CN106427387A - Integrated mecanum wheel driven by wheel-hub motor - Google Patents
Integrated mecanum wheel driven by wheel-hub motor Download PDFInfo
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- CN106427387A CN106427387A CN201610892435.0A CN201610892435A CN106427387A CN 106427387 A CN106427387 A CN 106427387A CN 201610892435 A CN201610892435 A CN 201610892435A CN 106427387 A CN106427387 A CN 106427387A
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- wheel
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- small roller
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical group [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 6
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 6
- 239000010959 steel Substances 0.000 claims abstract description 6
- 239000003292 glue Substances 0.000 claims description 8
- 230000003068 static effect Effects 0.000 claims description 8
- 241001272720 Medialuna californiensis Species 0.000 claims description 5
- 244000309464 bull Species 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 4
- 230000008450 motivation Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims 1
- 230000000712 assembly Effects 0.000 abstract 2
- 238000000429 assembly Methods 0.000 abstract 2
- 230000005540 biological transmission Effects 0.000 description 2
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 210000001138 tear Anatomy 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
-
- 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
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/12—Structural association with clutches, brakes, gears, pulleys or mechanical starters with auxiliary limited movement of stators, rotors or core parts, e.g. rotors axially movable for the purpose of clutching or braking
- H02K7/125—Structural association with clutches, brakes, gears, pulleys or mechanical starters with auxiliary limited movement of stators, rotors or core parts, e.g. rotors axially movable for the purpose of clutching or braking magnetically influenced
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
The invention discloses an integrated mecanum wheel driven by a wheel-hut motor. The integrated mecanum wheel driven by the wheel-hub motor is composed of an outer wheel hub, an inner wheel hub, 12 mecanum wheel roller assemblies, magnetic steel, a stator, an axle, two bearings, a driver board, a magnetic encoder chip and a magnetic encoder magnet. Each roller assembly is composed of two roller bearings, a roller shaft, a roller inner shell, a roller outer rubber layer and two copper rings. The outer wheel edges of the 12 roller assemblies jointly form the wheel edge of the integrated mecanum wheel, the stator is fixed to the axle through a connecting key, and the driver board is locked to the stator through screws. The integrated mecanum wheel driven by the wheel-hub motor is extremely small in occupied space, lighter, lower in cost, higher in control precision, more convenient to control and more attractive in appearance.
Description
Technical field
The present invention relates to a kind of Mecanum wheel, specifically a kind of integral type Mecanum wheel by In-wheel motor driving.
Background technology
The omnibearing movable equipment for being currently based on Mecanum wheel technology is combined by 4 this new wheels,
Can be moved ahead with flexible realization, traversing, diagonal, rotation and combinations thereof etc. omnibearing movable mode.But traditional Mecanum
In wheel system, space hold is big, assembles difficult with small roller and independently cannot change, and takes up room big, not light enough, cost
High shortcoming.
Content of the invention
It is an object of the invention to provide a kind of integral type Mecanum wheel by In-wheel motor driving, to solve the above-mentioned back of the body
The problem for proposing in scape technology.
