Mecanum wheel assembly method and Mecanum wheel

Abstract

To improve assemblability of a mecanum wheel.SOLUTION: A method for assembling a mecanum wheel 1 comprises steps of: fitting both first and second plate members 31 and 32 to a wheel body 2; inserting one end 4a of a shaft-like member 4 into a first insertion hole 31b; inserting a barrel-shaped roller 5 from an other end 4b side of the shaft-like member 4 with the shaft-like member 4 inclined; inserting the other end 4b into a second insertion hole 32b to dispose the barrel-shaped roller 5 between first and second flanges 31a and 32a; inserting a first cylindrical member 61 between the first insertion hole 31b and the shaft-like member 4 to fill a gap g between the inner peripheral surface of the first insertion hole 31b and the outer peripheral surface of the one end 4a; and fastening the shaft-like member 4 to the first and second flanges 31a and 32a while bending the first and second flanges 31a and 32a toward the inside in an axial direction.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a method for assembling a Mecanum wheel and a Mecanum wheel. [Background technology]

[0002] For example, Patent Document 1 discloses a so-called Mecanum wheel. This Mecanum wheel includes a wheel body (wheel assembly) having a pair of support members, and a plurality of barrel-shaped rollers (barrels) disposed between the pair of support members. Each barrel-shaped roller is rotatably supported by a shaft-shaped member (barrel shaft). The rotation axis of each barrel-shaped roller is inclined relative to the rotation axis of the wheel body. In Patent Document 1, each barrel-shaped roller is positioned by a retaining ring. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-026266 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a concern that the barrel-shaped rollers may wobble (especially in the axial direction) when positioning them with a snap ring as described in Patent Document 1. In order to suppress this, it is conceivable to provide flanges on the support member as described above through which the shaft-shaped member is inserted, and to sandwich and preload each barrel-shaped roller from both sides in the axial direction with the flanges.

[0005] However, in a typical Mecanum wheel, the rotation axis of the wheel body is inclined relative to the rotation axis of each barrel-shaped roller. Therefore, when using the above-mentioned method, the barrel-shaped rollers must be held between the flanges in a position aligned with the rotation axis of the barrel-shaped roller (at an angle relative to the rotation axis of the wheel body), and the axle members must be inserted into the barrel-shaped rollers. In this case, there are concerns about rattle between the axle members and the support members, and the loss of washers and other components attached to the axle members. To improve the assembly of Mecanum wheels, it is desirable to eliminate these concerns.

[0006] The technology disclosed herein has been made in consideration of these points, and its purpose is to improve the assembly ease of Mecanum wheels while suppressing rattle of the barrel-shaped rollers. [Means for solving the problem]

[0007] A first aspect of the present disclosure relates to a method for assembling a Mecanum wheel including: a wheel body that rotates around a predetermined rotation axis; first and second plate members attached to both ends of the wheel body; a plurality of first flange portions protruding from an outer periphery of the first plate member; a plurality of second flange portions protruding from an outer periphery of the second plate member; a first insertion hole provided in each of the plurality of first flange portions; a second insertion hole provided in each of the plurality of second flange portions; and a plurality of barrel-shaped rollers each supported by axle-shaped members inserted through the first and second insertion holes so as to rotate around an inclined axis inclined with respect to the rotation axis.

[0008] According to the first aspect, the first and second flange portions are configured to bend inward in the axial direction of the inclined shaft, and a gap is provided between an inner peripheral surface of the first insertion hole and an outer peripheral surface of one end of the shaft-shaped member, allowing tilting of the shaft-shaped member when the one end is inserted into the first insertion hole. The assembly method includes the steps of attaching both the first and second plate members to the wheel body, inserting the one end into the first insertion hole, and, when the shaft-shaped member is tilted, The method includes the steps of inserting the barrel-shaped roller from the other end side of the axial member, inserting the other end into the second insertion hole to position the barrel-shaped roller between the first and second flange portions, inserting a tubular member between the first insertion hole and the axial member to close the gap between the inner surface of the first insertion hole and the outer surface of the one end, and fastening the axial member to the first and second flange portions while bending the first and second flange portions toward the inside in the axial direction of the inclined shaft.

[0009] According to the first aspect, there is a gap between each shaft-shaped member and each first insertion hole large enough to be filled with a cylindrical member. Providing such a gap allows the shaft-shaped member to be tilted obliquely with one end of the shaft-shaped member inserted through the first insertion hole. Then, a barrel-shaped roller, washer, or the like is inserted from the other end of the shaft-shaped member and supported by the shaft-shaped member, and then the other end is inserted through the second insertion hole. In this way, rather than inserting the shaft-shaped member after sandwiching the barrel-shaped roller between the first and second flange portions, the barrel-shaped roller, or the like is inserted from the other end of the shaft-shaped member. This configuration prevents the washer, or the like, from falling off, ensuring ease of assembly of the Mecanum wheel.

[0010] Furthermore, when fastened, the first and second flange portions are flexibly deformed inward in the axial direction, so that rattle in the axial direction can be suppressed.

[0011] Furthermore, the gaps between each shaft member and each first insertion hole are filled with a tubular member prior to fastening to the first flange. By filling the gaps with the tubular member, rattles between each shaft member and each first flange are suppressed after fastening. Suppressing rattles between each shaft member and each first flange is also effective in improving the quietness of the Mecanum wheel.

[0012] Thus, according to the first aspect, it is possible to improve the assembly of the Mecanum wheel while suppressing rattle of the barrel-shaped roller without inserting an axial member after sandwiching the barrel-shaped roller between the first and second flange portions.

[0013] Furthermore, according to a second aspect of the present disclosure, a gap is provided between the inner peripheral surface of the second insertion hole and the outer peripheral surface of the other end portion to allow tilting of the axial member when the other end portion is inserted into the second insertion hole, and the assembly method may include the steps of: when inserting the barrel-shaped roller from the other end portion, inserting a washer having a predetermined thickness in the axial direction of the barrel-shaped roller into the other end portion; and, after inserting the washer into the other end portion, inserting a second cylindrical member between the second insertion hole and the axial member to close the gap between the inner peripheral surface of the second insertion hole and the outer peripheral surface of the other end portion, and the second cylindrical member may be positioned so as to contact one end portion of the barrel-shaped roller via the washer.

[0014] According to the second aspect, a gap is provided not only at one end of the shaft-shaped member but also at the other end, which allows the first plate member and the second plate member to use the same parts, which is advantageous in reducing manufacturing costs.

[0015] Furthermore, according to the second aspect, the second cylindrical member contacts the other end of the barrel roller via a washer. By contacting the washer along the axial direction (the direction along the inclined axis), rattle between the members in that direction can be suppressed.

