CN111532086B

CN111532086B - Force transmission shaft

Info

Publication number: CN111532086B
Application number: CN202010430190.6A
Authority: CN
Inventors: 黄家聪; 韦辉; 欧阳喆; 商洁; 朱杰; 杨汉宁
Original assignee: Nanning University
Current assignee: Nanning University
Priority date: 2020-05-20
Filing date: 2020-05-20
Publication date: 2023-03-31
Anticipated expiration: 2040-05-20
Also published as: CN111532086A

Abstract

The invention discloses a force transmission shaft, belonging to the technical field of robot Mecanum wheel force transmission shafts; the Mecanum wheel assembly comprises a pair of Mecanum wheels and axles which are fixedly connected with one sides of the Mecanum wheels respectively; the axles are symmetrical in structure, one end, opposite to the end connected with the Mecanum wheel, of each axle is rotatably connected with a first electromagnet, and the two first electromagnets are arranged correspondingly to each other; the other side of the Mecanum wheel is respectively provided with a motor, the motors are connected with a second electromagnet in a rolling way, and the motors drive the Mecanum wheel to rotate; the second electromagnet is electrically connected with the first electromagnet. According to the invention, the second electromagnet is driven by the motor to generate current, the current is transmitted to the first electromagnets to generate magnetic force, and attractive or repulsive magnetic force is generated between the two first electromagnets to counteract the lateral force generated between the Mecanum wheels, so that the original traditional force transmission shaft structure is replaced, and the suspension of the electromagnetic force during the period is controlled by the rotation speed of the motor.

Description

Force transmission shaft

Technical Field

The invention belongs to the technical field of force transmission shafts of Mecanum wheels of robots, and particularly relates to a force transmission shaft.

Background

Nowadays, with the development of technology, the movement of a vehicle is limited in some narrow places, and in order to pursue multi-directional movement, some robots need to adopt mecanum wheels for assistance; however, the movement of the mecanum wheel generates a forward force and a lateral inward force, which are generally counteracted by passing the force through a shaft through the axle, so that the axle may be damaged to some extent, and the vehicle can adapt to different road sections with different widths by the repulsion or attraction function of the electromagnets.

Disclosure of Invention

The invention aims to: in view of the above problems, the present invention provides a magnetic force for counteracting the force between the mecanum wheels, which replaces the conventional axle, prevents the axle from being damaged, and is adaptable to the force transmission shafts with different widths.

In order to achieve the purpose, the invention adopts the following technical scheme:

a force transmission shaft comprises a pair of Mecanum wheels and an axle fixedly connected with one sides of the Mecanum wheels respectively; the axles are symmetrical in structure, one ends of the axles, which are opposite to the ends connected with the Mecanum wheels, are rotatably connected with first electromagnets, and the two first electromagnets are arranged correspondingly; the other side of the Mecanum wheel is respectively provided with a motor, the motors are connected with second electromagnets in a rolling manner, and the motors drive the Mecanum wheel to rotate; the second electromagnet is electrically connected with the first electromagnet.

Furthermore, the first electromagnet is fixed on the axle through a bearing.

Further, a first gear is further arranged on the axle.

Further, a second gear is arranged at the end of the axle.

Furthermore, a current amplifier is further arranged on the second electromagnet.

Furthermore, a coil in the second electromagnet is fixedly connected with an output shaft on the motor, and the coil rotates on an iron core of the second electromagnet along with the motor to generate current.

Furthermore, the second electromagnet is connected with the first electromagnet through a lead.

Further, the first electromagnet is a circular electromagnet.

The invention has the beneficial effects that:

1. in the invention, the second electromagnet is driven by the motor to generate current, the current is transmitted to the first electromagnets to generate magnetic force, and attractive or repulsive magnetic force is generated between the two first electromagnets to offset the lateral force generated between the Mecanum wheels, so that the original traditional force transmission shaft structure is replaced, and the suspension of the electromagnetic force during the period is controlled by the rotation speed of the motor.

2. In the invention, the second electromagnet mainly obtains current by controlling the rotation of the coil to provide the current for the first electromagnet, and after the current passes through the coil of the first electromagnet, the iron core can generate magnetic force to offset the side force generated by the Mecanum wheels at two sides, so that the mechanical energy of the motor is fully utilized.

3. According to the invention, the distance between the Mecanum wheels at two sides is controlled by the repulsion or attraction function between the electromagnets, so that the vehicle using the Mecanum wheels can smoothly run in narrow road conditions.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

In the figure, 1-mecanum wheel, 2-first gear, 3-first electromagnet, 4-second gear, 5-bearing, 6-axle, 7-second electromagnet, 8-motor.

Detailed Description

The invention will be further explained with reference to the drawings.