For achieving the above object, the present invention provides following technical scheme：
A kind of integral type Mecanum wheel by In-wheel motor driving, by outer wheel hub, inner wheel hub, 12 Mecanum wheel small rollers
Component, magnet steel, stator, wheel shaft, two bearings, driving plate, magnetic coder chip and magnetic coder Magnet composition, the small roller
Component is made up of two small roller bearings, small roller axle, small roller inner shell, the outer glue of small roller and two copper rings, 12 groups of small rollers
The outer rim of component together constitutes the wheel rim of a Mecanum wheel, and stator is fixed on wheel shaft by connecting key, and is driven
Plate is by screw locking on stator, and wheel shaft is connected with inner wheel hub and outer wheel hub respectively by two bearings, magnetic coder core
Piece is by, on end face of the screw locking in wheel shaft in wheel, magnetic coder Magnet is fixed on the foreign steamer directly over magnetic coder chip
On hub, inner wheel hub and outer wheel hub are by the screw axial locking on inner wheel hub, and are along the circumferential direction blocked by the screens on wheel hub
Firmly, wheel shaft is quill shaft, and wheel medial surface has through hole, and all cablings of hub interior are all drawn from wheel shaft, and inner wheel hub is with outward
12 pairs of half-moon grooves are had on the wheel rim of wheel hub, and half-moon groove axle center is axially and axle axial angle is 45 °, and small roller component is from side
In 45 ° of respective card slot for snapping on inner wheel hub and foreign steamer hub rim oblique with the axis direction of wheel shaft, then by screw from Mike
The both sides locking of Na Mu wheel, the system of a set of Mecanum wheel drive is made up of four Mecanum wheels, wherein behind the near front wheel and the right side
Take turns as dextrorotation Mecanum wheel, off-front wheel and left rear wheel be；
When needing drive mechanism to advance, then four wheels are driven to advance by same rotating speed, now the left and right of front and back wheel
The frictional force in direction is cancelled out each other, four wheels frictional force lead agency straight forward forward, retreats then four-wheel steering contrary；
When drive mechanism row to the right is needed, then make by off-front wheel and left rear wheel back rotation, off hind wheel and the near front wheel rotate forward,
Four wheel speeds are consistent, and now the frictional force of the fore-and-aft direction of four wheels is cancelled out each other, four wheels level frictional force to the right
Drive mechanism level is kept straight on to the right, and then four-wheel steering of keeping straight on to the left is contrary；When needing drive mechanism along rotation clockwise,
The near front wheel and left rear wheel are rotated forward, and off-front wheel and off hind wheel rotate backward, and rotating speed is consistent, and now the near front wheel direction is
Positive right front is to off-front wheel direction is positive right back to off hind wheel direction is that just left back direction, left rear wheel rubs
Wiping force direction is just left front direction；The common lead agency of the frictional force of four wheels is rotated clockwise around its geometric center, the inverse time
Then four-wheel steering is contrary for pin；When need drive mechanism along positive right front to straight trip when, then make the near front wheel and off hind wheel rotate forward,
Rotating speed is consistent, and off-front wheel and left rear wheel are static；Now the direction of off hind wheel and the near front wheel is all positive right front, frictional force
Lead agency is along right front to straight trip, and off-front wheel and left rear wheel are now driven pulley, bull wheel remains stationary, and contacted with ground is little
Roller assembly is around the driven rotation of small roller axle, and during rear direction straight trip to the left, then the near front wheel is contrary with off hind wheel steering；When need drive
When motivation structure is kept straight on along left front direction, then keep the near front wheel static with off hind wheel, left rear wheel and off-front wheel are rotated forward, work as needs
Drive mechanism along right back to straight trip when, then left rear wheel is contrary with off-front wheel steering.
As the present invention further scheme：A set of mechanism of 4 independent Mecanum wheel compositions for driving is by adjusting
Save each Mecanum wheel rotation and realize multi-motion mode.
Compared with prior art, the invention has the beneficial effects as follows：The present invention takes up room minimum, and lighter, cost is more
Plus cheap, control accuracy is higher, and control is more convenient, and outward appearance is more attractive in appearance.
Description of the drawings
Figure 1A is left-handed integral type Mecanum wheel structural representation in integral type Mecanum wheel by In-wheel motor driving
Figure.
Figure 1B is dextrorotation integral type Mecanum wheel structural representation in integral type Mecanum wheel by In-wheel motor driving
Figure.
Fig. 2 is left-handed integral type Mecanum wheel explosive view in integral type Mecanum wheel by In-wheel motor driving.
Fig. 3 A is the outer glue part profile diagram of single small roller in integral type Mecanum wheel by In-wheel motor driving.
Fig. 3 B be in integral type Mecanum wheel by In-wheel motor driving the outer glue part of small roller along oblique 45 ° of axis direction
Projection view.
Fig. 3 C is that in integral type Mecanum wheel by In-wheel motor driving, small roller is regarded perpendicular to the projection of axis direction
Figure.
Fig. 4 A is the front view of the outer glue part of 12 small rollers in integral type Mecanum wheel by In-wheel motor driving.
Fig. 4 B is the top view of the outer glue part of 12 small rollers in integral type Mecanum wheel by In-wheel motor driving.
Fig. 5 is the vertical view of the base plate of a set of Mecanum wheel drive in integral type Mecanum wheel by In-wheel motor driving
Figure.
