Mecanum wheel and mobile robot

Abstract

The present application relates to a Mecanum wheel and a mobile robot. The Mecanum wheel includes a Mecanum wheel mechanism, a deformable wheel mechanism and a driving mechanism; the Mecanum wheel mechanism includes a wheel hub; the deformable wheel mechanism includes two outer wheel assemblies, each of which is sleeved on the wheel hub and can move along the wheel hub; the driving mechanism is fixed on the wheel hub; the driving mechanism is respectively connected to the two outer wheel assemblies, and is used to drive the two outer wheel assemblies to move closer to or away from each other, so that the outer wheel assemblies are retracted or extended, so that the deformable wheel mechanism can switch between a first mode and a second mode. The mobile robot includes a Mecanum wheel. In the above manner, the outer wheel assembly is in a retracted or extended state, so that the deformable wheel mechanism can switch between a first mode and a second mode to adapt to different application scenarios.

Description

Technical Field

[0001] The present application relates to the technical field of Mecanum wheels, and in particular to a Mecanum wheel and a mobile robot. Background Art

[0002] The omnidirectional mobile robot based on Mecanum wheels has excellent mobility performance. It can move in any direction without any rotation of the body, so it is widely used in manufacturing and warehousing. Although the traditional Mecanum wheel can achieve omnidirectional movement by decomposing the movement speed, it also leads to low forward movement efficiency and the problem of difficult normal driving on rugged roads. Summary of the invention

[0003] The present application provides a Mecanum wheel and a mobile robot.

[0004] The embodiment of the present application provides a Mecanum wheel, comprising:

[0005] The Meckel wheel mechanism, including a wheel hub;

[0006] The deformable wheel mechanism comprises two outer wheel assemblies, each of which is sleeved on the wheel hub and can move along the wheel hub;

[0007] A driving mechanism is fixed on the wheel hub; the driving mechanism is respectively connected to the two outer wheel assemblies, and is used to drive the two outer wheel assemblies to move closer to or away from each other, so that the outer wheel assemblies retract or extend, so that the deformable wheel mechanism can switch between the first mode and the second mode.

[0008] The present application also provides a mobile robot, including:

[0009] torso; and

[0010] A Mecanum wheel is connected to the trunk.

[0011] The Mecanum wheel provided in the embodiment of the present application makes the two outer wheel assemblies approach or move away from each other on the wheel hub, so that the outer wheel assemblies are in a contracted or extended state, thereby enabling the deformable wheel mechanism to switch between the first mode and the second mode to adapt to different application scenarios. In addition, the arrangement of the two outer wheel assemblies makes the Mecanum wheel structure symmetrical and more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0013] Figure 1 is a three-dimensional schematic diagram of a mobile robot provided in an embodiment of the present application;

[0014] Figure 2 yes Figure 1 A three-dimensional schematic diagram of the Mecanum wheel is shown;

[0015] Figure 3 yes Figure 2 The schematic cross-sectional view of the Mecanum wheel along the AA direction is shown;

[0016] Figure 4 yes Figure 3 A three-dimensional schematic diagram of the Mecanum wheel mechanism in the Mecanum wheel is shown;

[0017] Figure 5 yes Figure 4 is a three-dimensional schematic diagram of the hub in the McLennan mechanism shown;

[0018] Figure 6 yes Figure 5 The schematic cross-sectional view of the hub along the BB direction is shown;

[0019] Figure 7 yes Figure 4 is a three-dimensional schematic diagram of the hub in the McLennan mechanism shown;

[0020] Figure 8 yes Figure 4 is a three-dimensional schematic diagram of the wheel rim in the McLennan mechanism shown;

[0021] Fig. 9 yes Figure 3 A three-dimensional schematic diagram of the deformation wheel mechanism in the Mecanum wheel shown;

[0022] Fig.10 yes Fig. 9 A three-dimensional schematic diagram of a first outer wheel assembly in the deformation wheel mechanism shown;

[0023] Fig.11 yes Fig. 9 A three-dimensional schematic diagram of the cooperation between the collar and the elastic member in the deformation wheel mechanism shown;

[0024] Fig.12 yes Figure 3 A three-dimensional schematic diagram of the driving mechanism in the Mecanum wheel shown;

[0025] Fig.13 yes Fig.12 A three-dimensional schematic diagram of the driving mechanism and the second hub shown;

[0026] Fig.14 yes Fig.12 A three-dimensional schematic diagram of the driving mechanism and the first hub shown in FIG.

[0027] Fig.15 A three-dimensional schematic diagram of the cooperation between the wheel hub and the driving mechanism in another embodiment of the present application. DETAILED DESCRIPTION

[0028] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0029] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0030] Please refer to Figure 1 The present application provides a mobile robot 1000. The mobile robot 1000 may include a trunk 200 and a plurality of Mecanum wheels 100 connected to the trunk 200. The plurality of Mecanum wheels 100 may drive the mobile robot 1000 to realize a variety of movement modes such as forward, backward, rotation in place, and translation.

[0031] Among them, the motion principle of the Mecanum wheel is fundamentally based on the synthesis of motion in multiple directions. The speed in the unnecessary direction is offset by its own symmetry, and the speed in the necessary direction is synthesized. Therefore, from the perspective of motion principle, although the ability to rotate and translate in place is an advantage of the Mecanum wheel, in fact, the use of the Mecanum wheel is limited to relatively flat roads, such as indoors and in factories, because on rugged roads, the Mecanum wheel may have a poor grounding effect, resulting in the deviation of the four-wheel motion. Moreover, poor road conditions will greatly damage the already low lifespan of the Mecanum wheel 100. In view of this, it is necessary to provide a new Mecanum wheel 100.

