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WO2021116847A1 - Roue omnidirectionnelle modulaire - Google Patents

Roue omnidirectionnelle modulaire Download PDF

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Publication number
WO2021116847A1
WO2021116847A1 PCT/IB2020/061441 IB2020061441W WO2021116847A1 WO 2021116847 A1 WO2021116847 A1 WO 2021116847A1 IB 2020061441 W IB2020061441 W IB 2020061441W WO 2021116847 A1 WO2021116847 A1 WO 2021116847A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
modular element
hub
roller
rollers
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2020/061441
Other languages
English (en)
Inventor
Ilario DE VINCENZO
Davide Giuseppe MANNONE
Rocco Nicola Lombardi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Code Architects Automation Srl
Original Assignee
Code Architects Automation Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Code Architects Automation Srl filed Critical Code Architects Automation Srl
Publication of WO2021116847A1 publication Critical patent/WO2021116847A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/003—Multidirectional wheels

Definitions

  • the present invention relates to the land vehicle sector, in particular to components for moving vehicles.
  • the present invention relates, more particularly, to a modular omnidirectional wheel structure.
  • the mecanum wheel enables a vehicle to move in any direction on a movement plane and, in structural terms, substantially provides a tread consisting of suitably oriented rollers.
  • the vehicle can be moved in an omnidirectional manner.
  • mecanum wheels Numerous configurations of mecanum wheels are known in the art, described for example in US3876255, US7641288, US8011735, US8833862, and relating to technological solutions which identify substantially different assembling modes of rollers with respect to the wheel hub.
  • mecanum wheels have idle rollers around their axis thanks to the presence of bearings interposed therebetween and their support structure, integral with the wheel hub.
  • the larger the bearings the greater the load capacity that the single wheel can endure.
  • the size of the rollers is proportional to the size of the bearings being housed, the greater the load that the wheel supports, the smaller the number of rollers constituting the tread.
  • the latter In order to ensure the continuity of the wheel motion, i.e. the condition for which at least one roller is always in contact with the movement plane, the latter must necessarily be very extended (wide wheels) and consequently strongly tapered.
  • the technical problem posed and solved by the present invention is therefore to overcome the aforementioned drawbacks, and this is achieved by a modular omnidirectional wheel structure as defined in claim 1.
  • the present invention relates to a modular element of an omnidirectional wheel, which modular element comprises means for coupling with a second modular element.
  • the modular element comprises a hub, rotatable around an axis of rotation of the wheel, and support means, connected to the hub, configured to support a plurality of rollers intended to contact the rolling plane of the wheel.
  • the support means surrounds the hub and bears first and second housings, arranged annularly and axially spaced therebetween, wherein each pair of the first and second housings forms a seat intended to receive a roller in a removable way; the aforementioned means for coupling is further configured to allow a side-by-side mounting of modular elements, such that, in the mounted condition, the seats of distinct modular elements are angularly phase shifted from each other.
  • This solution realizes a simple and affordable modular structure in terms of production technique and, advantageously, allows to customize the wheel according to the type of use it is intended for, for example by mounting a different number of modular elements constituting thereof.
  • first and second housings ensures a stable fixing solution of the rollers onto the support means, further obtaining their accurate positioning in their respective seats. In this way the continuity of the wheel motion is ensured and vibrations and/or noises deriving from overlapping or temporary absence of contact with the rolling plane are significantly reduced.
  • the present invention is directed to an omnidirectional wheel having a plurality of rollers intended to contact with a rolling plane; each of those has a rotation axis tilted by a first angle with respect to the rotation axis of the wheel.
  • the wheel provides support means, preferably comprising at least two of the aforementioned modular elements, configured to removably support each roller and arrange the same in a plurality of annular rows axially spaced between each other.
  • the rows of rollers are angularly phase shifted from each other by a second angle with respect to the rotation axis of the wheel, such that, during its rolling, a single roller, among those of axially aligned rows, is always in contact with the rolling plane.
  • rollers it is further possible to house the rollers on removable supports, which can be simply mounted and disassembled from the hub.
  • the mounting of the roller - preferably constituted of a plurality of components - can be carried out comfortably on the bench instead of directly on the wheel, on which it can be operated only in a final step to position the roller/support unit to be locked to the hub.
  • Figure 1 shows an overall view of an omnidirectional wheel according to a first embodiment of the present invention
  • Figures 2A and 2B respectively show a perspective representation of the contact profile of the newly conceived omnidirectional wheel (fig.2A) and the respective rollers (fig.2B)
  • Figure 3 shows, in a preferred embodiment of the wheel of Figure 1 , an exploded view explaining the arrangement of a roller inside the hub and the mechanical components supporting the same in the working position
  • Figures 4A and 4B respectively show a sectional and top view of a roller and the related support means related to Figures 1 -3 in the mounted condition;
  • Figures 5A and 5B respectively show an overall view of a second embodiment of the omnidirectional wheel and the corresponding exploded view
  • Figure 6 shows a schematic view that identifies the angle formed between the direction of the rotation axis of the wheel and that of the rollers;
  • Figure 7 shows an overall view of an omnidirectional wheel, in a first embodiment of the present invention, characterized by the modularity of the support means according to which rollers belonging to the same circumferential rows are grouped;
  • Figures 7A, 7B and 7C show respectively the modular elements and the means for coupling of the wheel of Figure 7 in the unassembled condition, in sectional and exploded view of the same;
  • Figure 8 shows an overall view of an omnidirectional wheel, in a second embodiment of the present invention, characterized by the modularity according to which the rollers belonging to the same circumferential rows are grouped;
  • Figures 8A, 8B and 8C respectively show the modular elements and the means for coupling of the wheel of Figure 8 in the unassembled condition, in sectional and exploded view thereof. Detailed description of embodiments of the invention
  • the wheel object of the present invention comprises a plurality of rolling elements - or rollers - each denoted by /, destined to sequentially come into contact with the rolling plane.
  • Each roller has its own axis of revolution B - or longitudinal axis - tilted by a first angle b with respect to the axis of rotation A of the wheel.
  • the wheel comprises support means configured to removably support the rollers / and to arrange the same in a plurality of annular rows f, axially spaced between each other along the axis of rotation A.
  • the rows f are phase shifted between each other by a second angle a with respect to the axis of rotation A of the wheel such that during the rolling of the wheel one and only roller of one and only row is in contact with the rolling plane.
  • the angle a lies on the front plane of the wheel, which is the one on which the projection of the contact profiles of the rollers / forms a perfect circumference.
  • the angle a is the phase shift between homologous points of rollers circumferentially in subsequent contact with the rolling plane.
  • the order of contact is preferably that indicated in Figure 2, described below in greater detail.
  • n the number of rollers per row and f the number of side-by-side rows constituting the wheel
  • the angle a is equal to 360 ⁇ nf).
  • the contact profile of the wheel is represented by the succession of curvilinear profiles enumerated 1-24, each associated with each roller.
  • the contact point on the rolling plane moves from one end of each roller / to the other end along a curvilinear profile (from k’i to k’2 as indicated in figure 2A) engaging subsequent rollers, i.e.