[0016] Furthermore, if a washer is placed on one end of the shaft-shaped member, the washer may interfere with tilting when the shaft-shaped member is tilted. However, by placing the washer on the other end of the shaft-shaped member, it is possible to prevent interference from the washer.

[0017] In addition, since the barrel roller is inserted from the other end of the shaft member, the washer can be inserted at the same time, which contributes to improving the assembly of the Mecanum wheel.

[0018] According to a third aspect of the present disclosure, the second cylindrical member may have a smaller thickness in the axial direction of the barrel roller than the cylindrical member.

[0019] If a washer were attached to the other end of the barrel-shaped roller and no washer was attached to the other end, there would be a concern that the barrel-shaped roller would shift in the axial direction due to the thickness of the washer.

[0020] In contrast, as in the third aspect, by making the dimensions of the cylindrical member different between one end and the other end of the barrel roller depending on the thickness of the washer, it is possible to suppress the above-mentioned misalignment, which contributes to improving the assembly efficiency of the Mecanum wheel.

[0021] A fourth aspect of the present disclosure relates to a Mecanum wheel including: a wheel body that rotates around a predetermined rotation axis; first and second plate members attached to both ends of the wheel body; a plurality of first flange portions protruding from an outer circumferential edge of the first plate member; a plurality of second flange portions protruding from an outer circumferential edge of the second plate member; a first insertion hole provided in each of the plurality of first flange portions; a second insertion hole provided in each of the plurality of second flange portions; and a plurality of barrel-shaped rollers that are each supported by a shaft-shaped member inserted into each of the first and second insertion holes so as to rotate around an inclined axis that is inclined with respect to the rotation axis.

[0022] According to the fourth aspect, the first and second flanges are configured to bend inward in the axial direction of the tilt shaft, and a gap is provided between the inner circumferential surface of the first insertion hole and the outer circumferential surface of one end of the shaft-shaped member to allow tilting of the shaft-shaped member when the one end is inserted into the first insertion hole. The Mecanum wheel includes a tubular member that is inserted between the first insertion hole and the shaft-shaped member and closes the gap between the inner circumferential surface of the first insertion hole and the one end.

[0023] According to the fourth aspect, there is a gap between each shaft-shaped member and each first insertion hole large enough to be filled with a cylindrical member. Providing such a gap allows the shaft-shaped member to be tilted obliquely with one end of the shaft-shaped member inserted through the first insertion hole. Then, a barrel-shaped roller, washer, or the like is inserted from the other end of the shaft-shaped member and supported by the shaft-shaped member, and then the other end is inserted through the second insertion hole. In this way, rather than inserting the shaft-shaped member after sandwiching the barrel-shaped roller between the first and second flange portions, the barrel-shaped roller, or the like is inserted from the other end of the shaft-shaped member. This configuration prevents washers, etc., from falling off, ensuring ease of assembly of the Mecanum wheel.

[0024] Furthermore, since the first and second flange portions can be flexibly deformed inward in the axial direction when fastened, it is possible to suppress rattle in the axial direction.

[0025] Furthermore, by filling the gaps between the shaft members and the first insertion holes with the tubular members, rattles between the shaft members and the first flanges after fastening are suppressed. Suppressing rattles between the shaft members and the first flanges is also effective in improving the quietness of the Mecanum wheel.

[0026] Thus, according to the fourth aspect, it is possible to improve the assembly ease of the Mecanum wheel while suppressing rattle of the barrel-shaped roller without inserting an axial member after sandwiching the barrel-shaped roller between the first and second flange portions.

[0027] A fifth aspect of the present disclosure relates to a method for assembling a Mecanum wheel including: a wheel body that rotates around a predetermined rotation axis; first and second plate members attached to both ends of the wheel body; a plurality of flange portions protruding from the outer peripheries of the first and second plate members; insertion holes provided in each of the plurality of flange portions; and a plurality of barrel-shaped rollers each supported by an axial member inserted into the insertion holes so as to rotate around an inclined axis inclined relative to the rotation axis.

[0028] According to the fifth aspect, the flange portions are configured to bend inward in the axial direction of the inclined shaft. The assembly method includes the steps of attaching both of the first and second plate members to the wheel body, attaching washers having a predetermined thickness in the axial direction of the barrel-shaped roller to both end portions of the barrel-shaped roller or to surfaces of the flange portions facing the both end portions, arranging the barrel-shaped roller between the flange portions of the first and second plate members via the washers, inserting the shaft-shaped member through the barrel-shaped roller and the insertion hole, and fastening the shaft-shaped member to the flange portions while bending the flange portions inward in the axial direction of the inclined shaft.

[0029] When inserting the shaft member after sandwiching the barrel roller between the flanges, one way to prevent the barrel rollers from rattling is to place a washer between each flange and the barrel roller. However, since it is not easy to support the washer and the barrel roller at the same time, there is a concern that the washer or other parts may fall off, which may make assembly difficult.

[0030] In contrast, according to the fifth aspect, a washer for suppressing rattle is attached in advance, which prevents the washer from falling off and ensures ease of assembly of the Mecanum wheel.

[0031] Furthermore, when fastened, each flange portion is flexibly deformed inward in the axial direction, which makes it possible to suppress rattle in the axial direction.

[0032] Thus, according to the fifth aspect, even if the barrel-shaped roller is sandwiched between each flange portion and then the shaft-shaped member is inserted, it is possible to improve the assembly ease of the Mecanum wheel while suppressing rattle of the barrel-shaped roller.

[0033] Furthermore, according to a sixth aspect of the present disclosure, the washer may have an adhesive sealing surface, and the washer may be attached to at least one end of the barrel-shaped roller or the surface of the flange portion facing the one end via the sealing surface.

[0034] According to the sixth aspect, the washer is attached to the barrel roller or flange portion via an adhesive sealing surface. By providing the washer with a sealing surface, it becomes possible to attach the washer without using screws, adhesives, etc. This contributes to improving the assembly of the Mecanum wheel.

[0035] A seventh aspect of the present disclosure relates to a Mecanum wheel comprising: a wheel body that rotates around a predetermined rotation axis; first and second plate members attached to both ends of the wheel body; a plurality of flange portions protruding from the outer peripheries of the first and second plate members; an insertion hole provided in each of the plurality of flange portions; and a plurality of barrel-shaped rollers each supported by an axial member inserted into each of the insertion holes so as to rotate around an inclined axis inclined with respect to the rotation axis.

[0036] According to the seventh aspect, the flange portion is configured to bend inward in the axial direction of the tilt shaft. The Mecanum wheel includes washers attached to both ends of the barrel roller or to surfaces of the flange portion facing the both ends, and having a predetermined thickness in the axial direction of the barrel roller. The barrel roller is disposed between the flange portions of the first and second plate members via the washers.

