CN212637015U - Mecanum wheel and power driving system - Google Patents
Mecanum wheel and power driving system Download PDFInfo
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- CN212637015U CN212637015U CN202021348885.1U CN202021348885U CN212637015U CN 212637015 U CN212637015 U CN 212637015U CN 202021348885 U CN202021348885 U CN 202021348885U CN 212637015 U CN212637015 U CN 212637015U
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Abstract
The utility model provides a mecanum wheel and power drive system, mecanum wheel includes: the wheel hub is provided with a mounting position, and the inner ring of the wheel hub is provided with wheel teeth; the rollers are arranged at the mounting positions along the circumferential direction of the hub; the damping piece is provided with a shaft sleeve used for being connected with a transmission shaft of a power device and a plurality of elastic connecting pieces arranged at intervals along the circumferential direction of the shaft sleeve, and the elastic connecting pieces are connected with the gear teeth. The embodiment of the utility model provides a mecanum wheel is through setting up the damper to the circumference at the axle sleeve of damper is spaced apart to set up a plurality of elastic connection spare, can play better cushioning effect under the stable state of assurance transmission, improves power drive system's stability, increase of service life.
Description
Technical Field
The utility model relates to a wheel technical field especially relates to a mecanum wheel and power drive system.
Background
With the rapid development of the robot technology, in competition robots and robots of special types, omnidirectional movement is a frequently necessary capability, and means that the robot can make any direction translation in a plane and can realize self rotation.
The Mecanum wheel has compact structure and flexible movement, and is a very successful omnidirectional wheel. The Mecanum wheels mounted on the mobile platform can realize omnidirectional rotation, and the Mecanum wheels are of indispensable importance as main moving parts of the existing mobile robot or mobile platform.
However, the existing Mecanum wheels are rigidly connected, and when the Mecanum wheels are used in a scene of frequent collision, the stability of a power driving system is affected due to the overall vibration, so that the Mecanum wheels are easy to damage and have short service life.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a mecanum wheel and power driving system for solve among the prior art mecanum wheel and adopt rigid connection, use mecanum wheel under the scene of frequent collision, can influence power driving system's stability because whole vibrations take place, damage easily, the short defect of life-span realizes guaranteeing to play better cushioning effect under the stable state of transmission, improves power driving system's stability, increase of service life.
The embodiment of the utility model provides a Mecanum wheel, Mecanum wheel includes: the wheel hub is provided with a mounting position, and the inner ring of the wheel hub is provided with wheel teeth; the rollers are arranged at the mounting positions along the circumferential direction of the hub; the damping piece is provided with a shaft sleeve used for being connected with a transmission shaft of a power device and a plurality of elastic connecting pieces arranged at intervals along the circumferential direction of the shaft sleeve, and the elastic connecting pieces are connected with the gear teeth.
According to the Mecanum wheel provided by the embodiment of the invention, a damping piece clamping groove is defined between the adjacent elastic connecting pieces, and the wheel teeth are clamped in the damping piece clamping groove; adjacent inject wheel hub joint groove between the teeth of a cogwheel, the elastic connecting piece joint in wheel hub joint groove.
According to the mecanum wheel provided by the utility model, the elastic connecting piece comprises a first clamping section and a first connecting section, the first clamping section is connected with the shaft sleeve through the first connecting section, and the length of the first clamping section along the circumferential direction of the shaft sleeve is greater than that of the first connecting section along the circumferential direction of the shaft sleeve; the wheel hub joint groove includes first joint groove and first connecting groove, first joint groove set up to with first joint section interference fit, first connecting groove set up to with first connecting section interference fit.
According to the utility model discloses mecanum wheel of an embodiment, first joint section is fan ring shape.
According to the utility model discloses a mecanum wheel, it is a plurality of elastic connection's first joint section is the annular multistage of concentric ring.
According to the utility model discloses a mecanum wheel of embodiment, first connection section is followed the length of the circumference of axle sleeve from with the one end that first joint section is connected to with axle sleeve connection's one end reduces gradually.
According to the mecanum wheel of an embodiment of the present invention, the wheel teeth include a second clamping section and a second connecting section, the second clamping section is connected to the inner ring of the wheel hub through the second connecting section, and the length of the second clamping section in the circumferential direction of the wheel hub is greater than the length of the second connecting section in the circumferential direction of the wheel hub; the damping piece joint groove includes second joint groove and second spread groove, the second joint groove set up to with second joint section interference fit, the second spread groove set up to with second linkage segment interference fit.
