A Mecanum wheel suspension structure

Abstract

The utility model belongs to the technical field of wheel, concretely is a kind of mecanum wheel suspension structure, including first fixed frame, further include: buffer assembly, set to the inside two sides of first fixed frame, for the vibration of external structure transmission is buffered shock absorption;Stress plate is set to the outside of buffer assembly, and stress plate is positioned by buffer assembly;Space adjustment component is set to the inside of stress plate;Rotary disc is set to the inside of space adjustment component adjustment end;Driving assembly is set to rotary disc bottom, and the space position between driving assembly and bottom structure and first fixed frame is adjusted by space adjustment component;The utility model provides a kind of mecanum wheel suspension structure, and the space position between driving assembly and moving wheel and first fixed frame is freely adjusted by space adjustment component, improve the adjustability and adaptability of mecanum wheel suspension structure, optimize load distribution, enhance the motion performance, improve the stability of suspension system.

Description

Technical Field

[0001] This utility model relates to the field of wheel technology, and in particular to a Mecanum wheel suspension structure. Background Technology

[0002] Mecanum wheel suspension, a key innovation in modern mobile robot technology, aims to enhance the robot's mobility and stability in complex environments. By combining optimized suspension system design, it can significantly improve the robot's ground adaptability, load balance, and motion accuracy. Especially on uneven ground, the main goal of the suspension system is to provide sufficient support and shock absorption, and ensure stable robot movement. With the advancement of robot technology, Mecanum wheel suspension will be further developed in terms of intelligence and modularity, providing broader possibilities for the efficient and flexible application of robots.

[0003] A search revealed an existing patent (publication number: CN209461788U) disclosing a Mecanum wheel platform, belonging to the field of wheel technology. This Mecanum wheel platform includes a platform body and a Mecanum wheel system mounted on the platform body. The Mecanum wheel system includes a Mecanum wheel body, a motor, a suspension device, and a harmonic reducer. The harmonic reducer is located inside the Mecanum wheel body and is driven by the motor. The motor is mounted on one side of the Mecanum wheel body via a connecting plate structure. One end of the suspension device is connected to the connecting plate structure, and the other end is connected to the platform body. This invention integrates the harmonic reducer and suspension mechanism on the Mecanum wheel platform, satisfying both the vibration damping requirements of the Mecanum wheel and achieving deceleration with a large reduction ratio, making it suitable for use in various robot products.

[0004] However, in actual use, the angle between the wheel and the suspension is fixed, and the relative spatial position between the wheel and the suspension cannot be adjusted, which may lead to several problems. First, the motion performance of the device will be limited because the wheel's contact with the ground is uneven, affecting the accuracy and flexibility of omnidirectional motion. Second, the shock absorption effect may be poor, failing to adapt effectively to different ground conditions, resulting in greater vibration and affecting stability. The load distribution will also be uneven, affecting load capacity and overall stability. At the same time, the device has poor adaptability in complex terrain and cannot achieve optimal driving performance. Finally, this will limit the device's maneuverability and prevent precise spatial control.

[0005] Therefore, this utility model provides a Mecanum wheel suspension structure. Utility Model Content

[0006] The purpose of this invention is to solve the problem that the inability to adjust the relative spatial position between the wheel and the suspension in the prior art may limit the maneuverability of the device and prevent precise spatial control, and therefore proposes a Mecanum wheel suspension structure.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A Mecanum wheel suspension structure includes a first mounting bracket and further includes:

[0009] The buffer components are located on both sides of the inner side of the first fixed frame and are used to buffer and dampen vibrations transmitted from the external structure.

[0010] A stress plate is positioned outside the buffer assembly, and the buffer assembly limits the stress plate.

[0011] A space adjustment component is located inside the stress plate;

[0012] A rotating disc is located inside the adjustment end of the space adjustment component;

[0013] The drive assembly is located at the bottom of the rotating disk, and the spatial position between the drive assembly, the bottom structure, and the first fixed frame is adjusted by the space adjustment assembly;

[0014] The movable wheel is located on the drive end of the drive component.