Wherein：1st, outer wheel hub 2, bearing 3, magnetic coder Magnet 4, yoke 5, magnet steel 6, Mecanum wheel small roller
Component 7, pad 8, small roller lock screw 9, stator 10, driving plate 11, driving plate lock screw 12, inner wheel hub 13,
14 bearing 15 of wheel hub locking screw, water proof ring 16,17 small roller axle 18 of copper ring, small roller bearing 19, small roller inner shell
20th, small roller outer glue 21, small roller bearing 22, copper ring.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
In the embodiment of the present invention, a kind of integral type Mecanum wheel by In-wheel motor driving, by outer wheel hub 1, inner wheel hub
12nd, 12 Mecanum wheel small roller components 6, magnet steel 5, stators 9, wheel shaft, two bearings 2, driving plate 10, magnetic coder chips
Constitute with magnetic coder Magnet 3, the small roller component by two small roller bearings 19, small roller axle 17, small roller inner shell 19,
The outer glue 20 of small roller and two copper rings 22 constitute, and the outer rim of 12 groups of small roller components together constitutes a Mecanum wheel
Wheel rim, stator 9 is fixed on wheel shaft by connecting key, and driving plate 10 passes through screw locking on stator 9, and wheel shaft passes through two
Bearing 2 is connected with inner wheel hub 12 and outer wheel hub 1 respectively, and magnetic coder chip passes through end face of the screw locking in wheel shaft in wheel
On, magnetic coder Magnet 3 is fixed on the outer wheel hub 1 directly over magnetic coder chip, and inner wheel hub 12 and outer wheel hub 1 pass through lubrication groove
Screw axial locking on hub 12, and along the circumferential direction blocked by the screens on wheel hub, wheel shaft is quill shaft, and wheel medial surface is opened
There is through hole, all cablings of hub interior are all drawn from wheel shaft, and 12 pairs of first quarter moons are had on the wheel rim of inner wheel hub 12 and outer wheel hub 1
Groove, half-moon groove axle center is axially and axle axial angle is 45 °, and small roller component is from side 45 ° card oblique with the axis direction of wheel shaft
Enter in the respective card slot on inner wheel hub 12 and 1 edge of outer wheel hub, then locked from Mecanum wheel both sides by screw, Yi Taomai
The system of Ke Namu wheel drive is made up of four Mecanum wheels, and wherein the near front wheel and off hind wheel are dextrorotation Mecanum wheel, right
Front-wheel and left rear wheel are left-handed Mecanum wheel；
When needing drive mechanism to advance, then four wheels are driven to advance by same rotating speed, now the left and right of front and back wheel
The frictional force in direction is cancelled out each other, four wheels frictional force lead agency straight forward forward, retreats then four-wheel steering contrary；
When drive mechanism row to the right is needed, then make by off-front wheel and left rear wheel back rotation, off hind wheel and the near front wheel rotate forward,
Four wheel speeds are consistent, and now the frictional force of the fore-and-aft direction of four wheels is cancelled out each other, four wheels level frictional force to the right
Drive mechanism level is kept straight on to the right, and then four-wheel steering of keeping straight on to the left is contrary；When needing drive mechanism along rotation clockwise,
The near front wheel and left rear wheel are rotated forward, and off-front wheel and off hind wheel rotate backward, and rotating speed is consistent, and now the near front wheel direction is
Positive right front is to off-front wheel direction is positive right back to off hind wheel direction is that just left back direction, left rear wheel rubs
Wiping force direction is just left front direction；The common lead agency of the frictional force of four wheels is rotated clockwise around its geometric center, the inverse time
Then four-wheel steering is contrary for pin；When need drive mechanism along positive right front to straight trip when, then make the near front wheel and off hind wheel rotate forward,
Rotating speed is consistent, and off-front wheel and left rear wheel are static；Now the direction of off hind wheel and the near front wheel is all positive right front, frictional force
Lead agency is along right front to straight trip, and off-front wheel and left rear wheel are now driven pulley, bull wheel remains stationary, and contacted with ground is little
Roller assembly is around the driven rotation of small roller axle 17, and during rear direction straight trip to the left, then the near front wheel is contrary with off hind wheel steering；Work as needs
When drive mechanism is kept straight on along left front direction, then keep the near front wheel static with off hind wheel, left rear wheel and off-front wheel are rotated forward, when need
Want drive mechanism along right back to straight trip when, then left rear wheel is contrary with off-front wheel steering.4 independent Mecanum wheel groups for driving
The a set of mechanism for becoming realizes multi-motion mode by adjusting each Mecanum wheel rotation.