[0032] Please refer to Figure 2 and Figure 3 , Figure 2 yes Figure 1 The three-dimensional schematic diagram of the Mecanum wheel shown in Figure 3 yes Figure 2 The schematic cross-sectional view of the Mecanum wheel along the AA direction is shown. The Mecanum wheel 100 may include a Mecanum wheel mechanism 10, a deformable wheel mechanism 20, and a drive mechanism 30. The Mecanum wheel mechanism 10 may include a wheel hub 11; the deformable wheel mechanism 20 may include two outer wheel assemblies 21 (specifically, a first outer wheel assembly 21a and a second outer wheel assembly 21b), each outer wheel assembly 21 being sleeved on the wheel hub 11 and capable of moving along the wheel hub 11. The drive mechanism 30 is fixed to the wheel hub 11, and the drive mechanism 30 is respectively connected to the two outer wheel assemblies 21, and is used to drive the two drive assemblies to move closer to or away from each other, so that the outer wheel assembly 21 can be retracted or extended, thereby enabling the deformable wheel mechanism 20 to switch between the first mode and the second mode.

[0033] Specifically, when the deformable wheel mechanism 20 is in the first mode, the outer wheel assembly 21 is in a retracted state, the diameter of the outer wheel assembly 21 is less than or equal to the diameter of the Mecanum wheel mechanism 10, and the Mecanum wheel 100 moves by relying on the Mecanum wheel mechanism 10. When the deformable wheel mechanism 20 is in the second mode, the outer wheel assembly 21 is in an extended state, the diameter of the outer wheel assembly 21 is greater than the diameter of the Mecanum wheel mechanism 10, and the Mecanum wheel 100 moves by relying on the outer wheel assembly 21. It can be understood that when the deformable wheel mechanism 20 is in the first mode, the Mecanum wheel 100 is mainly used on relatively flat roads; when the deformable wheel mechanism 20 is in the second mode, the Mecanum wheel 100 is mainly used on rough roads to avoid the poor grounding effect of the Mecanum wheel mechanism 10, which may cause the four-wheel movement to deviate. The Mecanum wheel 100 provided in the embodiment of the present application can improve the motion performance of the Mecanum wheel 100 so that it can adapt to different application scenarios, and can also avoid slipping on rough roads and damaging the Mecanum wheel 100, by enabling the deformable wheel mechanism 20 to switch between the first mode and the second mode according to changes in application scenarios.

[0034] It should be noted that the terms "first", "second", and "third" in this application are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first", "second", and "third" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0035] Further, when at least one outer wheel assembly 21 is in an extended state, the deformable wheel mechanism 20 is in the second mode. Specifically, the two outer wheel assemblies 21 are respectively the first outer wheel assembly 21a and the second outer wheel assembly 21b. When the first outer wheel assembly 21a is in an extended state and the second outer wheel assembly 21b remains stationary, the first outer wheel assembly 21a is away from the second outer wheel assembly 21b, and the deformable wheel mechanism 20 is in the second mode; or, when the second outer wheel assembly 21b is in an extended state and the first outer wheel assembly 21a remains stationary, the second outer wheel assembly 21b is away from the first outer wheel assembly 21a, and the deformable wheel mechanism 20 is in the second mode; or, when the first outer wheel assembly 21a and the second outer wheel assembly 21b are in an extended state at the same time, that is, the first outer wheel assembly 21a and the second outer wheel assembly 21b are away from each other at the same time, the deformable wheel mechanism 20 is in the second mode. In this embodiment, the first outer wheel assembly 21a and the second outer wheel assembly 21b are in an extended state at the same time, so that the Mecanum wheel 100 can travel more smoothly and with better reliability. It can be understood that the diameter of the first outer wheel assembly 21a may be equal to the diameter of the second outer wheel assembly 21b, or may not be equal to the diameter of the second outer wheel assembly 21b, and no specific limitation is made herein.

[0036] Please refer to Figure 4 , Figure 4 yes Figure 3 The three-dimensional schematic diagram of the Mecanum wheel mechanism in the Mecanum wheel is shown. Specifically, the Mecanum wheel mechanism 10 may include a hub 11, two rims 12 fixed at both ends of the hub 11, and a roller 131 assembly 13 connected between the two rims 12. The rim 12 is coaxially arranged with the hub 11, the two rims 12 are fixed to two opposite surfaces of the hub 11, and the diameter of the rim 12 is greater than the diameter of the hub 11, so that the two rims 12 and the hub 11 are surrounded to form a circular receiving groove, and the roller 131 assembly 13 is partially received in the receiving groove and partially protrudes from the receiving groove.

[0037] Please refer to Figures 5 to 7 , Figure 5 yes Figure 4 It is a three-dimensional schematic diagram of the hub in the McLennan mechanism shown. Figure 6 yes Figure 5 The cross-sectional diagram of the wheel hub along the BB direction is shown in FIG. Figure 7 yes Figure 4 1 is a three-dimensional schematic diagram of a hub in the wheat wheel mechanism shown. The hub 11 may include a first hub 11a and a second hub 11b that are fixedly connected. The first hub 11a and the second hub 11b are connected by a fixing member such as a screw, so that the first hub 11a and the second hub 11b are detachable, so that the first outer wheel assembly 21a and the second outer wheel assembly 21b can be sleeved on the hub 11.

[0038] Specifically, the first hub 11a may include a first shaft portion 111a, a first outer ring 112a sleeved on the first shaft portion 111a, and a first spoke 113a connecting the first shaft portion 111a and the first outer ring 112a. The first shaft portion 111a and the first outer ring 112a are coaxially arranged, and the first shaft portion 111a can rotate under the drive of the driving motor, thereby driving the first outer ring 112a to rotate. The first outer ring 112a may include a first circumferential portion 1121a and a first fixing portion 1122a and a first connecting portion 1123a respectively extending from the two side edges of the first circumferential portion 1121a, that is, the first fixing portion 1122a and the first connecting portion 1123a are respectively fixed to the two sides of the first circumferential portion 1121a, wherein the first hub 11a is connected to a rim 12 through the first fixing portion 1122a, and is connected to the second hub 11b through the first connecting portion 1123a.

