A Mecanum wheel mounting structure for a toy robot

Abstract

The present invention provides a Mecanum wheel mounting structure for a toy robot, and belongs to the technical field of toy robots. It solves the problem of poor passability of existing toy robots. The Mecanum wheel mounting structure of the toy robot comprises a base, a Mecanum wheel comprising a cylindrical wheel support seat and a wheel hub assembly rotatably sleeved on the wheel support seat, and a mounting structure comprising a mounting portion located on the side of the base, one end of the wheel support seat being fixedly connected to the mounting portion, a center line of the wheel hub assembly being inclined, and one end of the wheel hub assembly facing the mounting portion is higher than the other end, and a driving member capable of driving the wheel hub assembly to rotate is provided in the wheel support seat. The Mecanum wheel mounting structure of the toy robot makes the passability of the toy robot better.

Description

Technical Field

[0001] The invention belongs to the technical field of toy robots and relates to a Mecanum wheel installation structure of a toy robot. Background Art

[0002] The Mecanum wheel relies on the direction and speed of each wheel. The final synthesis of these forces produces a resultant force vector in any required direction, thereby ensuring that the platform can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself. There are many small rollers distributed obliquely on its rim, so the wheel can slide laterally. When the wheel rotates around the fixed wheel axis, the envelope of each small roller is a cylindrical surface, so the wheel can roll forward continuously. The Mecanum wheel has a compact structure and flexible movement. It is a very successful omnidirectional wheel and is widely used in robot walking.

[0003] As disclosed in the patent document (application number: 201910438668.7), the belt-driven and Mecanum-wheel robot omnidirectional load-bearing shock-absorbing chassis includes a main frame, a Mecanum-wheel independently suspended shock-absorbing left wheel group, a Mecanum-wheel independently suspended shock-absorbing right wheel group, two Mecanum-wheel independently suspended shock-absorbing left wheel groups are respectively installed on the left side of the front and rear ends of the main frame, and two Mecanum-wheel independently suspended shock-absorbing right wheel groups are respectively installed on the right side of the front and rear ends of the main frame, and the four Mecanum-wheel independently suspended shock-absorbing wheel groups are independent of the main frame. As disclosed in the patent, the wheel axis of the Mecanum wheel is horizontally arranged, which is parallel to the walking ground, and the height of the wheel axis is determined by the diameter of the Mecanum wheel, especially the Mecanum wheel with a small wheel diameter, whose wheel axis is lower and the ground clearance is smaller, so that the robot chassis is easy to collide with the protrusions on the ground during walking, resulting in poor walking passability. Summary of the invention

[0004] The purpose of the present invention is to solve the above problems in the existing technology and propose a Mecanum wheel installation structure for a toy robot to solve the problem of poor passability of the existing toy robot.

[0005] The objective of the present invention can be achieved through the following technical solutions: a Mecanum wheel mounting structure for a toy robot, the toy robot comprising a base, the Mecanum wheel comprising a cylindrical wheel support seat and a wheel hub assembly rotatably sleeved on the wheel support seat, characterized in that the mounting structure comprises a mounting portion located on a side of the base, one end of the wheel support seat is fixedly connected to the mounting portion, the center line of the wheel hub assembly is inclined, and the center line of the wheel hub assembly is higher at one end toward the mounting portion than at the other end, and a driving member capable of driving the wheel hub assembly to rotate is provided in the wheel support seat.

[0006] Different shapes of toys can be installed on the base, and the side of the base can have multiple mounting parts. The Mecanum wheels are installed on the mounting parts. The base is stably supported by the reasonable arrangement of multiple Mecanum wheels, and the wheel support seat of the Mecanum wheel is fixed on the mounting part. The driving member drives the hub assembly to rotate relative to the wheel support seat to achieve walking. Since the center line of the hub assembly is inclined and the end facing the mounting part is relatively high, compared with the horizontal setting of the center line of the hub assembly, the position of the base is obviously raised, that is, the ground clearance of the base becomes larger, so it is not easy to be blocked by ground protrusions, and the passability is better. At the same time, each hub assembly is driven by its own driving member, so it is possible to control part of the hub assemblies to rotate and part of the hub assemblies not to rotate, or to control different hub assemblies to walk at different speeds, thereby improving the passability.