According to the utility model discloses mecanum wheel of an embodiment, the second joint section is fan ring shape.
According to the utility model discloses mecanum wheel of an embodiment, the second linkage segment includes a plurality of linking arms along the spaced apart setting of circumference.
The embodiment of the utility model provides a still provide a power driving system, power driving system includes: a Mecanum wheel as described in the previous embodiments; and a transmission shaft of the power device is connected with a shaft sleeve of the Mecanum wheel.
The embodiment of the utility model provides a mecanum wheel and power driving system is through setting up the damper to the circumference interval at the axle sleeve of damper sets up a plurality of elastic connection spare, can play better cushioning effect under the stable state of assurance transmission, improves power driving system's stability, increase of service life.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is an exploded view of a mecanum wheel according to an embodiment of the present invention;
fig. 2 is a perspective view of a mecanum wheel according to an embodiment of the present invention;
fig. 3 is a schematic view of a wheel hub provided by an embodiment of the present invention;
fig. 4 is a perspective view of a shock absorbing member according to an embodiment of the present invention;
fig. 5 is a cross-sectional view of a power drive system provided by an embodiment of the present invention;
reference numerals:
100: a hub; 110: an inner hub; 120: an outer hub; 130: gear teeth; 131: a second clamping section; 132: a second connection section; 133: a connecting arm; 140: the hub is clamped in the groove; 141: a first clamping groove; 142: a first connecting groove; 200: a shock absorbing member; 210: a shaft sleeve; 230: the damping piece is clamped in the groove; 231: a second clamping groove; 232: a second connecting groove; 240: an elastic connecting member; 241: a first clamping section; 242: a first connection section; 300: a roller; 400: a power plant; 410: a drive shaft; 420: step screws; 430: and a bearing.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "inside" and "outside" are used for indicating the orientation or the positional relationship based on the orientation or the positional relationship shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but not for indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
With the rapid development of the robot technology, in competition robots and robots of special types, omnidirectional movement is a frequently necessary capability, and means that the robot can make any direction translation in a plane and can realize self rotation.
The Mecanum wheel has compact structure and flexible movement, and is a very successful omnidirectional wheel. The omni-directional movement of the mecanum wheel is based on the principle of a central wheel with a number of rollers located on the wheel peripheral axle and translating a portion of the wheel steering force of the angled peripheral axle to the wheel normal force. The mecanum wheels rely on the direction and speed of the respective rollers to combine to produce a resultant force vector in any desired direction thereby ensuring that the wheels are free to move in the direction of the resultant force vector without changing the direction of the wheels themselves. The Mecanum wheels mounted on the mobile platform can realize omnidirectional rotation, and the Mecanum wheels are of indispensable importance as main moving parts of the existing mobile robot or mobile platform.
However, the existing Mecanum wheels are rigidly connected, and when the Mecanum wheels are used in a scene of frequent collision, the stability of a power driving system is affected due to the overall vibration, so that the Mecanum wheels are easy to damage and have short service life.
The mecanum wheel and power drive system of embodiments of the present invention are described below in conjunction with fig. 1-5.
As shown in fig. 1 and 2, an embodiment of the present invention provides a mecanum wheel, including: a hub 100, a plurality of rollers 300, and a damper 200.
Wherein the hub 100 has a mounting location.
It will be appreciated that the wheel hub 100 may include an inner hub 110 and an outer hub 120, the inner hub 110 and the outer hub 120 being coaxially connected, the inner hub 110 having inner hub attachment seats circumferentially distributed about the inner hub 110, the outer hub 120 having outer hub attachment seats circumferentially distributed about the outer hub 120, the plurality of inner hub attachment seats and the plurality of outer hub attachment seats being in one-to-one correspondence, the inner hub attachment seats and the outer hub attachment seats being securable by a threaded connection, a snap connection, and other releasable connections when assembled, the inner hub 110 and the outer hub 120 together defining a mounting location.
As shown in fig. 3, inner ring of hub 100 has gear teeth 130, and gear teeth 130 may be disposed on inner ring of inner hub 110, and gear teeth 130 are generally plural, and plural gear teeth 130 are uniformly spaced along the circumference of hub 100.
