Mecanum wheel expanding device and mobile equipment

Abstract

The invention belongs to the technical field of mobile equipment, and discloses a Mecanum wheel expansion device and mobile equipment. The Mecanum wheel expanding device comprises a Mecanum wheel, a driving assembly, a driven assembly and a guiding assembly. The driving assembly is fixedly arranged on the rack and comprises a driving part and a gear, and the driving part is used for driving the gear to rotate; the Mecanum wheel is installed at the end of the transmission assembly, the transmission assembly comprises a rack, and the rack extends along the X axis and is meshed with the gear; and the guide mechanism is fixedly arranged on the rack, extends along the X axis and is used for guiding the movement of the transmission assembly and the Mecanum wheel. It can be understood that the X-axis direction is the expansion direction of the Mecanum wheel. According to the Mecanum wheel expansion device, expansion and contraction of the Mecanum wheel are achieved in the modes of driving of the driving piece and transmission of the gear and the rack, the reliability is high, the durability is high, and the production cost is low.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile devices, in particular to a Mecanum wheel expansion device and a mobile device. BACKGROUND

[0002] The Mecanum wheel is a special designed omnidirectional wheel, which realizes multidirectional movement through rollers arranged at 45 degrees around the hub, and realizes forward movement, transverse movement, oblique movement and rotation in place without steering mechanism. It is widely used in warehouse, production line, robot and other fields. In order to increase the installation width, the Mecanum wheel of part of the mobile device needs to be expanded horizontally to realize the expansion of the installation width.

[0003] At present, the electric cylinder direct drive structure and bearing slide rail structure are usually applied to the Mecanum wheel expansion device. The electric cylinder direct drive mechanism has simple structure, but the space utilization rate is poor, and it cannot bear large load, and cannot be well applied to the Mecanum wheel which generates large torque, and has poor durability; the bearing slide rail structure has small friction resistance, but its processing requirement is high and the number of parts is large, the production cost is high, and the maintenance is inconvenient.

[0004] Therefore, it is necessary to provide a Mecanum wheel expansion device and a mobile device to solve the above problems. SUMMARY

[0005] The purpose of the present application is to provide a Mecanum wheel expansion device and a mobile device with high reliability, high durability and low production cost.

[0006] In order to achieve this purpose, the present application adopts the following technical scheme:

[0007] A Mecanum wheel expansion device, comprising:

[0008] a Mecanum wheel;

[0009] a drive assembly fixedly arranged on a rack, the drive assembly comprising a driving member and a gear, the driving member being used to drive the gear to rotate;

[0010] a transmission assembly, the Mecanum wheel being installed at the end of the transmission assembly, the transmission assembly comprising a rack gear, the rack gear extending along the X axis and being engaged with the gear;

[0011] a guide mechanism fixedly arranged on the rack, the guide mechanism extending along the X axis, the guide mechanism being used to provide guidance for the movement of the transmission assembly and the Mecanum wheel.

[0012] As preferred, the transmission assembly further comprises:

[0013] a fixing seat, the Mecanum wheel being connected with the fixing seat;

[0014] A connecting plate is connected to the fixing base, and the connecting plate is in sliding guide connection with the guide mechanism.

[0015] As a preferred embodiment, the number of the guide mechanisms is two, and the two guide mechanisms are arranged at two ends of the transmission assembly along the Y axis.

[0016] A reinforcing member is arranged between the two connecting plates and fixedly connected to the two connecting plates.

[0017] As a preferred embodiment, the reinforcing member comprises a first reinforcing part and two second reinforcing parts, the second reinforcing parts are arranged at two ends of the first reinforcing part along the Y axis at an included angle, so that the reinforcing member has a U-shaped structure, the first reinforcing part is connected to the fixing base, and the two second reinforcing parts are respectively connected to the two connecting plates.

[0018] As a preferred embodiment, the transmission assembly further comprises a support frame, at least a part of the rack is fixedly installed on the support frame, and the Mecanum wheel expansion device further comprises:

[0019] A limiting assembly, a limiting end of the limiting assembly is in limiting abutment with a side of the rack away from the gear.

