A deformable mecanum wheel

Abstract

The present application belongs to the field of Mecanum wheels, and proposes a deformable Mecanum wheel, which comprises a Mecanum wheel mechanism, a deformation mechanism and a deformation driving mechanism; one end of the deformation mechanism is installed on the Mecanum wheel mechanism and can move along the Mecanum wheel axis; the other end of the deformation mechanism is connected with the deformation driving mechanism, the deformation driving mechanism drives the deformable Mecanum wheel to switch between the Mecanum wheel mode and the ordinary wheel mode, and the deformation driving mechanism is installed on the chassis mechanism to drive the deformation mechanism to move. The present application can lock the freedom of lateral movement of the Mecanum wheel by controlling the position of the friction disc, and achieves the following technical effects: the Mecanum wheel can be converted between the Mecanum wheel mode and the ordinary wheel mode to adapt to different scenes and improve the moving efficiency of forward and backward movement of the Mecanum wheel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of Mecanum wheels, in particular to a deformable Mecanum wheel. BACKGROUND

[0002] Mecanum wheels can achieve omnidirectional movement without the need for steering mechanisms by decomposing motion through a special structure. The advantage of omnidirectional movement has made it widely used in the field of mobile robots and the manufacturing industry.

[0003] In the field of mobile robots, Mecanum wheels are widely used in medical robots, educational robots, and household robots to improve the mobility of robots.

[0004] In the manufacturing industry, Mecanum wheels are widely used for transportation. The omnidirectional movement capability of Mecanum wheels enables more efficient transportation of goods, thereby improving production efficiency.

[0005] In special fields, Mecanum wheels have also been applied. In special scenarios where space is limited, such as in tunnels, tunnels, and pipe corridors, small work robots are needed to perform tasks due to the limited space. In the scenario of underground tunnel excavation, a drilling robot first excavates the tunnel to create a flat tunnel surface, and then a work robot performs excavation quality detection tasks in the tunnel. In the scenario of complex internal structures of deep underground geological models, a work robot performs sample sampling and geological disaster monitoring tasks in the tunnel inside the model. In the scenario of underground pipelines, a work robot explores the pipeline. However, these scenarios have the characteristics of narrow space, multiple intersections, and complex structures of narrow right-angle bends. When a work robot enters these scenarios to perform tasks, it is difficult to ensure sufficient space for high-mobility movement if traditional movement methods are used when passing through narrow right-angle bends and multiple intersections. To address this situation, using Mecanum wheels can improve the mobility of robots and better achieve the task of work robots.

[0006] In the above space-limited scenarios, due to the complexity of the environment, the efficiency of the movement method is particularly important. However, because traditional Mecanum wheels, such as CN101659288A, decompose motion, the forward and backward movement efficiency of Mecanum wheels is lower compared to ordinary wheels, so it is necessary to improve the movement efficiency of Mecanum wheels. The present application designs a deformable Mecanum wheel that improves movement efficiency through switching between two modes of the Mecanum wheel. Currently, there are deformable Mecanum wheel mechanisms, such as CN113246653A, which mostly use multi-link structures. This structure is relatively complex and cannot achieve autonomous deformation. SUMMARY

[0007] The deformable Mecanum wheel is characterized in that a deformation mechanism and a deformation driving mechanism are added to a Mecanum wheel; one end of the deformation mechanism is installed in one side of the Mecanum wheel, and the other end is in contact with the deformation driving mechanism; the deformation mechanism can move along the Mecanum wheel in the axial direction; the deformation driving mechanism is installed on the chassis mechanism of the Mecanum wheel; when the deformation driving mechanism is in the stretching state, the deformation driving mechanism extrudes the deformation mechanism, the deformation mechanism moves to the end in contact with the small rollers in the Mecanum wheel to generate friction, which is used for locking the freedom of lateral movement of the Mecanum wheel, and the deformable Mecanum wheel is in the ordinary wheel mode; when the deformation driving mechanism is in the contraction state, no pressure is generated between the deformation driving mechanism and the deformation mechanism, the end of the deformation mechanism is in close contact with one side of the Mecanum wheel, and the deformable Mecanum wheel is in the Mecanum wheel mode.

