阅读说明：本技术 并联双麦克纳姆轮组及移动设备 (Parallel double Mecanum wheel set and mobile equipment ) 是由 黄迪 顾昕华 唐亮 樊响 沈方舟 于 2020-12-23 设计创作，主要内容包括：本发明提供一种并联双麦克纳姆轮组及移动设备,包括两个结构相同的麦克纳姆轮,所述两个麦克纳姆轮的辊子轴起点与辊子轴中心点连线之间的夹角为其中,N为所述麦克纳姆轮的辊子个数。本发明的并联双麦克纳姆轮组及移动设备将并联的两个麦克纳姆轮作为一个麦克纳姆轮组,从而通过减小辊子转换的空隙来降低移动设备的振动。(The invention provides a parallel double Mecanum wheel set and a mobile device, comprising two Mecanum wheels with the same structure, wherein the included angle between the starting point of a roller shaft of the two Mecanum wheels and the connecting line of the central points of the roller shafts is Wherein N is the number of rollers of the Mecanum wheel. The parallel double Mecanum wheel set and the mobile equipment of the invention use two Mecanum wheels which are connected in parallel as one Mecanum wheel set, thereby reducing the vibration of the mobile equipment by reducing the clearance converted by the rollers.)

1. A parallel double mecanum wheel set, comprising: comprises two Mecanum wheels with the same structure, wherein the included angle between the starting point of a roller shaft of the two Mecanum wheels and the connecting line of the central points of the roller shaft isWherein N is the number of rollers of the Mecanum wheel.

2. The parallel dual mecanum wheel set of claim 1, wherein: the value of N is 8.

3. A mobile device, characterized by: comprising a chassis, four parallel double mecanum wheel sets of claim 1 or 2, and a drive system in one-to-one correspondence with the parallel double mecanum wheel sets;

the four parallel double Mecanum wheel sets are symmetrically arranged on the left side and the right side of the chassis through the driving system;

the driving system is arranged on the chassis and used for driving the corresponding parallel double Mecanum wheel sets.

4. The mobile device of claim 3, wherein: the driving system comprises a driving motor, a quadrature encoder and a planetary reducer.

5. The mobile device of claim 3, wherein: the driving system is connected with a transverse pulling plate spring through a first rubber shock absorption foot pad, and the transverse pulling plate spring is connected with the chassis through a second rubber shock absorption foot pad.

6. The mobile device of claim 1, wherein: the mobile device is a robot or an AGV.

7. A mobile device, characterized by: comprising a chassis, four parallel double mecanum wheel sets of claim 1 or 2, and a drive system and output shafts in one-to-one correspondence with the parallel double mecanum wheel sets;

the four parallel double Mecanum wheel sets are symmetrically arranged on the chassis through corresponding output shafts;

the driving system is connected with the output shaft and used for driving the corresponding parallel double Mecanum wheel sets.

8. The mobile device of claim 7, wherein: the output shaft comprises a suspension device and a shock absorber; the parallel double Mecanum wheel sets are fixed in corresponding suspension devices, and the shock absorbers are connected with the suspension devices and the chassis.

9. The mobile device of claim 7, wherein: the driving system comprises a driving motor, a quadrature encoder and a planetary reducer.

10. The mobile device of claim 7, wherein: the mobile device is a robot or an AGV.

Technical Field

The invention relates to the technical field of Mecanum wheels, in particular to a parallel double Mecanum wheel set and mobile equipment.

Background

The Mecanum wheel is an omnidirectional wheel with compact structure and flexible movement. When the mecanum wheels are used as moving equipment such as an Automated Guided Vehicle (AGV), the moving equipment can move in all directions on a narrow space plane, so that the moving equipment has obvious advantages. However, since the wheels of the mecanum wheel are made up of an axle and rollers, the process of one roller contacting the ground until it leaves the ground and the next roller contacts the ground may cause vibration of the mobile device, such as a robot or AGV, causing jerking.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide a parallel dual mecanum wheel set and a mobile device, in which two parallel mecanum wheels are used as one mecanum wheel set, so as to reduce the vibration of the mobile device by reducing the gap of roller transition.

In order to achieve the above and other related objects, the present invention provides a parallel double Mecanum wheel set, comprising two Mecanum wheels with the same structure, wherein the angle between the starting point of the roller shaft and the connecting line of the central point of the roller shaft of the two Mecanum wheels isWherein N is the number of rollers of the Mecanum wheel.

In one embodiment of the present invention, N is 8.

The invention provides mobile equipment which comprises a chassis, four parallel double Mecanum wheel sets and driving systems in one-to-one correspondence with the parallel double Mecanum wheel sets, wherein the chassis is provided with a plurality of parallel double Mecanum wheel sets;

the four parallel double Mecanum wheel sets are symmetrically arranged on the left side and the right side of the chassis through the driving system;

the driving system is arranged on the chassis and used for driving the corresponding parallel double Mecanum wheel sets.