[0007] In the above-mentioned Mecanum wheel mounting structure of the toy robot, the inner end of the wheel support has a disc-shaped connecting portion, the connecting portion and the mounting portion are fixedly connected by screws, the upper end of the connecting portion is tilted outward, and the outer end of the wheel support is tilted downward. The disc-shaped connecting portion has a large mounting area, thereby improving stability, and its tilted setting makes the wheel hub assembly mounted on the wheel support in an inclined state.

[0008] In the above-mentioned Mecanum wheel installation structure of the toy robot, the inner side surface of the connecting part has an annular positioning convex edge circumferentially, the positioning convex edge has a plurality of connecting columns, the end surface of the mounting part has an annular positioning groove circumferentially, and the inner wall of the mounting part also has a plurality of connecting ears, the positioning convex edge is embedded in the positioning groove, and the connecting column and the connecting ear are abutted, and the above-mentioned screw is screwed on the connecting ear and the connecting column. The positioning convex edge cooperates with the positioning groove to ensure the installation accuracy and stability of the wheel support, and the screw connects the connecting column and the connecting ear, so that the Mecanum wheel can be disassembled as a whole.

[0009] In the above-mentioned Mecanum wheel installation structure of the toy robot, the wheel hub assembly includes a cylindrical inner wheel hub and a disc-shaped outer wheel hub, the inner wheel hub is rotatably sleeved on the wheel support, the outer wheel hub is fixedly connected to the outer end of the inner wheel hub, and the driving member is connected to the outer wheel hub. The use of a split inner wheel hub and outer wheel hub makes disassembly and assembly more convenient.

[0010] In the above-mentioned Mecanum wheel installation structure of the toy robot, the driving member includes a driving motor fixed in the wheel support, and the driving motor is coaxially arranged with the wheel support, the center position of the outer wheel hub has a cylindrical portion, the outer end surface of the wheel support is provided with an avoidance hole, the motor shaft of the driving motor passes through the avoidance hole, and the above-mentioned cylindrical portion is sleeved on the motor shaft and fixedly connected with the motor shaft. The wheel hub assembly is integrally connected to the motor shaft of the driving motor to realize independent control of rotation, and the operation is more flexible. Of course, as another driving member structure, a transmission can be installed in the wheel support, and the driving motor is connected to the outer wheel hub through the transmission.

[0011] In the above-mentioned Mecanum wheel mounting structure of the toy robot, the outer side surface of the connecting portion of the wheel support has a supporting convex edge on the circumferential direction, and the inner end surface of the inner hub abuts against the supporting convex edge. Since the inner hub is arranged obliquely, the base generates an axial force on the inner hub, and the axial positioning of the inner hub is achieved by the abutment and support of the supporting convex edge and the end surface of the inner hub, thereby ensuring the overall stability.

[0012] In the above-mentioned Mecanum wheel installation structure of the toy robot, the inner circumferential surface of the inner hub has a limiting convex edge in the circumferential direction, and the outer circumferential surface of the wheel support has a limiting step in the circumferential direction, and the limiting convex edge abuts against the limiting step. The axial limiting of the inner hub is achieved by the abutment between the limiting convex edge and the limiting step, thereby ensuring stability.