[0008] The deformable Mecanum wheel is characterized in that a deformation mechanism and a deformation driving mechanism are added to a Mecanum wheel; one end of the deformation mechanism is installed in one side of the Mecanum wheel, and the other end is in contact with the deformation driving mechanism; the deformation mechanism can move along the Mecanum wheel in the axial direction; the deformation driving mechanism is installed on the chassis mechanism of the Mecanum wheel; when the deformation driving mechanism is in the stretching state, the deformation driving mechanism extrudes the deformation mechanism, the deformation mechanism moves to the end in contact with the small rollers in the Mecanum wheel to generate friction, which is used for locking the freedom of lateral movement of the Mecanum wheel, and the deformable Mecanum wheel is in the ordinary wheel mode; when the deformation driving mechanism is in the contraction state, no pressure is generated between the deformation driving mechanism and the deformation mechanism, the end of the deformation mechanism is in close contact with one side of the Mecanum wheel, and the deformable Mecanum wheel is in the Mecanum wheel mode.

[0009] The Mecanum wheel comprises a hub and small rollers; the hub comprises two Mecanum wheel side plates 1 and a Mecanum wheel shaft 5, and the Mecanum wheel shaft 5 is installed between the two Mecanum wheel side plates 1; the small rollers comprise a small roller shaft 2, a small roller inner cylinder 3, a bearing 6, a sleeve 7, a small roller nut 8 and a small roller outer wheel 17; the small roller outer wheel 17 is fixed to the outer side of the small roller inner cylinder 3, and the centers of the two are penetrated by the small roller shaft 2; the small roller shaft 2 is fixed by the small roller nut 8 at both ends of the two Mecanum wheel side plates 1; the bearing 6 and the sleeve 7 are sequentially installed on the small roller shaft 2 between the small roller inner cylinder 3 and the Mecanum wheel side plate 1.

[0010] The deformation mechanism comprises a friction disc 4, a spring 16 and a contact disc 9; the friction disc 4 has the same shape as the Mecanum wheel side plate 1, is sleeved on the Mecanum wheel shaft 5, is located in one side of the Mecanum wheel and is in contact with the Mecanum wheel side plate 1; one side of the contact disc 9 is in contact with the deformation driving mechanism, the other side is provided with a plurality of supporting cylinders, the friction disc 4 is fixed to the supporting cylinders; the spring 16 is sleeved on the supporting cylinders between the Mecanum wheel side plate 1 and the contact disc 9; the deformation driving mechanism comprises a telescopic motor 12, a driving disc 14 and a bull's eye bearing 15 which are sequentially connected, and the bull's eye bearing 15 is in contact with the contact disc 9.

[0011] The friction disc 4 is shaped as one of three schemes; scheme one is that the friction disc 4 is shaped the same as the Mecanum wheel side disc 1; scheme two is that the end part of the friction disc 4 is folded into a hard tentacle; scheme three is that the friction disc 4 is based on the same main body as the Mecanum wheel side disc 1, and a hard tentacle is added at the bifurcation position; the deformation driving mechanism drives the deformable Mecanum wheel to switch between the Mecanum wheel mode and the ordinary wheel mode; when the deformable Mecanum wheel is in the Mecanum wheel mode, the friction disc 4 is in close contact with the Mecanum wheel side disc 1; when the deformable Mecanum wheel is in the ordinary wheel mode, the telescopic motor 12 is stretched, the driving disc 14 drives the bull's eye bearing 15 to move and press the contact disc 9, in scheme one, the friction disc 4 moves to contact and rub the end face of the small roller outer wheel 17; in scheme two, the friction disc 4 moves to contact and rub the side face of the small roller outer wheel 17; in scheme three, the friction disc 4 moves to contact and rub the end face and the side face of the small roller outer wheel 17.