[0020] As a preferred embodiment, the limiting assembly comprises a cam follower, and the cam follower is in rolling abutment with the rack.

[0021] As a preferred embodiment, the guide mechanism comprises at least two groups of guide assemblies arranged along the Y axis, and adjacent two groups of the guide assemblies are in sliding guide cooperation.

[0022] As a preferred embodiment, the guide assembly comprises:

[0023] A mounting plate;

[0024] A guide rail and a guide block, the guide rail and the guide block are in sliding cooperation, the guide rail extends along the X axis, one of the guide rail and the guide block is connected to the transmission assembly or another guide assembly, and the other is connected to the mounting plate.

[0025] As a preferred embodiment, the drive assembly further comprises a speed reducer, the speed reducer is connected to an output shaft of the driving member, and the gear is connected to an output shaft of the speed reducer.

[0026] A mobile device comprising a rack and a Mecanum wheel expansion device as described above, and the Mecanum wheel expansion device is installed on the rack.

[0027] The present application has the following advantages:

[0028] The Mecanum wheel expansion device comprises a Mecanum wheel, a driving assembly, a driven assembly and a guide assembly; the driving assembly is fixedly arranged on the frame, and comprises a driving member and a gear; the driving member is used to drive the gear to rotate; the Mecanum wheel is installed at the end of the transmission assembly; the transmission assembly comprises a rack, and the rack extends along the X-axis and is engaged with the gear; the guide mechanism is fixedly arranged on the frame and extends along the X-axis, and is used to guide the movement of the transmission assembly and the Mecanum wheel. It can be understood that the X-axis direction is the expansion direction of the Mecanum wheel.

[0029] When the driving member fixed to the frame is started, the gear is driven to rotate, and the gear and the rack in the transmission assembly form an engagement pair; when the gear rotates, the rack moves along the X-axis direction under the action of the engagement force, so that the transmission assembly moves along the X-axis direction; since the Mecanum wheel is installed at the end of the transmission assembly, the Mecanum wheel can move along the X-axis synchronously with the transmission assembly at this time, wherein the Mecanum wheel itself can also produce displacement along the X-axis, and under the cooperation of the Mecanum wheel itself and the transmission assembly, the Mecanum wheel expands outward or shrinks inward along the X-axis; the guide mechanism fixed to the frame extends along the X-axis direction, the transmission assembly is connected with the guide mechanism, and the guide mechanism ensures that the movement path of the transmission assembly and the Mecanum wheel is strictly along the X-axis direction, avoiding lateral deviation or vibration.

[0030] Compared with the prior art, the Mecanum wheel expansion device provided by the application adopts a driving member driving and gear and rack transmission mode to realize the expansion and contraction of the Mecanum wheel; compared with the motor direct drive structure, the gear and rack transmission can transmit high torque, effectively coping with the radial force and torsional load generated when the Mecanum wheel works; compared with the bearing slide rail structure, the gear and rack transmission has lower processing precision requirement, and does not need complex multi-axis linkage mechanism, significantly reducing the production cost. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is an exploded schematic view of the Mecanum wheel expansion device provided by the application;

[0032] Figure 2 is a top view of the Mecanum wheel expansion device provided by the application.

[0033] In the figure:

[0034] 1, Mecanum wheel;

[0035] 2, driving assembly; 21, driving member; 22, gear; 23, speed reducer;

[0036] 3, transmission assembly; 31, rack; 32, fixed seat; 33, connecting plate; 34, reinforcing member; 341, first reinforcing part; 342, second reinforcing part; 35, support frame;

[0037] 4, guiding mechanism; 41, guiding assembly; 411, mounting plate; 412, guide rail; 413, guide block;

[0038] 5, limiting assembly; 51, cam follower; 52, mounting seat; 53, fixed plate. DETAILED DESCRIPTION

[0039] The application will be further described below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are intended to be merely illustrative of the application and not in limitation thereof. It should also be noted that, for the purpose of brevity of description, only the parts of the drawings that are relevant to the present application are shown.