[0039] Specifically, the first fixing portion 1122a is uniformly arranged around the edge of the first circumferential portion 1121a, and a plurality of first fixing holes 1124a are uniformly arranged on the first fixing portion 1122a. The first hub 11a is penetrated through the first fixing holes 1124a and the corresponding rim 12 by fixing members such as screws, so as to realize the connection and fixation between the first hub 11a and the corresponding rim 12. The first connecting portion 1123a is uniformly arranged on the other side edge of the first circumferential portion 1121a away from the first fixing portion 1122a, and the first connecting portion 1123a is uniformly arranged with first connecting holes 1125a. The first hub 11a is penetrated through the first connecting holes 1125a and the second hub 11b by fixing members such as screws, so as to realize the connection and fixation between the first hub 11a and the second hub 11b.

[0040] The first spoke 113a connects the first shaft portion 111a and the first outer ring 112a, and is used to support the first outer ring 112a on the one hand, and to reduce the deadweight of the first hub 11a on the other hand. Specifically, one end of the first spoke 113a connected to the first shaft portion 111a is approximately located in the middle of the first shaft portion 111a, and divides the first shaft portion 111a into a first outer shaft 1111a and a first inner shaft 1112a, wherein the first outer wheel assembly 21a is sleeved on the first outer shaft 1111a and the first inner shaft 1112a at the same time, and the first spoke 113a can be used to limit the moving distance of the first outer wheel assembly 21a on the first shaft portion 111a, thereby controlling the extension range of the first outer wheel assembly 21a.

[0041] The second hub 11b may include a second shaft portion 111b, a second outer ring 112b sleeved on the second shaft portion 111b, and a second spoke 113b connected to the second shaft portion 111b and the second outer ring 112b. The second shaft portion 111b and the second outer ring 112b are coaxially arranged, and the second shaft portion 111b can rotate under the drive of the driving motor, thereby driving the outer ring to rotate. The second outer ring 112b may include a second circumferential portion 1121b and a second fixing portion 1122b and a second connecting portion 1123b respectively extending from the two side edges of the second circumferential portion 1121b, that is, the second fixing portion 1122b and the second connecting portion 1123b are respectively fixed to the two sides of the second circumferential portion 1121b, wherein the first hub 11a is connected to the other rim 12 through the second fixing portion 1122b, and is connected to the first hub 11a through the second connecting portion 1123b.

[0042] Specifically, the second fixing portion 1122b is uniformly arranged around the edge of the second circumferential portion 1121b, and a plurality of second fixing holes 1124b are uniformly arranged on the second fixing portion 1122b. The first hub 11a is penetrated through the second fixing holes 1124b and the corresponding rim 12 by fixing members such as screws, so as to realize the connection and fixation between the second hub 11b and the corresponding rim 12. The second connecting portion 1123b is uniformly arranged on the other side edge of the second circumferential portion 1121b away from the second fixing portion 1122b, and second connecting holes 1125b corresponding to the first connecting holes 1125a are uniformly arranged on the second connecting portion 1123b. The first hub 11a is penetrated through the second connecting holes 1125b and the corresponding second connecting holes 1125b by fixing members such as screws, so as to realize the connection and fixation between the first hub 11a and the second hub 11b, so as to make the first hub 11a and the second hub 11b rotate synchronously.

[0043] The second spoke 113b connects the second shaft portion 111b and the second outer ring 112b, and is used to support the second outer ring 112b on one hand, and to reduce the deadweight of the second hub 11b on the other hand. Specifically, one end of the second spoke 113b connected to the second shaft portion 111b is approximately located in the middle of the second shaft portion 111b, and divides the second shaft portion 111b into a second outer shaft 1111b and a second inner shaft 1112b, wherein the second outer wheel assembly 21b is simultaneously sleeved on the second outer shaft 1111b and the second inner shaft 1112b, and the second spoke 113b can be used to limit the moving distance of the second outer wheel assembly 21b on the second shaft portion 111b, thereby controlling the extension range of the second outer wheel assembly 21b.

[0044] It can be understood that the "hub", "first hub" and "second hub" mentioned above are interchangeable. Specifically, the "first hub" can be replaced by "hub" or "second hub", and the "second hub" can be replaced by "hub" or "first hub", which are not listed one by one here.

[0045] Optionally, the first outer wheel assembly 21a is sleeved on the first shaft portion 111a, and the second outer wheel assembly 21b is sleeved on the second shaft portion 111b. One of the drive motor and the drive mechanism 30 is connected to the first shaft portion 111a, and the other is connected to the second shaft portion 111b, wherein the drive motor is used to drive the Mecanum wheel 100 to rotate, and the drive mechanism is used to drive the first outer wheel assembly 21a and the second outer wheel assembly 21b to move closer to or away from each other.

[0046] In one embodiment, there may be a gap between the first shaft portion 111a and the second shaft portion 111b, and the driving mechanism 30 may be located between the first shaft portion 111a and the second shaft portion 111b, so that the driving mechanism 30 can drive the first outer wheel assembly 21a and the second outer wheel assembly 21b at the same time.

[0047] Please residual value Figure 8 , Figure 8 yes Figure 4 1 is a three-dimensional schematic diagram of the rims in the wheat wheel mechanism shown. The two rims 12 may be a first rim 12a and a second rim 12b, respectively, wherein the first rim 12a is fixed to the first hub 11a, and the second rim 12b is fixed to the second hub 11b. Specifically, the first rim 12a may be provided with a first matching hole 121a corresponding to the first fixing hole 1124a, and the first rim 12a is fixed to the first hub 11a by a fixing member such as a screw passing through the first matching hole 121a and the corresponding first fixing hole 1124a. The second rim 12b may be provided with a second matching hole 121b corresponding to the second fixing hole 1124b, and the second rim 12b is fixed to the second hub 11b by a fixing member such as a screw passing through the second matching hole 121b and the corresponding second fixing hole 1124b.

