Wheel assembly and vehicle with same

Abstract

The wheel assembly comprises a wheel, a Mecanum wheel and a plurality of moving structures, the Mecanum wheel is connected to one side, in the axial direction, of the wheel and comprises a body and a plurality of rolling wheels, the body is connected with the wheel, the rolling wheels are connected with the body, and the moving structures are connected with the body. The plurality of rollers are arranged on the radial outer side of the main body and are arranged at intervals in the circumferential direction of the main body; the plurality of moving structures are respectively arranged between the main body and the plurality of rollers; and the at least one part of the multiple moving structures can move relative to the main body so as to drive the multiple rollers to move relative to the main body in the radial direction of the wheel, so that the outer diameter of the Mecanum wheel is larger than or smaller than the outer diameter of the wheel. According to the wheel assembly disclosed by the invention, when the wheel assembly is used for the vehicle, all-directional driving of the vehicle can be realized, and high-speed driving of the vehicle can also be realized.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more particularly to a wheel assembly and a vehicle having the same. Background Technology

[0002] In related technologies, omnidirectional movement of existing vehicles is typically achieved through Mecanum wheels. Each Mecanum wheel has an independent power source for control, allowing for omnidirectional movement of the vehicle through the combined control of four Mecanum wheels. However, this type of Mecanum wheel combination is generally only suitable for low-speed omnidirectional movement and is difficult to use for the normal high-speed driving of passenger vehicles. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a wheel assembly that, when used in a vehicle, enables both omnidirectional driving and high-speed driving.

[0004] Another object of the present invention is to provide a vehicle employing the above-described wheel assembly.

[0005] According to a first aspect of the present invention, a wheel assembly includes: a wheel; a Mecanum wheel connected to one side of the wheel in an axial direction, the Mecanum wheel including a body and a plurality of rollers, the body being connected to the wheel, the plurality of rollers being disposed radially outside the body and spaced apart circumferentially along the body; and a plurality of motion structures respectively disposed between the body and the plurality of rollers, at least a portion of the plurality of motion structures being movable relative to the body to respectively drive the plurality of rollers to be radially movable relative to the body along the wheel, such that the outer diameter of the Mecanum wheel is greater than or less than the outer diameter of the wheel.

[0006] According to embodiments of the present invention, the wheel assembly drives a Mecanum wheel to extend or retract radially relative to the wheel via a motion structure, thereby enabling switching between the use of the Mecanum wheel and the wheel. Users can select either Mecanum wheel operation or wheel operation based on actual driving conditions, enriching the functionality of the wheel assembly and improving its performance. Furthermore, the cooperation of multiple motion structures with multiple rollers improves the accuracy of the motion structure's drive over the rollers and reduces mutual interference between the rollers, thus further facilitating the use of the Mecanum wheel and enhancing its operational reliability. When the wheel assembly is applied to a vehicle, it enables free switching of the vehicle's driving state, allowing for smooth multi-directional movement as well as high-speed driving, better meeting the needs of different movement directions in different situations and improving vehicle performance.

[0007] According to some embodiments of the present invention, a plurality of cavities are formed on the main body and arranged circumferentially along the main body. At least a portion of the plurality of moving structures are respectively located in the plurality of cavities, and the at least a portion of the moving structure is adapted to move relative to the main body under the impingement of fluid in the cavity.

[0008] According to some embodiments of the present invention, the roller is arranged at an angle relative to the axis of the main body, and each of the motion structures includes a first motion structure and a second motion structure. The first motion structure and the second motion structure are respectively connected to both ends of the roller, and each roller can extend or retract relative to the main body through the first motion structure and the second motion structure.

[0009] According to some embodiments of the present invention, a first opening and a second opening are formed on the sidewall of the cavity, the first opening being located on the side of the second opening away from the central axis of the main body; the first moving structure and the second moving structure respectively include: a support rod, the roller being rotatably connected to one end of the support rod, the other end of the support rod extending into the corresponding cavity; a piston, the piston being connected to the other end of the support rod, the piston being movably engaged in the corresponding cavity to drive the corresponding roller to extend or retract relative to the main body, the piston dividing the interior of the cavity into a first cavity and a second cavity, the first opening communicating with the first cavity, and the second opening communicating with the second cavity.