[0013] In the above-mentioned Mecanum wheel installation structure of the toy robot, the inner end of the inner hub has a disc-shaped portion in the circumferential direction, the outer hub is fixedly connected with a circular end cover, and the outer diameter of the end cover is smaller than the outer diameter of the disc-shaped portion, and the outer hub is also circumferentially connected with a plurality of rollers, which are evenly distributed in the circumferential direction, and the rollers are located between the disc-shaped portion and the end cover. The outer diameter of the end cover is smaller than the outer diameter of the disc-shaped portion, so that the outer edge of the rear cover and the outer edge of the disc-shaped portion are close to the ground after the inner hub is tilted, and the rollers are hidden between the disc-shaped portion and the end cover, and at the same time, the rollers protrude and contact the ground.

[0014] In the above-mentioned Mecanum wheel installation structure of the toy robot, the rollers are all columnar and tilted, and the inner end of the roller is close to the outer edge of the disc-shaped portion, and the outer end is close to the outer edge of the end cover. The outer peripheral surface of the roller is an arc surface, and the middle part of the outer peripheral surface of the roller is arched outward. The roller achieves line contact with the ground through the arc-shaped outer peripheral surface, so that the roller can move smoothly when the outer wheel hub is tilted.

[0015] In the above-mentioned Mecanum wheel installation structure of the toy robot, the inner side surface of the end cover has an annular convex edge circumferentially, the annular convex edge has a plurality of clamping feet, the outer end surface of the outer hub has an annular groove circumferentially, the annular groove has a plurality of clamping grooves, the annular convex edge is embedded in the annular groove, and the clamping feet are clamped in the clamping grooves, so that the end cover has high position accuracy and is easy to disassemble and assemble.

[0016] Compared with the prior art, the Mecanum wheel installation structure of the toy robot has the following advantages:

[0017] 1. Since the centerline of the wheel hub assembly is inclined and the end facing the mounting portion is relatively high, the position of the base is obviously raised compared with the horizontal setting of the centerline of the wheel hub assembly, that is, the ground clearance of the base becomes larger, so it is not easily blocked by protrusions on the ground and has better passability.

[0018] 2. Since each wheel hub assembly is driven by its own drive member, it is possible to improve passability by individually controlling some wheel hub assemblies to rotate while others not to rotate, or by controlling different wheel hub assemblies to run at different speeds.

[0019] 3. Since the outer circumference of the roller is an arc surface, and the middle part of the outer circumference of the roller is arched outward in an arc shape, the roller achieves line contact with the ground through the arc-shaped arched outer circumference, so that it can run smoothly when the outer hub is tilted. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the partial three-dimensional structure of a toy robot.

[0021] Figure 2 It is a cross-sectional view of the basic local structure of the toy robot.

[0022] Figure 3 This is a cross-sectional view of the structure at the Mecanum wheel.

[0023] In the figure, 1, base; 11, mounting portion; 12, positioning groove; 13, connecting ear; 2, wheel support; 21, connecting portion; 22, positioning convex edge; 23, connecting column; 24, avoidance hole; 25, supporting convex edge; 26, limiting step; 3, wheel hub assembly; 31, inner wheel hub; 311, limiting convex edge; 312, disc-shaped portion; 32, outer wheel hub; 321, cylindrical portion; 322, annular groove; 323, clamping groove; 4, driving motor; 5, end cover; 51, annular convex edge; 52, clamping foot; 6, roller; 7, screw. DETAILED DESCRIPTION

[0024] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0025] like Figure 1 , Figure 2As shown, a Mecanum wheel mounting structure of a toy robot is shown, the toy includes a base 1, the Mecanum wheel includes a cylindrical wheel support seat 2 and a wheel hub assembly 3 rotatably sleeved on the wheel support seat 2, the mounting structure includes a mounting portion 11 located on the side of the base 1, the mounting portion 11 is multiple and uniformly distributed around the base 1, one end of the wheel support seat 2 is fixedly connected to the mounting portion 11, the center line of the wheel hub assembly 3 is inclined, and the center line of the wheel hub assembly 3 is higher at one end facing the mounting portion 11 than at the other end, and a driving motor 4 capable of driving the wheel hub assembly 3 to rotate is provided in the wheel support seat 2.