[0037] When inserting the shaft member after sandwiching the barrel roller between the flanges, one way to prevent the barrel rollers from rattling is to place a washer between each flange and the barrel roller. However, since it is not easy to support the washer and the barrel roller at the same time, there is a concern that the washer or other parts may fall off, which may make assembly difficult.

[0038] In contrast, according to the seventh aspect, it is possible to attach a washer to prevent rattle beforehand, which prevents the washer from falling off during assembly and ensures the ease of assembly of the Mecanum wheel.

[0039] Furthermore, when fastened, each flange portion is flexibly deformed inward in the axial direction, which makes it possible to suppress rattle in the axial direction.

[0040] Thus, according to the seventh aspect, even if the barrel-shaped roller is sandwiched between each flange portion and then the shaft-shaped member is inserted, it is possible to improve the assembly ease of the Mecanum wheel while suppressing rattle of the barrel-shaped roller. [Effects of the Invention]

[0041] As described above, according to the present disclosure, the assembly ease of Mecanum wheels can be improved. [Brief explanation of the drawings]

[0042] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a Mecanum wheel. [Figure 2] FIG. 2 is an exploded view illustrating the configuration of a wheel body and first and second plate members. [Figure 3] 3A and 3B are side views illustrating examples of the configuration of a wheel body and first and second plate members. [Figure 4] 1A to 1C are exploded views illustrating the assembly process of a Mecanum wheel according to a first assembly method. [Figure 5]1A to 1C are exploded views illustrating the assembly process of a Mecanum wheel according to a first assembly method. [Figure 6A] 10A to 10C are enlarged cross-sectional views illustrating an assembly process of a Mecanum wheel according to a first assembly method, illustrating one end side of a shaft-shaped member. [Figure 6B] 10A to 10C are enlarged cross-sectional views illustrating the assembly process of the Mecanum wheel according to the first assembly method, illustrating the other end side of the shaft-shaped member. [Figure 7A] 10A to 10C are side views illustrating the assembly process of the Mecanum wheel according to the first assembly method, with respect to one end side of the shaft-shaped member. [Figure 7B] 10A and 10B are side views illustrating the assembly process of the Mecanum wheel according to the first assembly method, with respect to the other end side of the shaft-shaped member. [Figure 8] FIG. 2 is a side view comparing the dimensions of the first cylindrical member and the second cylindrical member. [Figure 9] 4 is a flowchart illustrating the procedure of a first assembly method. [Figure 10A] 10A to 10C are cross-sectional views illustrating an example of an assembly process for a barrel-shaped roller according to a second assembly method. [Figure 10B] 10A to 10C are cross-sectional views illustrating an example of an assembly process for a barrel-shaped roller according to a second assembly method. [Figure 10C] 10A to 10C are cross-sectional views illustrating an example of an assembly process for a barrel-shaped roller according to a second assembly method. [Figure 10D] 10A to 10C are cross-sectional views illustrating an example of an assembly process for a barrel-shaped roller according to a second assembly method. [Figure 10E] 10A to 10C are cross-sectional views illustrating an example of an assembly process for a barrel-shaped roller according to a second assembly method. [Figure 11] 10A to 10C are partial cross-sectional views illustrating the assembly process of a Mecanum wheel according to a second assembly method. [Figure 12] 10A to 10C are partial cross-sectional views illustrating the assembly process of a Mecanum wheel according to a second assembly method. [Figure 13A] 10A and 10B are diagrams illustrating a first washer according to a second assembly method. [Figure 13B] 10A and 10B are diagrams illustrating a second washer according to a second assembly method. [Figure 14]10 is a flowchart illustrating the procedure of a second assembly method. [Figure 15] FIG. 1 is a diagram showing an example of a conventional assembly method. [Figure 16] FIG. 10 is a diagram showing another example of a conventional assembly method. DETAILED DESCRIPTION OF THE INVENTION

[0043] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0044] Fig. 1 is a diagram showing an example of the configuration of a Mecanum wheel 1, 101. Fig. 2 is an exploded view showing an example of the configuration of a wheel main body 2 and first and second plate members 31, 32, and Fig. 3 is a side view thereof.

[0045] The first and second assembly methods will be explained below in order, but the Mecanum wheel 1 obtained by the first assembly method and the Mecanum wheel 101 obtained by the second assembly method will have the same appearance when viewed from the side, as shown in Figure 1.

[0046] Furthermore, the wheel body 2 and first and second plate members 31, 32 used in the first assembly method and the wheel body 2 and first and second plate members 31, 32 used in the second assembly method are identical not only in appearance but also in internal structure.

[0047] Furthermore, the Mecanum wheel 1 obtained by the first assembly method and the Mecanum wheel 101 obtained by the second assembly method are different in the configurations (particularly the internal structure) of the barrel rollers 5, 105.

[0048] Below, we will explain in order the first assembly method and the configuration of the Mecanum wheel 1 obtained by this assembly method, and the second assembly method and the configuration of the Mecanum wheel 101 obtained by this assembly method.

[0049] <First assembly method> 4 and 5 are exploded views illustrating the assembly process of the Mecanum wheel 1 according to the first assembly method, and FIGS. 6A and 6B are enlarged cross-sectional views illustrating the assembly process at one end and the other end of the shaft-shaped member 4. Also, FIGS. 7A and 7B are side views illustrating the assembly process of the Mecanum wheel 1 according to the first assembly method at one end and the other end of the shaft-shaped member 4. Also, FIG. 8 is a side view comparing the dimensions of the first cylindrical member 61 and the second cylindrical member 62.

[0050] The Mecanum wheel 1 according to the first assembly method includes a wheel body 2, first and second plate members 31, 32, a plurality of flange portions 31a, 32a, a plurality of insertion holes 31b, 32b, a plurality of shaft-shaped members 4, and a plurality of barrel-shaped rollers 5.

[0051] The wheel body 2 is adapted to rotate around a predetermined rotation axis O1. The wheel body 2 is formed, for example, in a cylindrical shape into which an axle (not shown) can be inserted.

[0052] The first and second plate members 31, 32 are attached to both ends (both top surfaces of the cylinder) of the wheel body 2. The first and second plate members 31, 32 are each formed in a disk shape with a diameter larger than that of the wheel body 2. The first and second plate members 31, 32 have approximately the same thickness.

[0053] A plurality of flange portions 31a, 32a protrude from the outer peripheral edges of the first and second plate members 31, 32. Hereinafter, the flange portion 31a protruding from the first plate member 31 will be referred to as the first flange portion 31a, and the flange portion 32a protruding from the second plate member 32 will be referred to as the second flange portion 32a. The number of first flange portions 31a is the same as the number of second flange portions 32a.

