Mcnamara wheel vibration influence elimination device and mobile chassis

Abstract

The present application relates to the vibration damping technology of Mecanum wheel, in particular to a Mecanum wheel vibration influence eliminating device, which comprises a cage and a difference compensation mechanism, the difference compensation mechanism has a wave contact surface; the lower part of a longitudinal moving mechanism contacts the wave contact surface; the lower end of the longitudinal moving mechanism reciprocates longitudinally under the control of a driving mechanism and the movement of the wave contact surface; when the longitudinal moving mechanism contacts the highest point of the convex surface, the wheel shaft of the Mecanum wheel is at the lowest point; when the longitudinal moving mechanism contacts the lowest point of the concave surface, the wheel shaft of the Mecanum wheel is at the highest point; and the longitudinal displacement difference of the longitudinal moving mechanism is equal to the longitudinal displacement difference of the wheel shaft. In the present application, the difference compensation mechanism moves with the Mecanum wheel at the same frequency, and for the longitudinal moving mechanism, it always keeps the opposite equal-distance movement with the wheel shaft, that is, the distance between the longitudinal moving mechanism and the ground is constant, thereby solving the problem of the vibration influence of the Mecanum wheel on the stability of the equipment.

Description

Technical Field

[0001] This invention relates to vibration reduction technology in the use of Mecanum wheels, including a Mecanum wheel vibration elimination device and a mobile chassis. Background Technology

[0002] The construction of Mecanum wheels causes vibrations during movement. This vibration manifests as a roughly wave-like trajectory on the axle. When the axle is at a crest, the chassis rises; when it's at a trough, the chassis tilts. A typical equipment chassis has four Mecanum wheels, each with different movement and vibration patterns, resulting in irregular tilting at the four mounting points. While this doesn't affect most Mecanum wheel-based devices, it can be amplified to a visible level for devices requiring high precision, such as robotic arms, or those with considerable height. This can severely impact equipment usability. Currently, Mecanum wheel vibration damping primarily uses springs, but this only reduces the impact on overhead equipment, providing a buffer but not eliminating the effect. Summary of the Invention

[0003] The purpose of this invention is to provide a device capable of synchronously reversing the movement of the Mecanum wheel axle, thereby eliminating the impact of the Mecanum wheel's vibration on the upper equipment connected to the device, thus solving the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a Mecanum wheel vibration damping device, comprising a cage and a position difference compensation mechanism mounted on the cage, wherein the cage provides a Mecanum wheel mounting position, and the height of the Mecanum wheel axle relative to the cage remains constant; the position difference compensation mechanism has a raised surface and a recessed surface, and the raised surface and the recessed surface are smoothly connected to form a wavy contact surface; a longitudinal moving mechanism is provided above the position difference compensation mechanism, the lower part of which contacts the wavy contact surface; and a drive mechanism capable of controlling the movement of the position difference compensation mechanism is also included. The wavy contact surface of the position difference compensation mechanism moves relative to the longitudinal moving mechanism, and the lower end of the longitudinal moving mechanism moves longitudinally back and forth with the movement of the wavy contact surface. The longitudinal moving mechanism completes one motion cycle from the raised surface to the concave surface and back to the raised surface. Whenever the Mecanum wheel vibrates once, the longitudinal moving mechanism completes one motion cycle. When the longitudinal moving mechanism contacts the highest point of the raised surface, the Mecanum wheel axle is at the lowest point. When the longitudinal moving mechanism contacts the lowest point of the concave surface, the Mecanum wheel axle is at the highest point. The longitudinal displacement difference of the longitudinal moving mechanism is equal to the longitudinal displacement difference of the wheel axle.