In an embodiment of the present invention, the driving system includes a driving motor, a quadrature encoder, and a planetary reducer.

In an embodiment of the present invention, the driving system is connected to a transverse plate spring through a first rubber shock absorbing pad, and the transverse plate spring is connected to the chassis through a second rubber shock absorbing pad.

In an embodiment of the present invention, the mobile device is a robot or an AGV.

The invention provides mobile equipment which comprises a chassis, four parallel double Mecanum wheel sets, and a driving system and output shafts, wherein the driving system and the output shafts correspond to the parallel double Mecanum wheel sets one by one;

the four parallel double Mecanum wheel sets are symmetrically arranged on the chassis through corresponding output shafts;

the driving system is connected with the output shaft and used for driving the corresponding parallel double Mecanum wheel sets.

In one embodiment of the present invention, the output shaft includes a suspension device and a damper; the parallel double Mecanum wheel sets are fixed in corresponding suspension devices, and the shock absorbers are connected with the suspension devices and the chassis.

In an embodiment of the present invention, the driving system includes a driving motor, a quadrature encoder, and a planetary reducer.

In an embodiment of the present invention, the mobile device is a robot or an AGV.

As described above, the parallel double mecanum wheel set and the mobile device of the present invention have the following advantages:

(1) two Mecanum wheels connected in parallel are used as one Mecanum wheel set, and vibration of the mobile equipment is effectively reduced by reducing a gap converted by the rollers;

(2) for mobile equipment such as a mobile robot or an AGV, the overall performance can be improved by only increasing the number of Mecanum wheels on the premise of not changing the existing Mecanum wheel structure;

(3) additional equipment such as a driving motor, a planetary reducer, elastic suspension assembly and the like is not required to be added, the structure is simple, the cost is lower, and the practicability is high.

Drawings

FIG. 1 is a schematic diagram of a parallel Mecanum wheel set according to an embodiment of the present invention;

FIG. 2 is a schematic side view of a Mecanum wheel of an embodiment of the present invention;

FIG. 3 is a schematic diagram of a Mecanum wheel of the present invention in one embodiment;

FIG. 4 is a schematic diagram of a simulation path for a single Mecanum wheel and parallel Mecanum wheel sets in one embodiment;

FIG. 5 is a block diagram of a mobile device according to an embodiment of the present invention;

FIG. 6 is a block diagram of a mobile device according to another embodiment of the present invention;

FIG. 7 is a diagram illustrating an installation state of parallel Mecanum wheel sets of the mobile device of FIG. 6 according to an embodiment.

Description of the element reference numerals

1 Mecanum wheel

2 Mecanum wheel

51 Chassis

52 parallel double Mecanum wheel set

53 drive system

54 first rubber shock-absorbing foot pad

55 transverse pulling plate spring

56 second rubber shock-absorbing foot pad

61 Chassis

62 parallel double Mecanum wheel set

63 drive system

64 output shaft

641 suspension device

642 damper

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.

According to the parallel double Mecanum wheel set and the mobile equipment, the two Mecanum wheels which are connected in parallel are used as one Mecanum wheel set, so that the vibration of the mobile equipment can be reduced by only increasing the number of the Mecanum wheels on the premise of not changing the existing Mecanum wheel structure, and the parallel double Mecanum wheel set and the mobile equipment have high practicability.

As shown in fig. 1, in one embodiment, the parallel double mecanum wheel set of the present invention includes a mecanum wheel 1 and a mecanum wheel 2 having the same structure. The included angle between the starting point of the roller shaft of the Mecanum wheel 1 and the starting point of the roller shaft of the Mecanum wheel 2 and the connecting line of the central points of the roller shafts isWherein N is the number of rollers of the Mecanum wheel.

Specifically, the Mecanum wheel shown in FIG. 2 comprises eight rollers, and the lateral surface of the Mecanum wheel is equally divided into eight parts, so that the included angle between the starting point of two adjacent roller shafts and the connecting line of the central points of the roller shafts isThus, inIn the parallel double Mecanum wheels, the included angle between the connecting line of the starting point of the roller shaft and the central point of the roller shaft of the Mecanum wheel 1 and the starting point of the roller shaft of the Mecanum wheel 2 isThus, the parallel double Mecanum wheel sets of the present invention can be laterally equivalent to a Mecanum wheel that doubles the number of rollers.

The efficacy of the parallel double mecanum wheel sets of the present invention is further verified by simulations as follows.

