A deformable Mecanum wheel

Abstract

The present invention relates to a deformable Mecanum wheel, comprising a driving shaft, an outer wheel and two roller groups, the two roller groups are respectively spaced and coaxially sleeved on the driving shaft, at least one roller group can be moved and positioned along the axial direction of the driving shaft; the outer wheel is fixedly coaxially sleeved on the driving shaft, and is located between the two roller groups; at least one roller group is moved so that the two roller groups are separated from each other, the outer wheel can be extended between the two roller groups, and its edge is located outside the edge of the roller group, or the two roller groups are close to each other until they fit together, and the outer wheel can be retracted between the driving shaft and the two roller groups. The beneficial effects of the present invention are compact structure and reasonable design, which can not only ensure that the wheel can turn normally, but also effectively improve the efficiency of wheel movement, and ensure that the wheel can walk normally on a rough road.

Description

Technical Field

[0001] The invention relates to the technical field of Mecanum wheels, and in particular to a deformable Mecanum wheel. Background Art

[0002] The omnidirectional mobile platform based on the Mecanum wheel has excellent mobility performance. It can move in any direction without any rotation of the body, so it is widely used in manufacturing and warehousing. Although the traditional Mecanum wheel can achieve omnidirectional movement by decomposing the movement speed, it also leads to low forward movement efficiency and the problem of difficult normal driving on rugged roads. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a deformable Mecanum wheel, aiming to solve the above-mentioned technical problem.

[0004] The technical solution of the present invention to solve the above technical problems is as follows:

[0005] A deformable Mecanum wheel comprises a drive shaft, an outer wheel and two groups of rollers, wherein the two groups of rollers are coaxially sleeved on the drive shaft at intervals, and at least one group of rollers can be moved and positioned along the axial direction of the drive shaft; the outer wheel is fixedly coaxially sleeved on the drive shaft and is located between the two groups of rollers; at least one group of rollers is moved so that the two groups of rollers are separated from each other, the outer wheel can be extended between the two groups of rollers, and its edge is located outside the edge of the rollers, or the two groups of rollers are close to each other until they are close to each other, and the outer wheel can be retracted between the drive shaft and the two groups of rollers.

[0006] The beneficial effects of the present invention are: when in use, at least one set of rollers is moved in a way that can be thought of by a person skilled in the art, so that the two sets of rollers are separated from each other, the outer wheel can be extended between the two sets of rollers, and its edge is located outside the edge of the rollers, so as to achieve efficient movement of the wheel; or the two sets of rollers are brought close to each other until they fit together, and the outer wheel can be retracted between the drive shaft and the two sets of rollers, so as to achieve steering of the wheel, which is convenient to use. The present invention has a compact structure and a reasonable design, which can ensure that the wheel can be steered normally, and can effectively improve the efficiency of the wheel movement, so as to ensure that the wheel can travel normally on a rough road.

[0007] Based on the above technical solution, the present invention can also be improved as follows.

[0008] Furthermore, the outer wheel includes a driving mechanism and a plurality of telescopic mechanisms, and the plurality of telescopic mechanisms are evenly distributed along the circumference of the driving shaft; the driving mechanism is installed on the driving shaft, and is used to drive the plurality of telescopic mechanisms to extend to form a wheel shape or to contract between the driving shaft and the two groups of rollers.

[0009] The beneficial effect of adopting the above further scheme is that when in use, the driving mechanism drives multiple telescopic mechanisms to extend to form a wheel shape, so as to improve the efficiency of wheel movement and ensure the normal operation of the wheel on rough roads; or drive multiple telescopic mechanisms to shrink between the driving shaft and the two groups of rollers to achieve rapid steering of the wheel, which is easy to use.

[0010] Furthermore, the driving mechanism includes at least one set of driving components, and the driving components are installed on the driving shaft and are used to drive the multiple telescopic mechanisms to telescope.

[0011] The beneficial effects of adopting the above further scheme are simple structure and reasonable design. The driving assembly drives multiple telescopic mechanisms to extend and retract, thereby realizing rapid switching of different states of the wheels, ensuring the normal operation and movement rate of the wheels on rough roads.