[0012] In the Mecanum wheel mode, the spring 16 is in a compressed state and generates a force to make the friction disc 4 and the Mecanum wheel side disc 1 in close contact.

[0013] The chassis mechanism includes the wheel motor 10, the telescopic motor support 13 and the chassis 11; the chassis 11 is L-shaped, the vertical side of which is provided with the wheel motor 10, and the output shaft of the wheel motor 10 is connected with the Mecanum wheel shaft 5; the horizontal side of the chassis 11 is fixedly connected with the telescopic motor support 13 and part of the telescopic motor 12; the rest of the telescopic motor 12 is mounted on the telescopic motor support 13.

[0014] The telescopic motor 12 is arranged in three.

[0015] The surface of the friction disc 4 and the small roller inner cylinder 3 are roughened.

[0016] The present application completely retains the omni-directional moving ability of the traditional Mecanum wheel when the deformation driving mechanism does not generate pressure. When forward or backward movement is needed, the deformation driving mechanism generates power to make the small roller in the Mecanum wheel mechanism stop rotating through the transmission of the deformation mechanism, and the freedom degree of the lateral movement of the Mecanum wheel is locked, so that the Mecanum wheel can only move forward or backward like a normal tire. Therefore, the present application can improve the power conversion of the wheel motor to the forward or backward direction, and improve the acceleration efficiency of the Mecanum wheel. The conversion between the two modes is not only reversible, but also can be completed during driving, so through the control of the deformation driving mechanism, the driving efficiency can be completely improved.

[0017] Compared with the prior art, the present application has the following beneficial effects:

[0018] I. The rotation of the small roller is locked by the friction disc, and the forward and backward movement efficiency of the Mecanum wheel is improved;

[0019] II. The friction disc is moved by the deformation driving mechanism, which can realize the conversion between the Mecanum wheel mode and the ordinary wheel mode of the deformable Mecanum wheel to adapt to different scenes.

[0020] III. The deformation driving mechanism and the deformation mechanism can realize the contact transmission of power when the deformable Mecanum wheel moves, and can realize the arbitrary conversion between the two modes under the condition that the deformable Mecanum wheel moves.

[0021] IV. The deformation driving mechanism is arranged above the chassis, and the installation position is vertically higher than the rotation axis, which avoids the collision with obstacles and affects the normal movement of the deformable Mecanum wheel. BRIEF DESCRIPTION OF DRAWINGS

[0022] Fig. 1(a) is a front view of the deformable Mecanum wheel in the Mecanum wheel mode;

[0023] Fig. 1(b) is a partial enlarged view of the deformable Mecanum wheel in the Mecanum wheel mode;

[0024] Fig. 2(a) is a front view of the deformable Mecanum wheel in the ordinary wheel mode;

[0025] Fig. 2(b) is a partial enlarged view of the deformable Mecanum wheel in the ordinary wheel mode;

[0026] Fig. 3(a) is a perspective view of the deformable Mecanum wheel;

[0027] Fig. 3(b) is a partial enlarged view of the deformable Mecanum wheel;

[0028] Figure 4 Fig. 4(a) is a front view of the deformable Mecanum wheel in the Mecanum wheel mode and is a partial cross-sectional view;

[0029] Figure 5 Fig. 5 is a perspective view of the deformation driving mechanism and the chassis;

[0030] Figure 6 Fig. 6 is a perspective view of the Mecanum wheel mechanism and the deformation mechanism;

[0031] Fig. 7(a) is a schematic view of the friction disc scheme II;

[0032] Fig. 7(b) is a partial enlarged view of the friction disc scheme II.

[0033] Fig. 1(a) is a front view of the deformable Mecanum wheel in the Mecanum wheel mode; 3 - small roller inner cylinder, 4 - friction disc, 5 - Mecanum wheel shaft, 6 - bearing, 7 - sleeve, 8 - small roller nut, 9 - contact disc, 10 - wheel motor, 11 - chassis, 12 - telescopic motor, 13 - telescopic motor support, 14 - driving disc, 15 - bull eye bearing, 16 - spring, 17 - small roller outer wheel. Detailed Implementation

[0034] The present invention will now be described in detail with reference to the accompanying drawings.

