Permanent magnet adsorption type suspension vibration isolation device of Mecanum-wheel vehicle

Abstract

The invention provides a permanent magnet adsorption type suspension vibration isolation device of a Mecanum-wheel vehicle. The device comprises a flexible unit and a horizontal mechanism, one end of the flexible unit is arranged on a top platform of a magnet fixing base, the other end of the flexible unit is movably connected with a vehicle frame fixing base, the bottom of the magnet fixing base is connected with a first permanent magnet, the vehicle frame fixing base is connected with a boss of a bearing block through the horizontal mechanism, the bearing block and the magnet fixing base are connected with a first servo motor through bolts respectively, and the first servo motor is connected with a first Mecanum wheel through a wheel axle. By means of the permanent magnet adsorption type suspension vibration isolation device, adsorption stability and movement stability of the Mecanum wheel can be satisfied, contact and pressure between Mecanum and the surfaces of permeability magnetic materials are guaranteed, distance and parallelism between the permanent magnets and the adsorption surfaces are guaranteed, the adsorption effect is made to be more stable, vibration isolation in the upper direction and in the lower direction can be achieved through vibration isolation units, and the vibration isolation effects, on the adsorption surfaces at all angles, of robots for mounting a suspension system can be satisfied.

Description

Technical field [0001] The invention relates to a suspension vibration isolation device of a permanent magnet adsorption type Mecanum wheeled vehicle. Background technique [0002] Mecanum Wheel (MecanumWheel) is a kind of omni-directional moving wheel, invented by Swiss BengtLion in 1973, so it is also called Lion wheel, and he works for MecanumAB company. The characteristic of this wheel is that on the basis of the traditional wheel, several freely rotatable small rollers are installed on the rim along the 45o direction with the axis, so that when the wheel rolls, the small rollers will produce direction-finding motion. Through the combined use and control of the Mecanum wheel, the vehicle body can move and rotate in any direction in the motion plane. [0003] In 1975, Lion received a US patent (Patent No. 3,746,112, Directly Stable Self-Propelled Vehicle, "DirectionallyStableSelfPropelledVehicle"). In 1980, the US Navy bought the patent and developed military applications. Afte...

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Problems solved by technology

Many universities in the world, including my country, have also carried out research on the application and control of Mecanum wheels, but most of them focus on the application research on mobile robots, and few products have been formed.

[0005] The Institute of Robotics of Harbin Institute of Technology and other units in China have conducted research on omni-directional mobile robots based on Mecanum wheels, but there are few papers on the research on Mecanum wheels in China

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