[0048] The first rim 12a may be provided with a plurality of first mounting holes 122a, and the second rim 12b may be provided with a plurality of second mounting holes 122b corresponding to the first mounting holes 122a. The roller 131 assembly 13 may include a plurality of rollers 131 arranged side by side, one end of each roller 131 is inserted into the first mounting hole 122a and fixed to the first rim 12a, and the other end is inserted into the second mounting hole 122b and fixed to the second rim 12b. The axes of each roller 131 are parallel to each other, and the axes of the roller 131 and the axis of the hub 11 are approximately at an angle of 45°, so that the movement of the Mecanum wheel 100 driven by the driving motor can be orthogonally divided into two relatively equal forces, thereby enabling the cooperation of the plurality of Mecanum wheels 100 to realize various movement modes such as forward, backward, translation, and rotation in situ.

[0049] Each rim 12 is provided with a plurality of guide holes 123, and the guide holes 123 on each rim 12 are used to cooperate with the corresponding outer wheel assembly 21, and are used to make the corresponding outer wheel assembly 21 retract or extend along a preset direction. Specifically, a plurality of first positioning blocks 120a may be provided on the side of the first rim 12a away from the second rim 12b, and each first positioning block 120a is provided with a first guide hole 123a, and the first guide hole 123a is used to make the first outer wheel assembly 21a retract or extend along a preset direction. Similarly, a plurality of second positioning blocks 123b are provided on the side of the second rim 12b away from the first rim 12a, and each second positioning block 123b is provided with a second guide hole 123b, and the second guide hole 123b is used to make the second outer wheel assembly 21b retract or extend along a preset direction.

[0050] Please refer to Figures 9 to 11 , Fig. 9 yes Figure 3 The three-dimensional schematic diagram of the deformation wheel mechanism in the Mecanum wheel is shown in FIG. Fig.10 yes Fig. 9 The three-dimensional schematic diagram of the first outer wheel assembly in the deformation wheel mechanism shown in FIG. Fig.11 yes Fig. 9 A three-dimensional schematic diagram of the cooperation between the collar and the elastic member in the deformable wheel mechanism shown. The first outer wheel assembly 21a and the second outer wheel assembly 21b may have the same structure and be symmetrically arranged. Specifically, each outer wheel assembly 21 may include a collar 211, a plurality of connecting rod assemblies 212, and a plurality of outer wheel portions 213 corresponding to the plurality of connecting rod assemblies 212. One end of each connecting rod assembly 212 is hinged to the collar 211 and the other end is fixed to the outer wheel portion 213. The plurality of outer wheel portions 213 can form a roller. Each rim 12 is provided with a plurality of guide holes 123 corresponding to the plurality of connecting rod assemblies 212. Each connecting rod assembly 212 is inserted into the corresponding guide hole 123. The collar 211 is sleeved on the wheel hub 11 and connected to the driving mechanism 30. The driving mechanism 30 can drive the collar 211 to move along the wheel hub 11, thereby causing the outer wheel portion 213 to retract or extend.

[0051] Specifically, the first outer wheel assembly 21a may include a first collar 211aa, a plurality of first connecting rod assemblies 212a, and a plurality of first outer wheel portions 213a corresponding to the first connecting rod assemblies 212a, wherein the plurality of first connecting rod assemblies 212a correspond to the plurality of first guide holes 123a. Each first connecting rod assembly 212a is inserted into the corresponding first guide hole 123a, so that the first connecting rod assembly 212a can slide in the corresponding first guide hole 123a. The first connecting rod assembly 212a has one end hinged on the first collar 211aa and the other end fixed to the first outer wheel portion 213a, and the first connecting rod assembly 212a slides in the corresponding first guide hole 123a, thereby enabling the first outer wheel portion 213a to retract or extend.

[0052] Similarly, the second outer wheel assembly 21b may include a second collar 211bb, a plurality of second connecting rod assemblies 212b, and a plurality of second outer wheel portions 213b corresponding to the second connecting rod assemblies 212b, wherein the plurality of second connecting rod assemblies 212b correspond to the plurality of second guide holes 123b. Each second connecting rod assembly 212b is inserted into the corresponding second guide hole 123b, so that the second connecting rod assembly 212b can slide in the corresponding second guide hole 123b. The second connecting rod assembly 212b has one end hinged on the second collar 211bb and the other end fixed to the second outer wheel portion 213b, and the second connecting rod assembly 212b slides in the corresponding second guide hole 123b, thereby enabling the second outer wheel portion 213b to retract or extend.

[0053] It can be understood that the "outer wheel assembly", "first outer wheel assembly" and "second outer wheel assembly" mentioned above are interchangeable. Specifically, the "first outer wheel assembly" can be replaced by the "outer wheel assembly" or the "second outer wheel assembly", and the "second outer wheel assembly" can be replaced by the "outer wheel assembly" or the "first outer wheel assembly", which are not listed one by one here.

[0054] Similarly, "ring", "first ring" and "second ring" can be interchanged. "Connecting rod assembly", "first connecting rod assembly" and "second connecting rod assembly" can be interchanged. "Outer wheel portion", "first outer wheel portion" and "second outer wheel portion" can be interchanged.

[0055] Optionally, the ring 211 may include an outer ring 2111 and an inner ring 2112 that are spaced apart from each other and a connecting column 2113 connecting the outer ring 2111 and the inner ring 2112 , wherein the connecting column 2113 connects the outer ring 2111 and the inner ring 2112 so that the outer ring 2111 and the inner ring 2112 move synchronously.

