portion
Equidistantly enclose outside the sidewall being located at mover portion in circumference centered by moving axis, so, each Mecanum assembly then around
Mover portion also rotates with mover portion, and therefore, this Mecanum Electric Motor Wheel overall structure is simple, and utilizes
Rotating mechanism replaces traditional wheel hub structure, decreases whole Electric Motor Wheel number of components, and, stator department and
Quality of fit required by mover portion is low, is more suitable for production and processing.
Embodiment one
Refer to Fig. 1 to Fig. 3, the Mecanum Electric Motor Wheel 01 that the embodiment of the present invention provides, including rotating machine
Structure 1 and multiple Mecanum assembly 2, rotating mechanism 1 includes stator department 11 and the mover portion being oppositely arranged
12, mover portion 12 can rotate coaxially in relative stator portion 11, each Mecanum assembly 2 turning with mover portion 12
Equidistantly enclosing outside the sidewall being located at mover portion 12 in circumference centered by moving axis line, each Mecanum assembly 2 is fixed
It is connected to mover portion 12, and rotates with mover portion 12.Rotating mechanism 1 includes the stator being oppositely arranged
Portion 11 and mover portion 12, and, mover portion 12 can relative stator rotate coaxially, each Mecanum assembly
2 equidistantly enclose outside the sidewall being located at mover portion 12 in circumference centered by the rotary shaft in mover portion 12, so,
Each Mecanum assembly 2 then rotates around mover portion 12 and with mover portion 12, therefore, and this Mecanum
Electric Motor Wheel 01 overall structure is simple, and utilizes the traditional wheel hub structure of rotating mechanism 1 replacement, decreases whole
Electric Motor Wheel number of components, and, the quality of fit required by stator department 11 and mover portion 12 is low, is more suitable for
In production and processing.
Refer to Fig. 2, Fig. 4 and Fig. 5, in the present embodiment, stator department 11 include stator support 111,
Being covered on stator end cap 112 and the stator winding 113 of stator support 111 one end, wherein, stator props up
Frame 111 is in hollow posts nested structure, and stator winding 113 is sheathed on the stator support 111 of hollow posts nested structure,
Mover portion 12 includes the mover housing 121 being oppositely arranged with stator end cap 112, is vertical at mover housing 121
At bottom centre and be arranged in rotary shaft 122 and multiple magnetic part 123, the stator terminal of stator support 111
Lid 112 is oppositely arranged with mover housing 121, and encloses formation accommodation space, at rotary shaft 122 and stator
If being provided with dry bearing 13 between support 111.The operation principle that relative stator portion of mover portion 12 11 rotates coaxially
As follows: the stator winding 113 after energising produces magnetic field, according to electromagnetic induction principle, each magnetic part 123 exists
Move in magnetic field and drive mover housing 121, mover housing 121 to turn for center of rotation with stator support 111
Dynamic, rotary shaft 122 is then sheathed on by bearing 13 and stator support 111 assembly connection, i.e. rotary shaft 122
The inner ring of bearing 13, stator support 111 is sheathed on the outer ring of bearing 13, and overall structure is simple, rotary shaft
122 require low with the requirement of the assembly precision of bearing 13 and bearing 13 with the assembly precision of stator support 111.
Further, not showing in figure, the external part of rotary shaft 122 is provided with keyway.When Mecanum is electronic
Wheel 01 is when being connected to mobile platform or car body, this keyway can with mobile platform in or car body in arrestment mechanism phase
Coordinate, thus realize braking the mover portion 12 of Mecanum Electric Motor Wheel 01.
Further, refer to Fig. 4, stator end cap 112 is shaped in the one end of stator support 111,
Some fixing hole 11a are offered on stator end cap 112.Here, fixing hole 11a and mobile platform or car body
Corresponding installation portion corresponding, thus realize stator end cap 112 is fixedly connected on mobile platform or car body
On.Certainly, stator end cap 112 also can by welding or be screwed wait other connected modes fixing connect and
Stator support 111.
Specifically, refer to Fig. 4 and Fig. 5, magnetic part 123 is a magnet steel, and each magnet steel is with rotary shaft 122
Centered by be equally distributed in the sidewall of mover housing 12, and corresponding with stator winding 113.Here,
Depending on the quantity of magnet steel is according to concrete practical situation, the stator winding 113 after energising produces and magnet steel phase interaction
Magnetic field, thus drive mover housing 121 with stator support 111 for center of rotation rotate.