[0054] Each of the first flange portions 31a is inclined with respect to the central axis (which coincides with the rotation axis O1 in FIGS. 2 and 3) when the first plate member 31 is considered to be a disk. Each of the first flange portions 31a is formed in a plate shape having approximately the same thickness as the first plate member 31.

[0055] Similarly, each of the second flange portions 32a is inclined with respect to the central axis (which coincides with the rotation axis O1 in FIGS. 2 and 3) when the second plate member 32 is considered to be a disk. Each of the second flange portions 32a is formed in a plate shape having approximately the same thickness as the second plate member 32.

[0056] The plurality of insertion holes 31b, 32b are provided in each of the plurality of flange portions 31a, 32a. Hereinafter, the insertion holes 31b provided in each first flange portion 31a will be referred to as first insertion holes 31b, and the insertion holes 32b provided in each second flange portion 32a will be referred to as second insertion holes 32b.

[0057] The first insertion holes 31b are each formed as a through-hole that penetrates the first flange portion 31a in the thickness direction. Similarly, the second insertion holes 32b are each formed as a through-hole that penetrates the second flange portion 32a in the thickness direction.

[0058] When assembling the Mecanum wheel 1, first, both the first and second plate members 31, 32 are attached to the wheel body 2 (a process common to the first and second assembly methods). At this time, the first plate member 31 is fastened to one end of the wheel body 2. The second plate member 32 is fastened to the other end of the wheel body 2. Note that "one end of the wheel body 2" here refers to one end in the axial direction along the rotation axis O1. Similarly, "the other end of the wheel body 2" here refers to the end located opposite the one end in the axial direction along the rotation axis O1.

[0059] Specifically, when fastening the first and second plate members 31, 32, the positions are adjusted so that the first flange portion 31a and the second flange portion 32a face each other, as shown in FIG.

[0060] More specifically, when fastening the first and second plate members 31, 32, their positions are adjusted so that the central axis passing through the first insertion hole 31b and the central axis passing through the second insertion hole 32b are concentric. This central axis corresponds to the tilt axis O2 shown in Figure 3 and other figures. The tilt axis O2 is tilted with respect to the rotation axis O1 described above.

[0061] Furthermore, the first and second flange portions 31a, 32a are configured to bend inward in the axial direction of the inclined axis O2. By allowing the first and second flange portions 31a, 32a to bend, it is possible to suppress rattle of the barrel-shaped roller 5 in the axial direction, as will be described later.

[0062] 1 and 4 described later, a shaft-shaped member 4 is inserted into the first insertion hole 31b and the second insertion hole 32b facing the first insertion hole 31b (details of the insertion will be described later). The shaft-shaped member 4 is configured as a rod-shaped member having a circular cross section.

[0063] Furthermore, each of the barrel-shaped rollers 5 is supported by a shaft-like member 4. Each of the barrel-shaped rollers 5 is supported so as to rotate around an inclined axis O2.

[0064] The first assembly method will be described in detail below. In the following description, "one end 4a of the shaft-shaped member 4" refers to the lower end as viewed on the paper surface of FIG. 4 and the left end as viewed on the paper surface of FIG. 5. Furthermore, "the other end 4b of the shaft-shaped member 4" refers to the upper end of the shaft-shaped member 4 as viewed on the paper surface of FIG. 4 and the right end as viewed on the paper surface of FIG. 5. For these definitions, please also refer to the double-headed arrows in FIGS. 4 and 5. Furthermore, in the following description, "axial direction" refers to the axial direction of the shaft-shaped member 4 unless otherwise specified.

[0065] Similarly, in the first assembly method, the terms "one end 5a of the barrel-shaped roller 5" and "one end of the rubber roller 51" refer to the bottom end as seen on the paper in Fig. 4 and the left end as seen on the paper in Fig. 5. Also, the terms "the other end 5b of the barrel-shaped roller 5" and "the other end of the rubber roller 51" refer to the top end as seen on the paper in Fig. 4 and the right end as seen on the paper in Fig. 5.

[0066] 9 is a flowchart illustrating the procedure of the first assembly method. The first assembly method is made up of steps S1 to S6, which will be described below.

[0067] (Step S1) As described above, first, both the first and second plate members 31, 32 are attached to the wheel body 2. At that time, the positions are adjusted so that the first flange portion 31a and the second flange portion 32a face each other.

[0068] (Step S2) Next, as shown in FIG. 4, one end 4a of the shaft-shaped member 4 is inserted into the first insertion hole 31b.

[0069] In the Mecanum wheel 1 according to the first assembly method, the outer circumferential surface of one end 4a of the shaft-shaped member 4 is smaller in diameter than the inner circumferential surface of the first insertion hole 31b. Similarly, the outer circumferential surface of the other end 4b of the shaft-shaped member 4 is smaller in diameter than the inner circumferential surface of the second insertion hole 32b. In other words, the outer diameters of both end portions 4a, 4b of the shaft-shaped member 4 are smaller than the hole diameters of the first and second insertion holes 31b, 32b.

[0070] By making the diameters of both ends 4a, 4b of the shaft-shaped member 4 relatively small, a gap g as shown in Fig. 7A is provided between the inner peripheral surface of the first insertion hole 31b and the outer peripheral surface of one end 4a of the shaft-shaped member 4 inserted into the first insertion hole 31b. This gap g allows tilting of the shaft-shaped member 4 (motion attempting to tilt the shaft-shaped member 4) in a state where the one end 4a is inserted into the first insertion hole 31b.

[0071] The presence of such a gap g allows the shaft-shaped member 4 to be inclined with respect to the inclined axis O2 as shown in Fig. 4. By taking such an attitude, it is possible to insert the various members 51 to 57 constituting the barrel-shaped roller 5 from the other end 4b side of the shaft-shaped member 4.

[0072] 7B, a gap g that allows tilting of the shaft-shaped member 4 when the other end 4b is inserted into the second insertion hole 32b is also provided between the inner peripheral surface of the second insertion hole 32b and the outer peripheral surface of the other end 4b of the shaft-shaped member 4. This configuration allows the first plate member 31 and the second plate member 32 to use common parts.

[0073] (Step S3) Therefore, in the subsequent step S3, with the shaft-shaped member 4 tilted, at least the barrel-shaped roller 5 is inserted from the other end 4b side of the shaft-shaped member 4. More specifically, in this step S3, the first and second bearings 54, 55, the rubber roller 51, the core metal 52, the pipe 53, the washer 56, and the rubber washer 57 are inserted into the shaft-shaped member 4 tilted with respect to the inclined axis O2 from the other end 4b (the pipe 53 is only shown in FIGS. 6A and 6B). These members 51 to 57 constitute the barrel-shaped roller 5. Therefore, by inserting and fixing these members 51 to 57 into the shaft-shaped member 4, the barrel-shaped roller 5 is supported on the shaft-shaped member 4.