[0012] Furthermore, the interior of the driving shaft is hollow, and is provided with a plurality of through openings corresponding one-to-one to the plurality of telescopic mechanisms; the number of the driving components is one group, which is transmission-connected to the plurality of telescopic mechanisms and drives the plurality of telescopic mechanisms to telescope synchronously.

[0013] The beneficial effects of adopting the above further solution are simple structure, reasonable design, and the ability to achieve synchronous extension and retraction of multiple telescopic mechanisms through a set of drive components, which is easy to install and has low cost.

[0014] Furthermore, the number of the driving components is multiple groups, and they correspond one-to-one to the multiple telescopic mechanisms; the multiple driving components are distributed on the driving shaft along the circumference of the driving shaft, and are respectively used to drive the multiple telescopic mechanisms to synchronously telescope.

[0015] The beneficial effect of adopting the above further solution is that when in use, the extension and retraction of multiple telescopic mechanisms are achieved through multiple driving components, which are controlled separately and are easy to operate.

[0016] The above two solutions are parallel solutions, both of which can realize the synchronous extension and retraction of multiple telescopic mechanisms, but the former has lower cost and smaller installation space.

[0017] Furthermore, a coaxial sliding sleeve on the driving shaft is provided with a slip ring, and the multiple telescopic mechanisms are respectively connected to the slip rings in a transmission connection; the driving mechanism is connected to the slip rings in a transmission connection, and is used to drive the slip rings to slide along the driving shaft and drive the multiple telescopic mechanisms to telescope.

[0018] The beneficial effect of adopting the above further solution is that when in use, the driving mechanism drives the slip ring to slide along the axial direction of the driving shaft, and drives multiple telescopic mechanisms to telescope, which has a simple structure and is easy to use.

[0019] Furthermore, each of the telescopic mechanisms includes a wheel edge block, flap one and flap two, one end of flap one is rotationally connected to any group of the roller groups; one end of flap two is rotationally connected to the other end of flap one, which is transmission connected to the slip ring through a connecting rod assembly, and the wheel edge block is fixedly mounted on flap two.

[0020] The beneficial effect of adopting the above further scheme is that during the sliding process of the slip ring, the slip ring drives the flap 1 and the flap 2 to extend or fold through the connecting rod assembly, thereby realizing the movement of the wheel side block. The structure is simple, the design is reasonable, and it is easy to use.

[0021] Furthermore, the connecting rod assembly includes two connecting rods, and the two connecting rods are relatively distributed between the flap 2 and the slip ring, and the two ends of the two connecting rods are rotatably connected to the flap 2 and the slip ring respectively.

[0022] The beneficial effect of adopting the above further scheme is simple structure and reasonable design. A parallelogram is formed between the two connecting rods, the slip ring and the second flap, which can ensure the extension or contraction of the wheel edge block and the stability of the movement of the wheel edge block.

[0023] Furthermore, one group of the roller groups is coaxially fixedly sleeved on one end of the driving shaft, and the other group of the roller groups is coaxially slidably sleeved on the other end of the driving shaft; the slip ring is connected to the other group of the roller groups through a connecting mechanism.

[0024] The beneficial effect of adopting the above further scheme is that during the movement of the slip ring, the connecting mechanism can be used to drive another group of rollers to move synchronously, that is, the synchronous movement of the slip ring and another group of rollers can be achieved through one driving mechanism, with simple structure, reasonable design and low cost.

[0025] Furthermore, the connection mechanism includes at least one grab hook, and two ends of the grab hook are respectively fixedly connected to the slip ring and another group of roller groups.

[0026] The beneficial effects of adopting the above further solution are simple structure, reasonable design, the slip ring can synchronously drive another group of rollers to move by utilizing the special shape of the grab hook, and it is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is one of the structural schematic diagrams after the present invention is unfolded;

[0028] Figure 2 This is the second structural schematic diagram of the present invention after it is expanded;

[0029] Figure 3 is an axial cross-sectional view of the present invention;

[0030] Figure 4 It is a schematic diagram of the structure of each telescopic mechanism in the present invention.

