Variable-diameter Mecanum wheel structure and robot

Abstract

The application discloses a variable-diameter Mecanum wheel structure and a robot, and relates to the field of Mecanum wheel structures.The variable-diameter Mecanum wheel structure comprises a mounting seat assembly and a Mecanum wheel assembly.The mounting seat assembly comprises a first mounting seat and a second mounting seat.The Mecanum wheel assembly comprises a wheel frame, a Mecanum wheel, a first support, a second support and an anti-tilting structure.The first ends of the first support and the second support are respectively hinged to the wheel frame, the second end of the first support is hinged to the outer side of the first mounting seat, and the second end of the second support is hinged to the outer side of the second mounting seat.The anti-tilting structure is used for limiting the rotation range of the wheel frame and avoiding the contact between the wheel frame and the ground.Compared with the prior art, the folding and contraction of the whole structure are realized through the swinging of the first support and the second support, the utilization rate of the peripheral space of the whole structure is improved, the occupation of the internal space of the whole structure by the first support and the second support is avoided, and thus the overall size is effectively reduced, so that the passing demand in a narrow space can be met.

Description

Technical Field

[0001] This invention relates to the field of mobile wheel technology, and in particular to a variable-diameter Mecanum wheel structure and robot. Background Technology

[0002] Mecanum wheels, as omnidirectional wheels, offer flexible movement and are frequently used in mobile robotic devices. Patent CN 112238708A discloses a variable-diameter Mecanum wheel capable of stepless variation of the wheel spoke diameter to improve throughput. However, this structure has the following drawbacks: The structure uses the radial sliding of a support rod to move the roller. To increase the roller's variable diameter range, the length of the groove corresponding to the support rod must be increased, resulting in a large radial dimension of the device. Furthermore, to avoid affecting the sliding retraction of the support rod, the drive structure for the support rod must be located between the support rods of the left and right spokes, leading to a large axial dimension of the device. Summary of the Invention

[0003] The purpose of this invention is to provide a variable-diameter Mecanum wheel structure and robot that can reduce its own volume as much as possible while changing its diameter, so as to meet the needs of passing through narrow spaces.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention discloses a variable-diameter Mecanum wheel structure, comprising:

[0006] The mounting base assembly includes a first mounting base and a second mounting base;

[0007] A Mecanum wheel assembly includes a wheel frame, Mecanum wheels, a first bracket, a second bracket, and an anti-tipping structure. The Mecanum wheels are rotatably mounted on the wheel frame. The first ends of the first and second brackets are respectively hinged to the wheel frame, and the rotation axes at the hinge positions are collinear. The second end of the first bracket is hinged to the outer portion of the first mounting base, and the second end of the second bracket is hinged to the outer portion of the second mounting base. The number of Mecanum wheel assemblies is not less than three. The hinge positions of the second ends of multiple first brackets on the first mounting base all fall on a first circumference and are evenly distributed along the first circumference. The hinge positions of the second ends of multiple second brackets on the second mounting base all fall on a second circumference and are evenly distributed along the second circumference. The anti-tipping structure is used to limit the rotation range of the wheel frame and prevent the wheel frame from contacting the ground.

[0008] The first mounting base and the second mounting base are rotatable relative to each other to adjust the rotation radius of the Mecanum wheel.

[0009] Preferably, the variable-diameter Mecanum wheel structure further includes a first drive assembly, which enables the first mounting base and the second mounting base to rotate relative to each other and synchronously.

[0010] Preferably, the first mounting base is a first internal gear ring, and the second mounting base is a second internal gear ring; the first drive assembly includes a frame, a first cover plate, a second cover plate, a sun gear, a sun gear shaft, and a plurality of planet gears; a first end of the frame is fixedly connected to the first cover plate, and a second end of the frame is fixedly connected to the second cover plate; the first cover plate abuts against the end of the first internal gear ring opposite to the second internal gear ring, and the second cover plate abuts against the end of the second internal gear ring opposite to the first internal gear ring; the sun gear is fixed to the sun gear shaft, and the sun gear shaft is rotatably mounted on the frame; the planet gears are rotatably mounted on the frame, and the planet gears simultaneously mesh with the first internal gear ring and the sun gear.