[0056] Specifically, the first ring 211a may include a first outer ring 2111a and a first inner ring 2112a that are arranged at intervals, and a first connecting column 2113a connecting the first outer ring 2111a and the first inner ring 2112a. The first outer ring 2111a is sleeved on the first outer shaft 1111a, and the first inner ring 2112a is sleeved on the first inner shaft 1112a. The first connecting column 2113a and the first spokes 113a are staggered. In other words, the first connecting column 2113a is located between two adjacent first spokes 113a, so that the first connecting column 2113a and the first spoke 113a do not affect each other, thereby allowing the first ring 211a to move on the first shaft portion 111a. The second ring 211b may include a second outer ring 2111b and a second inner ring 2112b arranged at intervals, and a second connecting column 2113b connecting the second outer ring 2111b and the second inner ring 2112b. The second outer ring 2111b is sleeved on the second outer shaft 1111b, and the second inner ring 2112b is sleeved on the second inner shaft 1112b. The second connecting column 2113b and the second spoke 113b are staggered. In other words, the second connecting column 2113b is located between two adjacent second spokes 113b, so that the second connecting column 2113b and the second spoke 113b do not affect each other, thereby allowing the second ring 211b to move on the second shaft portion 111b.

[0057] The edge of the first outer collar 2111a is evenly provided with a plurality of first transfer parts 2114a corresponding to the plurality of first connecting rod assemblies 212a, each of the first transfer parts 2114a is provided with a first transfer hole 2115a, and each first outer collar 2111a is hinged to the corresponding first connecting rod assembly 212a through the first transfer hole 2115a. The edge of the second outer collar 2111b is evenly provided with a plurality of second transfer parts 2114b corresponding to the plurality of second connecting rod assemblies 212b, each of the second transfer parts 2114b is provided with a second transfer hole 2115b, and each second outer collar 2111b is hinged to the corresponding second connecting rod assembly 212b through the second transfer hole 2115b.

[0058] Furthermore, the deformation wheel mechanism 20 may further include a plurality of elastic members 22, which are evenly arranged between the first inner ring 2112a and the second inner ring 2112b. One end of the elastic member 22 is connected to the first inner ring 2112a, and the other end is connected to the second inner ring 2112b, so that the first inner ring 2112a and the second inner ring 2112b are in an elastic state.

[0059] In one embodiment, the elastic member 22 may be a tension spring. The elastic member 22 is located between the first inner ring 2112a and the second inner ring 2112b, and is used to keep the first inner ring 2112a and the second inner ring 2112b in a close state when there is no driving mechanism 30, that is, the deformation wheel mechanism 20 is in the first mode. The elastic member 22 can also be used to restore the close state when the first inner ring 2112a and the second inner ring 2112b are away from each other, that is, the deformation wheel mechanism 20 switches from the second mode to the first mode.

[0060] In another embodiment, the elastic member 22 may be a compression spring. The elastic member 22 is located between the first inner ring 2112a and the second inner ring 2112b, and is used to keep the first inner ring 2112a and the second inner ring 2112b away from each other when there is no driving mechanism 30, that is, the deformation wheel mechanism 20 is in the second mode. The elastic member 22 can also be used to restore the away state when the first inner ring 2112a and the second inner ring 2112b are away from each other, that is, the deformation wheel mechanism 20 switches from the first mode to the second mode.

[0061] In this embodiment, the connecting rod assembly 212 includes a transmission rod 2121 and a guide rod 2122 rotatably connected to the transmission rod 2121. The guide rod 2122 is inserted into the corresponding guide hole 123, and is used to make the guide rod 2122 extend and retract along the direction of the center line of the guide hole 123, thereby driving the outer wheel portion 213 to retract or extend along the direction of the center line of the guide hole 123, so as to change the diameter of the roller surrounded by the outer wheel portion 213. One end of the transmission rod 2121 away from the guide rod 2122 is hinged to the collar 211, and one end of the guide rod 2122 away from the transmission rod 2121 is fixed to the outer wheel portion 213, and is used to convert the movement of the collar 211 along the direction of the hub 11 into the movement of the guide rod 2122 along the direction of the center line of the guide hole 123.

[0062] Specifically, the first connecting rod assembly 212a includes a first transmission rod 2121a and a first guide rod 2122a rotatably connected to the first transmission rod 2121a. The first guide rod 2122a is inserted into the corresponding first guide hole 123a, and is used to enable the first guide rod 2122a to be able to extend and retract along the center line direction of the corresponding first guide hole 123a, thereby driving the corresponding first outer wheel portion 213 to retract or extend along the center line direction of the first guide hole 123a, so as to change the diameter of the roller surrounded by the first outer wheel portion 213.

[0063] In this embodiment, the center line of the first guide hole 123a can be parallel to the radial cross section of the first hub 11a, so that the first transmission rod 2121a is parallel to the radial cross section of the first hub 11a, and the roller formed by the first outer wheel portion 213 is extended and retracted in the same plane parallel to the radial cross section of the first hub 11a, so as to reduce the space occupied by the extension of the first outer wheel portion 213. In other embodiments, the center line of the first guide hole 123a can also be set at an angle with the radial cross section of the first hub 11a, so that the first transmission rod 2121a is set at an angle with the radial cross section of the first hub 11a, and when the first outer wheel assembly 21a is extended, the roller formed by the first outer wheel portion 213 is within the range of the first hub 11a or away from the first hub 11a, so as to achieve different application scenarios.

[0064] The second connecting rod assembly 212b includes a second transmission rod 2121b and a second guide rod 2122b rotatably connected to the second transmission rod 2121b. The second guide rod 2122b is inserted into the corresponding second guide hole 123b, and is used to enable the second guide rod 2122b to be able to extend and retract along the center line direction of the corresponding second guide hole 123b, thereby driving the corresponding second outer wheel portion 213 to retract or extend along the center line direction of the second guide hole 123b, so as to change the diameter of the roller surrounded by the second outer wheel portion 213.