[0031] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0032] 1. Drive shaft; 2. Roller group; 3. Slip ring; 4. Wheel side block; 5. Flap 1; 6. Flap 2; 7. Connecting rod; 8. Grab hook; 9. Screw; 10. Slider. DETAILED DESCRIPTION

[0033] The principles and features of the present invention are described below in conjunction with the accompanying drawings and specific embodiments. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0034] like Figures 1 to 4 As shown, the present invention provides a deformable Mecanum wheel, comprising a drive shaft 1, an outer wheel and two groups of rollers 2, the two groups of rollers 2 are respectively spaced and coaxially sleeved on the drive shaft 1, and at least one group of rollers 2 can be moved and positioned along the axial direction of the drive shaft 1; the outer wheel is fixedly coaxially sleeved on the drive shaft 1, and is located between the two groups of rollers 2; at least one group of rollers 2 is moved so that the two groups of rollers 2 are separated from each other, the outer wheel can be extended between the two groups of rollers 2, and its edge is located outside the edge of the rollers 2, or the two groups of rollers 2 are close to each other and fit together, and the outer wheel can be retracted between the drive shaft 1 and the two groups of rollers 2. When in use, at least one group of rollers 2 is moved in a way that can be thought of by a person skilled in the art, so that the two groups of rollers 2 are separated from each other, the outer wheel can be extended between the two groups of rollers 2, and its edge is located outside the edge of the rollers 2, so as to achieve efficient movement of the wheel; or the two groups of rollers 2 are close to each other and fit together, and the outer wheel can be retracted between the drive shaft 1 and the two groups of rollers 2, so as to achieve steering of the wheel, which is convenient to use. The invention has a compact structure and a reasonable design, which can ensure that the wheels can turn normally and effectively improve the efficiency of the wheel movement, thereby ensuring that the wheels can move normally on a rough road.

[0035] The two roller groups 2 mentioned above both adopt the existing technology, and their specific structures are the same as the traditional Mecanum wheels, so their specific structures and principles are not described in detail here.

[0036] Example 1

[0037] On the basis of the above structure, in this embodiment, the outer wheel includes a driving mechanism and a plurality of telescopic mechanisms, and the plurality of telescopic mechanisms are evenly distributed along the circumference of the driving shaft 1; the driving mechanism is mounted on the driving shaft 1, and is used to drive the plurality of telescopic mechanisms to extend to form a wheel shape or to retract between the driving shaft 1 and the two roller groups 2. When in use, the driving mechanism drives the plurality of telescopic mechanisms to extend to form a wheel shape, so as to improve the efficiency of the wheel moving on the road and ensure the normal operation of the wheel on a rough road; or drives the plurality of telescopic mechanisms to retract between the driving shaft 1 and the two roller groups 2, so as to realize the rapid steering of the wheel, which is convenient to use.

[0038] Example 2

[0039] On the basis of the first embodiment, in this embodiment, a coaxial sliding sleeve is provided on the driving shaft 1 with a slip ring 3, and a plurality of telescopic mechanisms are respectively connected to the slip ring 3 by transmission; the driving mechanism is connected to the slip ring 3 by transmission, and is used to drive the slip ring 3 to slide along the driving shaft 1, and drive the plurality of telescopic mechanisms to telescope. When in use, the driving mechanism drives the slip ring 3 to slide along the axial direction of the driving shaft 1, and drives the plurality of telescopic mechanisms to telescope, which has a simple structure and is easy to use.

[0040] Example 3

[0041] On the basis of the second embodiment, in this embodiment, each telescopic mechanism includes a wheel edge block 4, a flap 1 5 and a flap 2 6. One end of the flap 1 5 is rotatably connected to any one group of roller groups 2 through a rotating shaft or a hinge; one end of the flap 2 6 is rotatably connected to the other end of the flap 1 5 through a rotating shaft or a hinge, which is transmission-connected to the slip ring 3 through a connecting rod assembly, and the wheel edge block 4 is fixedly installed on the flap 2 6 through bolts. During the sliding process of the slip ring 3, the slip ring 3 drives the flap 1 5 and the flap 2 6 to extend or fold through the connecting rod assembly, thereby realizing the movement of the wheel edge block 4, which has a simple structure, reasonable design and convenient use.

