Mecanum wheel with clutch
By introducing a clutch device on the McNum wheel, the linkage status between the motor and the McNum wheel is controlled, and the problem of low transportation efficiency in the event of a motor failure is solved, and the effect of free rotation after the motor is self-locked is achieved, which improves transportation Efficiency and flexibility, suitable for high-speed transportation needs.
Patent Information
- Application Number
- CN202420102388.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-16
- Publication Date
- 2025-01-07
- Estimated Expiration
- 2034-01-16
AI Technical Summary
When the existing McNum wheel fails or power is cut off, the tire will be locked, resulting in low transportation efficiency and the linkage between the motor and McNum wheel is difficult to control, affecting the high-speed operation needs of the equipment.
A McNum wheel with clutch is designed. By manually controlling the meshing and separation of the pressure gland and the gear disc, the linkage between the motor and the McNum wheel is realized. Combined with the shock absorber, it allows the use of tractors or manpower for transportation. , and achieve high-speed traction when needed.
The McNum wheel that can still rotate freely after the motor is locked is realized, which improves transportation efficiency and flexibility, reduces labor and material costs, and can drive normally especially when high-speed transportation needs, extends the service life of the equipment.
Smart Images
Figure CN222310386U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of Mecanum wheels, in particular to a Mecanum wheel with a clutch. Background Art
[0002] The Mecanum wheel is a wheel that can move in any direction. Its inventor was Canadian engineer Joseph Mecanum. The principle of this wheel is very interesting. Its design was inspired by an old mathematical problem: how to make an object move in any direction on a plane without restrictions. In order to solve this problem, Mecanum thought of using a set of wheels that can both rotate and move freely. The structure of the Mecanum wheel is very simple. It consists of four independent small wheels, which are located at the four corners of a square and can rotate freely and independently. The working principle of this wheel can be explained by a simple principle of physics: applying a lateral force to a rotating wheel will cause the wheel to move in the direction around it, instead of only moving in a fixed direction like traditional wheels. Mecanum wheels have been widely used in industrial and scientific research fields, such as industrial robots, AGVs, drones and other equipment, and they can move more flexibly and efficiently.
[0003] The unique design of the Mecanum wheel brings many advantages. First, multi-directional movement. The design of the Mecanum wheel enables it to move in multiple directions, unlike ordinary wheels that can only move in one direction. This feature is especially useful for robots because they need to move precisely in a small space. If the Mecanum wheel is not used, it will need to repeatedly reverse and turn around to complete the task, which greatly reduces efficiency. Second, precise control. Due to the flexible movement of the Mecanum wheel, it can achieve very precise control. This is very critical for robot control, especially in areas that require high-precision operations, such as operating rooms in hospitals and assembly in factories. Third, high-speed movement. The design of the Mecanum wheel enables it to remain stable when moving at high speeds. When moving at high speeds, ordinary wheels may shake or lose control, while the Mecanum wheel can maintain smooth movement, accuracy and reliability, so as to better complete the task. Fourth, good carrying capacity. The design of the Mecanum wheel enables it to carry larger loads and carry heavy objects more smoothly, which is especially important for robots that need to carry large equipment or materials. NASA's Curiosity Mars rover uses Mecanum wheels, which enable it to move freely and avoid obstacles on the surface of Mars. Mecanum wheels are also used in the design of Boston Dynamics Atlas robots, which use Mecanum wheels on their feet to give them better balance and maneuverability.
[0004] The Mecanum wheel is composed of four small wheels, each of which requires an independent motor to control its speed and direction. The motor can accurately drive the operation of each small wheel. The motor itself has a self-locking function. When the equipment is running, if the motor fails in the middle, the motor will passively open the self-locking device to lock the Mecanum wheel. This can prevent the equipment from continuing to run due to inertia, or lift the equipment and transport it as a whole by trailer, which consumes manpower and material resources; in addition, due to the structure of the Mecanum wheel itself, the maximum driving speed driven by the motor is generally 8Km / h, which seriously hinders the working efficiency and application scope of the transport vehicle. Therefore, there is an urgent need for a simple and convenient solution to control the linkage state of the Mecanum wheel and the motor, so that the Mecanum wheel can still rotate freely after the motor is self-locked, and the equipment can be driven normally by the trailer; in addition, when the equipment occasionally needs to be at a higher speed, high-speed traction can also be achieved.