[0011] Preferably, the first drive assembly further includes a drive gear and a drive gear shaft; the drive gear is fixed on the drive gear shaft, the drive gear shaft is rotatably mounted on the frame, and the drive gear meshes with the second internal gear ring.

[0012] Preferably, the first drive assembly further includes a first power input shaft and a second power input shaft, wherein the first power input shaft is used to drive the sun gear shaft to rotate, and the second power input shaft is used to drive the drive gear shaft to rotate.

[0013] Preferably, the anti-rollover structure includes a third bracket and a fourth bracket, and the wheel frame is provided with a sliding groove; the first end of the third bracket is hinged to the first end of the fourth bracket, and the hinge position is slidably disposed in the sliding groove; the second end of the third bracket is hinged to the outside of the first internal gear ring; the second end of the fourth bracket is hinged to the outside of the second internal gear ring.

[0014] Preferably, the first support includes a first arc-shaped rod, and the second support includes a second arc-shaped rod, wherein the first arc-shaped rod and the second arc-shaped rod have opposite bending directions.

[0015] Preferably, the first bracket includes a first hinge shaft, a second hinge shaft, and a first arc-shaped rod. The first hinge shaft is fixed to a first end of the first arc-shaped rod, and the second hinge shaft is fixed to a second end of the first arc-shaped rod. The first hinge shaft and the second hinge shaft are located on opposite sides of the plane containing the first arc-shaped rod, and both the first hinge shaft and the second hinge shaft are perpendicular to the first arc-shaped rod. The first hinge shaft is hinged to the wheel frame, and the second hinge shaft is hinged to the first mounting base.

[0016] The second bracket includes a third hinge shaft, a fourth hinge shaft, and a second arc-shaped rod. The third hinge shaft is fixed to the first end of the second arc-shaped rod, and the fourth hinge shaft is fixed to the second end of the second arc-shaped rod. The third hinge shaft and the fourth hinge shaft are located on both sides of the plane where the second arc-shaped rod is located, and both the third hinge shaft and the fourth hinge shaft are perpendicular to the second arc-shaped rod. The third hinge shaft is hinged to the wheel frame, and the second hinge shaft is hinged to the second mounting base.

[0017] The present invention also discloses a robot, including the above-described variable-diameter Mecanum wheel structure, and further including a robot body and a second drive assembly; the second drive assembly is mounted on the robot body and is connected to the first cover plate or the second cover plate to drive the variable-diameter Mecanum wheel structure to rotate.

[0018] The present invention achieves the following technical effects compared to the prior art:

[0019] In this invention, the first end of the first bracket is hinged to the wheel frame, and the second end of the first bracket is hinged to the outside of the first mounting base. The first end of the second bracket is hinged to the wheel frame, and the second end of the second bracket is hinged to the outside of the second mounting base. When the variable-diameter Mecanum wheel structure is in the retracted state, the first bracket surrounds the outside of the first mounting base, rather than entering the first mounting base. The second bracket surrounds the outside of the second mounting base, rather than entering the second mounting base. Therefore, this invention achieves the folding and retraction of the entire structure through the swinging of the first and second brackets, improving the utilization rate of the external space of the entire structure and avoiding the occupation of the internal space of the entire structure by the first and second brackets, thereby effectively reducing the overall size to meet the needs of passage in narrow spaces. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the variable-diameter Mecanum wheel structure of an embodiment of the present invention in a contracted state from one perspective;

[0022] Figure 2 This is a schematic diagram of the variable-diameter Mecanum wheel structure of the present invention in a contracted state from another perspective;

[0023] Figure 3 This is a schematic diagram of the variable-diameter Mecanum wheel structure in the open state according to an embodiment of the present invention;

[0024] Figure 4 This is a partial structural diagram of the variable-diameter Mecanum wheel structure according to an embodiment of the present invention. Figure 1 ;

[0025] Figure 5 This is a partial structural diagram of the variable-diameter Mecanum wheel structure according to an embodiment of the present invention. Figure 2 ;

[0026] Figure 6 This is a partial structural diagram of the variable-diameter Mecanum wheel structure according to an embodiment of the present invention. Figure 3 ;

[0027] Figure 7 This is a partial structural diagram of the variable-diameter Mecanum wheel structure according to an embodiment of the present invention. Figure 4 ;

[0028] Figure 8 This is a partial structural diagram of the variable-diameter Mecanum wheel structure according to an embodiment of the present invention. Figure 5 .