[0042] Example 4

[0043] On the basis of the third embodiment, in this embodiment, the connecting rod assembly includes two connecting rods 7, which are relatively distributed between the second flap 6 and the slip ring 3, and the two ends of which are rotatably connected to the second flap 6 and the slip ring 3 through hinges. This scheme has a simple structure and a reasonable design. The two connecting rods 7 form a parallelogram with the slip ring 3 and the second flap 6, which can ensure the extension or contraction of the wheel edge block 4 and the stability of the movement of the wheel edge block 4.

[0044] One end of the two connecting rods 7 is rotatably connected to the second flap 6 , and the other end is rotatably connected to two sides of the slip ring 3 .

[0045] Example 5

[0046] On the basis of the third embodiment, in this embodiment, one group of rollers 2 is coaxially fixedly sleeved on one end of the driving shaft 1 by bolts or welding, and the other group of rollers 2 is coaxially slidably sleeved on the other end of the driving shaft 1; the slip ring 3 is connected to the other group of rollers 2 by a connecting mechanism. During the movement of the slip ring 3, the connecting mechanism can be used to drive the other group of rollers 2 to move synchronously, that is, the synchronous movement of the slip ring 3 and the other group of rollers 2 can be achieved through one driving mechanism, which has a simple structure, reasonable design and low cost.

[0047] Mounting rings are fixedly installed at the centers of the two roller groups 2. The mounting ring at the center of one of the roller groups 2 is fixedly sleeved on one end of the drive shaft 1 by bolts or welding, and the mounting ring at the center of the other roller group 2 is slidably sleeved on the other end of the drive shaft 1.

[0048] In addition to the above embodiments, other methods can be used to drive the other roller group 2 to slide, for example, a cylinder is fixedly installed at the other end of the drive shaft 1 by bolts, and the telescopic end of the cylinder moves along the axial direction of the drive shaft 1 and is fixedly connected to the corresponding mounting ring by bolts. When in use, during the extension and retraction of multiple telescopic mechanisms, the cylinder drives the other roller group 2 to move on the drive shaft 1. In comparison, the installation of this solution occupies a larger space than the above solution and has a higher cost.

[0049] In addition to the above scheme, the two roller groups 2 can also move synchronously, for example, cylinders are fixedly installed at both ends of the driving shaft 1, the telescopic ends of the two cylinders are arranged opposite to each other, and telescope along the axial direction of the driving shaft 1, the two roller groups 2 are located between the two cylinders, and the two cylinders drive the two roller groups 2 to move on the driving shaft 1. In comparison, the installation of this scheme occupies a larger space than the above two schemes, and the cost is higher.

[0050] Example 6

[0051] On the basis of the fifth embodiment, in this embodiment, the connecting mechanism includes at least one grab hook 8, and the two ends of the grab hook 8 are respectively fixedly connected to the slip ring 3 and the other group of roller groups 2, that is, the two ends of each grab hook 8 are respectively fixedly connected to the slip ring 3 and the corresponding mounting ring by bolts or welding. The structure is simple and the design is reasonable. The slip ring 3 can synchronously drive the other group of roller groups 2 to move by utilizing the special shape of the grab hook 8, and it is easy to use.

[0052] Preferably, the connection mechanism comprises a plurality of grab hooks 8 , and the plurality of grab hooks are evenly spaced and distributed along the circumference of the drive shaft 1 .

[0053] In addition, both ends of each grab hook 8 are hook-shaped, which is convenient for connecting with the slip ring 3 and the corresponding mounting ring.