Further, refer to Fig. 4, Mecanum assembly 2 includes being fixedly connected on mover housing 121 side
Support member 21 outside wall and be articulated in the roller 22 of support member 21.Preferably, support member 21 one
Take shape in the side-wall outer side of mover housing 121, certainly, according to concrete actual demand, support member 21 also by
The connected modes such as welding, riveting and screw threads for fastening are fixed on outside mover housing 121, so, are articulated in
Roller 22 on support member 21 moves in a circle with mover housing 121, and meanwhile, roller 22 can prop up again relatively
Support member 21 occurs rotation, the axis of roller 22 to be 45 ° of folders with pivot center 122 line of mover housing 121
Angle, when freely rotatable roller 22 contacts with ground, ground can give Mecanum Electric Motor Wheel 01 in folder
The frictional force that angle is 45 °, this frictional force can be divided into X-component and Y-component, by Mecanum Electric Motor Wheel 01
Rotating or halted state change the direction of XY component force, thus realize platform advance, traversing, oblique
Other motion modes such as go, rotate in place.
Specifically, refer to Fig. 4, in the present embodiment, support member 21 is one to be erected on mover housing 121
The straight plate of installation of side-wall outer side, install offer on straight plate for pivot joint roller 22 pivoted hole (in figure not
Show).So, roller 22 is arranged in pivoted hole, and it is freely rotatable to be mounted opposite straight plate.
Or, figure does not shows, in the present embodiment, support member 21 is one to be erected on mover housing 121 sidewall
The U-shaped support in outside, two vertical end symmetries of U-shaped support offer the pivoted hole for pivot joint roller 22
(not shown).So, the two ends of roller 22 are articulated in two symmetrically arranged pivoted holes respectively, equally
Ground, can the most U-shaped support freely rotatable.
Embodiment two
Refer to Fig. 6 and Fig. 7, the Mecanum Electric Motor Wheel 01 that the embodiment of the present invention provides, including rotating machine
Structure 1 and multiple Mecanum assembly 2, rotating mechanism 1 includes stator department 11 and the mover portion being oppositely arranged
12, mover portion 12 can rotate coaxially in relative stator portion 11, each Mecanum assembly 2 turning with mover portion 12
Equidistantly enclosing outside the sidewall being located at mover portion 12 in circumference centered by moving axis line, each Mecanum assembly 2 is fixed
It is connected to mover portion 12, and rotates with mover portion 12.Rotating mechanism 1 includes the stator being oppositely arranged
Portion 11 and mover portion 12, and, mover portion 12 can relative stator rotate coaxially, each Mecanum assembly
2 equidistantly enclose outside the sidewall being located at mover portion 12 in circumference centered by the rotary shaft in mover portion 12, so,
Each Mecanum assembly 2 then rotates around mover portion 12 and with mover portion 12, therefore, and this Mecanum
Electric Motor Wheel 01 overall structure is simple, and utilizes the traditional wheel hub structure of rotating mechanism 1 replacement, decreases whole
Electric Motor Wheel number of components, and, the quality of fit required by stator department 11 and mover portion 12 is low, is more suitable for
In production and processing.
Refer to Fig. 8, unlike the embodiments above, stator department 11 includes determining in hollow posts nested structure
Submounts 111, it is covered on the stator end cap 112 of stator support 111 one end, is vertical at stator end cap
The fixing axle 114 of 112 centers and the stator winding 113 being sheathed on outside stator support 111, mover portion
12 include the mover support 124 being sheathed in stator support 111, be covered on mover support 124 one end
Mover housing 121 and be located at the magnetic part 123 in mover housing 121 sidewall, stator end cap 112 is with dynamic
Sub-housing 121 is oppositely arranged, and encloses formation accommodation space, fixing axle 114 through mover support 124 and
It extend out to outside, be provided with dry bearing 13 between axle 114 and mover support 124 if fixing.Mover portion 12 phase
The operation principle rotating coaxially stator department 11 is as follows: produce magnetic field, according to electricity after energising stator winding 113
Magnetic induction principle, each magnetic part 123 moves in magnetic field and drives mover housing 121, mover housing 121
Rotating with fixing axle 114 for center of rotation, meanwhile, fixing axle 114 is by bearing 13 and mover support 124
Assembly connection, i.e. fixes axle 114 and is sheathed on the inner ring of bearing 13, and mover support 124 is sheathed on bearing 13
Outer ring, overall structure is simple, the assembly precision of fixing axle 114 and bearing 13 require and bearing 13 with move
The assembly precision of submounts 124 requires low.