[0010] According to some embodiments of the present invention, each of the cavities has an opening formed on the outer peripheral surface of the body, an end cap is provided at the opening, the other end of the support rod extends into the cavity through the corresponding end cap, and the support rod is movable relative to the end cap along the axial direction of the support rod.

[0011] According to some embodiments of the present invention, the support rod has a connecting portion, and one end of each roller is provided with a first roller shaft, the first roller shaft passing through the connecting portion of the support rod of the corresponding first motion structure and being threadedly connected to a first threaded fastener; the other end of each roller is provided with a second roller shaft, the second roller shaft passing through the connecting portion of the support rod of the corresponding second motion structure and being threadedly connected to a second threaded fastener (not shown).

[0012] According to some embodiments of the present invention, the main body has a first flow channel and a second flow channel that are independent of each other. The first flow channel is connected to the first opening of the plurality of cavities, and the second flow channel is connected to the second opening of the plurality of cavities.

[0013] According to some embodiments of the present invention, the main body includes: a cylinder body, the roller being disposed on the outer peripheral surface of the cylinder body, and the cylinder body having through holes extending through both axial sides of the cylinder body; a slip ring, the slip ring fitting within the through holes, the slip ring including a first slip ring and a second slip ring, the first slip ring fitting between the second slip ring and the cylinder body, and the second slip ring being rotatable relative to the first slip ring.

[0014] According to some embodiments of the present invention, a positioning protrusion is provided on the outer peripheral surface of the first slip ring, and a positioning groove is formed on the side wall of the through hole, wherein the positioning protrusion is fitted into the positioning groove.

[0015] According to some embodiments of the present invention, the slip ring further includes: a plurality of bearings disposed between the first slip ring and the second slip ring, the plurality of bearings being arranged at intervals along the axial direction of the first slip ring; a plurality of limiting members disposed at both ends of the second slip ring along the axial direction, the plurality of bearings being located between the plurality of limiting members.

[0016] According to some embodiments of the present invention, the first flow channel includes a first sub-flow channel, a second sub-flow channel, a third sub-flow channel, a first annular flow channel, and a fourth sub-flow channel. The first sub-flow channel and the second sub-flow channel are formed on the cylinder body. The first sub-flow channel communicates with the first openings of the plurality of cavities. The first sub-flow channel extends circumferentially along the cylinder body. One end of the second sub-flow channel communicates with the first sub-flow channel, and the other end of the second sub-flow channel extends radially along the cylinder body to a sidewall penetrating the perforation. The third sub-flow channel is formed on the first slip ring. One end of the third sub-flow channel communicates with the other end of the second sub-flow channel. The outer peripheral surface of the second slip ring and the inner wall surface of the first slip ring together define the first annular flow channel. The fourth sub-flow channel is formed on the second slip ring and communicates with the third sub-flow channel through the first annular flow channel. The second flow channel includes a fifth sub-flow channel, a sixth sub-flow channel, a seventh sub-flow channel, a second annular flow channel, and an eighth sub-flow channel. The fifth and sixth sub-flow channels are formed on the cylinder body. The fifth sub-flow channel is connected to the second opening of the plurality of cavities. The fifth sub-flow channel extends circumferentially along the cylinder body. One end of the sixth sub-flow channel is connected to the fifth sub-flow channel. The other end of the sixth sub-flow channel extends radially along the cylinder body to the sidewall that penetrates the perforation. The seventh sub-flow channel is formed on the first slip ring. One end of the seventh sub-flow channel is connected to the other end of the sixth sub-flow channel. The outer peripheral surface of the second slip ring and the inner wall surface of the first slip ring together define the second annular flow channel. The eighth sub-flow channel is formed on the second slip ring. The eighth sub-flow channel is connected to the seventh sub-flow channel through the second annular flow channel.