[0029] Explanation of reference numerals in the attached figures:

[0030] 1-Wheel frame; 2-Mecanum wheel; 3-First bracket; 4-Second bracket; 5-First internal gear ring; 6-First cover plate; 7-Second internal gear ring; 8-Second cover plate; 9-Sun gear; 10-Planet gear; 11-Frame; 12-Drive gear; 13-Sun gear shaft universal joint; 14-Drive gear shaft universal joint; 15-First outer flange; 16-Second outer flange; 17-First hinge shaft; 18-First arc-shaped rod; 19-Third hinge shaft; 20-Second arc-shaped rod; 21-Third bracket; 22-Fourth bracket; 23-Slide groove; 24-Positioning gear. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] The purpose of this invention is to provide a variable-diameter Mecanum wheel structure and robot that can reduce its own volume as much as possible while changing its diameter, so as to meet the needs of passing through narrow spaces.

[0033] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Reference Figures 1 to 8 This embodiment provides a variable diameter Mecanum wheel structure, including a mounting base assembly and a Mecanum wheel assembly.

[0035] The mounting base assembly includes a first mounting base and a second mounting base. The Mecanum wheel assembly includes a wheel frame 1, a Mecanum wheel 2, a first bracket 3, a second bracket 4, and an anti-tipping structure. The Mecanum wheel 2 is rotatably mounted on the wheel frame 1. The first ends of the first bracket 3 and the second bracket 4 are respectively hinged to the wheel frame 1 from both sides, and the rotation axes at the hinge positions are collinear, which are not parallel to or intersect with the rotation axis of the Mecanum wheel 2. The second end of the first bracket 3 is hinged to the outer portion of the first mounting base, and the second end of the second bracket 4 is hinged to the outer portion of the second mounting base. The number of Mecanum wheel assemblies is not less than 3. The hinge positions of the second ends of the multiple first brackets 3 on the first mounting base all fall on a first circumference and are evenly distributed along the first circumference. The hinge positions of the multiple second brackets 4 on the second mounting base all fall on a second circumference and are evenly distributed along the second circumference, and the first and second circumferences have the same radius. The anti-tipping structure is used to limit the rotation range of the wheel frame 1 and prevent the wheel frame 1 from contacting the ground. It is understood that the rotation axes at the hinged ends of the first bracket 3 are parallel, and the rotation axes at the hinged ends of the second bracket 4 are also parallel. The first and second mounting seats can rotate relative to each other to adjust the rotation radius of the Mecanum wheel 2.

[0036] The working principle of the variable-diameter Mecanum wheel structure in this embodiment is as follows:

[0037] The distance between the overall rotation axis of the variable-diameter Mecanum wheel structure and the Mecanum wheel 2 is called the rotation radius of the Mecanum wheel 2. When the first mounting base and the second mounting base are relatively stationary, the rotation radius of the Mecanum wheel 2 remains constant. When the first mounting base and the second mounting base rotate relative to each other, for the same Mecanum wheel assembly, the distance between the second end of the first bracket 3 and the second end of the second bracket 4 changes. Since the lengths of the first bracket 3 and the second bracket 4 remain constant, the position of the wheel frame 1 changes. When the second end of the first bracket 3 approaches the second end of the second bracket 4, the rotation radius of the wheel frame 1 increases, causing the rotation radius of the Mecanum wheel 2 to increase (refer to...). Figure 3 When the second end of the first bracket 3 moves away from the second end of the second bracket 4, the rotation radius of the wheel frame 1 decreases, which in turn causes the rotation radius of the Mecanum wheel 2 to decrease (see reference). Figure 1 , Figure 2 ).

[0038] When the variable-diameter Mecanum wheel structure is in the retracted state, the first bracket 3 surrounds the outside of the first mounting base, rather than entering the first mounting base. Similarly, the second bracket 4 surrounds the outside of the second mounting base, rather than entering the second mounting base. Therefore, this embodiment achieves the folding and retraction of the entire structure through the swinging motion of the first bracket 3 and the second bracket 4, improving the utilization rate of the external space of the entire structure and avoiding the occupation of the internal space by the first bracket 3 and the second bracket 4, thereby effectively reducing the overall size to meet the needs of passage through confined spaces.