The plurality of rollers 300 are disposed at the mounting position along the circumferential direction of the hub 100.
It can be understood that a plurality of rollers 300 are uniformly arranged on the outer edge of the hub 100 along the circumferential direction, and the rollers 300 are mounted on the hub 100 through the mounting positions defined by the inner hub 110 and the outer hub 120 and are axially limited, so that the rollers 300 can rotate around the shaft without axial displacement.
As shown in fig. 4 and 5, the shock absorbing member 200 has a bushing 210 for coupling with a driving shaft 410 of the power unit 400 and a plurality of elastic connection members 240 spaced apart along a circumference of the bushing 210, the elastic connection members 240 being connected with the gear teeth 130.
It can be understood that the damping member 200 is connected to the hub 100, the damping member 200 can be clamped to the inner ring of the hub 100, the damping member 200 has a shaft sleeve 210, the shaft sleeve 210 is used for connecting the transmission shaft 410 of the power device 400, and when in use, the shaft sleeve 210 and the transmission shaft 410 of the power device 400 can be coupled in any one of a key coupling, a spline coupling, an expansion sleeve coupling, a pin coupling, a set screw coupling and an interference coupling.
A plurality of elastic connection members 240 are provided at intervals in the circumferential direction of the hub 210, and when the shock absorbing members 200 are assembled with the hub 100, the plurality of elastic connection members 240 are engaged with the plurality of gear teeth 130 of the hub 100, that is, the shock absorbing members 200 can obtain power by being connected with the driving shaft 410 of the power device 400 and transmit the power to the hub 100 by being connected with the gear teeth 130 of the hub 100 through the elastic connection members 240, thereby performing a driving function.
Because the circumference at axle sleeve 210 is spaced apart and is set up a plurality of elastic connection spare 240, cushion jointly through a plurality of elastic connection spare 240, can guarantee under the stable state of transmission, compare and set up single elastic washer, at ascending maximum deflection in circumference bigger, the shock-absorbing capacity in circumference is stronger like this, can play better cushioning effect.
The utility model provides a mecanum wheel is through setting up damper 200 to the circumference at damper 200's axle sleeve 210 is spaced apart and is set up a plurality of elastic connection spare 240, can play better cushioning effect under the stable state of assurance transmission, improves power drive system's stability, increase of service life.
As shown in fig. 3 and 4, in some embodiments, damper snap grooves 230 are defined between adjacent elastic connection members 240, and the gear teeth 130 are snapped in the damper snap grooves 230.
It can be understood that, in the design of the damper 200, a plurality of elastic connection members 240 are spaced apart from each other in the circumferential direction of the sleeve 210, and the damper snap grooves 230 can be defined between adjacent elastic connection members 240 to snap the gear teeth 130 of the hub 100 into the damper snap grooves 230.
A hub catching groove 140 is defined between adjacent gear teeth 130, and the elastic connecting member 240 is caught in the hub catching groove 140.
It can be understood that, in the design of the hub 100, a plurality of gear teeth 130 are circumferentially spaced apart from each other at the inner ring of the hub 100, and a hub engaging groove 140 can be defined between adjacent gear teeth 130, so that the elastic connecting member 240 of the shock absorbing member 200 is engaged with the hub engaging groove 140.
Through teeth of a cogwheel 130 joint in damper joint groove 230, elastic connecting piece 240 joint in wheel hub joint groove 140, can make damper 200 be connected inseparabler with wheel hub 100, avoid taking place the slippage, realize stabilizing the transmission.
As shown in fig. 3 and 4, in some embodiments, the elastic connector 240 includes a first clamping section 241 and a first connection section 242, the first clamping section 241 is connected to the shaft sleeve 210 through the first connection section 242, and the length of the first clamping section 241 along the circumferential direction of the shaft sleeve 210 is greater than the length of the first connection section 242 along the circumferential direction of the shaft sleeve 210.
It should be noted that the elastic connection member 240 has a first clamping section 241 and a first connection section 242, one end of the first connection section 242 is connected to the first clamping section 241, the other end is connected to the shaft sleeve 210, a connection direction of the first clamping section 241 and the first connection section 242 is along a radial direction of the shaft sleeve 210, and a length of the first clamping section 241 along a circumferential direction of the shaft sleeve 210 is greater than a length of the first connection section 242 along the circumferential direction of the shaft sleeve 210.
