Diameter-variable Mecanum wheel, walking structure and chassis structure

A Mecanum wheel and variable technology, applied in the field of moving wheels, can solve the problems of difficult application of detection devices, difficulty in adapting to walking motion, etc., and achieve the effect of real-time control of passability and stability

Active Publication Date: 2021-11-05
UNIV OF SCI & TECH BEIJING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the mecanum wheel drive device that cannot change the diameter is difficult to adapt to the walking motion in pipes with different diameters, which makes the application of the detection device difficult

Method used

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  • Diameter-variable Mecanum wheel, walking structure and chassis structure
  • Diameter-variable Mecanum wheel, walking structure and chassis structure
  • Diameter-variable Mecanum wheel, walking structure and chassis structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0070] refer to Figure 9 As shown in the schematic diagram of the pipeline detection device, in the present invention, the inner guide rod motor connector 2-5 of the guide mechanism is connected to the pipeline detection robot 4 for power input. Through the radial movement of the Mecanum wheel of the guide mechanism 2 and the linkage mechanism 3, the rollers 1-3 of the Mecanum wheel monomer 1 are closely attached to the wall of the different diameter pipe and form a contact pressure. The rotation of the namm wheel unit 1 drives the pipeline detection robot 4 to walk straight in the pipeline 6, so as to achieve the purpose of automatically detecting the variable-diameter pipeline with a single device.

Embodiment 2

[0072] refer to Figure 10 As shown in the schematic diagram of the chassis adjustment device, the present invention performs power input by connecting the inner guide rod motor connector 2-5 of the guide mechanism to the chassis 5 of the device. The real-time regulation of the ground clearance of the chassis of the driven device is realized through the variable diameter operation of the present invention, and the stability and passability of the driven device under different application occasions and working conditions are further improved. When the height of the chassis is low, the center of gravity is low, and the running stability of the driven device is good; when the height of the chassis is high, the ground clearance is high, and the road surface of the driven device is good.

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Abstract

The invention relates to the technical field of moving wheels, in particular to a diameter-variable Mecanum wheel, a walking structure and a chassis structure. The diameter-variable Mecanum wheel comprises single Mecanum wheel bodies, a guide mechanism and connecting rod mechanisms, wherein the single multiple Mecanum wheel bodies are sequentially arranged to form the Mecanum wheel, the guide mechanism is arranged at the axis position of the Mecanum wheel, the connecting rod mechanisms are arranged on the two sides of the Mecanum wheel, one ends of the connecting rod mechanisms are hinged to the end of the guide mechanism, and the other ends of the connecting rod mechanisms are movably connected with the side walls of the two ends of the Mecanum wheel, and one end of the guide mechanism is connected with a power unit. The Mecanum wheel has the beneficial effects that the Mecanum wheel is simple in structure, reliable in performance and convenient to control, and the diameter of the Mecanum wheel can be changed at any time in a driving process. Thus, the Mecanum wheel can adapt to running in pipelines with different diameters when driving a pipeline detection device, and meanwhile, the passing ability and stability of the driving device can be regulated and controlled in real time by changing the diameter of the wheel.

Description

technical field [0001] The invention relates to the technical field of moving wheels, in particular to a variable-diameter mecanum wheel, a walking structure and a chassis structure. Background technique [0002] The Mecanum wheel is an omnidirectional mobile wheel, which is often used in large industrial or mobile robotic devices to achieve omnidirectional movement of the device. However, in some usage environments, such as a pipeline detection device that drives a straight line in the pipeline through the rotation of the opposed mecanum wheels, it requires the diameter of the mecanum wheel to be equal to or similar to the diameter of the pipeline so as to ensure that the mecanum The wheel forms sufficient contact pressure with the pipe wall to drive the device to move. However, the mecanum wheel drive device that cannot change the diameter is difficult to adapt to the walking motion in pipes with different diameters, thus making the application of the detection device dif...

Claims

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Application Information

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IPC IPC(8): B60B19/12F16L55/32F16L101/30
CPCB60B19/125F16L55/32F16L2101/30
Inventor 管奔刘廷航刘旭鹏郜志英吴迪平臧勇
Owner UNIV OF SCI & TECH BEIJING
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