[0017] According to some embodiments of the present invention, a first seal is provided between the first annular flow channel and the bearing adjacent to the first annular flow channel among the plurality of bearings; and / or, a second seal is provided between the first annular flow channel and the second annular flow channel; and / or, a third seal is provided between the second annular flow channel and the bearing adjacent to the second annular flow channel among the plurality of bearings.

[0018] According to some embodiments of the present invention, the first sub-flow channel and the fifth sub-flow channel are arranged radially spaced along the cylinder body, the fifth sub-flow channel being located radially inside the first sub-flow channel; and / or, the second sub-flow channel and the sixth sub-flow channel are arranged axially spaced along the cylinder body; and / or, the third sub-flow channel and the seventh sub-flow channel are arranged axially spaced along the first slip ring; and / or, the fourth sub-flow channel and the eighth sub-flow channel are arranged axially spaced along the second slip ring.

[0019] According to some embodiments of the present invention, the cylinder of the Mecanum wheel is connected to the hub of the wheel.

[0020] According to some embodiments of the present invention, a plurality of first mounting holes are formed on the cylinder block, the plurality of first mounting holes being arranged at intervals along the circumference of the cylinder block, a plurality of second mounting holes are formed on the wheel hub, the plurality of second mounting holes being arranged at intervals along the circumference of the wheel hub, the plurality of second mounting holes being respectively opposite to the plurality of first mounting holes along the axial direction of the wheel, and the wheel assembly further comprising: a plurality of fasteners, the plurality of fasteners being respectively threaded through the plurality of first mounting holes and connected to the corresponding second mounting holes.

[0021] A vehicle according to a second aspect of the present invention includes the wheel assembly described in the first aspect of the present invention.

[0022] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0024] Figure 1 This is a schematic diagram of a wheel assembly according to an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of a wheel of a wheel assembly according to an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the cylinder block of the wheel assembly according to an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the slip ring of a wheel assembly according to an embodiment of the present invention;

[0028] Figure 5 This is an assembly diagram of the rollers and motion structure of the wheel assembly according to an embodiment of the present invention;

[0029] Figure 6 This is an exploded view of the rollers and moving structure of a wheel assembly according to an embodiment of the present invention.

[0030] Figure 7 This is a schematic diagram illustrating the working principle of the Mecanum wheel in the wheel assembly according to an embodiment of the present invention.

[0031] Figure label:

[0032] 100. Wheel assembly;

[0033] 1. Wheel; 11. Hub; 111. Second mounting hole;

[0034] 2. Mecanum wheel; 21. Main body; 211. Cavity;

[0035] 2111, First opening; 2112, Second opening; 2113, First cavity;

[0036] 2114. Second cavity; 2115. Opening; 2116. End cap;

[0037] 212, First flow channel; 2121, First sub-flow channel; 2122, Second sub-flow channel;

[0038] 2123. Third sub-channel; 2124. First annular channel; 2125. Fourth sub-channel;

[0039] 213. Second flow channel; 2131. Fifth sub-flow channel; 2132. Sixth sub-flow channel;

[0040] 2133, Seventh Sub-channel; 2134, Second Annular Channel; 2135, Eighth Sub-channel;

[0041] 214. Cylinder block; 2141. Through hole; 2142. First mounting hole;

[0042] 215. Slip ring; 2151. First slip ring; 2152. Positioning protrusion; 2153. Second slip ring;

[0043] 2154. Bearing; 2155. Limiting component; 2156. First seal;

[0044] 2157. Second seal; 2158. Third seal;

[0045] 22. Roller; 221. First roller shaft; 222. Second roller shaft;

[0046] 23. Motion structure; 231. First motion structure;

[0047] 2311, Support rod; 2312, Piston; 2313, Connecting part; 2314, Through hole;

[0048] 232. Second motion structure; 233. First threaded fastener;

[0049] 200. Hydraulic mechanism; 201. First pipeline; 202. Second pipeline. Detailed Implementation

[0050] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Figures 1-7 A wheel assembly 100 according to a first aspect of the present invention is described.