[0026] Specifically, combined Figure 3 As shown, the inner end of the wheel support 2 has a disc-shaped connecting portion 21, and the inner side surface of the connecting portion 21 has a circular positioning convex edge 22 in the circumferential direction, and the positioning convex edge 22 has a plurality of connecting columns 23, which are evenly distributed in the circumferential direction, and the end surface of the mounting portion 11 has a circular positioning groove 12 in the circumferential direction, and the inner wall of the mounting portion 11 also has a plurality of connecting ears 13, the positioning convex edge 22 is embedded in the positioning groove 12, and the connecting column 23 is against the connecting ear 13, and the connecting ear 13 is fixedly connected to the connecting column 23 by screws 7. The upper end of the connecting portion 21 is tilted outward, and the outer end of the wheel support 2 is tilted downward. The wheel hub assembly 3 includes a cylindrical inner hub 31 and a disc-shaped outer hub 32. The outer side surface of the connecting portion 21 of the wheel support seat 2 is provided with a supporting ridge 25 in the circumferential direction, the inner circumferential surface of the inner hub 31 is provided with a limiting ridge 311 in the circumferential direction, and the outer circumferential surface of the wheel support seat 2 is provided with a limiting step 26 in the circumferential direction. The inner hub 31 is rotatably sleeved on the wheel support seat 2, the inner end surface of the inner hub 31 abuts against the supporting ridge 25, and the limiting ridge 311 abuts against the limiting step 26. The outer hub 32 is fixedly connected to the outer end of the inner hub 31. The drive motor 4 is fixed in the wheel support seat 2, and the drive motor 4 is coaxially arranged with the wheel support seat 2. The center position of the outer hub 32 is provided with a cylindrical portion 321, and an avoidance hole 24 is opened on the outer end surface of the wheel support seat 2. The motor shaft of the drive motor 4 passes through the avoidance hole 24. The cylindrical portion 321 is sleeved on the motor shaft and is fixedly connected to the motor shaft by a nut.

[0027] The inner end of the inner hub 31 has a disc-shaped portion 312 in the circumferential direction. The outer hub 32 is fixedly connected with a circular end cover 5. The inner side surface of the end cover 5 has an annular convex edge 51 in the circumferential direction. The annular convex edge 51 has a plurality of clamping feet 52. The outer end surface of the outer hub 32 has an annular groove 322 in the circumferential direction. The annular groove 322 has a plurality of clamping grooves 323. The annular convex edge 51 is embedded in the annular groove 322, and the clamping feet 52 are clamped in the clamping grooves 323. The outer diameter of the end cover 5 is smaller than that of the disc-shaped portion 312. The outer hub 32 is circumferentially connected with a plurality of rollers 6, that is, a plurality of connecting pins are fixed between the disc-shaped portion 312 and the end cover 5, and the rollers 6 are rotatably sleeved on the connecting pins. The plurality of rollers 6 are evenly distributed circumferentially, and the rollers 6 are located between the disc-shaped portion 312 and the end cover 5. The rollers 6 are all columnar and inclined, and the inner ends of the rollers 6 are close to the outer edge of the disc-shaped portion 312, and the outer ends are close to the outer edge of the end cover 5. The outer peripheral surface of the rollers 6 is an arc surface, and the middle part of the outer peripheral surface of the rollers 6 is arched outward in an arc shape.