[0039] As one possible example, in this embodiment, the variable-diameter Mecanum wheel structure further includes a first drive assembly. The first drive assembly enables the first mounting base and the second mounting base to rotate relative to each other, thereby adjusting the rotation radius of the Mecanum wheel 2. Alternatively, the first drive assembly can cause the first mounting base and the second mounting base to rotate synchronously (i.e., rotate in the same direction at the same speed). In this case, the Mecanum wheel 2 rotates around the overall rotation axis of the variable-diameter Mecanum wheel structure, achieving the walking function, while the rotation radius of the Mecanum wheel 2 remains unchanged. Various types of first drive assemblies are available, and those skilled in the art can select one according to actual needs.

[0040] As a possible example, in this embodiment, the first mounting base is the first internal gear ring 5. The first drive assembly includes a frame 11, a first cover plate 6, a second cover plate 8, a sun gear 9, a sun gear shaft, and multiple planetary gears 10, which are evenly distributed along the circumference of the sun gear 9. The first end of the frame 11 is fixedly connected to the first cover plate 6, and the second end of the frame 11 is fixedly connected to the second cover plate 8. The first cover plate 6 abuts against the end of the first internal gear ring 5 opposite to the second internal gear ring 7, and the second cover plate 8 abuts against the end of the second internal gear ring 7 opposite to the first internal gear ring 5. The sun gear 9 is fixed to the sun gear shaft, which is rotatably mounted on the frame 11. The planetary gears 10 are rotatably mounted on the frame 11, and simultaneously mesh with the first internal gear ring 5 and the sun gear 9. The overall rotation axis of the variable-diameter Mecanum gear structure is the axis of the sun gear.

[0041] When the sun gear shaft rotates, the sun gear 9 rotates synchronously with the sun gear shaft, and the sun gear 9 drives the first internal gear ring 5 to rotate through the planet gears 10. The relative rotation of the first internal gear ring 5 and the second mounting base adjusts the distance between the second end of the first bracket 3 and the second end of the second bracket 4. The sliding contact between the slide groove 23 in the anti-tipping structure and the hinge position limits the rotation range of the wheel frame 1, preventing the wheel frame 1 from contacting the ground.

[0042] Specifically, in this embodiment, the second end of the third bracket 21 is hinged to the first internal gear ring 5, and the second end of the fourth bracket 22 is hinged to the second internal gear ring 7.

[0043] To further accelerate the adjustment speed of the rotation radius of the Mecanum wheel 2, the following scheme is further disclosed in this embodiment.

[0044] In this embodiment, the first drive assembly further includes a drive gear 12 and a drive gear shaft. The drive gear 12 is fixed on the drive gear shaft, which is rotatably mounted on the frame 11. The drive gear 12 meshes with the second internal gear ring 7.

[0045] Both the first cover plate 6 and the second cover plate 8 can be connected to the robot's drive unit to drive the entire variable-diameter Mecanum wheel structure. In this embodiment, the connection of the second cover plate 8 to the robot's drive unit will be used as an example for explanation.

[0046] When the sun gear shaft and the drive gear shaft rotate in the same direction, the first internal gear ring 5 and the second internal gear ring 7 rotate in opposite directions. When both the sun gear shaft and the drive gear shaft rotate in the first direction, the rotation radius of the Mecanum gear 2 increases. When both the sun gear shaft and the drive gear shaft rotate in the second direction, the rotation radius of the Mecanum gear 2 decreases, and the second direction rotates in the opposite direction to the first direction.

[0047] In this embodiment, the frame 11 includes a cylindrical shell (ring-shaped) and a partition plate. The partition plate is fixed inside the cylindrical shell and perpendicular to the axis of the cylindrical shell. The partition plate has a through hole for the sun gear shaft to pass through, and the cylindrical shell has a slot for the planet gear 10 and the drive gear 12 to pass through. The frame 11 is disposed within the space enclosed by the first mounting base and the second mounting base. When a single drive gear 12 is provided, the drive gear 12 may disengage from the second internal gear ring 7 due to the tilt of the frame 11. Therefore, in this embodiment, at least two positioning gears 24 are also rotatably mounted on the frame 11. The positioning gears 24 mesh with the second internal gear ring 7 to jointly position the frame 11 through the drive gear 12 and the positioning gears 24. The drive gear 12 and the positioning gears 24 are evenly distributed along the circumferential direction of the sun gear shaft.