[0051] like Figure 1 As shown, a wheel assembly 100 according to a first aspect embodiment of the present invention includes a wheel 1, a Mecanum wheel 2 and a plurality of motion structures 23.

[0052] Specifically, the Mecanum wheel 2 is connected to one side of the wheel 1 along its axial direction. The Mecanum wheel 2 includes a body 21 and a plurality of rollers 22. In the description of this invention, "a plurality of" means two or more. The body 21 is connected to the wheel 1, and the plurality of rollers 22 are located radially outward of the body 21, and are arranged at intervals along the circumference of the body 21. A plurality of motion structures 23 are respectively disposed between the body 21 and the plurality of rollers 22, and are arranged at intervals along the circumference of the body 21. The plurality of motion structures 23 are movable relative to the body 21 to drive the plurality of rollers 22 to move radially relative to the body 21 along the wheel 1, so that the outer diameter of the Mecanum wheel 2 is greater than or less than the outer diameter of the wheel 1. Each motion structure 23 is used to drive the corresponding roller 22 to extend or retract radially along the body 21. That is, multiple rollers 22 are connected to the main body 21 through corresponding motion structures 23. The motion structures 23 can drive multiple rollers 22 to move relative to the main body 21, so that multiple rollers 22 can extend or retract relative to the main body 21 in the radial direction of the main body 21.

[0053] For example, in Figure 1In the example, Mecanum wheel 2 is axially opposite wheel 1. When Mecanum wheel 2 extends relative to wheel 1 such that its outer diameter is larger than that of wheel 1, Mecanum wheel 2 is in the working state. When Mecanum wheel 2 retracts relative to wheel 1 such that its outer diameter is smaller than that of wheel 1, wheel 1 is in the working state. It should be noted that Mecanum wheel 2 can achieve both extended and retracted states and can switch freely. For example, when Mecanum wheel 2 extends relative to wheel 1 such that its outer diameter is larger than that of wheel 1, wheel 1 is in a non-working state. When wheel assembly 100 is applied to a vehicle, the vehicle can achieve multi-directional movement through Mecanum wheel 2. Conversely, when Mecanum wheel 2 retracts relative to wheel 1 such that its outer diameter is smaller than that of wheel 1, Mecanum wheel 2 is in a non-working state. When wheel assembly 100 is applied to a vehicle, the vehicle can achieve high-speed travel, such as going straight or turning, through wheel 1.

[0054] Therefore, by setting the Mecanum wheel 2 to be able to extend or retract radially along the wheel 1, the Mecanum wheel 2 can be switched between extended and retracted states, thus realizing the switching of operation between the Mecanum wheel 2 and the wheel 1. The control logic is simple. When the wheel assembly 100 is applied to a vehicle, it can realize the free switching of the vehicle's driving state, enabling the vehicle to move smoothly in multiple directions, such as turning and U-turns in narrow spaces, while also achieving high-speed driving. This enriches the functionality of the wheel assembly 100 and improves the vehicle's performance.

[0055] For example, in Figure 1 In the example, rollers 22 are located on the outer periphery of the body 21, with a gap between them. Each roller 22 extends obliquely along the thickness direction of the body 21 (i.e., the axial direction of the body 21), and a portion of the outer periphery of multiple rollers 22 together constitutes the outer periphery of the Mecanum wheel 2. With this configuration, when the multiple rollers 22 extend radially relative to the body 21 along the wheel 1, they cooperate to allow the wheel assembly 100 to move in multiple directions. When the multiple rollers 22 retract radially relative to the body 21 along the wheel 1, the outer periphery of the Mecanum wheel 2 is located radially inward of the outer periphery of the wheel 1, allowing the wheel 1 to be used for forward or backward movement, thus enabling high-speed forward movement of the vehicle. Furthermore, the multiple rollers 22 can be connected to the wheel 1 via the body 21, making the Mecanum wheel 2 and the wheel 1 a single unit, which facilitates the use of the Mecanum wheel 2 and improves its stability.