As shown in FIG. 3, curve AB is the roller-to-ground contact line and point C is any point on the contact line. The angle gamma is the included angle of the projection points of the point A and the point B on the x-y plane board, and the angle theta is the included angle of the projection points of the point C and the point A on the x-y plane.

Continuity parameters for Mecanum wheelsTo ensure that the rollers of the Mecanum wheel do not interfere with each other, λ is set to a value near 1 to indicate that only one roller contacts the ground during motion of the Mecanum wheel. Wherein N is the number of rollers of the Mecanum wheel. Wherein R is the wheel radius.

In addition, the first and second substrates are,where δ is the distance from point C to the roller rotation axis line AB. The minimum value of δ is the minimum radius of the roller. Therefore, when N is 8, the mecanum wheel parameter γ is 1.32rad, θ can be found from the above two equations_MIN＝0.27rad。

And (3) simulating according to the actual motion rule of the McCanamer wheel, wherein the model is x ═ Rcos (theta) theta ∈ (0.27, 0.66). Meanwhile, the single Mecanum wheel and the parallel double Mecanum wheel sets are simulated by the same method, and a simulation graph shown in FIG. 4 is obtained. As can be seen, the vertical displacement of the top parallel double mecanum wheel set is much greater than the vertical displacement of the bottom single mecanum wheel set, as shown in table 1.

TABLE 1 simulation parameters for single Mecanum wheel and parallel dual Mecanum wheel sets

	Single Mecanum wheel	Parallel double Mecanum wheel set
			Maximum displacement of wheel center Xmax (mm)	6.9	2.69
Jitter ratio (Xmax/R) × 100%	17.25	6.7

Thus, it can be seen that the performance of the parallel dual mecanum wheel set of the present invention is improved by (17.25-6.7)/17.25 × 100%: 61.16% compared to a single mecanum wheel. In practice, however, parallel double mecanum wheel sets do not simulate perfectly as a single mecanum wheel with rollers that do not interfere with each other as would be ideal. But the rollers interfere with each other to help reduce vibration of the mobile device. Therefore, in practical use, the vibration reduction effect of the parallel double Mecanum wheel sets is better than the simulation effect.

As shown in fig. 5, in one embodiment, the mobile apparatus of the present invention includes a chassis 51, four parallel double mecanum wheel sets 52, and a driving system 53 corresponding to the parallel double mecanum wheel sets 52 one by one.

The four parallel double mecanum wheel sets 52 are symmetrically arranged on the left and right sides of the chassis 51 through the driving system 53.

The driving system 53 is disposed on an output shaft of the chassis 51, and is used for driving the corresponding parallel double mecanum wheel set 52. In an embodiment of the present invention, the driving system 53 includes a driving motor, a quadrature encoder, and a planetary reducer.

To further dampen the vibrations from the mobile unit caused by the side-by-side dual mecanum wheel set, in one embodiment of the present invention, the drive system 53 is coupled to a transverse pull plate spring 55 via a first rubber shock pad 54, and the transverse pull plate spring 55 is coupled to the chassis 51 via a second rubber shock pad 56.

Preferably, the moving device in this embodiment is a robot or an AGV.

As shown in fig. 6, in another embodiment, the mobile device of the present invention includes a chassis 61, four parallel double mecanum wheel sets 62, and a driving system 63 and an output shaft 64 corresponding to the parallel double mecanum wheel sets one to one.

The four parallel double mecanum wheel sets 62 are symmetrically arranged on the chassis 61 through corresponding output shafts 64, so that the stability of the mobile equipment is improved.

The drive system 63 is coupled to the output shaft 64 for driving the corresponding parallel dual mecanum wheel set 62. In an embodiment of the present invention, the driving system includes a driving motor, a quadrature encoder, and a planetary reducer.

In an embodiment of the present invention, as shown in fig. 7, the output shaft 64 includes a suspension 641 and a damper 642. The parallel double mecanum wheel sets 62 are fixed in the corresponding suspension devices 641, and the shock absorbers 642 are connected to the suspension devices 641 and the chassis 61, so as to fix the parallel double mecanum wheel sets 62 on the chassis 61.

In an embodiment of the present invention, the moving device in this embodiment is a robot or an AGV.

In summary, the parallel double mecanum wheel sets and the mobile equipment of the invention take two parallel mecanum wheels as one mecanum wheel set, and effectively reduce the vibration of the mobile equipment by reducing the gap converted by the rollers; for mobile equipment such as a mobile robot or an AGV, the overall performance can be improved by only increasing the number of Mecanum wheels on the premise of not changing the existing Mecanum wheel structure; additional equipment such as a driving motor, a planetary reducer, elastic suspension assembly and the like is not required to be added, the structure is simple, the cost is lower, and the practicability is high. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.