The hub snap groove 140 may include a first snap groove 141 and a first connection groove 142, the first snap groove 141 being configured to be interference fit with the first snap section 241, and the first connection groove 142 being configured to be interference fit with the first connection section 242.
It is understood that, corresponding to the first clamping section 241 and the first connection section 242 of the elastic connector 240, the hub clamping groove 140 may include a first clamping groove 141 and a first connection groove 142, the first clamping groove 141 and the first clamping section 241 are assembled in an interference fit manner, and the first connection groove 142 and the first connection section 242 are assembled in an interference fit manner. Design like this can make the first joint section 241 embedding first joint groove 141 of broad, and interference fit's mode in addition can make the connection of wheel hub 100 and damper 200 inseparabler, realizes more stable transmission effect.
As shown in FIG. 4, in some embodiments, the first clamping section 241 is fan-ring shaped.
It should be noted that, the first clamping section 241 is provided as a fan ring shape, so that the first clamping section can be conveniently and accurately positioned during assembly, and the assembly efficiency can be improved.
As shown in fig. 4, in some embodiments, the first clamping segments 241 of the plurality of elastic connectors 240 are segments of concentric circular rings.
It can be understood that the first clamping sections 241 of the plurality of elastic connecting members 240 are provided as multiple sections in a concentric circular ring shape, so that the shock absorbing member 200 can be easily formed integrally through a cutting process during manufacturing, and manufacturing efficiency is improved.
As shown in fig. 4, in some embodiments, the length of the first coupling section 242 along the circumferential direction of the shaft sleeve 210 is gradually decreased from the end connected with the first clamping section 241 to the end connected with the shaft sleeve 210.
It can be understood that the first connection section 242 may also be a fan-shaped ring structure, that is, the length of the first connection section 242 along the circumferential direction of the shaft sleeve 210 gradually decreases toward the axial direction along the radial direction of the shaft sleeve 210, so that the design can ensure that the elastic connection member 240 has greater elasticity, and at the same time, the shear force that can be borne by the end of the first connection section 242 connected with the first clamping section 241 is greater, so as to improve the reliability of the shock absorbing member 200.
As shown in fig. 3, in some embodiments, the gear teeth 130 may include a second clamping section 131 and a second connecting section 132, the second clamping section 131 is connected to the inner ring of the hub 100 through the second connecting section 132, and the length of the second clamping section 131 in the circumferential direction of the hub 100 is greater than the length of the second connecting section 132 in the circumferential direction of the hub 100.
It should be noted that the gear tooth 130 has a second clamping section 131 and a second connecting section 132, one end of the second connecting section 132 is connected to the second clamping section 131, the other end is connected to the inner ring of the hub 100, the connection direction between the second clamping section 131 and the second connecting section 132 is along the radial direction of the hub 100, and the length of the second clamping section 131 along the circumferential direction of the hub 100 is greater than the length of the second connecting section 132 along the circumferential direction of the hub 100.
Damper joint groove 230 can include second joint groove 231 and second connection groove 232, and second joint groove 231 sets up to be with second joint section 131 interference fit, and second connection groove 232 sets up to be with second connection section 132 interference fit.
It is understood that, corresponding to the second clamping section 131 and the second connecting section 132 of the gear teeth 130, the damper clamping groove 230 may include a second clamping groove 231 and a second connecting groove 232, the second clamping groove 231 is assembled with the second clamping section 131 in an interference fit manner, and the second connecting groove 232 is assembled with the second connecting section 132 in an interference fit manner. Design like this can make the second joint section 131 of broad imbed second joint groove 231, and interference fit's mode in addition can make wheel hub 100 and damper 200's connection inseparabler, realizes more stable transmission effect.
In some embodiments, as shown in FIG. 3, second clamping section 131 is fan-ring shaped.
It can be understood that the second clamping section 131 is provided in a sector shape, so that the second clamping section can be accurately positioned during assembly, and the assembly efficiency can be further improved.
As shown in fig. 3, in some embodiments, the second connector segment 132 includes a plurality of connector arms 133 disposed in a circumferentially spaced apart relationship.