[0054] Example 7

[0055] On the basis of the above structure, in this embodiment, the driving mechanism includes at least one set of driving components, which are installed on the driving shaft 1 and are used to drive multiple telescopic mechanisms to extend and retract. This solution has a simple structure and a reasonable design. The driving components drive multiple telescopic mechanisms to extend and retract, thereby realizing rapid switching of different states of the wheels and ensuring the normal operation and movement rate of the wheels on rough roads.

[0056] Example 8

[0057] On the basis of the seventh embodiment, in this embodiment, the interior of the driving shaft 1 is hollow, and a plurality of openings corresponding to the plurality of telescopic mechanisms are provided thereon, and each opening is preferably a strip-shaped opening extending axially along the driving shaft 1; the number of driving components is one group, which is transmission-connected with the plurality of telescopic mechanisms and drives the plurality of telescopic mechanisms to telescope synchronously. This solution has a simple structure and a reasonable design, and can realize the synchronous telescopic of the plurality of telescopic mechanisms through one group of driving components, is easy to install, and has a low cost.

[0058] The above-mentioned driving assembly includes a screw rod 9, which is coaxially rotatably installed in the driving shaft 1, and one end of the driving shaft 1 is open and the other end is closed. One end of the screw rod 9 is rotatably connected to the closed end of the driving shaft 1, and the other end extends to the outside of the open end of the driving shaft 1; a slider 10 is threadedly sleeved on the screw rod 9, and the slip ring 3 is connected to the slider 10 through at least one connecting rod, one end of each connecting rod is welded to the slider 10, and the other end is fixedly connected to the slip ring 3 after passing through the corresponding opening.

[0059] In addition to the above solution, the above drive assembly can also use a cylinder. In this case, the cylinder is fixed to the drive shaft 1 by bolts, and its telescopic end extends axially along the drive shaft 1 and is fixedly connected to the slip ring 3 by bolts. However, this solution occupies a large space.

[0060] In addition, when in use, the entire wheel is driven by a coaxial motor, which is fixedly connected to the other end of the screw 9 and the open end of the drive shaft 1, and can drive the screw 9 and the drive shaft 1 to rotate respectively. When in use, the coaxial motor can drive the drive shaft 1 to rotate, and drive the two sets of rollers 2 to rotate, and at this time, multiple telescopic mechanisms are contracted between the drive shaft 1 and the two sets of rollers 2; the coaxial motor can also drive the screw 9 to rotate, and drive the slider 10 and the slip ring 3 to slide along the axial direction of the drive shaft 1.

[0061] Example 9

[0062] On the basis of the seventh embodiment, in this embodiment, the number of drive assemblies is multiple groups, and they correspond one to one with the multiple telescopic mechanisms; the multiple drive assemblies are distributed on the drive shaft 1 along the circumference of the drive shaft 1, and are respectively used to drive the multiple telescopic mechanisms to telescope synchronously. When in use, the telescopic mechanisms are telescoped by the multiple drive assemblies, and are controlled separately, which is easy to operate.

[0063] Each of the above-mentioned driving components can adopt a cylinder, which is fixed to the driving shaft 1 by bolts, and its telescopic end extends along the axial direction of the driving shaft 1 and is transmission-connected with the corresponding telescopic mechanism, that is, the telescopic end of the cylinder is rotationally connected with the corresponding ends of the corresponding two connecting rods 7.

[0064] The above two solutions are parallel solutions, both of which can realize the synchronous extension and retraction of multiple telescopic mechanisms, but the former has lower cost and smaller installation space.

[0065] It should be noted that due to limited installation space, all of the above-mentioned cylinders are small cylinders with small size and easy installation.

[0066] The working principle of the present invention is as follows:

[0067] When turning, the coaxial motor rotates forward and drives the screw 9 to rotate, and the multiple telescopic mechanisms shrink to between the two roller groups 2 and the driving shaft 1. At the same time, the slip ring 3 drives the other roller group 2 to move by using the grab hook 8 so that the two roller groups 2 are close to each other;

[0068] Under normal driving conditions, the coaxial motor reverses and drives the screw 9 to rotate until the outer wheel is restored and then stops rotating. The coaxial motor drives the drive shaft 1 to start rotating again. At this time, the structure is a normal tire structure and can run normally on the road, solving the problems of slow forward speed, low movement efficiency, and difficulty in lateral speed decomposition on rough roads, which makes it impossible to drive normally.