[0005] When the existing Mecanum wheel is installed and used, the linkage state of the motor and the Mecanum wheel can be controlled by manually controlling the clutch, so as to realize the high-speed operation demand of the existing Mecanum wheel. When the Mecanum wheel is connected to the motor, the high speed will be transmitted to the motor. When the speed exceeds the motor speed, the motor rotor will be forcibly pulled to rotate, which will damage the motor and affect the life of the motor. When the connection is disconnected, the Mecanum wheel can rotate freely, and the speed is no longer constrained. At the same time, for the equipment that is moving normally, when the motor fails or the power is cut off, the tire will be locked with the motor, and it can only be lifted by a crane and put on a trailer for shipment. With the clutch device, any tractor can be used for traction and even human power can be used for traction, which is more convenient, time-saving and labor-saving, especially in key locations such as runways. If the connection can be disconnected from the motor, the equipment can be driven at normal speed or even higher speed by the trailer, saving time and manpower and material costs, solving the problem that the transport vehicle can only be towed at a low speed after the existing motor is self-locked, which brings certain adverse effects to people's use process. In order to solve the shortcomings of the prior art, we propose a Mecanum wheel with a clutch. Utility Model Content
[0006] The main purpose of the utility model is to provide a Mecanum wheel with a clutch, which can effectively solve the problems in the background technology.
[0007] In order to achieve the above purpose, the technical solution adopted by the utility model is:
[0008] A Mecanum wheel with a clutch comprises a motor, a reducer is arranged on the outer surface of the rear end of the motor, the motor and the reducer are connected by a No. 1 bolt, a bearing seat is arranged on the outer surface of the rear end of the reducer, the reducer and the bearing seat are connected by a No. 2 bolt, two groups of shock absorbing devices are arranged on the outer wall of the bearing seat, a Mecanum wheel is arranged on the outer surface of the rear end of the bearing seat, a connecting hole is arranged on the rear end of the bearing seat, and the shock absorbing device and the Mecanum wheel are connected by the connecting hole.
[0009] Preferably, a clutch device is provided on the inner wall of the Mecanum wheel, an FB oil seal is provided on the inner wall of the clutch device, a tapered roller bearing is provided on the right end of the FB oil seal, a round nut is provided on the right end of the tapered roller bearing, a toothed disc is provided on the right end of the round nut, a pressure cover is provided on the right end of the toothed disc, a hollow shaft is provided on the inner wall of the pressure cover, an end cover is provided on the right end of the pressure cover, a guide rod is provided on the inner wall of the end cover, and a flat washer is provided on the left end of the guide rod.
[0010] Preferably, a No. 1 bolt is provided on the outer surface of the rear end of the motor, and the motor is detachably connected to the reducer through the No. 1 bolt. A No. 2 bolt is provided on the outer surface of the rear end of the reducer, and the reducer is detachably connected to the bearing seat through the No. 2 bolt.
[0011] Preferably, a connecting hole is provided on the inner wall of the upper end of the bearing seat, and the bearing seat is detachably connected to the shock absorbing device through the provided connecting hole. A connecting hole is provided on the outer surface of the rear end of the bearing seat, and the bearing seat is detachably connected to the Mecanum wheel through the provided connecting hole.
[0012] Preferably, an FB oil seal is provided on the inner wall of the clutch device, a mounting hole is provided on the inner wall of the end cover, and the end cover is detachably connected to the guide rod through the provided mounting hole.
[0013] Preferably, the inner wall of the flat washer has a connecting hole, and the flat washer is detachably connected to the guide rod through the connecting hole. The inner wall of the clutch device is provided with a mounting hole, and the gear plate is detachably connected to the pressure cover through the provided mounting hole.
[0014] Beneficial Effects
[0015] Compared with the prior art, the utility model has the following beneficial effects:
[0016] 1. In the utility model, the engagement and separation of the gland and the gear disc are controlled by the manual clutch, so as to control the linkage between the motor and the Mecanum wheel. When the motor is locked, the clutch device can be used to pull forward with any tractor, and even human power can be used to pull forward, which is more convenient, time-saving and labor-saving, especially in key locations such as runways.