[0005] In the above technical solution, the wavy contact surface of the position difference compensation mechanism has crests and troughs, and the height difference is the same as the maximum position difference when the Mecanum wheel axle vibrates. As the position difference compensation mechanism moves, the lower end of the longitudinal moving mechanism contacts the wavy contact surface of the position difference compensation mechanism, and therefore is forced to move upward or downward as the relative position of the wavy contact surface changes. In this solution, the position difference compensation mechanism is set to move at the same frequency as the Mecanum wheel. Specifically, when the highest point of the convex surface moves to contact the longitudinal moving mechanism, the Mecanum wheel axle is at its lowest point; when the lowest point of the concave surface moves to contact the longitudinal moving mechanism, the Mecanum wheel axle is at its highest point. Therefore, for the longitudinal moving mechanism, it always maintains an equidistant movement in the opposite direction to the axle, that is, the distance between the longitudinal moving mechanism and the ground is constant. When the longitudinal moving mechanism is installed on the equipment chassis, with the movement of the Mecanum wheel, the equipment chassis will also maintain the same distance from the ground under the action of the longitudinal moving mechanism and the position difference compensation mechanism, thereby solving the problem of the Mecanum wheel vibration affecting the stability of the equipment.

[0006] As a preferred embodiment, the position difference compensation mechanism includes a rotating body coaxially mounted on a drive shaft. The raised and recessed surfaces are continuously distributed on the rotating body around the axis. The drive shaft is positioned on a cage, and the drive mechanism drives the drive shaft to rotate clockwise or counterclockwise, causing the rotating body to rotate synchronously with the drive shaft. The continuous distribution of raised and recessed surfaces on the rotating body forms a complete annular wavy contact surface. Therefore, by controlling the continuous rotation of the rotating body, the longitudinal movement mechanism can be controlled. Compared with unidirectional reciprocating motion, this avoids the phenomenon of the longitudinal movement mechanism stopping at the reversing point of the wavy contact surface, which makes the performance of the vibration elimination device more stable.

[0007] As a preferred embodiment, the drive shaft is arranged laterally, and the rotating body is a contact wheel with a transverse axis. The contact wheel has a shaft hole arranged coaxially in the middle, and is mounted on the drive shaft through the shaft hole. The longitudinal movement mechanism includes a guide structure and a telescopic shaft. The guide structure is positioned relative to the cage and provides positioning support and guidance for the telescopic shaft, so that the telescopic shaft can only generate longitudinal displacement difference. The lower end of the telescopic shaft is provided with a contact head that contacts a wavy contact surface, and the top end is connected to a mounting plate. The entire vibration elimination device is mounted on the back of the equipment chassis through the mounting plate.

[0008] As a preferred embodiment, the retainer is a chassis with an inner cavity, the top of which is open. The contact wheel is disposed within the inner cavity, and the drive mechanism is disposed on the outside of the chassis. A top cover is provided on the top of the chassis. The guide structure is a guide sleeve fixedly disposed on the back of the top cover. The guide sleeve has a guide hole that mates with the telescopic shaft. The telescopic shaft moves through the top cover and passes through the guide sleeve. The mounting plate is located above the top cover, and the contact head is located below the guide sleeve. The position difference compensation mechanism is disposed within the inner cavity. After the top cover is closed, the lower part of the telescopic shaft and the contact wheel are both within the closed inner cavity. This can prevent the external environment from affecting the normal operation of the contact wheel and the telescopic shaft, and at the same time reduce the failure rate of the device.

[0009] As a preferred solution, several springs are installed between the mounting plate and the top cover. The lower end of the springs touches the top cover, and the upper end contacts the mounting plate and provides an upward elastic force to the mounting plate. Therefore, the pressure generated by the chassis and the equipment above will be partially distributed by the top cover, thereby reducing the load on the contact wheel. This can reduce the driving force for rotating the contact wheel, reduce the friction between the telescopic shaft and the contact wheel, and the springs can also act as a buffer between the mounting plate and the top cover.

[0010] As a preferred option, an oil trough is provided at the bottom of the chassis, and lubricant is stored in the oil trough. At least the lower part of the contact wheel is immersed in the lubricant. Therefore, the surface of the contact wheel can always be covered with lubricant, which further reduces the friction between the telescopic shaft and the contact wheel. At the same time, the lubricant can also play a cooling role, ensuring that the telescopic shaft and the contact wheel do not overheat when the vibration elimination device operates continuously for a long time.