[0040] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "under" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0042] In the description of the present embodiment, the terms "upper", "lower", "right", and other orientation or position relationships are based on the orientation or position relationship shown in the drawings, and are only for the purpose of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0043] At present, the electric cylinder direct drive structure and bearing slide rail structure are commonly applied to the Mecanum wheel expansion device. The electric cylinder direct drive mechanism has simple structure, but poor space utilization, and cannot bear large load, and cannot be well applied to the Mecanum wheel mechanism which generates large torque, and has poor durability; the bearing slide rail structure has small friction resistance, but has high processing requirement and many parts, high production cost, and inconvenient maintenance.

[0044] In order to solve the above problems, as shown in Figure 1 、 Figure 2 The embodiment provides a Mecanum wheel expansion device, which comprises a Mecanum wheel 1, a driving assembly 2, a driven assembly and a guide assembly 41; the driving assembly 2 is fixedly arranged on a rack, and the driving assembly 2 comprises a driving part 21 and a gear 22, and the driving part 21 is used for driving the gear 22 to rotate; the Mecanum wheel 1 is installed at the end of a transmission assembly 3, and the transmission assembly 3 comprises a rack 31, and the rack 31 extends along the X axis and is engaged with the gear 22; the guide mechanism 4 is fixedly arranged on the rack, and the guide mechanism 4 extends along the X axis, and the guide mechanism 4 is used for providing guidance for the movement of the transmission assembly 3 and the Mecanum wheel 1. It can be understood that the X axis direction is the expansion direction of the Mecanum wheel 1.

[0045] The driving part 21 fixed to the rack is started to drive the gear 22 to rotate, the gear 22 and the rack 31 in the transmission assembly 3 form an engagement pair, when the gear 22 rotates, the rack 31 moves along the X axis direction under the action of the engagement force, and then the transmission assembly 3 moves along the X axis direction, since the Mecanum wheel 1 is installed at the end of the transmission assembly 3, at this time, the Mecanum wheel 1 can move along the X axis synchronously with the transmission assembly 3, wherein the Mecanum wheel 1 itself can also generate displacement along the X axis, under the cooperation of the Mecanum wheel 1 itself and the transmission assembly 3, the Mecanum wheel 1 expands outward or shrinks inward along the X axis; the guide mechanism 4 fixed to the rack extends along the X axis direction, the transmission assembly 3 is connected with the guide mechanism 4, and the guide mechanism 4 ensures that the movement path of the transmission assembly 3 and the Mecanum wheel 1 is strictly along the X axis direction, avoiding lateral deviation or vibration.

[0046] Compared with the prior art, the Mecanum wheel expansion device provided by the embodiment adopts the mode of driving by the driving part 21 and transmission by the gear 22 and the rack 31 to realize the expansion and contraction of the Mecanum wheel 1, compared with the motor direct drive structure, the power is transmitted through the gear 22 and the rack 31, which can transmit high torque, effectively cope with the radial force and torsional load generated when the Mecanum wheel 1 works, has high reliability and high durability; compared with the bearing slide rail structure, the processing precision requirement of the gear 22 and the rack 31 transmission is low, and a complex multi-axis linkage mechanism is not needed, production is convenient, and production cost is significantly reduced.

[0047] It should be noted that the modulus, the number of teeth and the material of the gear 22 are designed according to the load requirement, which can ensure that the torque during the operation of the Mecanum wheel 1 can be borne. It can be understood that the modulus, the number of teeth and the material of the rack 31 are matched with the gear 22.

[0048] Specifically, as shown in Figure 1 , Figure 2 , the transmission assembly 3 further comprises a fixed seat 32 and a connecting plate 33. The Mecanum wheel 1 is connected with the fixed seat 32, the connecting plate 33 is connected with the fixed seat 32, and the connecting plate 33 is slidingly connected with the guide mechanism 4. The fixed seat 32 is directly connected with the axle or the mounting flange of the Mecanum wheel 1. The fixed seat 32 can bear the weight of the Mecanum wheel 1 and provide a connection position of the Mecanum wheel 1 and the transmission assembly 3. The connecting plate 33 is used to be connected with the guide mechanism 4, so that the transmission assembly 3 is slidingly connected with the guide assembly 41. Specifically, the connecting plate 33 is a flat plate structure.