In the present embodiment, undeclared part is identical with embodiment one, does not repeats.
The embodiment of the present invention also provides for a kind of omni-directional moving platform, including platform body and control system,
Also include multiple Mecanum Electric Motor Wheel 01 described above, the stator end cap 112 of each Mecanum Electric Motor Wheel 01
Being fixedly connected on platform body, the stator winding 113 of each Mecanum Electric Motor Wheel 01 is electrically connected to control system
System.
The omni-directional moving platform that the embodiment of the present invention provides, on the basis of above-mentioned Mecanum Electric Motor Wheel 01
On, this omni-directional moving platform can advance, traversing, diagonal, the multi-motion mode such as rotate in place, and is suitable for
Running in the environment limited in apron space, operation path is narrow, meanwhile, overall control is efficiently.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all at this
Any amendment, equivalent and the improvement etc. made within bright spirit and principle, should be included in the present invention
Protection domain within.
Claims (10)
1. Mecanum Electric Motor Wheel, it is characterised in that include rotating mechanism and multiple Mecanum assembly,
Described rotating mechanism include stator department and be oppositely arranged with described stator department and can relative described stator department coaxial
The mover portion rotated, each described Mecanum assembly centered by the pivot center in described mover portion equidistantly in
Circumference encloses the lateral wall being located at described mover portion, and each described Mecanum assembly is fixedly connected on described mover portion,
And rotate with described mover portion.
2. Mecanum Electric Motor Wheel as claimed in claim 1, it is characterised in that described stator department include in
The stator support of hollow posts nested structure, it is covered on the stator end cap of described stator support one end and is sheathed on
Stator winding on described stator support, described mover portion includes mover housing, is vertical at described mover shell
At body bottom centre and be arranged in the rotary shaft of described stator support and multiple be located at described mover housing sidewall
In and the magnetic part corresponding with described stator winding, described stator lid and described mover housing be oppositely arranged,
And enclose formation accommodation space, if being provided with dry bearing between described rotary shaft and described stator support.
3. Mecanum Electric Motor Wheel as claimed in claim 1, it is characterised in that described stator department include in
The stator support of hollow posts nested structure, it is covered on the stator end cap of described stator support one end, is vertical at
Described stator end cap center and stretch out in the fixing axle of described stator support and be sheathed on described stator support
Outer stator winding, described mover portion includes the mover support being sheathed in described stator support, is covered on institute
State the mover housing of mover support one end and be located in described mover housing sidewall and with described stator winding
Corresponding magnetic part, described stator end cap is oppositely arranged with described mover housing, and encloses the accommodating sky of formation
Between, described fixing axle is through described mover support and extend out to outside, described fixing axle and described mover support
If dry bearing it is provided with between.
4. Mecanum Electric Motor Wheel as claimed in claim 2, it is characterised in that stretching out of described rotary shaft
End is provided with keyway.
5. Mecanum Electric Motor Wheel as claimed in claim 2 or claim 3, it is characterised in that described stator end cap
It is shaped in the one end of described stator support, described stator terminal lid offers some fixing holes.
6. Mecanum Electric Motor Wheel as claimed in claim 2 or claim 3, it is characterised in that described magnetic part is
One magnet steel, each described magnet steel is equally distributed in the sidewall in described mover portion centered by rotary shaft, and with
Described stator winding is corresponding.
7. Claims 2 or 3 or as described in Mecanum Electric Motor Wheel, it is characterised in that described Mike receives
Nurse assembly includes the support member being fixedly connected on outside described mover housing sidewall and is articulated in described support member
And the roller that can rotate relative to described support member.
8. Mecanum Electric Motor Wheel as claimed in claim 7, it is characterised in that described support member is to stand
It is located at the straight plate of installation outside described mover housing sidewall, the straight plate of described installation offers for described in pivot joint
The pivoted hole of roller.
9. Mecanum Electric Motor Wheel as claimed in claim 7, it is characterised in that described support member is to stand
Being located at the U-shaped support outside described mover housing sidewall, two vertical end symmetries of described U-shaped support offer
Pivoted hole for roller described in pivot joint.