[0011] As a preferred embodiment, the two ends of the contact wheel are respectively the first end and the second end, and the height of the raised surface and the depth of the recessed surface gradually decrease from the first end to the second end; the contact wheel is movably mounted on the drive shaft and can only move axially relative to the drive shaft; the position difference compensation mechanism also includes a lateral adjustment mechanism, which can push the contact wheel to move along the drive shaft to change the contact position between the contact wheel and the telescopic shaft. In this technical solution, the size of the contact wheel is different in the axial direction, specifically, the height of the raised surface gradually decreases from the first end to the second end, and the depth of the recessed surface also gradually decreases. Therefore, the height difference between the highest and lowest points of the wavy contact surface gradually decreases from the first end to the second end. Since the walking conditions, walking time, and load size of the Mecanum wheel all affect the vibration amplitude of the Mecanum wheel, i.e., the undulation amplitude of the wheel axle, the position of the contact wheel on the drive shaft can be adjusted according to the specific situation when using the vibration elimination device, thereby changing the maximum displacement difference of the telescopic shaft moving longitudinally along the wavy contact surface, and thus adapting to different walking states of the Mecanum wheel.

[0012] As a preferred embodiment, two contact wheels are symmetrically mounted on the same drive shaft, and these two contact wheels contact the corresponding telescopic shaft at the same position; the lateral adjustment mechanism includes two sets of limiting arms, which are fitted onto the drive shaft without contact through the intermediate clearance hole; each set of limiting arms has two arms and is arranged on both sides of the corresponding contact wheel, the limiting arms extend towards both sides of the drive shaft to form extensions, and threaded holes are provided at the ends of the extensions; the lateral adjustment mechanism also includes two adjusting screws located on both sides of the drive shaft, the adjusting screws are arranged in parallel and are respectively installed in conjunction with the threaded holes on both sides of the limiting arms; the two adjusting screws can rotate synchronously under the drive of the drive mechanism, and cause the two sets of limiting arms to move closer or further away synchronously.

[0013] As a preferred embodiment, the Mecanum wheel mounting position is located in the middle of the chassis, and the position difference compensation mechanism and longitudinal movement mechanism are symmetrically arranged on both sides of the Mecanum wheel mounting position, with all telescopic shafts connected to the same mounting plate. This design can avoid excessive local stress on the vibration elimination device during use, ensuring force balance. At the same time, it allows twice the number of telescopic shafts and contact wheels to participate in the height difference compensation adjustment, reducing the longitudinal load on a single set of telescopic shafts and contact wheels, and reducing friction.

[0014] The Mecanum wheel vibration damping device described above can synchronously compensate for the height difference in vibration of the Mecanum wheel axle, ensuring that the mounting plate connected to the equipment chassis always maintains the same distance from the ground, thereby eliminating the impact of the Mecanum wheel's own vibration on the equipment above. Based on this, another objective of the present invention is to provide a mobile chassis unaffected by Mecanum wheel vibration.

[0015] To achieve the above objectives, the mobile chassis provided by the present invention includes a chassis with four Mecanum wheel vibration damping devices arranged in a rectangular pattern on the back of the chassis. Each Mecanum wheel vibration damping device is fixedly connected to the chassis via a top mounting plate, and four Mecanum wheels of the same specification are installed at the Mecanum wheel mounting positions of the four Mecanum wheel vibration damping devices. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 This is a schematic diagram of the planar structure of the Mecanum wheel vibration elimination device provided by the present invention.

[0018] Figure 2 for Figure 1 A schematic diagram of the top structure of the vibration damping device is shown.

[0019] Figure 3 for Figure 1 A schematic diagram of the bottom structure of the vibration damping device shown.

[0020] Figure 4 for Figure 2 Schematic diagram of the connection structure between the middle mounting plate and the top cover;

[0021] Figure 5 for Figure 4 A schematic diagram of the planar structure of the top cover in a semi-section state in the structure shown;

[0022] Figure 6 for Figure 1 Internal structure diagram of the mid-chassis;

[0023] Figure 7 for Figure 1 A cross-sectional view of the chassis shown.

[0024] Figure 8 A side view of the structure where the telescopic shaft and the contact wheel are in contact.

[0025] Figure 9 This is a diagram showing the variation trend of the wavy contact surface of the contact wheel along the axial direction.

