Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Independent suspension structure of Mecanum wheel omni-directional mobile robot

An independent suspension and suspension technology, which is applied in the field of intelligent robots, can solve the problems of insufficient shock absorption, left and right tilt of the mecanum wheel, wheel damage, etc., and achieve the effect of stable robot movement, weakened up and down jump, and reduced up and down jump

Pending Publication Date: 2019-08-02
HEBEI UNIV OF TECH
View PDF0 Cites 8 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If slipping occurs, the omnidirectional mobile platform will deviate from the predetermined driving direction, and the direction needs to be readjusted, which will cause the omnidirectional mobile platform to swing
However, the frequent swinging of the platform will inevitably have a negative impact on the service life of the omnidirectional mobile platform and the accuracy of the driving direction
[0004] Most of the suspensions of the existing mecanum wheeled omnidirectional mobile platforms do not limit the degree of freedom of wheel tilting, so when obstacles are encountered during driving, the mecanum wheels will tilt left and right
Since the outer contour of the small rollers on the Mecanum wheel is in the shape of a curved surface, when driving on flat ground, the transition between the small rollers is carried out along the largest diameter of the outer contour surface of the rollers, but during the tilting process, the small rollers The transition path will change to the small diameter of the curved surface, which will cause vibration during the transition process and cause certain damage to the wheel
In addition, the existing suspension structure only uses a damping shock absorber with a spring, which is somewhat insufficient in terms of shock absorption.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Independent suspension structure of Mecanum wheel omni-directional mobile robot
  • Independent suspension structure of Mecanum wheel omni-directional mobile robot
  • Independent suspension structure of Mecanum wheel omni-directional mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0029] The specific implementation manners of the present invention will be further described below with reference to the accompanying drawings.

[0030] Such as figure 1 with figure 2 As shown, an independent suspension structure of a mecanum wheel omnidirectional mobile robot includes a suspension base plate 12 on which a motor reducer 1, an L-shaped support 2, a shaft coupling 3, Output shaft 4, axle shaft bearing housing 5 and torsion spring shaft bearing housing 10. An axle bearing is installed in the axle bearing seat, the output shaft 4 is fixed on the suspension base plate 12 through the axle bearing seat and the axle bearing, and the motor reducer 1 is connected to the One end of the output shaft 4 is connected, the other end of the output shaft 4 is fixedly connected with a mecanum wheel 6, and the motor reducer 1 is fixed on the suspension base plate 12 through the L-shaped support 2;

[0031] The suspension base plate 12 is also equipped with a shock absorber 1...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides an independent suspension structure of a Mecanum wheel omni-directional mobile robot. The independent suspension structure of the Mecanum wheel omni-directional mobile robot comprises a suspension bottom plate; a motor speed reducer, an L-shaped support, a shaft coupling, an output shaft, an axle bearing seat and a shock absorbing device are mounted on the suspension bottomplate in a matched manner; the motor speed reducer is connected with one end of the output shaft through the shaft coupling; the other end of the output shaft is fixedly connected with a Mecanum wheel; the independent suspension structure of the Mecanum wheel omni-directional mobile robot further comprises a torsion spring, a torsion spring shaft, an L-shaped connecting piece and a torsion springshaft bearing seat; a torsion spring shaft bearing is mounted in the torsion spring shaft bearing seat; the axis of the torsion spring shaft bearing is parallel to the axis of an axle bearing; one endof the torsion spring shaft is fixed on a vehicle body through the L-shaped connecting piece; the other end of the torsion spring shaft is inserted into an internal ring of the torsion spring shaft bearing; the torsion spring is arranged on the torsion spring shaft in a sleeving manner; one end of the torsion spring is fixed on the L-shaped connecting piece; and the other end of the torsion spring is fixed on the suspension bottom plate. According to the independent suspension structure of the Mecanum wheel omni-directional mobile robot, a spring damping shock absorber and the torsion springare utilized to perform double shock absorption so that the shock absorbing effect is better and the robot motion is more stable.

Description

technical field [0001] The invention relates to the field of intelligent robots, and more specifically relates to an independent suspension structure of a mecanum wheel omnidirectional mobile robot. Background technique [0002] Mecanum Wheel (Mecanum Wheel) was invented by Bengt Ilon, an engineer of Mecanum AB Company in Switzerland in 1973. It is a kind of omni-directional mobile wheel. A number of free rollers are installed in a certain angle direction, so that when the wheel revolves in a direction perpendicular to the wheel axis, the rollers rotate along the axis of the roller axis, resulting in lateral movement, so the mecanum wheel can move in all directions. [0003] Mecanum wheels have been widely used in the field of omnidirectional mobile equipment due to their excellent mobile performance. However, the structural characteristics of the mecanum wheel itself make it necessary to ensure that the small rollers of the mecanum wheel are in contact with the ground durin...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B60G3/00B60G11/50
CPCB60G3/00B60G11/50B60G2200/18B60G2202/12B60G2202/13
Inventor 吕晓玲梁林张明路孙凌宇
Owner HEBEI UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products