  • This configuration allows the wheel to have one and only one roller / of one and only one row f always gripping the rolling plane, thus ensuring continuity of motion.
  • rollers / of each row f have the same relative angular distance: the angle between one roller and the next in the same row is equal to 360 n.
  • the wheel according to the present invention advantageously comprises modular elements - integrating the support means - which are configured to be mounted side by side with each other through means for coupling.
  • These modular elements according to a different aspect of the same invention, will be described in greater detail within the present description with reference to further embodiments of the wheel.
  • the support means can be realized as removable brackets 3’ which have a seat 30 shaped like a “U” and provided with an engagement profile 31 configured to fit into corresponding cavities 21 obtained in the hub 2.
  • Said seat 30 is configured to house a roller /, connected to the bracket 3’ at the longitudinal ends.
  • Preferably said cavities 21 have the same conformation.
  • each cavity 21 preferably has inside thereof first holes 21a - in the example two bored holes - arranged parallel to the longitudinal axis B of the roller and preferably second holes 21b - in the example two threaded holes - at fixing pins.
  • the first holes 21a are configured to house centering means, apt to position the bracket/roller assembly in tolerance with respect to the relative cavity 21.
  • the second holes 21b are configured for an integral coupling between the bracket/roller assembly and the hub 2, for example by means of screws equipped with relative washers.
  • the bracket 3’ may be obtained from sheet metal, preferably laser sliced and doubly bent in order to achieve the aforementioned “U” shape, both to increase the flexural stiffness and to avoid interference problems between adjacent inter-row rollers.
  • the bracket 3’ has in turn corresponding holes, in particular first holes 21a’ calibrated and apt to cooperate with the centering means 21a” of the roller with respect to the cavity 21 on the hub 2, second holes 21b for coupling the bracket 3’ with the hub 2.
  • the bracket further has third holes 21b calibrated for the correct positioning and fixing of the roller / on the bracket 3’.
  • the roller / has a main body 5 having a substantially cylindrical conformation, for example made of metallic material, the external surface of which is suitably machined to achieve an optimal anchoring of polymeric material thereon, preferably polyurethane or polyurethane-based material.
  • polyurethane or polyurethane-based material is used, it is preferably melted and vulcanized to the external surface of the main body 5, resulting integral therewith. Downstream of the vulcanization process, the external surface of the roller / is preferably once more machined by means of a numerically controlled lathe, acting on the polyurethane, such that the contact profile achievable by the external surface of the roller is compliant with a predetermined contact profile.
  • the contact profile of the roller is designed to ensure that the axis of rotation A of the wheel preserves a constant distance from the rolling plane.
  • the main body 5 preferably comprises two internal shoulders, at the ends of said main body 5, configured to allow the beating of the external washers of a pair of rolling bearings, each of which denoted by the reference number 51.
  • the internal washers of said bearings radially couple with the external cylindrical surface of a stud 52 and axially with a sleeve 53 inserted, and radially coupled, also the latter on said stud.
  • the stud 52 is internally fully threaded.
  • the assembly consisting of the main body 5, bearings 51 , stud 52 and sleeve 53 is aligned for fixing on the support means, for example to the aforementioned third holes of the bracket 3’ and coupled therewith.
  • the coupling is made internally with fastening means which comprise first washers 54 and externally with second washers 55 and screws 56, the latter preferably grinded and partially threaded.
  • the screws tighten the internal washer 54 to the bracket 3’ against the internal washers of the bearings 51.
  • the wheel denoted by the reference 1 is described with reference to figures 5A and 5B.
  • the support means is realized as a hollow cylinder 3’ coaxial to the hub 2 and made integral therewith or realized in a single monolithic piece with hub 2 itself.
  • the roller / as previously described, is housed inside recesses 30” obtained in the support means and is fixed thereto through radial means for coupling, for example screws and washers, overall denoted by the reference 50”.
  • such a structure can be geometrically optimized in order to reduce the overall weight of the wheel, while preserving its rigidity and at the same time allowing the evacuation of foreign bodies that might adhere to the rollers during rolling.
  • the support means comprises elements which can be coupled with each other to advantageously realize an omnidirectional wheel with modular structure. Similar to what has already been described above, rollers provide the same structure. Common to both embodiments is therefore the presence of at least one modular element 100’, 100” which comprises a hub 2 rotatable around the rotation axis A of the wheel T, 1
  • Each modular element can be coupled with a similar modular element through means for coupling which will be described more in detail in the short and which are configured to allow a side-by-side mounting of a first modular element 100’, 100” with a respective second modular element 100’, 100”.
  • the support means 10’, 100” surrounds the hub 2, is connected and integral to the latter, and is configured to support rollers /.
  • Said support means bears first 3a and second 3b housings annularly arranged and axially spaced between each other, along a direction parallel to the axis of rotation A.
  • the first and second housings 3a, 3b therefore define two annular rows.
  • Each pair of first and second housings 3a, 3b forms a seat 30 intended to receive in a removable way a roller / and, in mounted condition, the seats 30 of a first modular element 100’, 100” are phase shifted with seats 30 of a second modular element 100’, 100”.
  • the first and second housings 3a, 3b are angularly phase shifted between each other by an angle being a function of the longitudinal extension of the roller /, the angle b and the radial distance of the B axis of each roller / with respect to the centre of the wheel.
  • the means for coupling comprises engagement profiles 40 borne by the hub 2 and/or axial jointing devices 42 between the hub 2 and the support means 100’, 100”.
  • modules placed side by side are interconnected between each other in the correct angular position through a centering pin 42a and a plurality of axially developed inter-module screws, overall denoted by the reference 42b.
  • the use of the latter is preferably provided in combination with the aforementioned engagement profiles 40, in particular profiles shaped for a radial coupling between the hubs of side-by-side placed modules, in particular between their cylindrical surfaces.
  • the wheel comprises three modular elements, each denoted by the reference 100’, and the support means comprise plate-like elements, preferably circular in shape, integral with the hub 2.
  • Each plate-like element respectively bears a row of the first 3a and second 3b housings.
  • the first and second housings 3a, 3b are shaped to receive a longitudinal end of the axis of rotation B of the roller / on a radially peripheral region of the respective plate-like elements 3a’, 3b’.
  • the rollers, once inserted into the seats 30, are fixed to the plate-like elements 3a’, 3b’ by fastening means, preferably by screws, coaxial to the axis of rotation B of the roller and passing through suitable holes provided thereon.
  • fastening means preferably by screws
  • the wheel 100 comprises an annular trail 31 which projects from each of the plate-like elements 3a”, 3b” and is configured to receive opposite ends of a roller / in a radial direction with respect to the hub 2.
  • the roller / is mounted on supports 57 with a lower coupling surface shaped like a half moon, said supports housing themselves in dedicated cavities 3a, 3b obtained on the plate-like elements 3a”, 3b”.
  • the roller /, supports 57 and its comprised components it is possible to mount the roller /, supports 57 and its comprised components, on the bench and then house and tighten each one on the relative plate-like elements 3a”, 3b” through radially-developed fixing means, for example threaded screws 58, which fit into the same.
  • the particular shape of the inserts 57 causes the stresses to which the rollers are subjected to be discharged uniformly onto the plates there through.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Cycles, And Cycles In General (AREA)
  • Mechanical Coupling Of Light Guides (AREA)
  • Vehicle Body Suspensions (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