[0049] Specifically, as shown in Figure 1 , Figure 2 , the number of the guide mechanism 4 is two, and the two guide mechanisms 4 are arranged at the two ends of the transmission assembly 3 along the Y axis. The number of the connecting plate 33 is two, and the two connecting plates 33 are respectively connected to the two ends of the fixed seat 32 along the Y axis. The transmission assembly 3 further comprises a reinforcing member 34, which is arranged between the two connecting plates 33 and fixedly connected with the two connecting plates 33. The two guide mechanisms 4 are symmetrically arranged at the two ends of the Y axis to form a double-sided support structure, which can further improve the torsional rigidity and motion stability of the transmission assembly 3, effectively decompose the radial torque of the Mecanum wheel 1 during operation, prevent the jamming or yawing caused by the unilateral overload of the transmission assembly 3, and prolong the service life of the guide mechanism 4 through the uniform load effect. The reinforcing member 34 transversely connects the two connecting plates 33 to form a stable rigid structure, which can enhance the rigidity of the connecting plate 33 to reduce the possibility of deformation and improve the service life of the connecting plate 33.

[0050] In the embodiment, as shown in Figure 1 , Figure 2 , the reinforcing member 34 comprises a first reinforcing part 341 and two second reinforcing parts 342. The second reinforcing parts 342 are arranged at the two ends of the first reinforcing part 341 along the Y axis at an included angle, so that the reinforcing member 34 has a U-shaped structure. The first reinforcing part 341 is connected with the fixed seat 32, and the two second reinforcing parts 342 are respectively connected with the two connecting plates 33. By connecting the first reinforcing part 341 with the fixed seat 32 and connecting the two second reinforcing parts 342 with the two connecting plates 33, the overall rigidity of the fixed seat 32 and the connecting plate 33 is significantly improved, and the distortion of the connecting plate 33 caused by the torque of the Mecanum wheel 1 is effectively inhibited. At the same time, the U-shaped structure makes the stress of the two connecting plates 33 conducted to the first reinforcing part 341 through the second reinforcing parts 342, realizes uniform distribution of load, and enhances the anti-unilateral load capacity.

[0051] Specifically, as shown in Figure 1 , Figure 2 , the transmission assembly 3 further comprises a support frame 35, at least part of the rack 31 is fixedly installed on the support frame 35, and the Mecanum wheel expansion device further comprises a limiting assembly 5, and the limiting end of the limiting assembly 5 is limited and abuts against the side of the rack 31 away from the gear 22. The support frame 35 provides a stable mounting basis for the rack 31, ensuring that the rack 31 maintains flatness during transmission; by setting the limiting abutment on the side of the rack 31 away from the gear 22, the phenomenon of Y-axis deviation or tooth skipping of the rack 31 due to vibration or impact load during transmission can be effectively prevented, ensuring the stability of the meshing of the gear 22 and the rack 31 and guaranteeing the reliability of power transmission.

[0052] In this embodiment, as shown in Figure 1 , Figure 2 , the limiting assembly 5 comprises a cam follower 51, and the cam follower 51 is in rolling abutment with the rack 31. The cam follower 51 is in abutment with the rack 31 in a rolling contact manner, which can significantly reduce the frictional resistance compared with the traditional sliding friction limiting structure, making the transmission smoother; the built-in bearing structure can absorb the vibration and impact of the rack 31 during movement, effectively inhibiting the positioning deviation caused by high-frequency micro-amplitude vibration; this design not only ensures the reliability of limiting, but also avoids the defects of traditional limiting structures that are prone to wear and require frequent maintenance.

