mecanum wheels applied to the moving platform movement system suspended on vertical and horizontal flat surfaces

摘要

The present invention relates to the construction of Mecanum wheels for a painting system operated by a robot. The wheels have special characteristics given the difficulties and adversities where they will be applied. They were designed to facilitate the movement of the painting system on vertical and horizontal walls and to prevent loss of coating. Mecanum wheels are composed of a set of hubcaps, which are used to fix the rollers. The rollers arranged in 45 ° and in a cylindrical-convex shape, contain bearings passing through their central axis, and with bearings projected on the ends of the bearings. The magnetic base is arranged between the two wheels, being at an optimum height to exert a magnetic force on the surface and to overcome obstacles. The geometries and materials of Mecanum wheels are designed to be inert to the coating.