[0035] The present invention and its embodiments are described below. This description is not restrictive, and actual embodiments are not limited thereto. In summary, if those skilled in the art, inspired by this description, design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the scope of protection of the present invention.

[0036] Specific Implementation Example 1: Referring to Figure 1 to... Figure 6 This embodiment discloses a deformable Mecanum wheel, including a Mecanum wheel mechanism, a deformation mechanism, and a deformation drive mechanism.

[0037] The Mecanum wheel mechanism includes a hub and a small roller. The small roller comprises a small roller shaft 2, a small roller inner cylinder 3, a bearing 6, a sleeve 7, a small roller nut 8, and a small roller outer wheel 17. The small roller inner cylinder 3 is made of aluminum alloy, ensuring the load-bearing capacity of the small roller; the small roller outer wheel 17 is made of rubber, providing some shock absorption. The small roller outer wheel 17 is mounted on the outside of the small roller inner cylinder 3, and the two are fixedly connected, rotating together during movement. Bearing grooves are provided at both ends of the small roller inner cylinder 3, and bearings 6 are installed at both ends respectively. The inner ring of the bearing 6 is mounted on the small roller shaft 2, ensuring the normal rotation of the small roller. One end of the sleeve 7 is in close contact with the inner ring of the bearing 6, and the other end is in close contact with the Mecanum wheel side plate 1, ensuring the relative stillness of the inner ring of the bearing 6 and the Mecanum wheel side plate 1, while also ensuring the stability of the small roller's installation position and preventing axial wobble. The small roller shaft 2 has threads at both ends and is fixed by the small roller nut 8 and the Mecanum wheel side plate 1. This installation method of the small roller and the Mecanum wheel side plate 1 allows space for the subsequent movement of the friction disc 4.

[0038] The hub consists of two Mecanum wheel side discs 1 mounted on both sides of the Mecanum wheel axle 5, connected by six screws and nuts. The edges of the two Mecanum wheel side discs 1 have pre-drilled holes, into which small rollers are installed.

[0039] The transformation mechanism includes friction disc 4, spring 16 and contact disc 9. The transformation mechanism is installed on the Mecanum wheel mechanism and can rotate with the Mecanum wheel mechanism. The friction disc 4 in the transformation mechanism is sleeved on the Mecanum wheel shaft 5, and one side thereof is attached to the inner side of the Mecanum wheel side disc 1. The contact disc 9 is a ring with six small supporting columns, and the supporting columns are provided with threaded holes. The six small supporting columns of the contact disc 9 are located on one side, and the other side is smooth and flat, which is easy to contact with the transformation driving mechanism. The spring 16 is sleeved on each supporting column of the contact disc 9, and the supporting column passes through the moving hole reserved on the Mecanum wheel side disc 1 and is connected by a screw. One side of the spring 16 is the contact disc 9, and the other side is the Mecanum wheel side disc 1. In the Mecanum wheel mode, the spring 16 is in a compressed state and generates a force to make the friction disc 4 and the Mecanum wheel side disc 1 closely contact, the friction disc 4 and the small roller are separated, and the small roller can freely rotate. In the ordinary wheel mode, the pressure of the spring 16 is overcome by the force generated by the transformation driving mechanism and is further compressed, which drives the friction disc 4 and the Mecanum wheel side disc 1 to separate, the friction disc 4 is contacted with the small roller, pressure is generated, friction force is generated, the small roller is stopped, and the freedom degree of lateral movement of the Mecanum wheel is locked.

[0040] Through the cooperation between the two, the transformation mechanism can move axially on the Mecanum wheel mechanism and can move along the Mecanum wheel axis.