The operation principle of the present invention is：With reference to Fig. 2,3：Single integral type Mecanum wheel is by 12 small roller component groups
Become.Wherein each small roller is in 45 ° of angles with its big hub axle center.When single Mecanum wheel is dynamic in ground surface, dextrorotation
Mecanum wheel can be moved along the direction of rotating direction oblique 45 ° of angles to the right, left-handed Mecanum wheel then can along rotating direction to
Left oblique 45 degree of angle directions motion.Due to the characteristic, a set of mechanism being made up of 4 independent Mecanum wheels for driving can lead to
Overregulate each Mecanum wheel to rotate so as to realize multi-motion mode.
When single Mecanum wheel needs operating, control signal and power supply signal are input to corresponding integral type Mike and receive
In driving plate 10 in nurse wheel, the coil on stator 9 is driven to produce the electric current of change, so as to produce the magnetic field of change, change
Magnet steel 5 on magnetic field and wheel hub produces active force, drives Mecanum wheel by the rotational speed that specifies.
The magnetic coding chip of the axle tip angle signal that feedback is rotated while rotating is to driving plate 10, and passes through to drive
10 output angle of dynamic plate and tach signal.
With reference to Fig. 5：A set of mechanism by Mecanum wheel drive includes 4 Mecanum wheels being operated alone.Wherein left
Front-wheel and off hind wheel are dextrorotation integral type Mecanum wheel, and off-front wheel and left rear wheel are left-handed integral type Mecanum wheel.By this
Mode is arranged can make mechanism realize multi-motion direction.
When needing drive mechanism to advance, then four wheels are driven to advance by same rotating speed, now front and back wheel
The frictional force of left and right directions is cancelled out each other, four wheels frictional force lead agency straight forward forward, retreats then four-wheel steering
On the contrary；
When drive mechanism row to the right is needed, then make by off-front wheel and left rear wheel back rotation, off hind wheel and the near front wheel are forward
Rotation, four wheel speeds are consistent, and now the frictional force of the fore-and-aft direction of four wheels is cancelled out each other, four wheels level rubbing to the right
Wipe power drive mechanism level to keep straight on to the right, then four-wheel steering of keeping straight on to the left is contrary；
When needing drive mechanism along rotation clockwise, the near front wheel and left rear wheel are rotated forward, off-front wheel and off hind wheel to
After rotate, rotating speed is consistent, now the near front wheel direction be positive right front to, off-front wheel direction be
To it is just left front direction that off hind wheel direction is just left back direction, left rear wheel direction.The frictional force of four wheels
Common lead agency is rotated clockwise around its geometric center, and then four-wheel steering is contrary counterclockwise.
When need drive mechanism along positive right front to straight trip when, then make the near front wheel and off hind wheel rotate forward, rotating speed is consistent,
Off-front wheel and left rear wheel are static.Now the direction of off hind wheel and the near front wheel is all positive right front, frictional force lead agency
Along right front to straight trip, off-front wheel and left rear wheel are now driven pulley, bull wheel remains stationary, the small roller component for contacting with ground
Around the driven rotation of small roller axle 17, during rear direction straight trip to the left, then the near front wheel is contrary with off hind wheel steering.When needing drive mechanism
When keeping straight on along left front direction, then keep that the near front wheel is static with off hind wheel, left rear wheel and off-front wheel are rotated forward, when needing driving machine
Structure along right back to straight trip when, then left rear wheel is contrary with off-front wheel steering.
Present invention advantage specific as follows：
（1）The drive mechanism of each wheel in completely left out transmission Mecanum wheel four-wheel drive, and by the driving on base
Mechanism is transferred to the core wheel position of each Mecanum wheel.Much room is saved out for base.
（2）As wheel hub motor directly drives the motion of each Mecanum wheel, the mechanism avoids traditional transmission completely
During the range of motion error that may be produced due to drive mechanism, and as the kinematic accuracy of wheel hub motor itself is higher
Error is less so that single wheel kinematic accuracy is greatly enhanced.
（3）The control accuracy of wheel hub motor is determined by number of magnetic poles, can reach a very high precision level, so the machine
Structure can more be accurately controlled single-wheel running accuracy, so as to more be accurately controlled by Mecanum wheel four-wheel drive system
Mass motion precision.