[0065] In this embodiment, the center line of the second guide hole 123b can be parallel to the radial cross section of the second hub 11b, so that the second transmission rod 2121b is parallel to the radial cross section of the second hub 11b, and the roller formed by the second outer wheel portion 213 is extended and retracted in the same plane parallel to the radial cross section of the second hub 11b, so as to reduce the space occupied by the extension of the second outer wheel portion 213. In other embodiments, the center line of the second guide hole 123b can also be set at an angle with the radial cross section of the second hub 11b, so that the second transmission rod 2121b is set at an angle with the radial cross section of the second hub 11b, so that when the second outer wheel assembly 21b is extended, the roller formed by the second outer wheel portion 213 is within the range of the second hub 11b or away from the second hub 11b, so as to achieve different application scenarios.

[0066] It can be understood that when the center line of the first guide hole 123a is parallel to the radial cross section of the first hub 11a and the center line of the second guide hole 123b is parallel to the radial cross section of the second hub 11b, the distance between the rollers surrounded by the first outer wheel portion 213 and the rollers surrounded by the second outer wheel portion 213 is approximately equal to the sum of the axial lengths of the first hub 11a and the second hub 11b, that is, the width of the Mecanum wheel 100 is almost unchanged between the first mode and the second mode.

[0067] When the center line of the first guide hole 123a is set at an angle with the radial cross-section of the first hub 11a and the center line of the second guide hole 123b is set at an angle with the radial cross-section of the second hub 11b, the distance between the roller surrounded by the first outer wheel portion 213 and the roller surrounded by the second outer wheel portion 213 is either greater than the sum of the axial lengths of the first hub 11a and the second hub 11b, or less than the sum of the axial lengths of the first hub 11a and the second hub 11b. Specifically, when the distance between the rollers formed by the first outer wheel portion 213 and the rollers formed by the second outer wheel portion 213 is greater than the sum of the axial lengths of the first hub 11a and the second hub 11b, the Mecanum wheel 100 has a larger width and travels more smoothly; when the distance between the rollers formed by the first outer wheel portion 213 and the rollers formed by the second outer wheel portion 213 is less than the sum of the axial lengths of the first hub 11a and the second hub 11b, the Mecanum wheel 100 can protect the roller 131 assembly 13 and prevent the roller 131 assembly 13 from being damaged by a rugged environment.

[0068] It can be understood that when the first outer wheel assembly 21a is in a retracted state, the diameter of the roller formed by the plurality of first outer wheel portions 213 is less than or equal to the diameter of the first rim 12a, so as to prevent the first outer wheel assembly 21a from affecting the grounding of the roller 131 assembly 13; when the first outer wheel portion 213 is in an extended state, the diameter of the roller formed by the plurality of first outer wheel portions 213 is greater than the diameter of the first rim 12a, so as to allow a gap between the roller 131 assembly 13 and the bottom surface. Similarly, when the second outer wheel assembly 21b is in a retracted state, the diameter of the roller formed by the plurality of second outer wheel portions 213 is less than or equal to the diameter of the second rim 12b, so as to prevent the second outer wheel assembly 21b from affecting the grounding of the roller 131 assembly 13; when the second outer wheel portion 213 is in an extended state, the diameter of the roller formed by the plurality of second outer wheel portions 213 is greater than the diameter of the second rim 12b, so as to allow a gap between the roller 131 assembly 13 and the bottom surface.

[0069] Please refer to Figure 12 to Figure 14 , Fig.12 yes Figure 3 The three-dimensional schematic diagram of the driving mechanism of the Mecanum wheel is shown in FIG. Fig.13 yes Fig.12 The three-dimensional schematic diagram of the driving mechanism and the second hub is shown in FIG. Fig.14 yes Fig.12The driving mechanism 30 shown in FIG. 1 is a three-dimensional schematic diagram of the cooperation between the driving mechanism and the first wheel hub. In this embodiment, the driving mechanism 30 may include a driving member 31, a cam 32, and a wedge block 33. The first shaft portion 111a may be provided with a first shaft hole 1113a, and the second shaft portion 111b may be provided with a second shaft hole 1113b. One of the first shaft hole 1113a and the second shaft hole 1113b is used to accommodate the rotating shaft of the driving member 31 so that the first outer wheel assembly 21a and the second outer wheel assembly 21b are close to or away from each other; the other is used to accommodate the rotating shaft of the driving motor used to drive the Mecanum wheel 100 so that the Mecanum wheel 100 can move.

[0070] The cam 32 and the wedge block 33 may be located between the first shaft portion 111a and the second shaft portion 111b. The rotating shaft of the driving member 31 passes through the first shaft hole 1113a and is fixed to the cam 32, and can drive the cam 32 to rotate. One end of the wedge block 33 abuts against the cam 32, and the other end is sandwiched between the first inner ring 2112a and the second inner ring 2112b. When the cam 32 is in the first state, the wedge block 33 can be away from the first inner ring 2112a and the second inner ring 2112b, or the wedge block 33 has no force on the first inner ring 2112a and the second inner ring 2112b; when the cam 32 is in the second state, the wedge block 33 is located between the first inner ring 2112a and the second inner ring 2112b, and can apply a force to move away from each other to the first inner ring 2112a and the second inner ring 2112b at the same time, so that the two first rings 211a and the second ring 211b can approach or move away from each other.

[0071] Optionally, the cam 32 may include at least one protrusion 321, and correspondingly, the wedge block 33 and the protrusion 321 are arranged one by one and evenly distributed between the first inner ring 2112a and the second inner ring 2112b, so that the force between the first inner ring 2112a and the second inner ring 2112b is even.

[0072] Specifically, the wedge block 33 may include a guide portion 331 and a wedge portion 332 connected to the guide portion 331. One end of the guide portion 331 away from the wedge portion 332 may abut against the cam 32 as the cam 32 rotates, so that the wedge portion 332 can be located between the first inner ring 2112a and the second inner ring 2112b, and one end of the guide portion 331 away from the wedge portion 332 may also move away from the corresponding convex portion 321 as the cam 32 rotates, so that the wedge portion 332 moves away from the first inner ring 2112a and the second inner ring 2112b.