[0074] In detail, the core metal 52 and the pipe 53 are attached to the rubber roller 51 and then inserted into the shaft-shaped member 4. The first bearing 54 attached to one end 5a of the barrel-shaped roller 5 may be inserted into the shaft-shaped member 4 after the attachment to the core metal 52, the pipe 53, and the rubber roller 51 is complete. Similarly, the second bearing 55, the washer 56, and the rubber washer 57 attached to the other end 5b of the barrel-shaped roller 5 may be inserted into the shaft-shaped member 4 after the attachment to the core metal 52, the pipe 53, and the rubber roller 51 is complete.

[0075] The rubber roller 51 is a hollow roller made of rubber. The metal core 52 is a cylindrical member made of metal and bonded to the lining of the hollow portion of the rubber roller 51. The pipe 53 is a member inserted into the inner periphery of the metal core 52.

[0076] Near the other end of the rubber roller 51, the pipe 53, the second bearing 55, the washer 56, and the rubber washer 57 are arranged in this order from below on the paper. Near one end of the rubber roller 51, the pipe 53 and the first bearing 54 are arranged in this order from above on the paper.

[0077] Here, the first bearing 54 is a bearing that is press-fitted into one end of the rubber roller 51 via the core metal 52 and the pipe 53. The second bearing 55 is a bearing that is press-fitted into the other end of the rubber roller 51 via the core metal 52 and the pipe 53. The washer 56 is a washer that holds the second bearing 55 together with the pipe 53. The rubber washer 57 is an elastic body that holds the pipe 53 together with the second bearing 55 and absorbs gaps in the axial direction.

[0078] Both the washer 56 and the rubber washer 57 have a predetermined thickness in the axial direction of the shaft-shaped member 4 and the barrel-shaped roller 5. In step S3, the washer 56 and the rubber washer 57 are attached to at least the other end 5b of the barrel-shaped roller 5. In this embodiment, the washer 56 and the rubber washer 57 are inserted into the other end 41b of the shaft-shaped member 4.

[0079] (Step S4) Subsequently, in step S4, the other end 4b of the shaft-shaped member 4 is inserted into the second insertion hole 32b. More specifically, in step S4, the shaft-shaped member 4 (particularly, the other end 4b of the shaft-shaped member 4) is inserted into the other of the first and second insertion holes 31b, 32b (the second insertion hole 32b in the illustrated example). This eliminates the inclination of the shaft-shaped member 4 with respect to the inclined axis O2. As a result, as shown in FIG. 5, the barrel-shaped roller 5 is disposed between the flange portions 31a, 32a of the first and second plate members 31, 32, with a gap g between the inner circumferential surfaces of the first and second insertion holes 31b, 32b and the outer circumferential surface of the shaft-shaped member 4 (particularly, the outer circumferential surfaces of both end portions 4a, 4b).

[0080] (Step S5) Next, as also shown in Figure 5, cylindrical members 61, 62 are inserted between the first and second insertion holes 31b, 32b and the shaft-shaped member 4, thereby closing the gap between the inner surfaces of the first and second insertion holes 31b, 32b and the outer surface of the shaft-shaped member 4 (particularly the outer surfaces of both end portions 4a, 4b).

[0081] Here, the tubular members 61, 62 are composed of a first tubular member (tubular member) 61 inserted into one end 4a of the shaft-shaped member 4 and a second tubular member (second tubular member) 62 inserted into the other end 4b of the shaft-shaped member 4.

[0082] Here, as shown in FIG. 6A, the first cylindrical member 61 is disposed so as to come into contact with one end 5a of the barrel-shaped roller 5 via the first bearing .

[0083] On the other hand, as shown in Fig. 6B, the second cylindrical member 62 is disposed so as to contact the other end 5b of the barrel-shaped roller 5 via the second bearing 55, the washer 56, and the rubber washer 57. When the second cylindrical member 62 contacts the rubber washer 57, at least a portion of the rubber washer 57 is compressed in the axial direction, as shown in Fig. 6B. This compression makes it possible to suppress rattling in the axial direction.

[0084] Further, due to the thicknesses of washer 56 and rubber washer 57, the second cylindrical member 62 has a smaller thickness in the axial direction than the first cylindrical member 61. This makes it possible to suppress axial misalignment between one end side and the other end side of the barrel-shaped roller 5. For example, as shown in FIG. 8, if the thickness of the second cylindrical member 62 in the axial direction is w2 and the thickness of the first cylindrical member 61 in the same direction is w1, it is configured such that the relationship w2 < w1 holds. The difference in thickness |w1 - w2| is set to increase as the washer 56 and the rubber washer 57 become thicker in the axial direction. By setting it in this way, it becomes possible to more appropriately suppress axial misalignment.

[0085] (Step S6) Subsequently, as shown in FIGS. 6A and 6B, while bending the first and second flange portions 31a, 32a toward the inner side in the axial direction along the inclined axis O2, the shaft-like member 4 is fastened to the first and second flange portions 31a, 32a. This fastening can be realized, for example, by a nut-shaped fastening member 7. By this fastening, the first and second flange portions 31a, 32a are each bent and deformed. Due to this deformation, the first and second flange portions 31a, 32a, the pipe 53, the first and second bearings 54, 55, the washer 56 and the rubber washer 57, and the first and second cylindrical members 61, 62 are in close contact, and a strong assembly without gaps is realized.

[0086] Note that in order to allow the bending deformation as described above, the combined length of the barrel-shaped roller 5 and the first and second cylindrical members 61, 62 (the length in the axial direction of the inclined axis O2 or the barrel-shaped roller 5) is set to be less than or equal to the length from the first flange portion 31a to the second flange portion 32a facing the first flange portion 31a (particularly, the length in the unfastened state).

[0087] By performing the above steps for each of the plurality of barrel-shaped rollers 5, the mecanum wheel 1 according to the first assembling method is assembled.

[0088] <Second Assembling Method> Next, the second assembly method will be described in detail. Figures 10A to 10E are cross-sectional views illustrating the assembly process of the barrel roller 105 according to the second assembly method. Figures 11 and 12 are partial cross-sectional views illustrating the assembly process of the Mecanum wheel 101 according to the second assembly method. Figure 13A is a diagram illustrating a first washer 161 according to the second assembly method, and Figure 13B is a diagram illustrating a second washer 162 according to the second assembly method.