[0056] For example, in Figure 1In the example, the motion structure 23 is connected to the outer peripheral surface of the main body 21. The number of motion structures 23 can be the same as the number of rollers 22. Multiple motion structures 23 and multiple rollers 22 are matched one-to-one, so that each roller 22 can move relative to the wheel 1 through the corresponding motion structure 23, which is beneficial for switching between the Mecanum wheel 2 and the wheel 1. In addition, the cooperation between multiple motion structures 23 and multiple rollers 22 improves the accuracy of the motion structure 23 driving multiple rollers 22 and reduces the mutual interference between multiple rollers 22, which is more conducive to the use of the Mecanum wheel 2 and improves the reliability of the Mecanum wheel 2. Of course, each roller 22 can also be provided with multiple motion structures 23, and multiple motion structures 23 work together to drive the movement of the roller 22. In this application, the example of multiple motion structures 23 and multiple rollers 22 being matched one-to-one is explained.

[0057] According to an embodiment of the present invention, the wheel assembly 100 drives the Mecanum wheel 2 to extend or retract radially relative to the wheel 1 via the motion structure 23, thereby realizing the switching between the use of the Mecanum wheel 2 and the wheel 1. Users can select whether the Mecanum wheel 2 or the wheel 1 is in operation based on actual driving conditions, enriching the functionality of the wheel assembly 100 and improving its performance. Furthermore, the cooperation between multiple motion structures 23 and multiple rollers 22 improves the accuracy of the motion structure 23 in driving the multiple rollers 22 and reduces mutual interference between the multiple rollers 22, thus further facilitating the use of the Mecanum wheel 2 and improving its operational reliability. When the wheel assembly 100 is applied to a vehicle, it enables free switching of the vehicle's driving state, allowing the vehicle to move smoothly in multiple directions while also achieving high-speed driving, better meeting the needs of different movement directions in different situations and improving the vehicle's performance.

[0058] According to some embodiments of the present invention, with reference to Figure 3 and Figure 7 The main body 21 has a plurality of cavities 211 arranged circumferentially along the main body 21. At least a portion of the plurality of moving structures 23 are respectively located within the plurality of cavities 211. The aforementioned at least a portion of the moving structure 23 is adapted to move relative to the main body 21 under the actuation of the fluid within the cavity 211. That is, the fluid within the cavity 211 is adapted to propel the aforementioned at least a portion of the moving structure 23 relative to the main body 21.

[0059] For example, in Figure 3 and Figure 7In the example, multiple cavities 211 are formed on the outer peripheral surface of the main body 21, and at least a portion of the multiple moving structures 23 are located within the multiple cavities 211. That is, each moving structure 23 corresponds to two cavities 211. With this arrangement, under the action of fluid such as liquid or gas within the cavity 211, the moving structure 23 can move into the cavity 211 to retract the roller 22, and the moving structure 23 can move outward from the cavity 211 to extend the roller 22. Thus, the moving structure 23 can effectively utilize the internal space of the main body 21, making the arrangement of the main body 21, moving structure 23, and roller 22 more compact, reducing the overall volume of the Mecanum wheel 2, and making it more convenient for the transportation, installation, and use of the Mecanum wheel 2.

[0060] According to some embodiments of the present invention, in combination Figure 1 and Figure 5 The roller 22 is arranged at an angle relative to the axis of the main body 21, such as the central axis. Each motion structure 23 includes a first motion structure 231 and a second motion structure 232. The first motion structure 231 and the second motion structure 232 are respectively connected to the two ends of the roller 22. Each roller 22 can extend or retract relative to the main body 21 through the first motion structure 231 and the second motion structure 232.

[0061] For example, combining Figure 1 and Figure 5 Each roller 22 extends obliquely along the thickness direction (i.e., the axial direction of the body 21) of the main body 21. The first motion structure 231 is disposed on the outer peripheral surface of the main body 21 and close to one side of the thickness direction of the main body 21. The first motion structure 231 is located between one end of the main body 21 and the corresponding roller 22. The second motion structure 232 is disposed on the outer peripheral surface of the main body 21 and close to the other side of the thickness direction of the main body 21. The second motion structure 232 is located between the other end of the main body 21 and the corresponding roller 22. Each roller 22 can extend or retract relative to the main body 21 through the first motion structure 231 and the second motion structure 232.