[0015] As a preferred technical solution of this application, the buffer assembly includes damping cylinders symmetrically fixed at the four corners of the inner side of the first fixing frame. A support rod is fixedly connected to the middle section of the inner side of the damping cylinder. A piston rod is slidably connected to the outer side of the middle section of the support rod. The piston rod is slidably connected to the inner wall of the damping cylinder. Multiple through holes are opened at the top of the piston rod. A first spring is fixedly connected to the outer side of the bottom of the piston rod. The top of the first spring is fixedly connected to the bottom of the damping cylinder. The bottom of the piston rod is fixedly connected to the inner side wall of the bottom of the stress plate.

[0016] As a preferred technical solution of this application, a support base is fixedly connected to the outer side of the top of the stress plate, and a second spring is fixedly connected to the top of the support base. The top of the second spring is fixedly connected to the top of the inner side of the first fixing frame, and the second spring is sleeved on the outer side of the top of the damping cylinder.

[0017] As a preferred technical solution of this application, the space adjustment component includes two hydraulic rods rotating inside the stress plate, and the output end of each hydraulic rod is rotatably connected to a transmission frame, which is simultaneously rotatably connected to the output ends of both hydraulic rods.

[0018] As a preferred technical solution of this application, the driving component is fixed to the second fixed frame at the bottom of the rotating disk, and a motor is fixedly connected to the outer wall of the second fixed frame. The output end of the motor passes through the side wall of the second fixed frame and is fixedly connected to the moving wheel.

[0019] As a preferred technical solution of this application, the hydraulic rods on both sides have different extension lengths.

[0020] Compared with the prior art, this utility model provides a Mecanum wheel suspension structure, which has the following advantages:

[0021] 1. The Mecanum wheel suspension structure described in this utility model allows for free adjustment of the spatial position between the drive assembly, the moving wheel, and the first fixed frame via a space adjustment component. This improves the adjustability and adaptability of the Mecanum wheel suspension structure, optimizes load distribution, enhances motion performance, improves the stability of the suspension system, and adapts to different tire sizes and models. Precise adjustment of these spatial positions reduces structural stress, enhances the durability and reliability of the system, and also improves maintainability and adjustability, facilitating adjustments and maintenance under different conditions. In summary, the space adjustment component provides the Mecanum wheel suspension structure with greater flexibility and stability, ensuring efficient and smooth vehicle operation in various working environments.

[0022] 2. The Mecanum wheel suspension structure described in this utility model uses a buffer assembly to dampen vibrations between the space adjustment assembly, drive assembly, moving wheel, and first fixed frame. This effectively reduces vibration and impact, protects critical components, extends service life, and improves equipment comfort and stability. The damping effect reduces mechanical fatigue, ensures stable operation of the drive system, reduces energy loss, and improves power transmission efficiency. Furthermore, the damping improves traction and handling, performing particularly well on complex terrain, extends tire life, and optimizes the dynamic response of the suspension system, making the equipment more stable and agile under different operating conditions. In summary, the buffer assembly provides better performance for the Mecanum wheel suspension structure, enhancing the overall system's durability and adaptability. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of this utility model. Figure 1 ;

[0024] Figure 2 yes Figure 1 Enlarged view of a portion of point A in the middle;

[0025] Figure 3 This is a schematic diagram of the three-dimensional structure of this utility model. Figure 2 ;

[0026] Figure 4This is a cross-sectional structural diagram of the stress plate in this utility model;

[0027] Figure 5 This is a cross-sectional structural diagram of the damping cylinder in this utility model.

[0028] In the picture:

[0029] 1. First fixed frame; 2. Damping cylinder; 21. Support rod; 22. Piston rod; 23. Through hole; 24. First spring; 25. Support seat; 26. Second spring; 3. Stress plate; 31. Hydraulic rod; 32. Transmission frame; 33. Rotating disk; 34. Second fixed frame; 35. Motor; 36. Moving wheel. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0031] Example:

[0032] Reference Figure 1-5 A Mecanum wheel suspension structure includes a first mounting bracket 1, and further includes:

[0033] The buffer assembly is located on both sides of the inner side of the first fixed frame 1 and is used to buffer and dampen the vibration transmitted by the external structure. The first fixed frame 1 supports and limits the buffer assembly.