[0017] 2. In the present invention, the shock absorbing device is provided to reduce the vibration of the device. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;
[0019] Figure 2 This is a schematic diagram of the subjective structure of the Mecanum wheel of the utility model;
[0020] Figure 3 This is a schematic diagram of the internal structure of the Mecanum wheel of the utility model;
[0021] In the figure: 1. motor; 2. reducer; 3. bearing seat; 4. shock absorber; 5. Mecanum wheel; 6. clutch device; 6-1. FB oil seal; 6-2. tapered roller bearing; 6-3. round nut; 6-4. gear plate; 6-5. gland; 6-6. hollow shaft; 6-7. end cover; 6-8. guide rod; 6-9. flat washer. DETAILED DESCRIPTION
[0022] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.
[0023] like Figure 1-Figure 3 As shown, a Mecanum wheel with a clutch includes a motor 1. When the motor 1 receives a signal, the output shaft executes the speed and direction command as required and is connected to the input end of the reducer 2. The output shaft of the reducer 2 is connected to the inner hole of the hollow shaft 6-6 through a flat key. After the speed change, the power is transmitted to the hollow shaft 6-6. The hollow shaft 6-6 is connected to the inner spline of the gland 6-5 through an external spline, and the two are synchronously linked. The concave and convex teeth on the end face of the gland 6-5 and the concave and convex teeth on the end face of the toothed disc 6-4 are interlocked, and two states of meshing and separation can be realized; when in the meshing state, the hollow shaft 6-6 rotates, driving the gland 6-5 and the toothed disc 6-4 to rotate to rotate the 5-Mecanum wheel; when in the separation state, the motor is no longer linked to the 5-Mecanum wheel, and the tractor is relied on to control the movement speed and direction.
[0024] The pressure cover 6-5 is an important part of the clutch device. The center hole thereof has an internal spline connected to the hollow shaft 6-6. The concave and convex teeth on one end face of the pressure cover 6-5 are engaged with the concave and convex teeth on the end face of the toothed disc 6-4, and the other end face is connected to the end cover 6-7 by bolts. The engagement and separation of the concave and convex teeth of the pressure cover 6-5 and the toothed disc 6-4 can be controlled by pulling the end cover 6-7. The end cover 6-7 is pulled outward and rotated to disengage its internal spline from the external spline of the hollow shaft 6-6, driving the guide rod 6-8 to move outward and compress the spring. One end of the spring rests on one end face of the guide rod 6-8, and the other end rests on the flat washer 6-9. At this time, the concave and convex teeth of the pressure cover 6-5 and the toothed disc 6-4 are separated. When re-engagement is required, the end cover 6-7 is pulled outward and rotated to make the internal and external splines match. The end cover 6-7 can be pulled back to its original position and re-linked by relying on the spring tension.
[0025] The hollow shaft 6-6 is a core component, one end of which is connected to the 2-reducer through a flat key to transmit power, and the other end is connected to the gland 6-5 to provide internal space and interface for the 6-clutch device. In the middle, it is connected to the 3-bearing seat through two back-to-back tapered roller bearings 6-2 to ensure the strength of the shaft. In addition, it is connected to the 5-Mecanum wheel through two tapered roller bearings 6-2 to play a supporting role. Therefore, the strength, dimensional tolerance and positioning tolerance requirements of this shaft are relatively high.
[0026] How it works
[0027] It should be noted that the utility model is a Mecanum wheel with a clutch. When in use, the motor 1 receives a signal, the output shaft executes the speed and direction command as required, and is connected to the input end of the reducer 2. The output shaft of the reducer 2 is connected to the inner hole of the hollow shaft 6-6 through a flat key. After the speed change, the power is transmitted to the hollow shaft 6-6. The hollow shaft 6-6 is connected to the inner spline of the gland 6-5 through an external spline, and the two are synchronously linked. The concave and convex teeth on the end face of the gland 6-5 and the concave and convex teeth on the end face of the toothed disc 6-4 are interlocked, and two states of engagement and separation can be realized; when in the meshing state, the hollow shaft 6-6 rotates, driving the gland 6-5 and the toothed disc 6-4 to rotate to rotate the 5-Mecanum wheel; when in the separation state, the motor is no longer linked to the 5-Mecanum wheel, and the tractor is relied on to control the movement speed and direction.