As shown in fig. 1, a force transmission shaft includes a pair of mecanum wheels 1 and axles 6 fixedly connected to one sides of the mecanum wheels 1, respectively; the structure of the axle 6 is symmetrical, one end of the axle 6, opposite to the end connected with the Mecanum wheel 1, is rotatably connected with the first electromagnet 3, the two first electromagnets 3 are arranged correspondingly, the other side of the Mecanum wheel 1 is respectively provided with a motor 8, the motor 8 is connected with the second electromagnet 7 in a rolling manner, and the motor 8 drives the Mecanum wheel 1 to rotate; the second electromagnet 7 is electrically connected with the first electromagnet 3.

The first electromagnet 3 is fixed to the axle 6 via a bearing 5. When motor 8 rotated, drive mikana lamb wheel and rotate, but the electro-magnet can not follow the rotation under the effect of bearing 5, reduced motor 8's load.

The axle 6 is also provided with a first gear 2.

The end of the axle 6 is also provided with a second gear 4. The first gear 2 and the second gear 4 are mainly used for connecting external parts and have the function of expanding the function of the force transmission shaft.

The second electromagnet 7 is also provided with a current amplifier. The current amplifier has the effect of amplifying the current so that the second electromagnet 7 can generate a stronger magnetic force.

And a coil in the second electromagnet is fixedly connected with an output shaft on the motor 8, and the coil rotates on the iron core of the second electromagnet 7 along with the motor 8 to generate current.

The second electromagnet 7 is connected with the first electromagnet 3 through a lead.

The first electromagnet 3 is a circular electromagnet.

The working principle of the scheme is as follows: set up on a pair of mecanum wheel 1, the structure of connection is the same, be equipped with circular first electro-magnet 3 on every axletree 6, first electro-magnet 3 passes through bearing 5 and is connected with axletree 6, 5 both sides of bearing have two iron sheets to fix, when motor 8 rotates, coil on the second electro-magnet 7 then rotates, second electro-magnet 7 produces the electric current, motor 8 drives mecanum wheel 1 simultaneously and rotates, when mecanum wheel 1 syntropy rotates, first electro-magnet 3 circular telegram, produce the two-stage repellent power between two first electro-magnets 3 of connecting on the mecanum wheel 1 axletree 6 of both sides, the yawing force that produces mecanum wheel 1 offsets each other through magnetic force. When the Mecanum wheel 1 rotates reversely, the two first electromagnets 3 are electrified reversely to generate attraction force, and the lateral force generated by the Mecanum wheel 1 is counteracted mutually; simultaneously, when the road conditions is narrower, mecanum wheel 1 of both sides can be drawn close the removal to the inside under the effect of two first electro-magnets 3's of attracting each other, come external expansion through first gear 2 and connect, perhaps when wider through the road conditions, mecanum wheel 1 of both sides can be moved to both sides limit under two first electro-magnets 3's the effect of repelling each other, come external expansion through second gear 4 this moment and connect, guarantee that the vehicle that uses mecanum wheel can unobstructed the travel in constrictive road conditions. When the rotating speed of the motor 8 is increased, the lateral force generated by the Mecanum wheel 1 is larger, the rotating speed of the coil on the second electromagnet 7 driven by the motor 8 is also higher, and the generated current is increased accordingly, so that the magnetic force between the first electromagnets 3 is increased.

Claims

1. A force transfer shaft characterized by: comprises a pair of Mecanum wheels (1), two axles (6) which are respectively fixedly connected with one side of the Mecanum wheels (1); the structure of the two axles (6) is symmetrical, the first electromagnets (3) are respectively and rotatably connected to one ends, opposite to the ends connected with the Mecanum wheels (1), of the two axles (6), the two first electromagnets (3) are correspondingly arranged, the motors (8) are respectively mounted on the other sides of the Mecanum wheels (1), the motors (8) are connected with the second electromagnets (7) in a rolling mode, and the motors (8) drive the Mecanum wheels (1) to rotate; a coil in the second electromagnet is fixedly connected with an output shaft of the motor (8), and the coil rotates on an iron core of the second electromagnet (7) along with the motor (8) to generate current; the second electromagnet (7) is connected with the first electromagnet (3) through a lead.

2. A force-transmitting shaft as claimed in claim 1, wherein: the first electromagnet (3) is fixed on an axle (6) through a bearing (5).

3. A force-transmitting shaft as claimed in claim 1, characterized in that: the axle (6) is also provided with a first gear (2).

4. A force-transmitting shaft as claimed in claim 1, characterized in that: and a second gear (4) is also arranged at the end part of the axle (6).

5. A force-transmitting shaft as claimed in claim 1, characterized in that: and a current amplifier is also arranged on the second electromagnet (7).

6. A force-transmitting shaft as claimed in claim 1, wherein: and a coil in the second electromagnet is fixedly connected with an output shaft on the motor (8), and the coil rotates on an iron core of the second electromagnet (7) along with the motor (8) to generate current.

7. A force-transmitting shaft as claimed in claim 1, characterized in that: the first electromagnet (3) is a circular electromagnet.