[0026] Figure 10 This is a schematic diagram showing the installation relationship between the contact wheel and the lateral adjustment mechanism;

[0027] Figure 11 This is a schematic diagram showing the separation state of the limit arm and the contact wheel;

[0028] Figure 12 This is a schematic diagram of a partial cross-section of the transmission assembly;

[0029] Figure 13 A diagram illustrating the driving principle of the entire Mecanum wheel vibration damping device.

[0030] Figure 14 This is a schematic diagram of the planar structure of the mobile chassis provided by the present invention.

[0031] In the diagram, the components are: 1. Chassis; 2. Mounting plate; 3. Mecanum wheel; 4. Transmission assembly; 5. Drive motor; 6. Top cover; 7. Wheel groove; 8. Telescopic shaft; 81. Contact head; 9. Spring; 10. Guide sleeve; 11. Screw hole; 101. Spring groove; 12. Inner cavity; 13. Arched part; 14. Contact wheel; 15. Drive shaft; 16. Oil groove; 18. Limit arm; 19. Adjusting screw; 20. Threaded section I; 21. Threaded section II; 22. Center bevel gear; 23. Transmission rod; 24. Bevel gear I. Bevel gear II 25, bevel gear III 26, sprocket 27, transmission chain 28, adjusting motor 29, Mecanum wheel axle 30, limiting ring 141, shaft hole 142, concave surface 143, convex surface 144, threaded hole 181, limiting groove 182, highest point I 1441, lowest point 1431, highest point II 1442, lowest point II 1432, chassis 100, Mecanum wheel vibration effect elimination device 200, battery pack 300. Detailed Implementation

[0032] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0033] Figure 1-3 This is a schematic diagram of the overall structure of the Mecanum wheel vibration elimination device provided by the present invention. Figure 1 As shown, the device includes a chassis 1 on the left and a drive unit on the right consisting of a drive motor 5 and a transmission assembly 4, wherein a top cover 6 is mounted on the top of the chassis 1; from Figure 2 It can be seen that the top of the vibration damping device is a mounting plate 2 with mounting holes, and it is mounted on the back of the chassis via the mounting plate 2. From Figure 3 As can be seen, there is an upward-arched semi-cylindrical wheel groove 7 in the middle of the bottom of the chassis 1. The Mecanum wheel 3 is installed under the chassis 1 through the Mecanum wheel axle 30, and the upper part is located in the wheel groove 7. Therefore, this vibration effect elimination device is both a device for eliminating the vibration effect of the Mecanum wheel and a device for installing the Mecanum wheel 3.

[0034] In this embodiment, the main structure for eliminating the impact of vibration is a position difference compensation mechanism including a contact wheel 14 and a longitudinal moving mechanism including a telescopic shaft 8. The longitudinal moving mechanism is located above and in contact with the position difference compensation mechanism, and the above structure is symmetrically arranged in front of and behind the wheel groove 7.

[0035] from Figure 4 As can be seen, the edge of the top cover 6 is provided with screw holes 11, and it is installed on the top of the chassis 1 with bolts; combined with Figure 4 and Figure 5Four guide sleeves 10 with guide holes are fixedly installed in a rectangle on the back of the top cover 6. A vibration damping device has four telescopic shafts 8, which pass vertically from top to bottom through the corresponding guide sleeves 10. The upper ends of the four telescopic shafts 8 are fixedly connected to the mounting plate 2, and the lower ends are fixedly provided with contact heads 81 with smooth surfaces. The telescopic shafts 8 can only move longitudinally along the axis under the restriction of the guide sleeves 10. As mentioned above, the entire vibration damping device is installed on the back of the equipment base through the mounting plate 2. Therefore, the load on the mounting plate 2 will be transmitted to the position difference compensation mechanism through the telescopic shafts 8. In order to reduce the load on the position difference compensation mechanism, a spring 9 is installed on each telescopic shaft 8 in this embodiment. Figure 5 As shown, a spring groove 101 with a diameter larger than that of the telescopic shaft 8 is provided directly above the guide sleeve 10. The lower half of the spring 9 is located in the spring groove 101, and the upper half is located above the top cover 6. This design of the top cover 6 can satisfy the spring force requirement and control the distance between the mounting plate 2 and the top cover 6, so that the length of the telescopic shaft 8 is not too long. This is of great significance for ensuring the stability of the entire device.