10. omni-directional moving platform, including platform body and be located at the control system in described platform body,
It is characterized in that, also include multiple Mecanum Electric Motor Wheel as described in claim 1 to 9 any one,
The stator end cap of each Mecanum Electric Motor Wheel is fixedly connected on platform body, each described Mecanum Electric Motor Wheel
Stator winding be electrically connected to described control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610603210.9A CN106026504A (en) | 2016-07-27 | 2016-07-27 | Mecanum electric wheel and omnibearing mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610603210.9A CN106026504A (en) | 2016-07-27 | 2016-07-27 | Mecanum electric wheel and omnibearing mobile platform |
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| CN201610603210.9A Pending CN106026504A (en) | 2016-07-27 | 2016-07-27 | Mecanum electric wheel and omnibearing mobile platform |
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| CN106427388A (en) * | 2016-11-16 | 2017-02-22 | 浙江工业大学 | Mecanum wheel device provided with controllably rotating roller |
| CN106427387A (en) * | 2016-10-13 | 2017-02-22 | 旗瀚科技有限公司 | Integrated mecanum wheel driven by wheel-hub motor |
| CN106739781A (en) * | 2017-01-23 | 2017-05-31 | 嘉兴高维智控有限公司 | Half built-in Mecanum wheel construction |
| CN107031383A (en) * | 2017-04-21 | 2017-08-11 | 南京信息职业技术学院 | Wheel hub driving motor based on Mecanum wheel |
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| CN108790593A (en) * | 2018-04-27 | 2018-11-13 | 欧米瑞（广东）智能制造有限公司 | Mobile device and its Mecanum wheel |
| CN109017145A (en) * | 2018-09-28 | 2018-12-18 | 南京工业职业技术学院 | A kind of Mecanum wheel in hydraulic regulation roller direction |
| CN109017144A (en) * | 2018-09-06 | 2018-12-18 | 孙伟平 | A kind of Mecanum wheel that angle can be adjusted intelligently |
| CN109080375A (en) * | 2018-09-06 | 2018-12-25 | 孙伟平 | A kind of intelligence Mecanum wheel |
| CN109159623A (en) * | 2018-09-06 | 2019-01-08 | 孙伟平 | A kind of Mecanum wheel |
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| CN106427387A (en) * | 2016-10-13 | 2017-02-22 | 旗瀚科技有限公司 | Integrated mecanum wheel driven by wheel-hub motor |
| CN106427388B (en) * | 2016-11-16 | 2018-11-06 | 浙江工业大学 | Mecanum wheel apparatus with the rotation of roller controllability |
| CN106427388A (en) * | 2016-11-16 | 2017-02-22 | 浙江工业大学 | Mecanum wheel device provided with controllably rotating roller |
| CN106739781A (en) * | 2017-01-23 | 2017-05-31 | 嘉兴高维智控有限公司 | Half built-in Mecanum wheel construction |
| CN106739781B (en) * | 2017-01-23 | 2023-04-11 | 苏州伸之助科技服务有限公司 | Semi-embedded Mecanum wheel structure |
| CN107086746A (en) * | 2017-04-12 | 2017-08-22 | 王卫华 | Electrically operated gate and its door lifter |
| CN107031383A (en) * | 2017-04-21 | 2017-08-11 | 南京信息职业技术学院 | Wheel hub driving motor based on Mecanum wheel |
| CN107031383B (en) * | 2017-04-21 | 2019-11-08 | 南京信息职业技术学院 | Wheel hub driving motor based on Mecanum wheel |
| CN108790593A (en) * | 2018-04-27 | 2018-11-13 | 欧米瑞（广东）智能制造有限公司 | Mobile device and its Mecanum wheel |
| CN108482008A (en) * | 2018-06-27 | 2018-09-04 | 东莞理工学院 | A kind of novel load-carrying Mecanum wheel |
| CN109017144A (en) * | 2018-09-06 | 2018-12-18 | 孙伟平 | A kind of Mecanum wheel that angle can be adjusted intelligently |
| CN109080375A (en) * | 2018-09-06 | 2018-12-25 | 孙伟平 | A kind of intelligence Mecanum wheel |
| CN109159623A (en) * | 2018-09-06 | 2019-01-08 | 孙伟平 | A kind of Mecanum wheel |
| CN109017145A (en) * | 2018-09-28 | 2018-12-18 | 南京工业职业技术学院 | A kind of Mecanum wheel in hydraulic regulation roller direction |
| CN109017145B (en) * | 2018-09-28 | 2023-06-13 | 南京工业职业技术学院 | Mecanum wheel for hydraulically adjusting roller direction |
| TWI674989B (en) * | 2018-11-21 | 2019-10-21 | 緯創資通股份有限公司 | Moveable carrier and brake module thereof |
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