[0069] It should be noted that all electronic components involved in the present invention adopt the existing technology, and the above-mentioned components are electrically connected to the controller, and the control circuit between the controller and each component is the existing technology.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A deformable Mecanum wheel, Features: It comprises a driving shaft (1), an outer wheel and two groups of roller groups (2), the two groups of roller groups (2) are respectively and coaxially sleeved on the driving shaft (1) at intervals, and at least one group of roller groups (2) can be moved and positioned along the axial direction of the driving shaft (1); the outer wheel is fixedly and coaxially sleeved on the driving shaft (1), and is located between the two groups of roller groups (2); at least one group of roller groups (2) is moved so that the two groups of roller groups (2) are separated from each other, the outer wheel can be extended between the two groups of roller groups (2), and its edge is located outside the edge of the roller group (2), or the two groups of roller groups (2) are close to each other until they are close to each other, and the outer wheel can be retracted between the driving shaft (1) and the two groups of roller groups (2); The outer wheel comprises a driving mechanism and a plurality of telescopic mechanisms, wherein the plurality of telescopic mechanisms are evenly distributed along the circumference of the driving shaft (1); the driving mechanism is mounted on the driving shaft (1) and is used to drive the plurality of telescopic mechanisms to extend to form a wheel shape or to contract between the driving shaft (1) and the two groups of rollers (2); a slip ring (3) is provided on the coaxial sliding sleeve on the driving shaft (1), and the plurality of telescopic mechanisms are respectively connected to the slip ring (3) in a transmission manner; the driving mechanism is connected to the slip ring (3) in a transmission manner and is used to drive the slip ring (3) to slide along the driving shaft (1) and drive the plurality of telescopic mechanisms to extend and retract; Each of the telescopic mechanisms comprises a wheel block (4), a flap one (5) and a flap two (6); one end of the flap one (5) is rotatably connected to any one of the roller groups (2); one end of the flap two (6) is rotatably connected to the other end of the flap one (5), which is transmission-connected to the slip ring (3) via a connecting rod assembly; the wheel block (4) is fixedly mounted on the flap two (6); one of the roller groups (2) is coaxially fixedly sleeved on one end of the drive shaft (1), and the other group of the roller groups (2) is coaxially slidably sleeved on the other end of the drive shaft (1); the slip ring (3) is connected to the other group of the roller groups (2) via a connecting mechanism.

2. The deformable Mecanum wheel according to claim 1, Features: The driving mechanism comprises at least one set of driving components, which are mounted on the driving shaft (1) and are used to drive the multiple telescopic mechanisms to telescope.

3. The deformable Mecanum wheel according to claim 2, Features: The interior of the driving shaft (1) is hollow and is provided with a plurality of through openings corresponding one-to-one to the plurality of telescopic mechanisms; the number of the driving components is one group, which is transmission-connected with the plurality of telescopic mechanisms and drives the plurality of telescopic mechanisms to telescope synchronously.

4. The deformable Mecanum wheel according to claim 2, Features: The number of the drive components is multiple groups, and they correspond one-to-one to the multiple telescopic mechanisms; the multiple drive components are distributed on the drive shaft (1) along the circumference of the drive shaft (1), and are respectively used to drive the multiple telescopic mechanisms to telescope synchronously.

5. The deformable Mecanum wheel according to claim 1, Features: The connecting rod assembly comprises two connecting rods (7), the two connecting rods (7) are relatively distributed between the second flap (6) and the slip ring (3), and the two ends of the connecting rods are respectively rotatably connected to the second flap (6) and the slip ring (3).

6. The deformable Mecanum wheel according to claim 1, Features: The connection mechanism comprises at least one grab hook (8), and two ends of the grab hook (8) are respectively fixedly connected to the slip ring (3) and another group of roller groups (2).

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