[0028] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0029] Although the terms such as base 1, mounting portion 11, positioning slot 12 are used more frequently in this article, the possibility of using other terms is not excluded. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. A Mecanum wheel mounting structure for a toy robot, the toy robot comprising a base (1), the Mecanum wheel comprising a cylindrical wheel support (2) and a wheel hub assembly (3) rotatably sleeved on the wheel support (2), characterized in that: The mounting structure comprises a mounting portion (11) located at a side of the base (1); one end of the wheel support seat (2) is fixedly connected to the mounting portion (11); the center line of the wheel hub assembly (3) is arranged obliquely, and one end of the wheel hub assembly (3) facing the mounting portion (11) is higher than the other end; a driving member capable of driving the wheel hub assembly (3) to rotate is arranged inside the wheel support seat (2); the inner end of the wheel support seat (2) has a disc-shaped connecting portion (21); the connecting portion (21) is fixedly connected to the mounting portion (11) by means of screws (7); the upper end of the connecting portion (21) is arranged obliquely outwardly, and the outer end of the wheel support seat (2) is arranged obliquely downwardly; the inner end of the connecting portion (21) is arranged obliquely outwardly. The side surface has an annular positioning convex edge (22) on the circumferential direction, and the positioning convex edge (22) has a plurality of connecting columns (23). The end surface of the mounting portion (11) has an annular positioning groove (12) on the circumferential direction, and the inner wall of the mounting portion (11) also has a plurality of connecting ears (13). The positioning convex edge (22) is embedded in the positioning groove (12), and the connecting columns (23) are in contact with the connecting ears (13). The screws (7) are screwed on the connecting ears (13) and the connecting columns (23). The hub assembly (3) includes a cylindrical inner hub (31) and a disc-shaped outer hub (32). The inner hub (31) is rotatably sleeved on the wheel support seat (2). The outer hub ( The wheel support seat (2) is fixedly connected to the outer end of the inner wheel hub (31), the driving member is connected to the outer wheel hub (32), the outer side surface of the connecting portion (21) of the wheel support seat (2) has a supporting convex edge (25) in the circumferential direction, the inner end surface of the inner wheel hub (31) abuts against the supporting convex edge (25), the inner circumferential surface of the inner wheel hub (31) has a limiting convex edge (311) in the circumferential direction, the outer circumferential surface of the wheel support seat (2) has a limiting step (26) in the circumferential direction, the limiting convex edge (311) abuts against the limiting step (26), the inner end of the inner wheel hub (31) has a disc-shaped portion (312) in the circumferential direction, and the outer wheel hub (32) is fixedly connected to a circular end cover (5), and the end cover (5) is ) has an outer diameter smaller than that of the disc-shaped portion (312); the outer hub (32) is also circumferentially connected to a plurality of rollers (6); the plurality of rollers (6) are evenly distributed circumferentially, and the rollers (6) are located between the disc-shaped portion (312) and the end cover (5); an inner side surface of the end cover (5) is circumferentially provided with an annular convex edge (51); the annular convex edge (51) is provided with a plurality of clamping feet (52); an outer end surface of the outer hub (32) is circumferentially provided with an annular groove (322); a plurality of clamping grooves (323) are provided in the annular groove (322); the annular convex edge (51) is embedded in the annular groove (322), and the clamping feet (52) are clamped in the clamping grooves (323).

2. The Mecanum wheel mounting structure of a toy robot according to claim 1, characterized in that: The driving member comprises a driving motor (4) fixed in the wheel support seat (2), and the driving motor (4) and the wheel support seat (2) are arranged coaxially, the center position of the outer wheel hub (32) has a cylindrical portion (321), the outer end surface of the wheel support seat (2) is provided with an avoidance hole (24), the motor shaft of the driving motor (4) passes through the avoidance hole (24), and the cylindrical portion (321) is sleeved on the motor shaft and fixedly connected to the motor shaft.

3. The Mecanum wheel mounting structure of a toy robot according to claim 1, characterized in that: The rollers (6) are all columnar and arranged obliquely, with the inner ends of the rollers (6) close to the outer edge of the disc-shaped portion (312) and the outer ends close to the outer edge of the end cover (5). The outer peripheral surface of the rollers (6) is an arc surface, and the middle portion of the outer peripheral surface of the rollers (6) is arched outward in an arc shape.

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