[0034] Stress plate 3 is disposed on the outside of the buffer assembly, and the buffer assembly limits the stress plate 3.

[0035] A space adjustment component is located inside the stress plate 3, and the stress plate 3 supports and limits the space adjustment component.

[0036] The rotating disk 33 is located inside the adjustment end of the space adjustment component, and the rotating disk 33 is adjusted by the space adjustment component;

[0037] The drive assembly is located at the bottom of the rotating disk 33, and the spatial position between the drive assembly, the bottom structure, and the first fixed frame 1 is adjusted by the space adjustment assembly.

[0038] The movable wheel 36 is mounted on the drive end of the drive component. The drive component supports the movable wheel 36 and drives it to rotate.

[0039] The buffer assembly includes damping cylinders 2 symmetrically fixed at the four corners of the inner side of the first fixing frame 1. The first fixing frame 1 simultaneously supports and fixes the damping cylinders 2 at the four corners. A support rod 21 is fixedly connected to the middle section of the inner side of the damping cylinder 2, supporting and fixing the inner support rod 21 through the damping cylinder 2. A piston rod 22 is slidably connected to the outer side of the middle section of the support rod 21, supporting, limiting, and guiding the piston rod 22 through the support rod 21. The piston rod 22 is slidably connected to the inner wall of the damping cylinder 2, limiting the piston rod 22 so that the piston rod 22 slides inside the damping cylinder 2. The piston rod 22 has multiple through holes 23 at its top. The piston rod 22 slides in the damping cylinder 2. The through holes 23 block the hydraulic oil at the top and bottom of the piston rod 22, thereby converting the impact force generated by vibration into heat. A first spring 24 is fixedly connected to the outer bottom of the piston rod 22. The top of the first spring 24 is fixedly connected to the bottom of the damping cylinder 2. The first spring 24 pushes the piston rod 22 from the top to the bottom with the damping cylinder 2 as the stress point. The bottom of the piston rod 22 is fixedly connected to the inner side wall of the bottom of the stress plate 3. The piston rod 22 supports and fixes the stress plate 3.

[0040] A support base 25 is fixedly connected to the top outer side of the stress plate 3. The support base 25 is supported and fixed by the stress plate 3. A second spring 26 is fixedly connected to the top of the support base 25. The top of the second spring 26 is fixedly connected to the top inner side of the first fixed frame 1. The second spring 26 pushes the stress plate 3 to the bottom with the first fixed frame 1 as the stress point. The second spring 26 is sleeved on the top outer side of the damping cylinder 2. The damping cylinder 2 limits the second spring 26, so that the second spring 26 moves up and down around the damping cylinder 2.

[0041] The space adjustment assembly includes two hydraulic rods 31 that rotate inside the stress plate 3. The stress plate 3 supports and limits the hydraulic rods 31. The output end of the hydraulic rods 31 is rotatably connected to a transmission frame 32, which is also supported and limited by the hydraulic rods 31. The transmission frame 32 is rotatably connected to the output ends of the two hydraulic rods 31.

[0042] The drive assembly is fixed to the second fixed frame 34 at the bottom of the rotating disk 33. The rotating disk 33 supports and fixes the second fixed frame 34. A motor 35 is fixedly connected to the outer wall of the second fixed frame 34. The motor 35 is supported and fixed by the second fixed frame 34. The output end of the motor 35 passes through the side wall of the second fixed frame 34 and is fixedly connected to the moving wheel 36. The moving wheel 36 is fixed by the motor 35 passing through the second fixed frame 34, and the moving wheel 36 is rotated by the motor 35.

[0043] The hydraulic rods 31 on both sides have different extension lengths. By setting the lengths of the two hydraulic rods 31 to be unequal, a trapezoid is formed between the stress plate 3, the hydraulic rods 31 and the transmission frame 32, which makes the device stable. At the same time, the lengths of the adjacent hydraulic rods 31 on the left and right sides also differ.