[0089] The Mecanum wheel 101 according to the second assembly method includes, similar to the first assembly method, a wheel body 2, first and second plate members 31, 32, a plurality of flange portions 31a, 32a, and a plurality of insertion holes 31b, 32b, and a plurality of barrel-shaped rollers 105 configured differently from the first assembly method.

[0090] That is, as explained with reference to FIGS. 1 to 3, the wheel body 2 rotates around a predetermined rotation axis O1. The first and second plate members 31 and 32 are attached to both ends of the wheel body 2. A plurality of flange portions 31a and 32a protrude from the outer peripheries of the first and second plate members 31 and 32, respectively. Insertion holes 31b and 32b are provided in each of the plurality of flange portions 31a and 32a. The plurality of barrel-shaped rollers 105 are supported by shaft-shaped members 4 inserted into the insertion holes 31b and 32b so as to rotate around an inclined axis O2 inclined with respect to the rotation axis O1. In the second assembly method, the details of the barrel-shaped rollers 105 differ from those of the barrel-shaped rollers 5 according to the first assembly method.

[0091] 14 is a flowchart illustrating the procedure of the second assembly method. The second assembly method is made up of steps S101 to S106, which will be described below.

[0092] (Step S101) As in the first assembly method, first, both the first and second plate members 31, 32 are attached to the wheel body 2. At that time, the positions are adjusted so that the first flange portion 31a and the second flange portion 32a face each other.

[0093] (Step S102) Next, the barrel-shaped roller 105 is assembled according to the second assembly method.

[0094] Specifically, as shown in Fig. 10A, a core 152 is lined and bonded to the hollow portion of a rubber roller 151. Subsequently, as shown in Fig. 10B, a first bearing 154 is press-fitted into one end 152a of the core 152. Subsequently, as shown in Fig. 10C, a pipe 153 is inserted into the center of the core 152. Subsequently, as shown in Fig. 10D, a second bearing 155 is press-fitted into the other end 152b of the core 152.

[0095] The configuration and assembly procedure of the rubber roller 151, the core 152, the pipe 153, the first bearing 154, and the second bearing 155 according to the second assembly method are the same as the configuration and assembly procedure of the rubber roller 51, the core 52, the pipe 53, the first bearing 54, and the second bearing 55 according to the first assembly method.

[0096] (Step S103) Next, washers 161, 162 having a predetermined thickness in the axial direction of the barrel roller 105 are attached to both end portions 105a, 105b of the barrel roller 105 or to the surfaces of the flange portions 31a, 32a facing the both end portions. In the example shown in FIG. 10E, the washers 161, 162 are attached to both end portions 105a, 105b of the barrel roller 105.

[0097] Here, the washers 161, 162 are composed of a first washer 161 attached to one end 105a of the barrel-shaped roller 105 and a second washer 162 attached to the other end 105b of the barrel-shaped roller 105 (see Figures 10D and 10E).

[0098] 13A, the first washer 161 has an adhesive first sealing surface 161a, which is attached to one end 105a of the barrel-shaped roller 105 or the surface of the first flange portion 31a facing the one end 105a via the first sealing surface 161a.

[0099] 13B, the second washer 162 has an adhesive second sealing surface 162a, which is attached to the other end 105b of the barrel roller 105 or the surface of the second flange portion 32a facing the other end 105b via the second sealing surface 162a.

[0100] (Step S104) 11, the barrel-shaped roller 105 is placed between the flange portions 31a and 32a of the first and second plate members 31 and 32, respectively, via the first and second washers 161 and 162. The gaps between the first and second flange portions 31a and 32a and the barrel-shaped roller 105 are filled by the first and second washers 161 and 162.

[0101] (Step S105) Next, as shown in FIG. 12, the shaft member 4 is inserted into the barrel roller 105, particularly the hollow portion of the pipe 153, and the first and second insertion holes 31b, 32b.

[0102] (Step S106) 12, the shaft-shaped member 4 is fastened to the first and second flange portions 31a, 32a while the first and second flange portions 31a, 32a are bent inward in the axial direction along the inclined axis O2. This fastening can be achieved, for example, by using a nut-shaped fastening member 7. This fastening causes the first and second plate members 31, 32 to deform. This deformation brings the first and second plate members 31, 32, the pipe 153, the first and second bearings 154, 155, and the first and second washers 161, 162 into tight contact with each other, achieving a tight, gap-free assembly.

[0103] By performing the above steps for each of the multiple barrel-shaped rollers 105, the Mecanum wheel 101 according to the first assembly method is assembled.

[0104] <Significance of the first and second assembly methods> FIG. 15 is a diagram showing an example of a conventional assembly method, and FIG. 16 is a diagram showing another example of a conventional assembly method.

[0105] 15, in the conventional assembly method, first, one of the first and second plate members 31, 32 (first plate member 31 in the illustrated example) is attached to the wheel body 2. Then, the shaft member 204, which has been inserted into the barrel-shaped roller 205, is inserted into the insertion hole of the first plate member 31.

[0106] 15, the other plate member (second plate member 32) is attached to the wheel body 2, and the shaft member 204 that has been inserted through the barrel-shaped roller 205 is inserted into the insertion hole of the second plate member 32. Then, by fastening both ends of the shaft member 204, the shaft member 204 and the barrel-shaped roller 205 are assembled to the wheel body 2 and the first and second plate members 31, 32.

[0107] However, when such an assembly method is used, the fastening direction of the second plate member 32 (the direction along the rotation axis O1) differs from the fastening direction of the shaft-shaped member 204 and the barrel-shaped roller 205 (the direction along the inclined axis O2), which makes assembly difficult and raises concerns about rattles in the latter fastening direction as well as rattles between the barrel-shaped roller 205 and each plate member 31, 32.

[0108] In contrast, in the case of another example shown in Figure 16, first, as shown in the upper diagram of the same figure, both the first and second plate members 31, 32 are attached to the wheel body 2. Then, a barrel-shaped roller 305 is placed between the first and second plate members 31, 32. Then, each barrel-shaped roller 305 is sandwiched from both sides in the axial direction by the flange portions of the first and second plate members 31, 32 and preloaded.

[0109] 16, the shaft member 304 is inserted into the barrel-shaped roller 305 disposed between the first and second plate members 31 and 32. At this time, two washers 361 and 362 are placed in advance to fill the gap in the fastening direction (the direction along the inclined axis O2) of the shaft member 304 and the barrel-shaped roller 305. Then, by fastening both ends of the shaft member 304, the shaft member 304 and the barrel-shaped roller 305 are assembled to the wheel body 2 and the first and second plate members 31 and 32.