L'invention concerne un élément modulaire (100' ; 100") d'une roue omnidirectionnelle (1 ; 1' ; 1") comprenant ■ un moyeu (2) pouvant tourner autour d'un axe de rotation (A) de la roue, ■ des moyens de support (3) raccordés au moyeu (2) et configurés pour supporter une pluralité de rouleaux (i) destiné à entrer en contact avec un plan de roulement, ■ des moyens d'accouplement (4) de l'élément modulaire (100' ; 100") à un second élément modulaire (100' ; 100"), lesdits moyens de support (3) entourant le moyeu (2) et portant des premier (3a) et second (3b) logements agencés d'une manière annulaire et espacés axialement l'un de l'autre, chaque paire (30a, 30b) desdits premier (3a) et second (3b) logements formant un siège (30) destiné à recevoir de manière amovible un rouleau (i) de ladite pluralité, lesdits moyens d'accouplement (4) étant configurés pour permettre un montage côte à côte de premier (100' ; 100") et second (100' ; 100") éléments modulaires de sorte que, dans l'état monté, lesdits sièges (30) sont déphasés angulairement par rapport aux sièges (30) du second élément modulaire.
PCT/IB2020/061441 2019-12-09 2020-12-03 Roue omnidirectionnelle modulaire Ceased WO2021116847A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT202019000004443U IT201900004443U1 (it) 2019-12-09 2019-12-09 Ruota omnidirezionale modulare
IT202019000004443 2019-12-09