[0048] In order to achieve automatic adjustment of the rotation radius of the Mecanum wheel 2, in this embodiment, the first drive assembly further includes a first power input shaft and a second power input shaft. The first power input shaft is used to drive the sun gear shaft to rotate, and the second power input shaft is used to drive the drive gear shaft to rotate.

[0049] As a possible example, in this embodiment, a sun gear universal joint 13 is mounted on the sun gear shaft, and a drive gear universal joint 14 is mounted on the drive gear shaft. The sun gear universal joint 13 is used to connect the first power input shaft, and the drive gear universal joint 14 is used to connect the second power input shaft.

[0050] As a possible example, in this embodiment, the anti-rollover structure includes a third bracket 21 and a fourth bracket 22, and the wheel frame 1 is provided with a sliding groove 23. The first end of the third bracket 21 is hinged to the first end of the fourth bracket 22, and the hinged position is slidably disposed within the sliding groove 23. The second end of the third bracket 21 is hinged to the first internal gear ring 5. The second end of the fourth bracket 22 is hinged to the second internal gear ring 7.

[0051] As a possible example, in this embodiment, the first support 3 includes a first arc-shaped rod 18, and the second support 4 includes a second arc-shaped rod 20, with the first arc-shaped rod 18 and the second arc-shaped rod 20 bending in opposite directions. Compared to a straight rod, the ends of the arc-shaped rod are more easily bent under pressure, thus providing better cushioning. When the rotation radius of the Mecanum wheel 2 is at the minimum of the adjustment range, the arc-shaped rod approximately covers the outside of the first internal gear ring 5 or the second internal gear ring 7.

[0052] Specifically, in this embodiment, the first bracket 3 includes a first hinge shaft 17, a second hinge shaft, and a first arc-shaped rod 18. The first hinge shaft 17 is fixed to the first end of the first arc-shaped rod 18, and the second hinge shaft is fixed to the second end of the first arc-shaped rod 18. The first hinge shaft 17 and the second hinge shaft are located on opposite sides of the plane containing the first arc-shaped rod 18, and both are perpendicular to the first arc-shaped rod 18. The first hinge shaft 17 is hinged to the wheel frame 1, and the second hinge shaft is hinged to the first mounting base.

[0053] The second bracket 4 includes a third hinge shaft 19, a fourth hinge shaft, and a second arc-shaped rod 20. The third hinge shaft 19 is fixed to the first end of the second arc-shaped rod 20, and the fourth hinge shaft is fixed to the second end of the second arc-shaped rod 20. The third hinge shaft 19 and the fourth hinge shaft are located on opposite sides of the plane containing the second arc-shaped rod 20, and both are perpendicular to the second arc-shaped rod 20. The third hinge shaft 19 is hinged to the wheel frame 1, and the second hinge shaft is hinged to the second mounting base.

[0054] However, the actual implementation is not limited to this. For example, the first hinge shaft 17 can be fixed to the wheel frame 1 and pass through the corresponding through hole at the first end of the first arc-shaped rod 18, thereby realizing the hinge between the first end of the first bracket 3 and the wheel frame 1.

[0055] As a possible example, in this embodiment, the first internal gear ring 5 has a first outer flange 15, and the second internal gear ring 7 has a second outer flange 16. A second hinge shaft is hinged to the first outer flange 15, and a fourth hinge shaft is hinged to the second outer flange 16.

[0056] This embodiment also provides a robot, which includes any of the above-described variable-diameter Mecanum wheel structures, and further includes a robot body and a second drive assembly. The second drive assembly is mounted on the robot body and is connected to a first cover plate 6 or a second cover plate 8. The first cover plate 6 or the second cover plate 8 serves as a hub to drive the variable-diameter Mecanum wheel structure to achieve overall rotation.

[0057] Since the robot has a variable-diameter Mecanum wheel structure, it also has the corresponding advantages of a variable-diameter Mecanum wheel structure, which will not be elaborated here.