[0036] like Figure 6 and 7 As shown, the chassis 1 has an open-top cavity 12. Due to the wheel groove 7, an arc-shaped arch 13 is formed in the middle of the cavity 12. This arc-shaped arch 13 divides the cavity 12 into two symmetrical left and right parts, and from... Figure 7 As can be seen, the position difference compensation mechanism is set in these two parts respectively. Combined with... Figure 6 and Figure 7 As shown, the position difference compensation mechanism includes a horizontally arranged drive shaft 15 and two contact wheels 14 mounted on the drive shaft 15. Each contact wheel 14 corresponds to and contacts the upper telescopic shaft 8. To reduce friction between the contact wheels 14 and the telescopic shaft 8 and minimize wear, two downwardly recessed oil grooves 16 are provided at the bottom of the inner cavity 12. Figure 7 As shown, the lower part of the contact wheel 14 is located in the oil tank 16. When the drive shaft 15 drives the contact wheel 14 to rotate, the oil in the oil tank 16 will be evenly attached to the surface of the contact wheel 14.

[0037] In this embodiment, the contact wheel 14 forces the telescopic shaft 8 to reciprocate longitudinally during rotation, thereby eliminating the impact of the Mecanum wheel 3's vibration on the equipment. Specifically, as... Figure 8 As shown, the circumferential surface of the contact wheel 14 is not a circular arc surface, but a wavy contact surface formed by six raised surfaces 144 and six recessed surfaces 143 alternately and smoothly connected. The axis of the aforementioned telescopic shaft 8 is perpendicular to the axis of the contact wheel 14, and the contact head 81 at the lower end of the telescopic shaft 8... Additionally, as... Figure 9As shown, the left end of the contact wheel 14 is the first end, and the right end is the second end. The highest point of the protruding surface 144 at the first end is the highest point I1441, and the highest point at the second end is the highest point II1442. The lowest point of the concave surface 143 at the first end is the lowest point I431, and the lowest point at the second end is the lowest point II1432. In this embodiment, the size of the contact wheel 14 gradually changes from the first end to the second end. Specifically, from the highest point I1441 to the highest point II1442, the protrusion height of the protruding surface gradually decreases, and from the lowest point 1431 to the lowest point II1432, the concave depth of the concave surface 143 also gradually decreases. Therefore, the amplitude of the wavy contact surface gradually decreases from the first end to the second end.

[0038] Based on the aforementioned structural features, the contact wheel 14 can change the longitudinal displacement difference of the telescopic shaft 8 by moving its position. Therefore, in this embodiment, the contact wheel 14 is movably mounted on the drive shaft 15 through the central shaft hole 142, and the two contact wheels 14 on the same telescopic shaft 8 are symmetrically arranged (in this embodiment, the second ends of the contact wheels 14 face each other), and a lateral adjustment mechanism is provided to limit and adjust the contact wheel 14. Combined with... Figure 6 , Figure 10 and Figure 11 The lateral adjustment mechanism includes two sets of limiting arms 18, which are fitted onto the drive shaft 15 without contact through a central clearance hole. Each set of limiting arms 18 has two arms, positioned on either side of the corresponding contact wheel 14. The limiting arms 18 extend towards both sides of the drive shaft 15 to form extensions, and threaded holes 181 are provided at the ends of these extensions. To reduce friction between the limiting arms 18 and the contact wheels 14, limiting rings 141 are coaxially positioned at the first and second ends of the contact wheels 14. Correspondingly, annular limiting grooves 182 are provided on the sides of the limiting arms 18, wherein the limiting rings 141 are movably inserted into the limiting grooves 182, ensuring that the sides of the limiting arms 18 do not contact the end faces of the contact wheels 14. Additionally, the lateral adjustment mechanism includes two adjusting screws 19 located on either side of the drive shaft 15. The left half of the adjusting screw is a threaded section I20, and the right half is a threaded section II21. The threaded sections I20 and II21 have the same pitch but opposite directions of rotation. Figure 10 As shown, threaded section I20 is installed in conjunction with threaded hole 181 on a set of limit arms 18 on the left, and threaded section II21 is installed in conjunction with threaded hole 181 on a set of limit arms 18 on the right. The two adjusting screws 19 can rotate synchronously under the drive of the drive mechanism, thereby controlling the two sets of limit arms 18 to move closer or further away synchronously.