Publications (1)

Publication Number Publication Date
WO2021116847A1 true WO2021116847A1 (fr) 2021-06-17

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PCT/IB2020/061441 Ceased WO2021116847A1 (fr) 2019-12-09 2020-12-03 Roue omnidirectionnelle modulaire

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IT (1) IT201900004443U1 (fr)
WO (1) WO2021116847A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070096541A1 (en) * 2000-09-21 2007-05-03 Graham Guile Multiple roller wheel
US20100187779A1 (en) * 2009-01-26 2010-07-29 Potter Steven D Omni-directional wheel
EP2361856A2 (fr) * 2010-02-24 2011-08-31 KUKA Roboter GmbH Convoyeur
CN102501726A (zh) * 2011-12-13 2012-06-20 北京卫星制造厂 一种适用于高精度大承载的全方位轮
US20140232174A1 (en) * 2011-09-23 2014-08-21 Omniroll Ag Mecanum wheel and mecanum-wheeled vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070096541A1 (en) * 2000-09-21 2007-05-03 Graham Guile Multiple roller wheel
US20100187779A1 (en) * 2009-01-26 2010-07-29 Potter Steven D Omni-directional wheel
EP2361856A2 (fr) * 2010-02-24 2011-08-31 KUKA Roboter GmbH Convoyeur
US20140232174A1 (en) * 2011-09-23 2014-08-21 Omniroll Ag Mecanum wheel and mecanum-wheeled vehicle
CN102501726A (zh) * 2011-12-13 2012-06-20 北京卫星制造厂 一种适用于高精度大承载的全方位轮

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