[0073] In this embodiment, the cam 32 includes two symmetrically arranged protrusions 321, and correspondingly, there are two wedge blocks 33. In the initial state, the end of the guide portion 331 away from the wedge portion 332 can be away from the corresponding cam 32, so that the wedge block 33 can be away from the first inner ring 2112a and the second inner ring 2112b, so that the elastic member 22 between the first inner ring 2112a and the second inner ring 2112b is in a natural state, so that the first outer wheel assembly 21a and the second outer wheel assembly 21b are in a contracted state at the same time, that is, the deformation wheel mechanism 20 is in the first mode. When the driving member 31 drives the cam 32 to rotate 90°, the end of the guide portion 331 away from the wedge-shaped portion 332 can be pressed against the cam 32 as the cam 32 rotates, so that the wedge block 33 can be sandwiched between the first inner ring 2112a and the second inner ring 2112b, so that the first inner ring 2112a and the second inner ring 2112b are separated from each other, so that the first outer wheel assembly 21a and the second outer wheel assembly 21b are in the extended state at the same time, that is, the deformation wheel mechanism 20 is in the second mode. When the driving member 31 drives the cam 32 to rotate 90° again (either forward or reverse), the end of the guide portion 331 away from the wedge-shaped portion 332 can be separated from the corresponding cam 32, and the deformation wheel mechanism 20 is in the first mode again. In other embodiments, the number of cams 32 can also be three or four, which is not limited here.

[0074] Further, a first guide structure 1114a may be provided at one end of the first shaft portion 111a close to the second shaft portion 111b, and the guide portion 331 is slidably connected to the first guide structure 1114a. The first guide structure 1114a is used to constrain the moving direction of the guide portion 331, so that the guide portion 331 reciprocates along the preset direction under the drive of the cam 32. Alternatively, a second guide structure 1114b may be provided at one end of the second shaft portion 111b close to the first shaft portion 111a, and the guide portion 331 is slidably connected to the second guide structure 1114b. The second guide structure 1114b is used to constrain the moving direction of the guide portion 331, so that the guide portion 331 reciprocates along the preset direction under the drive of the cam 32. Alternatively, the first shaft portion 111a may be provided with a first guide structure 1114a at one end close to the second shaft portion 111b, and the second shaft portion 111b may be provided with a second guide structure 1114b at one end close to the first shaft portion 111a, and the guide portion 331 is slidably connected to the first guide structure 1114a and the second sliding structure. That is, the wedge block 33 includes a guide portion 331 and a wedge portion 332 connected to one end of the guide portion 331; the first shaft portion 111a and / or the second shaft portion 111b are provided with a guide structure 1114, and the guide portion 331 is slidably connected to the guide structure 1114; and the end of the guide portion 331 away from the wedge portion 332 abuts against the cam 32.

[0075] It can be understood that in this embodiment, the driving member 31 drives the cam 32 to rotate, so that the wedge block 33 can be sandwiched between the first inner ring 2112a and the second inner ring 2112b, so that the first inner ring 2112a and the second inner ring 2112b are separated from each other, so that the first outer wheel assembly 21a and the second outer wheel assembly 21b are in the extended state at the same time, that is, the deformation wheel mechanism 20 is in the second mode. Alternatively, the driving member 31 drives the cam 32 to rotate, so that the wedge block 33 can be separated from the first inner ring 2112a and the second inner ring 2112b, so that the elastic member 22 between the first inner ring 2112a and the second inner ring 2112b is in the natural state, so that the first outer wheel assembly 21a and the second outer wheel assembly 21b are in the contracted state at the same time, that is, the deformation wheel mechanism 20 is in the second mode. In other words, the driving mechanism 30 in this embodiment enables the first outer wheel assembly 21a and the second outer wheel assembly 21b to shrink or stretch synchronously, so that the deformation wheel mechanism 20 switches between the first mode and the second mode.

[0076] Please refer to Fig.15 , Fig.15 A three-dimensional schematic diagram of the cooperation between the wheel hub and the driving mechanism in another embodiment of the present application. In another embodiment, the driving mechanism 30 may include a first driving member 31a and a second driving member 31b, the first driving member 31a is used to drive the collar 211 on the first shaft portion 111a to move along the first shaft portion 111a; the second driving member 31b is fixed to the second shaft portion 111b and connected to the collar 211 sleeved on the second shaft portion 111b, and the second driving member 31b is used to drive the collar 211 on the second shaft portion 111b to move along the second shaft portion 111b.

[0077] Optionally, the first driving member 31a and the second driving member 31b are one of a telescopic cylinder and an electromagnetic driving member. For example, when the first driving member 31a is a telescopic cylinder, the first driving member 31a drives the collar 211 on the first shaft portion 111a to move along the first shaft portion 111a. For another example, when the first driving member 31a is an electromagnetic driving member, when the first driving member 31a is powered on, the first driving member 31a can move the collar 211 on the first shaft portion 111a along the first shaft portion 111a.

[0078] Specifically, the first driving member 31a is fixed on the first shaft portion 111a and connected to the first collar 211a, and is used to drive the first collar 211a to move along the first shaft portion 111a. The second driving member 31b is fixed on the second shaft portion 111b and connected to the second collar 211b, and is used to drive the second collar 211b to move along the second shaft portion 111b. That is, the first driving member 31a and the second driving member 31b are independent of each other and do not affect each other.

[0079] Optionally, the first driving member 31a and the second driving member 31b are driven synchronously, or the first driving member 31a and the second driving member 31b are driven asynchronously. Specifically, when the first driving member 31a drives the first ring 211a away from the second ring 211b and the second driving member 31b is not started, the first outer wheel assembly 21a is in an extended state, and the deformation wheel mechanism 20 is in the second mode. Similarly, when the first driving member 31a is not started and the second driving member 31b drives the second ring 211b away from the first ring 211a, the second outer wheel assembly 21b is in an extended state, and the deformation wheel mechanism 20 is in the second mode.