（4）Go from the angle of cost, the drive mechanism in the completely left out conventional ADS driving of the mechanism, so holistic cost
Decrease.
（5）Due to Mecanum wheel displacement characteristic, small roller easily weares and teares, and therefore small roller replacing compares heavier
Will.The snap-in mounting structure in small roller side enables the small roller of Mecanum wheel in big hub installation
Under the premise of, the dismounting of small roller is carried out with changing.Small roller replacing that traditional Mecanum wheel cann't be solved perfectly is solved
Problem.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of spirit or essential attributes without departing substantially from the present invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as and limit involved claim.
Moreover, it will be appreciated that although this specification is been described by according to embodiment, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of description is only that those skilled in the art should for clarity
Using description as an entirety, the technical scheme in each embodiment can also form those skilled in the art through appropriately combined
Understandable other embodiment.
Claims (2)
1. a kind of integral type Mecanum wheel by In-wheel motor driving, by outer wheel hub, inner wheel hub, the little rolling of 12 Mecanum wheels
Sub-component, magnet steel, stator, wheel shaft, two bearings, driving plate, magnetic coder chip and magnetic coder Magnet composition, its feature exists
In the small roller component is by two small roller bearings, small roller axle, small roller inner shell, the outer glue of small roller and two copper ring groups
Become, the outer rim of 12 groups of small roller components together constitutes the wheel rim of a Mecanum wheel, stator is fixed on by connecting key
On wheel shaft, and driving plate passes through screw locking on stator, and wheel shaft is connected with inner wheel hub and outer wheel hub respectively by two bearings
Connect, magnetic coder chip is by, on end face of the screw locking in wheel shaft in wheel, magnetic coder Magnet is fixed on magnetic coder core
On outer wheel hub directly over piece, inner wheel hub and outer wheel hub by the screw axial locking on inner wheel hub, and by the card on wheel hub
Position is along the circumferential direction blocked, and wheel shaft is quill shaft, and wheel medial surface has through hole, and all cablings of hub interior all draw from wheel shaft
Go out, 12 pairs of half-moon grooves on the wheel rim of inner wheel hub and outer wheel hub, are had, half-moon groove axle center is axially and axle axial angle is 45 °, little
Roller assembly from the 45 ° respective card slot that snap in inner wheel hub and foreign steamer hub rim oblique with the axis direction of wheel shaft of side, then
Locked from Mecanum wheel both sides by screw, the system of a set of Mecanum wheel drive is made up of four Mecanum wheels, its
Middle the near front wheel and off hind wheel are dextrorotation Mecanum wheel, and off-front wheel and left rear wheel are left-handed Mecanum wheel；
When needing drive mechanism to advance, then four wheels are driven to advance by same rotating speed, now the left and right of front and back wheel
The frictional force in direction is cancelled out each other, four wheels frictional force lead agency straight forward forward, retreats then four-wheel steering contrary；
When drive mechanism row to the right is needed, then make by off-front wheel and left rear wheel back rotation, off hind wheel and the near front wheel rotate forward,
Four wheel speeds are consistent, and now the frictional force of the fore-and-aft direction of four wheels is cancelled out each other, four wheels level frictional force to the right
Drive mechanism level is kept straight on to the right, and then four-wheel steering of keeping straight on to the left is contrary；When needing drive mechanism along rotation clockwise,
The near front wheel and left rear wheel are rotated forward, and off-front wheel and off hind wheel rotate backward, and rotating speed is consistent, and now the near front wheel direction is
Positive right front is to off-front wheel direction is positive right back to off hind wheel direction is that just left back direction, left rear wheel rubs
Wiping force direction is just left front direction；The common lead agency of the frictional force of four wheels is rotated clockwise around its geometric center, the inverse time
Then four-wheel steering is contrary for pin；When need drive mechanism along positive right front to straight trip when, then make the near front wheel and off hind wheel rotate forward,
Rotating speed is consistent, and off-front wheel and left rear wheel are static；Now the direction of off hind wheel and the near front wheel is all positive right front, frictional force
Lead agency is along right front to straight trip, and off-front wheel and left rear wheel are now driven pulley, bull wheel remains stationary, and contacted with ground is little
Roller assembly is around the driven rotation of small roller axle, and during rear direction straight trip to the left, then the near front wheel is contrary with off hind wheel steering；When need drive
When motivation structure is kept straight on along left front direction, then keep the near front wheel static with off hind wheel, left rear wheel and off-front wheel are rotated forward, work as needs
Drive mechanism along right back to straight trip when, then left rear wheel is contrary with off-front wheel steering.