[0062] For example, in Figure 1 and Figure 5In the example, each roller 22 extends along the thickness direction of the main body 21. The first motion structure 231 and the second motion structure 232 are located on both sides of the thickness direction of the main body 21, respectively. Each roller 22 is connected to the main body 21 through the first motion structure 231 and the second motion structure 232, and the first motion structure 231 and the second motion structure 232 work together on the corresponding roller 22 to make the roller 22 movable relative to the wheel 1. Thus, through the combined action of the first motion structure 231 and the second motion structure 232, the extension and retraction stability and reliability of the roller 22 are improved, thereby improving the reliability of the Mecanum wheel 2. The motion structure 23 has a simple structure and is easy to use. It is beneficial for the use of multiple rollers 22, which can reduce the cost of using the wheel 1 and improve the performance of the wheel 1. It should be noted that the structures of the first motion structure 231 and the second motion structure 232 can be set to be the same, which is beneficial for the production and processing of the motion structure 23, improves the production efficiency of the motion structure 23, and thus improves the production efficiency of the wheel 1.

[0063] According to some embodiments of the present invention, with reference to Figure 3 and Figure 7 The cavity 211 has a first opening 2111 and a second opening 2112 formed on its sidewall. The first opening 2111 is located on the side of the second opening 2112 away from the central axis of the main body 21. The first motion structure 231 and the second motion structure 232 respectively include a support rod 2311 and a piston 2312. In the example of this application, the first motion structure 231 and the second motion structure 232 have the same structure, which is beneficial to the mass production of the motion structure 23 and can also reduce the misassembly of the first motion structure 231 and the second motion structure 232. Of course, the first motion structure 231 and the second motion structure 232 can also be different, as long as they work together to drive the corresponding roller 22 to move. Specifically, this application uses the first motion structure 231 as an example for explanation.

[0064] Combination Figures 5-7 Roller 22 is rotatably connected to one end of support rod 2311, and the other end of support rod 2311 extends into the corresponding cavity 211. Piston 2312 is connected to the other end of support rod 2311 and is movablely engaged in the corresponding cavity 211 to drive the corresponding roller 22 to extend or retract relative to the main body 21. Piston 2312 divides the interior of cavity 211 into a first cavity 2113 and a second cavity 2114. The first opening 2111 communicates with the first cavity 2113, and the second opening 2112 communicates with the second cavity 2114.

[0065] For example, in Figures 5-7In the example, the upper end of the support rod 2311 is rotatably connected to the roller 22. The support rod 2311 of the first motion structure 231 and the support rod 2311 of the second motion structure 232 can be respectively located at both ends of the axial direction of the roller 22. The lower end of the support rod 2311 extends into the corresponding cavity 211. The piston 2312 is connected to the lower end of the support rod 2311 and is movable along the extension direction of the cavity 211. The first cavity 2113 and the second cavity 2114 are not connected to each other. The first cavity 2113 is located on the side of the second cavity 2114 near the edge of the main body 21. When the wheel assembly 100 is connected to the hydraulic mechanism 200, the first pipe 201 of the hydraulic mechanism 200 can be connected to the first cavity 2113 through the first opening 2111, and the second pipe 202 of the hydraulic mechanism 200 can be connected to the second cavity 2114 through the second opening 2112.