[0053] Specifically, as shown in Figure 1 , Figure 2 , the limiting assembly 5 further comprises a mounting seat 52 and a fixed plate 53, the fixed plate 53 is fixed to the driving member 21, the mounting seat 52 is fixed to the fixed plate 53, and the cam follower 51 is installed in the mounting seat 52.

[0054] Specifically, the guide mechanism 4 comprises at least two groups of guide assemblies 41 arranged along the Y-axis, and the adjacent two groups of guide assemblies 41 are in sliding guide cooperation. That is, the guide mechanism 4 is arranged in an overlapping layout, when the guide assembly 41 of the current group reaches the end of the stroke, the guide assembly 41 of the adjacent group can continue the guiding function, while ensuring a longer guiding distance along the X-axis, saving most of the space and improving the space utilization.

[0055] In this embodiment, as shown in Figure 1 , Figure 2 , the guide mechanism 4 comprises two groups of guide assemblies 41, for the convenience of writing, the two groups of guide assemblies 41 are respectively named as a first guide assembly and a second guide assembly, the first guide assembly is fixedly arranged on the rack, the second guide assembly is slidingly connected to the first guide assembly, and the transmission assembly 3 is slidingly connected to the second guide assembly. During the expansion of the Mecanum wheel 1, the first guide assembly and the second guide assembly cooperate to provide guidance for the movement of the Mecanum wheel 1 and the transmission assembly 3.

[0056] Specifically, as shown in Figure 1 , Figure 2 , the guide assembly 41 comprises a mounting plate 411, a guide rail 412 and a guide block 413, the guide rail 412 and the guide block 413 are slidingly fitted, the guide rail 412 extends along the X axis, one of the guide rail 412 and the guide block 413 is connected with the transmission assembly 3 or the other guide assembly 41, and the other is connected with the mounting plate 411.

[0057] In the embodiment, as shown in Figure 1 , Figure 2 , the mounting plate 411 of the first guide assembly 41 is fixedly connected with the rack, one of the guide rail 412 and the guide block 413 is connected with the mounting plate 411 of the first guide assembly, and the other is connected with the mounting plate 411 of the second guide assembly; the mounting plate 411 of the second guide assembly is slidingly fitted in the first guide assembly, one of the guide rail 412 and the guide block 413 is connected with the mounting plate 411, and the other is connected with the connecting plate 33. The specific arrangement is determined according to actual needs, and the embodiment does not limit this.

[0058] Specifically, as shown in Figure 1 , Figure 2 , the driving assembly 2 further comprises a speed reducer 23, the speed reducer 23 is connected with the output shaft of the driving member 21, and the gear 22 is connected with the output shaft of the speed reducer 23. The high-speed output of the driving member 21 is converted into a low-speed large-torque output suitable for the transmission of the rack 31 through the speed reducer 23; the transmission precision of the speed reducer 23 can significantly improve the meshing stability of the gear 22 and the rack 31, and avoid positioning deviation caused by instantaneous impact.

[0059] In the embodiment, the driving member 21 is a servo motor; in other embodiments, the driving member 21 can also be a stepper motor. The specific selection of the driving member 21 is not limited in the embodiment, and any mechanism capable of driving the gear 22 to rotate in the prior art can be used as the driving member 21 in the embodiment.

[0060] The working process of the Mecanum wheel expansion device is described as follows:

[0061] The driving member 21 is started to drive the gear 22 to rotate, the gear 22 drives the rack 31 to produce displacement in the X axis direction, and then drives the Mecanum wheel 1 to produce displacement in the X axis direction to expand outward, at the same time, the Mecanum wheel 1 itself rotates to produce displacement in the X axis direction, and the guide blocks 413 of the plurality of guide assemblies 41 slide along the guide rails 412 to provide guide action; when the Mecanum wheel 1 expands to a preset distance, the driving member 21 is locked by the brake to make the driving member 21 unable to continue to produce driving force in the X axis direction.

[0062] The embodiment also provides a mobile device, which comprises a rack and the Mecanum wheel expansion device as described above, and the Mecanum wheel expansion device is installed on the rack. The mobile device can change the installation width through the Mecanum wheel expansion device to adapt to different working scenes, and has good flexibility and strong versatility.