[0028] The pressure cover 6-5 is an important part of the clutch device. The center hole thereof has an internal spline connected to the hollow shaft 6-6. The concave and convex teeth on one end face of the pressure cover 6-5 are engaged with the concave and convex teeth on the end face of the toothed disc 6-4, and the other end face is connected to the end cover 6-7 by bolts. The engagement and separation of the concave and convex teeth of the pressure cover 6-5 and the toothed disc 6-4 can be controlled by pulling the end cover 6-7. The end cover 6-7 is pulled outward and rotated to disengage its internal spline from the external spline of the hollow shaft 6-6, driving the guide rod 6-8 to move outward and compress the spring. One end of the spring rests on one end face of the guide rod 6-8, and the other end rests on the flat washer 6-9. At this time, the concave and convex teeth of the pressure cover 6-5 and the toothed disc 6-4 are separated. When re-engagement is required, the end cover 6-7 is pulled outward and rotated to make the internal and external splines match. The end cover 6-7 can be pulled back to its original position and re-linked by relying on the spring tension.
[0029] The hollow shaft 6-6 is a core component, one end of which is connected to the 2-reducer through a flat key to transmit power, and the other end is connected to the gland 6-5 to provide internal space and interface for the 6-clutch device. In the middle, it is connected to the 3-bearing seat through two back-to-back tapered roller bearings 6-2 to ensure the strength of the shaft. In addition, it is connected to the 5-Mecanum wheel through two tapered roller bearings 6-2 to play a supporting role. Therefore, the strength, dimensional tolerance and positioning tolerance requirements of this shaft are relatively high.
[0030] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.
Claims
1. A Mecanum wheel with a clutch, comprising a motor (1), characterized in that: A reducer (2) is arranged on the outer surface of the rear end of the motor (1), the motor (1) and the reducer (2) are connected by a No. 1 bolt, a bearing seat (3) is arranged on the outer surface of the rear end of the reducer (2), the reducer (2) and the bearing seat (3) are connected by a No. 2 bolt, two groups of shock absorbing devices (4) are arranged on the outer wall of the bearing seat (3), a Mecanum wheel (5) is arranged on the outer surface of the rear end of the bearing seat (3), a connecting hole is arranged on the rear end of the bearing seat (3), and the shock absorbing device (4) and the Mecanum wheel (5) are connected by the connecting hole.
2. A Mecanum wheel with a clutch according to claim 1, characterized in that: The inner wall of the Mecanum wheel (5) is provided with a clutch device (6), the inner wall of the clutch device (6) is provided with an FB oil seal (6-1), the right end of the FB oil seal (6-1) is provided with a tapered roller bearing (6-2), the right end of the tapered roller bearing (6-2) is provided with a round nut (6-3), the right end of the round nut (6-3) is provided with a toothed disc (6-4), the right end of the toothed disc (6-4) is provided with a gland (6-5), the inner wall of the gland (6-5) is provided with a hollow shaft (6-6), the right end of the gland (6-5) is provided with an end cover (6-7), the inner wall of the end cover (6-7) is provided with a guide rod (6-8), and the left end of the guide rod (6-8) is provided with a flat washer (6-9).
3. A Mecanum wheel with a clutch according to claim 1, characterized in that: A No. 1 bolt is provided on the rear end outer surface of the motor (1), and the motor (1) is detachably connected to the reducer (2) via the No. 1 bolt; a No. 2 bolt is provided on the rear end outer surface of the reducer (2), and the reducer (2) is detachably connected to the bearing seat (3) via the No. 2 bolt.
4. A Mecanum wheel with a clutch according to claim 1, characterized in that: The upper inner wall of the bearing seat (3) is provided with a connection hole, and the bearing seat (3) is detachably connected to the shock absorbing device (4) through the provided connection hole. The rear end outer surface of the bearing seat (3) is provided with a connection hole, and the bearing seat (3) is detachably connected to the Mecanum wheel (5) through the provided connection hole.
5. A Mecanum wheel with a clutch according to claim 2, characterized in that: The inner wall of the clutch device (6) is provided with an FB oil seal (6-1), the inner wall of the end cover (6-7) is provided with a mounting hole, and the end cover (6-7) is detachably connected to the guide rod (6-8) through the provided mounting hole.
6. A Mecanum wheel with a clutch according to claim 2, characterized in that: The inner wall of the flat washer (6-9) is provided with a connection hole, and the flat washer (6-9) is detachably connected to the guide rod (6-8) via the connection hole; the inner wall of the toothed disc (6-4) is provided with a mounting hole, and the toothed disc (6-4) is detachably connected to the pressure cover (6-5) via the provided mounting hole.