[0080] Alternatively, the first driving member 31a and the second driving member 31b can be driven simultaneously, so that the first ring 211a and the second ring 211b move away from each other, so that the first outer wheel assembly 21a and the second outer wheel assembly 21b are in the extended state at the same time, and the deformation wheel mechanism 20 is in the second mode.

[0081] It can be understood that since the first ring 211a is driven by the first driving member 31a and the second ring 211b is driven by the second driving member 31b, the moving distances of the first ring 211a and the second ring 211b are respectively determined by the first driving member 31a and the second driving member 31b, that is, the diameter of the roller formed by the first outer wheel portion 213 and the diameter of the roller formed by the second outer wheel portion 213 can be the same or different, and no specific limitation is made here.

[0082] The Mecanum wheel 100 provided in the embodiment of the present application makes the two outer wheel assemblies 21 approach or move away from each other on the wheel hub 11, so that the outer wheel assemblies 21 are in a contracted or extended state, thereby enabling the deformation wheel mechanism 20 to switch between the first mode and the second mode to adapt to different application scenarios. In addition, the arrangement of the two outer wheel assemblies 21 makes the Mecanum wheel 100 symmetrical in structure and more stable.

[0083] The above descriptions are only some embodiments of the present application, and do not limit the protection scope of the present application. Any equivalent device or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A Mecanum wheel, It is characterized in that include: The Meckel wheel mechanism, including a wheel hub; The deformable wheel mechanism comprises two outer wheel assemblies, each of which is sleeved on the wheel hub and can move along the wheel hub; A driving mechanism, the driving mechanism is fixed on the wheel hub; the driving mechanism is respectively connected to the two outer wheel assemblies, and is used to drive the two outer wheel assemblies to move closer to or away from each other, so as to retract or extend the outer wheel assemblies, so that the deformation wheel mechanism can switch between the first mode and the second mode; Each of the outer wheel assemblies includes a collar, a plurality of connecting rod assemblies and a plurality of outer wheel parts corresponding to the plurality of connecting rod assemblies one by one, one end of each of the connecting rod assemblies is hinged to the collar, and the other end is fixed to the outer wheel part, and the plurality of outer wheel parts can form a roller; the wheat wheel mechanism also includes two rims fixed to the two ends of the wheel hub, each of the rims is provided with a plurality of guide holes corresponding to the plurality of connecting rod assemblies, and each of the connecting rod assemblies is inserted into the corresponding guide hole; the collar is sleeved on the wheel hub and connected to the driving mechanism, and the driving mechanism can drive the collar to move along the wheel hub, thereby retracting or extending the outer wheel part.

2. The Mecanum wheel according to claim 1, It is characterized in that The connecting rod assembly includes a transmission rod and a guide rod rotatably connected to the transmission rod, the guide rod is inserted into the corresponding guide hole; one end of the transmission rod away from the guide rod is hinged to the ring, and one end of the guide rod away from the transmission rod is fixed to the outer wheel.

3. The Mecanum wheel according to claim 1 or 2, It is characterized in that The wheel hub comprises a first wheel hub and a second wheel hub, the first wheel hub comprises a first shaft portion, a first outer ring sleeved on the first shaft portion, and a first spoke connecting the first shaft portion and the first outer ring, the second wheel hub comprises a second shaft portion, a second outer ring sleeved on the second shaft portion, and a second spoke connecting the second shaft portion and the second outer ring, the first outer ring is fixedly connected to the outer ring, the two rings are respectively sleeved on the first shaft portion and the second shaft portion, and the driving mechanism is fixed on the first shaft portion and / or the second shaft portion.

4. The Mecanum wheel according to claim 3, It is characterized in that The deforming wheel mechanism also includes a plurality of elastic members, which are located between the two rings and are used to allow the two rings to be spaced apart and close to each other; the driving mechanism is located between the two rings and is used to drive the two rings to move away from each other.

5. The Mecanum wheel according to claim 4, It is characterized in that The driving mechanism includes a driving member, a cam and a wedge block; a gap is set between the first shaft portion and the second shaft portion, the cam and the wedge block are located between the first shaft portion and the second shaft portion, one end of the wedge block is against the cam, and the other end is clamped between the two rings; a first shaft hole is provided on the first shaft portion, and the rotating shaft of the driving member passes through the first shaft hole and is fixed to the cam and drives the cam to rotate, so that the wedge block can make the two rings approach or move away from each other.

6. The Mecanum wheel according to claim 5, It is characterized in that The wedge block includes a guide portion and a wedge portion connected to one end of the guide portion; a guide structure is provided on the first shaft portion and / or the second shaft portion, and the guide portion is slidably connected to the guide structure; and one end of the guide portion away from the wedge portion abuts against the cam.

7. The Mecanum wheel according to claim 3, It is characterized in that The driving mechanism includes a first driving member and a second driving member; the first driving member is fixed on the first shaft portion and connected to the collar sleeved on the first shaft portion, and the first driving member is used to drive the collar on the first shaft portion to move along the first shaft portion; the second driving member is fixed on the second shaft portion and connected to the collar sleeved on the second shaft portion, and the second driving member is used to drive the collar on the second shaft portion to move along the second shaft portion.

8. The Mecanum wheel according to claim 7, It is characterized in that The first driving member and the second driving member are one of a telescopic cylinder and an electromagnetic driving member.

9. The Mecanum wheel according to claim 7, It is characterized in that The first driving member and the second driving member are driven synchronously, or the first driving member and the second driving member are driven asynchronously.

10. A mobile robot, It is characterized in that include: trunk; as well as According to any one of claims 1 to 9, the Mecanum wheel is connected to the trunk.

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