2. the integral type Mecanum wheel by In-wheel motor driving according to claim 1, it is characterised in that 4 independences
A set of mechanism of the Mecanum wheel composition of driving realizes multi-motion mode by adjusting each Mecanum wheel rotation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610892435.0A CN106427387A (en) | 2016-10-13 | 2016-10-13 | Integrated mecanum wheel driven by wheel-hub motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610892435.0A CN106427387A (en) | 2016-10-13 | 2016-10-13 | Integrated mecanum wheel driven by wheel-hub motor |
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| CN106427387A true CN106427387A (en) | 2017-02-22 |
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| CN201610892435.0A Pending CN106427387A (en) | 2016-10-13 | 2016-10-13 | Integrated mecanum wheel driven by wheel-hub motor |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107242866A (en) * | 2017-05-05 | 2017-10-13 | 北京东软医疗设备有限公司 | Medical Devices and the method for control Medical Devices movement |
| CN107669450A (en) * | 2017-11-09 | 2018-02-09 | 杭州程天科技发展有限公司 | A kind of chassis for helping robot |
| CN108068912A (en) * | 2017-12-12 | 2018-05-25 | 重庆浪尖渝力科技有限公司 | The driving structure of merchandising machine people |
| CN108521771A (en) * | 2017-05-31 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Mecanum wheel and robot with the Mecanum wheel |
| CN108749482A (en) * | 2018-06-12 | 2018-11-06 | 杭州程天科技发展有限公司 | Mecanum wheel, chassis and helping robot |
| WO2018218727A1 (en) * | 2017-05-31 | 2018-12-06 | 深圳市大疆创新科技有限公司 | Wheel cover, wheel assembly and infantry combat vehicle |
| 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 |
| CN110667305A (en) * | 2019-11-04 | 2020-01-10 | 苏州希倍优辊轮有限公司 | Mecanum omni wheel and assembling method |
| CN111113366A (en) * | 2020-01-10 | 2020-05-08 | 杭州程天科技发展有限公司 | Omnidirectional movement general robot carrying mechanical arms |
| CN111657686A (en) * | 2019-02-21 | 2020-09-15 | 天津工业大学 | Movable intelligent electronic component cabinet management system |
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| 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 |
| CN107242866A (en) * | 2017-05-05 | 2017-10-13 | 北京东软医疗设备有限公司 | Medical Devices and the method for control Medical Devices movement |
| WO2018218505A1 (en) * | 2017-05-31 | 2018-12-06 | 深圳市大疆创新科技有限公司 | Mecanum wheel and robot provided with mecanum wheel |
| CN108521771A (en) * | 2017-05-31 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Mecanum wheel and robot with the Mecanum wheel |
| WO2018218727A1 (en) * | 2017-05-31 | 2018-12-06 | 深圳市大疆创新科技有限公司 | Wheel cover, wheel assembly and infantry combat vehicle |
| CN107669450A (en) * | 2017-11-09 | 2018-02-09 | 杭州程天科技发展有限公司 | A kind of chassis for helping robot |
| CN108068912A (en) * | 2017-12-12 | 2018-05-25 | 重庆浪尖渝力科技有限公司 | The driving structure of merchandising machine people |
| CN108749482A (en) * | 2018-06-12 | 2018-11-06 | 杭州程天科技发展有限公司 | Mecanum wheel, chassis and helping robot |
| CN108749482B (en) * | 2018-06-12 | 2024-02-20 | 杭州程天科技发展有限公司 | Mecanum wheel, chassis and assisting robot |
| 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 |
| CN111657686A (en) * | 2019-02-21 | 2020-09-15 | 天津工业大学 | Movable intelligent electronic component cabinet management system |
| CN110667305A (en) * | 2019-11-04 | 2020-01-10 | 苏州希倍优辊轮有限公司 | Mecanum omni wheel and assembling method |
| CN111113366A (en) * | 2020-01-10 | 2020-05-08 | 杭州程天科技发展有限公司 | Omnidirectional movement general robot carrying mechanical arms |
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