[0058] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A variable-diameter Mecanum wheel structure, characterized in that, include: The mounting base assembly includes a first mounting base and a second mounting base; A Mecanum wheel assembly includes a wheel frame, Mecanum wheels, a first bracket, a second bracket, and an anti-tipping structure. The Mecanum wheels are rotatably mounted on the wheel frame. The first ends of the first and second brackets are respectively hinged to the wheel frame, and the rotation axes at the hinge positions are collinear. The second end of the first bracket is hinged to the outer portion of the first mounting base, and the second end of the second bracket is hinged to the outer portion of the second mounting base. The number of Mecanum wheel assemblies is not less than three. The hinge positions of the second ends of multiple first brackets on the first mounting base all fall on a first circumference and are evenly distributed along the first circumference. The hinge positions of the second ends of multiple second brackets on the second mounting base all fall on a second circumference and are evenly distributed along the second circumference. The anti-tipping structure is used to limit the rotation range of the wheel frame and prevent the wheel frame from contacting the ground. The first mounting base and the second mounting base can rotate relative to each other to adjust the rotation radius of the Mecanum wheel; The variable-diameter Mecanum wheel structure also includes a first drive assembly, which enables the first mounting base and the second mounting base to rotate relative to each other and synchronously. The first mounting base is a first internal gear ring, and the second mounting base is a second internal gear ring; the first drive assembly includes a frame, a first cover plate, a second cover plate, a sun gear, a sun gear shaft, and multiple planetary gears; a first end of the frame is fixedly connected to the first cover plate, and a second end of the frame is fixedly connected to the second cover plate; the first cover plate abuts against the end of the first internal gear ring opposite to the second internal gear ring, and the second cover plate abuts against the end of the second internal gear ring opposite to the first internal gear ring; the sun gear is fixed to the sun gear shaft, and the sun gear shaft is rotatably mounted on the frame; the planetary gears are rotatably mounted on the frame, and the planetary gears simultaneously mesh with the first internal gear ring and the sun gear; The first drive assembly further includes a drive gear and a drive gear shaft; The drive gear is fixed on the drive gear shaft, the drive gear shaft is rotatably mounted on the frame, and the drive gear meshes with the second internal gear ring; The anti-rollover structure includes a third bracket and a fourth bracket, and the wheel frame is provided with a sliding groove; the first end of the third bracket is hinged to the first end of the fourth bracket, and the hinge position is slidably disposed in the sliding groove; the second end of the third bracket is hinged to the outside of the first internal gear ring; the second end of the fourth bracket is hinged to the outside of the second internal gear ring.

2. The variable diameter Mecanum wheel structure according to claim 1, characterized in that: The first drive assembly further includes a first power input shaft and a second power input shaft, wherein the first power input shaft is used to drive the sun gear shaft to rotate, and the second power input shaft is used to drive the drive gear shaft to rotate.

3. The variable diameter Mecanum wheel structure according to claim 1, characterized in that: The first support includes a first arc-shaped rod, and the second support includes a second arc-shaped rod, wherein the first arc-shaped rod and the second arc-shaped rod have opposite bending directions.

4. The variable diameter Mecanum wheel structure according to claim 3, characterized in that: The first bracket includes a first hinge shaft, a second hinge shaft, and a first arc-shaped rod. The first hinge shaft is fixed to a first end of the first arc-shaped rod, and the second hinge shaft is fixed to a second end of the first arc-shaped rod. The first hinge shaft and the second hinge shaft are located on opposite sides of the plane containing the first arc-shaped rod, and both the first hinge shaft and the second hinge shaft are perpendicular to the first arc-shaped rod. The first hinge shaft is hinged to the wheel frame, and the second hinge shaft is hinged to the first mounting base. The second bracket includes a third hinge shaft, a fourth hinge shaft, and a second arc-shaped rod. The third hinge shaft is fixed to the first end of the second arc-shaped rod, and the fourth hinge shaft is fixed to the second end of the second arc-shaped rod. The third hinge shaft and the fourth hinge shaft are located on both sides of the plane where the second arc-shaped rod is located, and both the third hinge shaft and the fourth hinge shaft are perpendicular to the second arc-shaped rod. The third hinge shaft is hinged to the wheel frame, and the second hinge shaft is hinged to the second mounting base.

5. A robot, characterized in that, The system includes a variable-diameter Mecanum wheel structure as described in any one of claims 1 to 4, and further includes a robot body and a second drive assembly; the second drive assembly is mounted on the robot body and is connected to the first cover plate or the second cover plate to drive the variable-diameter Mecanum wheel structure to rotate.

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