[0039] The above content describes the structure and working principle of the vibration impact elimination device. Regarding its driving device, this embodiment uses a drive motor 5 to simultaneously drive the drive shaft 15 and the Mecanum wheel 3 in the position difference compensation mechanism. Specifically, in conjunction with... Figure 12and Figure 13 The transmission assembly 4 includes a protective housing mounted on the right side of the chassis 1, with the right ends of the adjusting screw 19, drive shaft 15, and Mecanum wheel axle 30 extending into the protective housing. A central bevel gear 22 is mounted on the right end of the drive shaft 15, and the drive motor 5 directly drives the Mecanum wheel axle 30. Transmission rods 23 are symmetrically arranged on both sides of the central bevel gear 22, with a bevel gear I 24 meshing with the central bevel gear 22 at one end of the transmission rod 23 and a bevel gear II 25 at the other end. A bevel gear III 26 meshing with the bevel gear II 25 is also arranged on the right end of the drive shaft 15, thereby achieving synchronous control of the Mecanum wheel 3 and all contact wheels 14. In addition, a sprocket 27 is provided at the right end of the adjusting screw 19. The two sprockets 27 are connected by a transmission chain 28. An adjusting motor 29 for controlling the rotation of the adjusting screw 19 is provided inside the protective housing. Therefore, when using the vibration elimination device, the position of the contact wheel 14 on the drive shaft 15 can be adjusted according to the specific situation, thereby changing the maximum displacement difference of the telescopic shaft 8 moving longitudinally along the wavy contact surface, and thus adapting to different walking states of the Mecanum wheel.

[0040] Figure 14 The mobile chassis of the Mecanum wheel vibration damping device provided in this embodiment is shown. The chassis 100 is rectangular, with a Mecanum wheel vibration damping device 200 installed at each of the four corners of its back, and a battery pack 300 for powering the vibration damping device located in the center. As shown in the aforementioned inner cylinder, the mounting plate 2 is fixed to the back of the chassis 100 by bolts, and the Mecanum wheel 3 is installed in the wheel groove 7 on the back of the chassis 1. A controller for controlling the vibration damping device is also provided. For the device using this mobile chassis, the Mecanum wheel is first controlled to travel a certain distance, and then the contact wheel 14 is adjusted to minimize the vibration at the top of the device. At this point, the vibration damping device has the best anti-vibration effect. If the working environment, such as the ground or temperature, changes, the contact wheel 14 can also be adjusted in time to adapt to the new vibration state of the Mecanum wheel 3.

[0041] The specification and claims use certain terms to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0042] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0043] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A device for eliminating the vibration effects of a Mecanum wheel, characterized in that: The device includes a cage and a position compensation mechanism mounted on the cage. The cage has a Mecanum wheel mounting position, ensuring that the height of the Mecanum wheel axle relative to the cage remains constant. The position compensation mechanism has a raised surface and a recessed surface, which are smoothly connected to form a wavy contact surface. A longitudinal moving mechanism is positioned above the position compensation mechanism, with its lower part contacting the wavy contact surface. The device also includes a drive mechanism capable of controlling the movement of the position compensation mechanism, causing the wavy contact surface of the position compensation mechanism to move relative to the longitudinal moving mechanism, and causing the lower end of the longitudinal moving mechanism to reciprocate longitudinally with the movement of the wavy contact surface. When the longitudinal moving mechanism contacts the highest point of the raised surface, the Mecanum wheel axle is at its lowest point; when the longitudinal moving mechanism contacts the lowest point of the recessed surface, the Mecanum wheel axle is at its highest point, and the longitudinal displacement difference of the longitudinal moving mechanism is equal to the longitudinal displacement difference of the wheel axle.

