Integrated bevel inverting mecanum wheel

Abstract

An integrated bevel inverting mecanum wheel comprises a mecanum wheel, an input shaft and an output shaft, a right bevel gear and a left bevel gear are idly sheathed on the input shaft, an output bevel gear meshed with the right bevel gear and the left bevel gear is fixedly arranged on the output shaft, the mecanum wheel is arranged on the output shaft, and an inverting driver used for transmitting power from the input shaft to the right bevel gear or the left bevel gear is also arranged on the input shaft. The invention designs a direct drive bevel gear drive chain and a reverse drive bevel gear drive chain between the input shaft and the mecanum wheel, selects the used drive chain by external operational device control to change rotation direction of the mecanum wheel, realizes full omnibearing motion car designed by adopting the integrated bevel gear inverting mecanum wheel and realizes car body motions of ten bearings of forward, backward, left, right, left front 45 degrees, leftrear 45 degrees, right front 45 degrees, right rear 45 degrees, clockwise rotation in place, anticlockwise rotation in place.

Description

technical field [0001] The invention belongs to the field of vehicle engineering, and relates to a wheel, in particular to an omnidirectional moving wheel. At the same time, it also belongs to the field of robotics and automation, involving all-round plane mobile robot technology. Background technique [0002] Mecanum Wheel (Mecanum Wheel) is an omnidirectional mobile wheel, invented by Swiss Bengt Lion in 1973, so it is also called Lion Wheel, and he works in Mecanum AB company. The characteristic of the wheel is that on the basis of the traditional wheel, a number of small rollers that can rotate freely are installed on the rim along the direction of 45° with the axis, so that when the wheel rolls, the small rollers will produce direction-finding motion. Through the combined use and control of Mecanum wheels, the car body can be moved and rotated in any direction in the motion plane. [0003] In 1975, Lion obtained a US patent (Patent No. 3,746,112, "Directionally Stable...

AI Technical Summary

Problems solved by technology

[0016] The present invention aims at the existing mecanum-wheel-based omnidirectional mobile robot with complex driving structure and control system, can only be driven by motors and cannot effectively use the workmanship capacity of the driving motors, and cannot use high-efficiency power sources such as internal combustion engines, etc., and provides an integrated The bevel gear reversing mecanum wheel controls the bevel gear reversing device through an external control signal. When the rotational speed and direction of the input shaft remain unchanged, the output mecanum wheel rotates at a constant speed and rotates variable direction

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