[0066] Combination Figure 7 When the hydraulic mechanism 200 increases the pressure in the first cavity 2113 through the first pipeline 201, the piston 2312 located in the cavity 211 moves toward the center of the main body 21 under the action of the above pressure. During the movement of the piston 2312, the volume of the first cavity 2113 increases, while the volume of the second cavity 2114 decreases. The movement of the piston 2312 drives the support rod 2311 to move toward the cavity 211 to drive the corresponding roller 22 to retract, so that the outer diameter of the Mecanum wheel 2 is smaller than the outer diameter of the wheel 1, thereby realizing the switching between the Mecanum wheel 2 and the wheel 1. When the hydraulic mechanism 200 increases the pressure in the second cavity 2114 through the second pipeline 202, the piston 2312 located in the cavity 211 moves away from the center of the main body 21 under the action of the above pressure. As the piston 2312 moves to the side where the first cavity 2113 is located, the volume of the first cavity 2113 decreases, while the volume of the second cavity 2114 increases. The piston 2312 rod drives the support rod 2311 to move away from the center of the main body 21 to drive the roller 22 to extend, so that the outer diameter of the Mecanum wheel 2 is larger than the outer diameter of the wheel 1. Multiple rollers 22 are in contact with the ground, and the outer circumference of the wheel 1 is off the ground, thereby realizing the switching between the wheel 1 and the Mecanum wheel 2.

[0067] This configuration simplifies the structure of the first motion structure 231 and the second motion structure 232, making them easier to manufacture and reducing production costs. This benefits the manufacturing of the motion structure 23 and lowers the production cost of the wheel assembly 100. Furthermore, by changing the pressure within the first cavity 2113 and the second cavity 2114, the piston 2312 moves within the cavity 211 to extend or retract the corresponding roller 22. This simplifies the drive mechanism and control logic, facilitating rapid switching between the Mecanum wheel 2 and the wheel 1, and also benefits the long-term use of the wheel assembly 100. Additionally, the cavity 211 guides the movement of the piston 2312, improving the reliability of the movement of the piston 2312 and the support rod 2311, thereby improving the reliability of the extension and retraction of the roller 22, and ultimately enhancing the performance and reliability of the wheel assembly 100.

[0068] Optionally, the piston 2312 is sleeved on the outer periphery of the other end of the support rod 2311, and the piston 2312 is threadedly connected to the other end of the support rod 2311. This arrangement facilitates the installation and disassembly of the piston 2312 and the support rod 2311, improving the installation and disassembly efficiency of the piston 2312 and the support rod 2311.

[0069] According to some embodiments of the present invention, such as Figure 3 and Figure 7 As shown, each cavity 211 has an opening 2115, which is formed on the outer peripheral surface of the main body 21. An end cap 2116 is provided at the opening 2115. The other end of the support rod 2311 extends into the cavity 211 through the corresponding end cap 2116. The support rod 2311 is movable relative to the end cap 2116 along the axial direction of the support rod 2311.

[0070] For example, in Figure 3 , Figure 5 and Figure 7 In the example, the end cap 2116 can also be fitted onto the outer circumferential surface of the support rod 2311. The connection between the moving structure 23 and the main body 21 is achieved by installing the end cap 2116 at the opening 2115. The end cap 2116 can be threaded onto the opening 2115 for easy installation. Furthermore, the end cap 2116 limits the piston 2312, preventing it from moving from the cavity 211 to the outside of the main body 21, thereby restricting the radial movement range of the support rod 2311 within the main body 21 and improving the reliability of the Mecanum wheel 2. In addition, the end cap 2116 is detachably connected to the main body 21. When the end cap 2116 is removed from the main body 21, the piston 2312 and the support rod 2311 can be taken out from the cavity 211 to facilitate the replacement of the piston 2312, the support rod 2311 and the roller 22, thereby extending the service life of the Mecanum wheel 2 and the wheel assembly 100.

[0071] According to some embodiments of the present invention, in combination Figure 5 and Figure 6 The support rod 2311 has a connecting portion 2313. Each roller 22 has a first roller shaft 221 at one end. The first roller shaft 221 passes through the connecting portion 2313 of the support rod 2311 of the corresponding first motion structure 231 and is threadedly connected to the first threaded fastener 233. Each roller 22 has a second roller shaft 222 at the other end. The second roller shaft 222 passes through the connecting portion 2313 of the support rod 2311 of the corresponding second motion structure 232 and is threadedly connected to the second threaded fastener.