[0041] The transformation driving mechanism includes a telescopic motor 12, a driving disc 14 and a bull eye bearing 15. The transformation driving mechanism and the chassis are fixed together and move with the chassis. The bull eye bearing 15 is installed on the driving disc 14, and the other side of the driving disc 14 is connected with the telescopic end of the telescopic motor 12. The telescopic motor 12 has telescopic ability, and the conversion between the two modes can be controlled by the telescopic operation of the telescopic motor 12. In the Mecanum wheel mode, the telescopic end of the telescopic motor 12 is in a retracted state, which ensures that the bull eye bearing 15 on the driving disc 14 does not contact the contact disc 9 and does not transmit pressure. In the ordinary wheel mode, the telescopic end of the telescopic motor 12 is in an extended state, which ensures that the bull eye bearing 15 on the driving disc 14 contacts the contact disc 9, transmits pressure to the contact disc 9, drives the contact disc 9 to move axially, compresses the spring 16, drives the friction disc 4 and the Mecanum wheel side disc 1 to separate, the friction disc 4 contacts the small roller to generate pressure and friction force, the small roller cannot freely rotate, the freedom degree of lateral movement of the Mecanum wheel is locked, and the efficiency of forward and backward movement of the Mecanum wheel is improved.

[0042] The chassis mechanism comprises a wheel motor 10, an extension motor support 13 and a chassis 11; the wheel motor 10 is installed on the chassis 11 through the side mounting hole; two extension motors 12 are connected to the chassis 11 through screws; and the other extension motor 12 is connected to the extension motor support 13 through screws.

[0043] The output shaft of the wheel motor 10 is a D-shaped shaft structure and has a threaded hole at the shaft end; the Mecanum wheel shaft 5 in the Mecanum wheel mechanism also has a corresponding D-shaped hole structure, and the two are matched with each other to improve the output efficiency of the wheel motor 10.

[0044] The edge of the friction disc in the deformation mechanism is roughened, and when the small roller is in contact and pressure is generated, a large friction force can be generated to stop the movement of the small roller.

[0045] Compared with the existing deformable Mecanum wheel mechanism, the structure is relatively simple and convenient to install, and the proposed deformation mechanism and control scheme can drive the friction disc to move through the control of the deformation driving mechanism, so that the deformable Mecanum wheel can be converted between the Mecanum wheel mode and the ordinary wheel mode to adapt to different scenes.

[0046] The working principle of the present application is as follows:

[0047] The present application drives the Mecanum wheel to rotate by using a 2006 motor.

[0048] The deformation driving mechanism and the deformation mechanism are in contact with the contact disc 9 through the bull's eye bearing 15, so that the mode conversion can be realized when the Mecanum wheel rotates.

[0049] In the Mecanum wheel mode, the extension end of the extension motor 12 is in a retracted state, so that the bull's eye bearing 15 on the driving disc 14 is not in contact with the contact disc 9, and no pressure is transmitted.

[0050] In the ordinary wheel mode, the telescopic end of the telescopic motor 12 is in the stretched state, ensuring that the bullseye bearing 15 on the driving disc 14 is in contact with the contact disc 9, transmitting pressure to the contact disc 9, driving the contact disc 9 to move axially, compressing the spring 16, driving the friction disc 4 and the Mecanum wheel side disc 1 to separate, the small rollers of the friction disc 4 contact each other to generate pressure and friction, so that the small rollers cannot rotate freely, locking the freedom of lateral movement of the Mecanum wheel, and improving the efficiency of forward and backward movement of the Mecanum wheel.