It will be appreciated that the second coupling segment 132 of the gear teeth 130 has a plurality of circumferentially spaced coupling arms 133, which can improve the flexibility of rotation of the mecanum wheel by reducing the weight of the wheel hub 100 while maintaining strength by providing the coupling arms 133.
As shown in fig. 5, the embodiment of the present invention further provides a power driving system, including: a mecanum wheel and power plant 400 as described in the previous embodiments.
Wherein, the transmission shaft 410 of the power device 400 is connected with the bushing 210 of the mecanum wheel.
It is understood that the power device 400 may be an electric motor, an internal combustion engine or other devices capable of generating power, and the transmission shaft 410 of the power device 400 may be coupled to the sleeve 210 of the mecanum wheel in any one of a key coupling, a spline coupling, an expansion sleeve coupling, a pin coupling, a set screw coupling and an interference coupling.
When the fastening screws are used for connection, the fastening screws can be step screws 420, bearings 430 are mounted at the steps of the step screws 420, the bearings 430 are used for preventing the power device 400 from being rigidly connected with the hub 100, the shock absorbing pieces 200 are bypassed, the torsion of the transmission shafts 410 can be prevented from being directly transmitted to the hub 100 of the mecanum wheel, and the shock absorbing performance of the mecanum wheel is guaranteed.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (10)
1. A mecanum wheel, comprising:
the wheel hub is provided with a mounting position, and the inner ring of the wheel hub is provided with wheel teeth;
the rollers are arranged at the mounting positions along the circumferential direction of the hub;
the damping piece is provided with a shaft sleeve used for being connected with a transmission shaft of a power device and a plurality of elastic connecting pieces arranged at intervals along the circumferential direction of the shaft sleeve, and the elastic connecting pieces are connected with the gear teeth.
2. A mecanum wheel according to claim 1, wherein adjacent resilient connecting members define shock-absorbing member snap-fit grooves therebetween, the gear teeth being snap-fit into the shock-absorbing member snap-fit grooves;
adjacent inject wheel hub joint groove between the teeth of a cogwheel, the elastic connecting piece joint in wheel hub joint groove.
3. A mecanum wheel according to claim 2, wherein the elastic connector includes a first clamping section and a first connecting section, the first clamping section is connected with the shaft sleeve through the first connecting section, and the length of the first clamping section along the circumferential direction of the shaft sleeve is greater than that of the first connecting section along the circumferential direction of the shaft sleeve;
the wheel hub joint groove includes first joint groove and first connecting groove, first joint groove set up to with first joint section interference fit, first connecting groove set up to with first connecting section interference fit.
4. A mecanum wheel according to claim 3, wherein the first clamping section is a sector ring.
5. A Mecanum wheel as in claim 4, wherein the first snap segments of the plurality of resilient connectors are segments of concentric circular rings.
6. A mecanum wheel according to claim 3, wherein the length of the first coupling section along the circumferential direction of the boss gradually decreases from the end coupled to the first clamping section to the end coupled to the boss.
7. A mecanum wheel according to claim 2, wherein the gear teeth include a second clamping section and a second connecting section, the second clamping section is connected with the inner ring of the hub through the second connecting section, and the length of the second clamping section in the circumferential direction of the hub is greater than the length of the second connecting section in the circumferential direction of the hub;
the damping piece joint groove includes second joint groove and second spread groove, the second joint groove set up to with second joint section interference fit, the second spread groove set up to with second linkage segment interference fit.
8. A mecanum wheel according to claim 7, wherein the second clamping section is a sector ring.
9. A mecanum wheel according to claim 7, wherein the second coupling section includes a plurality of circumferentially spaced coupling arms.
10. A power drive system, comprising:
the mecanum wheel of any of claims 1-9;
and a transmission shaft of the power device is connected with a shaft sleeve of the Mecanum wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021348885.1U CN212637015U (en) | 2020-07-10 | 2020-07-10 | Mecanum wheel and power driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021348885.1U CN212637015U (en) | 2020-07-10 | 2020-07-10 | Mecanum wheel and power driving system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212637015U true CN212637015U (en) | 2021-03-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021348885.1U Active CN212637015U (en) | 2020-07-10 | 2020-07-10 | Mecanum wheel and power driving system |
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| Country | Link |
|---|---|
| CN (1) | CN212637015U (en) |
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2020
- 2020-07-10 CN CN202021348885.1U patent/CN212637015U/en active Active
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