[0110] In this case, although the washers 361, 362 suppress rattle between the shaft member 304 and each plate member 31, 32, there is a concern that each of the two washers 361, 362 may fall off during assembly. In order to improve the ease of assembly of the Mecanum wheel, it is desirable to eliminate such concerns.

[0111] In contrast, according to the first assembly method described above, as explained using Figures 5, 6A and 6B, and 7A and 7B, there is a gap g between each shaft-shaped member 4 and each first insertion hole 31b, which gap can be filled by the first cylindrical member 61. By providing such a gap g, it is possible to tilt the shaft-shaped member 4 obliquely with one end 4a of the shaft-shaped member 4 inserted into the first insertion hole 31b. Then, the barrel-shaped roller 5, washer 56, rubber washer 57, etc. are inserted from the other end 4b side of the shaft-shaped member 4 and supported by the shaft-shaped member 4, and then the other end 4b is inserted into the second insertion hole 32b. In this way, rather than sandwiching the barrel-shaped roller 5 between the first and second flange portions 31a, 32a and then inserting the shaft-shaped member 4, the shaft-shaped member 4 is configured to be inserted at one end 4a and then the barrel-shaped roller 5 etc. is inserted from the other end 4b side. This prevents the washers 56, rubber washers 57 etc. from falling off, ensuring the ease of assembly of the Mecanum wheel 1.

[0112] Furthermore, when fastened, the first and second flange portions 31a, 32a are flexibly deformed inward in the axial direction, so that rattle in the axial direction can be suppressed.

[0113] Furthermore, the gap between each shaft-shaped member 4 and each first insertion hole 31b is closed by the first cylindrical member 61 before fastening to the first flange portion 31a. By closing the gap with the first cylindrical member 61, rattle between each shaft-shaped member 4 and each first flange portion 31a after fastening is suppressed. Suppressing rattle between each shaft-shaped member 4 and each first flange portion 31a is also effective in improving the quietness of the Mecanum wheel 1.

[0114] In this way, according to the first assembly method, it is possible to improve the assembly ease of the Mecanum wheel 1 while suppressing rattling of the barrel-shaped roller 5 without inserting the shaft-shaped member 4 after sandwiching the barrel-shaped roller 5 between the first and second flange portions 31a, 32a.

[0115] 6B and 7B, the gap g is provided not only on one end side but also on the other end side of the shaft-shaped member 4. This allows the first plate member 31 and the second plate member 32 to use common parts, which is advantageous in reducing manufacturing costs.

[0116] Furthermore, the second cylindrical member 62 contacts the other end 5b of the barrel-shaped roller 5 via the washer 56 and the rubber washer 57. By contacting the washer 56 and the rubber washer 57 along the axial direction (the direction along the inclined axis O2), rattle between the members in that direction can be suppressed.

[0117] Furthermore, if a washer 56 or the like is also arranged on one end side of the shaft-shaped member 4, there is a possibility that the washer 56 will hinder tilting when attempting to tilt the shaft-shaped member 4. In contrast, by arranging the washer 56 on the other end side of the shaft-shaped member 4, it is possible to configure the shaft-shaped member 4 so that the washer 56 does not cause any interference.

[0118] Furthermore, since the barrel roller 5 is inserted from the other end 4b of the shaft member 4, the washer 56 and the rubber washer 57 can be inserted at the same time. This contributes to improving the assembly efficiency of the Mecanum wheel 1.

[0119] Furthermore, as illustrated in Figures 4 to 5 and Figures 6A to 6B, if a washer 56 and a rubber washer 57 are attached to the other end 5b of the barrel-shaped roller 5 and no washer is attached to the one end 5a, there is a concern that the barrel-shaped roller 5 may shift in the axial direction due to the thickness of the washer.

[0120] 8, by making the dimensions of the first cylindrical member 61 located at one end of the barrel roller 5 and the second cylindrical member 62 located at the other end different depending on the thickness of the washer, it is possible to prevent the above-mentioned misalignment. This contributes to improving the ease of assembly of the Mecanum wheel 1.

[0121] Furthermore, when inserting the shaft member 4 after sandwiching the barrel-shaped rollers 5 between the flange portions 31a, 32a, one way to prevent rattles in the barrel-shaped rollers 5 is to interpose washers between the flange portions 31a, 32a and the barrel-shaped rollers 5, as explained with reference to Fig. 16. However, since it is not easy to support the washers and the barrel-shaped rollers 5 simultaneously, there is a concern that the assembly may become difficult due to the washers or the like falling off.

[0122] In contrast, according to the second assembly method described above, the first and second washers 161, 162 for suppressing rattle are attached in advance, as explained using Figures 11 and 12. This prevents the first and second washers 161, 162 from falling off, ensuring the ease of assembly of the Mecanum wheel 101.

[0123] Furthermore, when fastened, the flange portions 31a, 32a are flexibly deformed inward in the axial direction, so that rattle in the axial direction can be suppressed.

[0124] In this way, according to the second assembly method, even if the barrel-shaped roller 5 is sandwiched between each flange portion 31a, 32a and then the shaft-shaped member 4 is inserted, it is possible to improve the assembly ease of the Mecanum wheel 101 while suppressing rattling of the barrel-shaped roller 5.

[0125] 13A and 13B, the first and second washers 161, 162 are attached to the barrel roller 5 or the first or second flange portion 31a, 32a via the adhesive first and second sealing surfaces 161a, 162a. By providing the first and second sealing surfaces 161a, 162a on the first and second washers 161, 162, the first and second washers 161, 162 can be attached without using screws, adhesive, or the like. This contributes to improving the ease of assembly of the Mecanum wheel 101.

[0126] The present disclosure also relates to a Mecanum wheel 1 according to a first assembly method. The Mecanum wheel 1 includes the aforementioned wheel main body 2, first and second plate members 31, 32, multiple flange portions 31a, 32a, insertion holes 31b, 32b, a shaft-shaped member 4, and multiple barrel-shaped rollers 5. As shown in FIGS. 4 and 5, 6A and 6B, and 7A and 7B, the first and second flange portions 31a, 32a are configured to bend inward in the axial direction of the tilt axis O2, and a gap g is provided between the inner circumferential surface of the first insertion hole 31b and the outer circumferential surface of one end 4a of the shaft-shaped member 4, allowing tilting of the shaft-shaped member 4 when the one end 4a is inserted into the first insertion hole 31b. The Mecanum wheel 1 is provided with cylindrical members 61 and 62 that are inserted between the insertion holes 31b and 32b and the shaft-shaped member 4 and close the gap g between the inner surfaces of the insertion holes 31b and 32b and the outer surface of the shaft-shaped member 4.