2. The Mecanum wheel vibration elimination device as described in claim 1, characterized in that: The position difference compensation mechanism includes a rotating body, which is coaxially mounted on a drive shaft. The raised and recessed surfaces are continuously distributed on the rotating body around the axis. The drive shaft is positioned on a cage. The drive mechanism drives the drive shaft to rotate in a clockwise or counterclockwise direction, and drives the rotating body to rotate synchronously with the drive shaft.

3. The Mecanum wheel vibration elimination device as described in claim 2, characterized in that: The drive shaft is arranged laterally, and the rotating body is a contact wheel with a transverse axis. The contact wheel has a shaft hole arranged coaxially in the middle and is mounted on the drive shaft through the shaft hole. The longitudinal movement mechanism includes a guide structure and a telescopic shaft. The guide structure is positioned relative to the cage and provides positioning support and guidance for the telescopic shaft, so that the telescopic shaft can only produce longitudinal displacement difference. The lower end of the telescopic shaft is provided with a contact head with a wavy contact surface, and the top end is connected to a mounting plate.

4. The Mecanum wheel vibration elimination device as described in claim 3, characterized in that: The retainer is a chassis with an inner cavity, the top of which is open. The contact wheel is located in the inner cavity, and the drive mechanism is located on the outside of the chassis. A top cover is provided on the top of the chassis. The guide structure is a guide sleeve fixedly installed on the back of the top cover. The guide sleeve has a guide hole that mates with a telescopic shaft. The telescopic shaft moves through the top cover and passes through the guide sleeve. The mounting plate is located above the top cover, and the contact head is located below the guide sleeve.

5. The Mecanum wheel vibration elimination device as described in claim 4, characterized in that: Several springs are installed between the mounting plate and the top cover. The lower end of the springs contacts the top cover, and the upper end contacts the mounting plate, providing an upward elastic force to the mounting plate.

6. The Mecanum wheel vibration elimination device as described in claim 4, characterized in that: An oil trough is installed at the bottom of the chassis, and lubricant is stored in the oil trough, with at least the lower part of the contact wheel immersed in the lubricant.

7. The Mecanum wheel vibration elimination device as described in claim 4, characterized in that: The two ends of the contact wheel are the first end and the second end, and the height of the raised surface and the depth of the recessed surface gradually decrease from the first end to the second end; the contact wheel is movably mounted on the drive shaft and can only move axially relative to the drive shaft; the position difference compensation mechanism also includes a lateral adjustment mechanism, which can push the contact wheel to move along the drive shaft to change the contact position between the contact wheel and the telescopic shaft.

8. The Mecanum wheel vibration elimination device as described in claim 7, characterized in that: Two contact wheels are symmetrically mounted on the same drive shaft, and these two contact wheels contact the corresponding telescopic shaft at the same position. The lateral adjustment mechanism includes two sets of limiting arms, which are fitted onto the drive shaft without contact through the intermediate clearance hole. Each set of limiting arms has two arms and is arranged on both sides of the corresponding contact wheel. The limiting arms extend towards both sides of the drive shaft to form extensions, and threaded holes are provided at the ends of the extensions. The lateral adjustment mechanism also includes two adjusting screws located on both sides of the drive shaft. The adjusting screws are arranged in parallel and are respectively installed in conjunction with the threaded holes of the extensions of the limiting arms. The two adjusting screws can rotate synchronously under the drive of the drive mechanism, so that the two sets of limiting arms move closer or further apart synchronously.

9. The Mecanum wheel vibration damping device as described in any one of claims 3-8, characterized in that: The Mecanum wheel mounting position is located in the middle of the chassis, and the position difference compensation mechanism and the longitudinal movement mechanism are symmetrically arranged on both sides of the Mecanum wheel mounting position, and all telescopic shafts are connected to the same mounting plate.

10. A mobile chassis, comprising a chassis and four Mecanum wheels arranged in a rectangular pattern, characterized in that: The Mecanum wheel is mounted on the Mecanum wheel vibration damping device as described in claim 9. The Mecanum wheel vibration damping device is located below the chassis, and its mounting plate is fixedly mounted on the back of the chassis.

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