Claims

1. A deformable Mecanum wheel characterized in that, The deformable Mecanum wheel adds a deformation mechanism and a deformation driving mechanism on the basis of the Mecanum wheel; one end of the deformation mechanism is installed in one side of the Mecanum wheel, and the other end is in contact with the deformation driving mechanism; The deformation driving mechanism is installed on the chassis mechanism of the Mecanum wheel; when the deformation driving mechanism is in the stretched state, the deformation driving mechanism extrudes the deformation mechanism, the deformation mechanism moves to the end in contact with the small rollers in the Mecanum wheel to generate friction, which is used to lock the freedom of lateral movement of the Mecanum wheel, and the deformable Mecanum wheel is in the ordinary wheel mode; when the deformation driving mechanism is in the contracted state, no pressure is generated between the deformation driving mechanism and the deformation mechanism, one end of the deformation mechanism is in close contact with one side of the Mecanum wheel, and the deformable Mecanum wheel is in the Mecanum wheel mode; The Mecanum wheel comprises a hub and small rollers; the hub comprises two Mecanum wheel side discs (1) and a Mecanum wheel axle (5), and the Mecanum wheel axle (5) is installed between the two Mecanum wheel side discs (1); the small rollers comprise a small roller shaft (2), a small roller inner cylinder (3), a bearing (6), a sleeve (7), a small roller nut (8) and a small roller outer wheel (17); the small roller outer wheel (17) is fixedly connected to the outer side of the small roller inner cylinder (3), and the centers of the two are penetrated by the small roller shaft (2); the small roller shaft (2) is fixed at the two ends by the small roller nut (8) through the two Mecanum wheel side discs (1) respectively; the small roller shaft (2) between the small roller inner cylinder (3) and the Mecanum wheel side disc (1) is sequentially provided with the bearing (6) and the sleeve (7); The deformation mechanism comprises a friction disc (4), a spring (16) and a contact disc (9); the friction disc (4) is sleeved on the Mecanum wheel axle (5) and located in one side of the Mecanum wheel and in contact with the Mecanum wheel side disc (1); one side of the contact disc (9) is in contact with the deformation driving mechanism, and the other side is provided with a plurality of supporting cylinders, and the friction disc (4) is fixedly connected with the supporting cylinders; the spring (16) is sleeved on the supporting cylinders between the Mecanum wheel side disc (1) and the contact disc (9); the deformation driving mechanism comprises a telescopic motor (12), a driving disc (14) and a bullseye bearing (15) connected in sequence, and the bullseye bearing (15) is in contact with the contact disc (9).

2. The deformable Mecanum wheel of claim 1, wherein, The shape of the friction disc (4) is one of the three schemes; scheme one is that the shape of the friction disc (4) is the same as that of the Mecanum wheel side disc (1); scheme two is that the end of the friction disc (4) is folded into a hard tentacle after being bifurcated; scheme three is that the friction disc (4) is based on the main body which is the same as the Mecanum wheel side disc (1), and a hard tentacle is added at the bifurcation position; when the deformable Mecanum wheel is in the Mecanum wheel mode, the friction disc (4) is in close contact with the Mecanum wheel side disc (1); when the deformable Mecanum wheel is in the ordinary wheel mode, the telescopic motor (12) is stretched, the driving disc (14) drives the bullseye bearing (15) to move and extrude the contact disc (9), and the friction disc (4) moves to contact and rub the end face of the small roller outer wheel (17) and / or the side face of the small roller outer wheel (17).

3. The deformable Mecanum wheel of claim 1, wherein, In the mode of Mecanum wheel, the spring (16) is in compression and generates force to make the friction disc (4) and the Mecanum wheel side disc (1) tightly contact.

4. The deformable Mecanum wheel of claim 3, wherein, The chassis mechanism comprises a wheel motor (10), an extension motor support (13) and a chassis (11); the chassis (11) is L-shaped, the vertical side of which is provided with the wheel motor (10), and the output shaft of the wheel motor (10) is connected with the Mecanum wheel axle (5); the horizontal side of the chassis (11) is fixedly connected with the extension motor support (13) and a part of the extension motor (12); the other part of the extension motor (12) is mounted on the extension motor support (13).

5. The deformable Mecanum wheel of claim 4, wherein, The extension motor (12) is arranged in three.

6. The deformable gimballed Mecanum wheel of claim 1, wherein, The surface of the friction disc (4) and the inner cylinder (3) of the small roller are roughened.

Images