[0044] Specifically, this Mecanum wheel suspension structure, when in use:

[0045] First, during use, the motor 35 drives the moving wheels 36 to rotate, thereby moving the top device;

[0046] During the movement, when adjusting the spatial position between the moving wheel 36 and the first fixed frame 1, it is only necessary to adjust the different lengths of the hydraulic rods 31 at different positions. This allows the transmission frame 32 to rotate through the hydraulic rod 31 on one side and the hydraulic rod 31 on the other side as the stress point. The stress plate 3 and the rotating disk 33 can be raised and lowered by controlling the hydraulic rods 31 on the top and bottom sides separately. At the same time, by adjusting the length of the hydraulic rods 31 on both sides laterally, the angle of the rotating disk 33 can be adjusted, causing the rotating disk 33 to rotate, thereby adjusting the angle of the moving wheel 36 at the bottom.

[0047] Meanwhile, during the movement, when vibration occurs, the impact force generated by the vibration is transmitted to the piston rod 22 through the moving wheel 36, the space adjustment component, and the stress plate 3, causing the piston rod 22 to slide inside the damping cylinder 2. This blocks the hydraulic oil through the through hole 23. As the hydraulic oil passes through the through hole 23, the impact force is converted into heat, thus converting and consuming the impact force and achieving the shock absorption function. At the same time, the first spring 24 and the second spring 26 work together to buffer the impact force through their own deformation.

[0048] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A Mecanum wheel suspension structure, comprising a first fixing frame (1), characterized in that, Also includes: The buffer assembly is located on both sides of the inner side of the first fixed frame (1) and is used to buffer and dampen the vibration transmitted by the external structure. Stress plate (3) is set on the outside of the buffer assembly, and the buffer assembly limits the stress plate (3); A space adjustment component is located inside the stress plate (3); A rotating disk (33) is located inside the adjustment end of the space adjustment component; The drive assembly is located at the bottom of the rotating disk (33), and the spatial position between the drive assembly, the bottom structure, and the first fixed frame (1) is adjusted by the space adjustment assembly; The movable wheel (36) is located on the drive end of the drive component.

2. The Mecanum wheel suspension structure according to claim 1, characterized in that, The buffer assembly includes damping cylinders (2) symmetrically fixed at the four corners of the inner side of the first fixing frame (1). A support rod (21) is fixedly connected to the middle section of the inner side of the damping cylinder (2). A piston rod (22) is slidably connected to the outer side of the middle section of the support rod (21). The piston rod (22) is slidably connected to the inner wall of the damping cylinder (2). Multiple through holes (23) are opened at the top of the piston rod (22). A first spring (24) is fixedly connected to the outer side of the bottom of the piston rod (22). The top of the first spring (24) is fixedly connected to the bottom of the damping cylinder (2). The bottom of the piston rod (22) is fixedly connected to the inner side wall of the bottom of the stress plate (3).

3. A Mecanum wheel suspension structure according to claim 2, characterized in that, The stress plate (3) is fixedly connected to a support base (25) on the top outer side. The support base (25) is fixedly connected to a second spring (26) on the top. The top of the second spring (26) is fixedly connected to the top of the inner side of the first fixing frame (1). The second spring (26) is sleeved on the top outer side of the damping cylinder (2).

4. A Mecanum wheel suspension structure according to claim 3, characterized in that, The space adjustment assembly includes two hydraulic rods (31) rotating inside the stress plate (3). The output end of each hydraulic rod (31) is rotatably connected to a transmission frame (32), which is simultaneously rotatably connected to the output ends of the two hydraulic rods (31).

5. A Mecanum wheel suspension structure according to claim 4, characterized in that, The drive assembly is fixed to the second fixed frame (34) at the bottom of the rotating disk (33). A motor (35) is fixedly connected to the outer wall of the second fixed frame (34). The output end of the motor (35) passes through the side wall of the second fixed frame (34) and is fixedly connected to the moving wheel (36).

6. A Mecanum wheel suspension structure according to claim 5, characterized in that, The hydraulic rods (31) on both sides have different extension lengths.

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