[0063] Obviously, the above-mentioned embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the implementation manners of the present application. For those skilled in the art, various obvious changes, re-adjustments and replacements can be made without departing from the protection scope of the present application. Here, it is unnecessary and impossible to enumerate all the implementation manners. Any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A Mecanum wheel expansion device, characterized in that: include: Mecanum wheel (1); A driving assembly (2) is fixedly mounted on the frame, wherein the driving assembly (2) comprises a driving member (21) and a gear (22), wherein the driving member (21) is used to drive the gear (22) to rotate; A transmission assembly (3), wherein the Mecanum wheel (1) is mounted on an end portion of the transmission assembly (3), and the transmission assembly (3) includes a rack (31), wherein the rack (31) extends along the X-axis and meshes with the gear (22); A guide mechanism (4) is fixedly arranged on the frame, and the guide mechanism (4) extends along the X-axis. The guide mechanism (4) is used to provide guidance for the movement of the transmission assembly (3) and the Mecanum wheel (1).

2. The Mecanum wheel expansion device according to claim 1, characterized in that: The transmission assembly (3) further comprises: A fixed seat (32), the Mecanum wheel (1) is connected to the fixed seat (32); A connecting plate (33) is connected to the fixing seat (32), and the connecting plate (33) is connected to the guide mechanism (4) in a sliding and guiding manner.

3. The Mecanum wheel expansion device according to claim 2, characterized in that: The number of the guide mechanisms (4) is two, and the two guide mechanisms (4) are arranged at both ends of the transmission component (3) along the Y axis. The number of the connecting plates (33) is two, and the two connecting plates (33) are respectively connected to the two ends of the fixing seat (32) along the Y axis. The transmission component (3) further includes: A reinforcing member (34) is provided between the two connecting plates (33) and is fixedly connected to the two connecting plates.

4. The Mecanum wheel expansion device according to claim 3, characterized in that: The reinforcement member (34) comprises a first reinforcement portion (341) and two second reinforcement portions (342), wherein the second reinforcement portions (342) are arranged at two ends of the first reinforcement portion (341) along the Y axis at an angle, so that the reinforcement member (34) has a U-shaped structure, the first reinforcement portion (341) is connected to the fixing seat (32), and the two second reinforcement portions (342) are respectively connected to the two connecting plates (33).

5. The Mecanum wheel expansion device according to claim 1, characterized in that: The transmission assembly (3) further includes a support frame (35), at least a portion of the rack (31) is fixedly mounted on the support frame (35), and the Mecanum wheel expansion device further includes: A limiting component (5), wherein the limiting end of the limiting component (5) is in limiting contact with a side of the rack (31) that is away from the gear (22).

6. The Mecanum wheel expansion device according to claim 5, characterized in that: The limiting assembly (5) comprises a cam follower (51), and the cam follower (51) is in rolling contact with the rack (31).

7. The Mecanum wheel expansion device according to any one of claims 1 to 6, characterized in that: The guide mechanism (4) comprises at least two groups of guide assemblies (41) arranged along the Y axis, and two adjacent groups of guide assemblies (41) are slidably guided and matched.

8. The Mecanum wheel expansion device according to claim 7, characterized in that: The guide assembly (41) comprises: Mounting plate (411); A guide rail (412) and a guide block (413), wherein the guide rail (412) and the guide block (413) are slidably matched, the guide rail (412) extends along the X-axis, one of the guide rail (412) and the guide block (413) is connected to the transmission assembly (3) or another guide assembly (41), and the other is connected to the mounting plate (411).

9. The Mecanum wheel expansion device according to any one of claims 1 to 6, characterized in that: The driving assembly (2) further comprises a reducer (23), wherein the reducer (23) is connected to the output shaft of the driving member (21), and the gear (22) is connected to the output shaft of the reducer (23).

10. A mobile device, characterized in that: The invention comprises a frame and a Mecanum wheel expansion device according to any one of claims 1 to 9, wherein the Mecanum wheel expansion device is installed on the frame.

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