[0127] The present disclosure also relates to a Mecanum wheel 101 according to a second assembly method. The Mecanum wheel 101 includes the wheel body 2, first and second plate members 31 and 32, multiple flanges 31a and 32a, insertion holes 31b and 32b, a shaft member 4, and multiple barrel-shaped rollers 105. As shown in FIGS. 11 and 12 , the Mecanum wheel 101 includes washers 161 and 162, each of which has a predetermined thickness in the axial direction of the barrel-shaped roller 105 and is attached to both ends of the barrel-shaped roller 105 or to the surfaces of the flanges 31a and 32a facing the both ends. The first and second flanges 31a and 32a are configured to bend inward in the axial direction of the tilt axis O2. The barrel-shaped roller 105 is disposed between the flanges 31a and 32a of the first and second plate members 31 and 32, respectively, via the washers 161 and 162. [Explanation of symbols]

[0128] 1,101 Mecanum Wheel 2 Wheel body 31 first plate member 31a First insertion hole 31b First flange portion 32 second plate member 32a Second insertion hole 32b Second flange 4 Shaft-shaped member 4a One end of the shaft-shaped member 4b Other end of shaft-shaped member 5,105 barrel roller 5a, 105a One end of barrel-shaped roller 56 Washer (Washer) 57 Rubber washer (washer) 61 First cylindrical member (cylindrical member) 62 second cylindrical member (second cylindrical member) 161 First washer (washer) 161a First seal surface (seal surface) 162 Second washer (washer) 162a Second seal surface (seal surface) g Gap O1 Rotational Axis O2 tilt axis

Claims

1. a wheel body that rotates around a predetermined rotation axis; first and second plate members attached to both ends of the wheel body; a plurality of first flange portions protruding from an outer peripheral edge of the first plate member; a plurality of second flange portions protruding from an outer peripheral edge of the second plate member; a first insertion hole provided in each of the plurality of first flange portions; a second insertion hole provided in each of the plurality of second flange portions; a plurality of barrel-shaped rollers each supported by a shaft-shaped member inserted into the first and second insertion holes so as to rotate about an inclined axis inclined with respect to the rotation axis, the first and second flange portions are configured to bend inward in the axial direction of the inclined shaft, a gap is provided between an inner peripheral surface of the first insertion hole and an outer peripheral surface of one end of the shaft-shaped member, the gap allowing tilting of the shaft-shaped member in a state where the one end is inserted into the first insertion hole; The assembly method includes: attaching both the first and second plate members to the wheel body; inserting the one end portion into the first insertion hole; a step of inserting the barrel-shaped roller from the other end side of the shaft-shaped member while the shaft-shaped member is tilted; a step of inserting the other end portion into the second insertion hole to dispose the barrel-shaped roller between the first and second flange portions; a step of inserting a cylindrical member between the first insertion hole and the shaft-shaped member to close a gap between an inner circumferential surface of the first insertion hole and an outer circumferential surface of the one end portion; and fastening the shaft-shaped member to the first and second flange portions while bending the first and second flange portions toward the inside in the axial direction of the inclined shaft. A method for assembling a Mecanum wheel.

2. 2. The method for assembling a Mecanum wheel according to claim 1, a gap is provided between an inner peripheral surface of the second insertion hole and an outer peripheral surface of the other end portion, the gap allowing tilting of the shaft-shaped member in a state where the other end portion is inserted into the second insertion hole; The assembly method includes: a step of inserting a washer having a predetermined thickness in an axial direction of the barrel-shaped roller into the other end portion when inserting the barrel-shaped roller from the other end portion side; and inserting a second cylindrical member between the second insertion hole and the shaft-shaped member after inserting the washer into the other end, thereby closing a gap between an inner peripheral surface of the second insertion hole and an outer peripheral surface of the other end, The second cylindrical member is disposed so as to contact the barrel roller via the washer. A method for assembling a Mecanum wheel.

3. 3. The method for assembling a Mecanum wheel according to claim 2, The second cylindrical member has a smaller thickness in the axial direction of the barrel-shaped roller than the cylindrical member. A method for assembling a Mecanum wheel.

4. a wheel body that rotates around a predetermined rotation axis; first and second plate members attached to both ends of the wheel body; a plurality of first flange portions protruding from an outer peripheral edge of the first plate member; a plurality of second flange portions protruding from an outer peripheral edge of the second plate member; a first insertion hole provided in each of the plurality of first flange portions; a second insertion hole provided in each of the plurality of second flange portions; a plurality of barrel-shaped rollers each supported by a shaft-shaped member inserted into each of the first and second insertion holes so as to rotate about an inclined axis inclined with respect to the rotation axis, the first and second flange portions are configured to bend inward in the axial direction of the inclined shaft, a gap is provided between an inner peripheral surface of the first insertion hole and an outer peripheral surface of one end of the shaft-shaped member, the gap allowing tilting of the shaft-shaped member in a state where the one end is inserted into the first insertion hole; a cylindrical member that is inserted between the first insertion hole and the shaft-shaped member and fills a gap between an inner circumferential surface of the first insertion hole and the one end portion; Characterized by Mecanum wheels.

5. a wheel body that rotates around a predetermined rotation axis; first and second plate members attached to both ends of the wheel body; a plurality of flange portions protruding from the outer peripheral edges of the first and second plate members; an insertion hole provided in each of the plurality of flange portions; a plurality of barrel-shaped rollers each supported by a shaft-shaped member inserted into the insertion hole so as to rotate around an inclined axis inclined with respect to the rotation axis, The flange portion is configured to bend inward in the axial direction of the tilt shaft, The assembly method includes: attaching both the first and second plate members to the wheel body; a step of attaching washers having a predetermined thickness in the axial direction of the barrel-shaped roller to both ends of the barrel-shaped roller or to the surfaces of the flanges facing the both ends, prior to both steps of arranging the barrel-shaped roller between the flanges of the first and second plate members and inserting the shaft member into the barrel-shaped roller; a step of attaching the washers to both ends of the barrel-shaped roller or to the surfaces of the flange portions of the first and second plate members, and then disposing the barrel-shaped roller between the flange portions of the first and second plate members via the washers; a step of inserting the shaft member through the barrel-shaped roller and the insertion hole in a state in which the barrel-shaped roller is disposed between the flange portions via the washer; and fastening the shaft-shaped member to the flange portion while bending the flange portion toward the inside in the axial direction of the inclined shaft in a state in which the shaft-shaped member is inserted through the barrel-shaped roller and the insertion hole. A method for assembling a Mecanum wheel.

6. 6. The method for assembling a Mecanum wheel according to claim 5, the washer has an adhesive sealing surface; The washer is attached to at least one end of the barrel-shaped roller or to a surface of the flange portion facing the one end via the sealing surface. A method for assembling a Mecanum wheel.

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