[0072] For example, in Figure 5 and Figure 6 In the example, each support rod 2311 has a connecting portion 2313 at the end away from the piston 2312, through which the support rod 2311 is rotatably connected to the roller 22. The roller 22 has a first roller shaft 221 and a second roller shaft 222 at its two axial ends, respectively, with the central axis of the first roller shaft 221, the central axis of the second roller shaft 222, and the central axis of the roller 22 coinciding. A through hole 2314 is formed on the connecting part 2313. The first roller shaft 221 passes through the through hole 2314 on the corresponding connecting part 2313 and is threadedly connected to the first threaded fastener 233. The second roller shaft 222 passes through the through hole 2314 on the connecting part 2313 of the support rod 2311 of the corresponding second motion structure 232 and is threadedly connected to the second threaded fastener. Thus, the roller 22 achieves a rotatable connection with the support rod 2311 through the first roller shaft 221 and the second roller shaft 222. The first threaded fastener 233 and the second threaded fastener ensure a firm connection between the roller 22 and the support rod 2311, making it less likely for the roller 22 to fall off the corresponding support rod 2311, improving the reliability of the roller 22 and further improving the reliability of the Mecanum wheel 2. In addition, the installation and operation of the first threaded fastener 233 and the first roller shaft 221 are simple and convenient, and the operating cost is also low.

[0073] According to some embodiments of the present invention, in combination Figure 7The main body 21 has independent first flow channels 212 and second flow channels 213. The first flow channels 212 are connected to the first openings 2111 of multiple cavities 211, and the second flow channels 213 are connected to the second openings 2112 of multiple cavities 211. For example, the first pipe 201 of the hydraulic mechanism 200 is connected to the first cavity 2113 of the multiple cavities 211 through the first flow channel 212, and the second pipe 202 of the hydraulic mechanism 200 is connected to the second cavity 2114 of the multiple cavities 211 through the second flow channel 213. Thus, by setting the first flow channels 212 and second flow channels 213, the pressure of the first cavity 2113 and the second cavity 2114 can be changed by the hydraulic mechanism 200, thereby enabling the piston 2312 to drive the roller 22 to move. Furthermore, by connecting the first flow channel 212 to the first opening 2111 of the multiple cavities 211 and the second flow channel 213 to the second opening 2112 of the multiple cavities 211, the synchronous movement of the multiple rollers 22 can be achieved, thereby ensuring that the multiple rollers 22 extend and retract at the same time, thus ensuring the reliability of the movement of the multiple rollers 22.

[0074] According to some embodiments of the present invention, with reference to Figure 3 and Figure 4 The main body 21 includes a cylinder 214 and a slip ring 215. A roller 22 is disposed on the outer circumferential surface of the cylinder 214. A through hole 2141 is formed on the cylinder 214, penetrating both axial sides of the cylinder 214. The slip ring 215 fits within the through hole 2141. The slip ring 215 includes a first slip ring 2151 and a second slip ring 2153. The first slip ring 2151 fits between the second slip ring 2153 and the cylinder 214. The second slip ring 2153 is rotatable relative to the first slip ring 2151. For example, in... Figure 3 and Figure 4 In the example, the cylinder 214 is annular, the slip ring 215 is located radially inside the cylinder 214, and the second slip ring 2153 is located radially inside the first slip ring 2151. The central axis of the cylinder 214, the central axis of the first slip ring 2151, and the central axis of the second slip ring 2153 overlap. The hydraulic mechanism 200 is connected to the main body 21 through the second slip ring 2153. When the multiple rollers 22 rotate, the cylinder 214 and the first slip ring 2151 can rotate relative to the second slip ring 2153, thereby improving the smoothness of the Mecanum wheel 2's movement and making it more convenient for the use of the Mecanum wheel 2. In addition, the assembly operation of the cylinder 214 and the slip ring 215 is simple, improving the assembly efficiency of the main body 21. In addition, the cylinder body 214 and the first slip ring 2151 are rotatable relative to the second slip ring 2153. That is to say, the rotation of the cylinder body 214 will not affect the hydraulic mechanism 200 connected to the second slip ring 2153, which is beneficial to the coordinated use of the hydraulic mechanism 200 and the wheel assembly 100.

[0075] According to some embodiments of the present invention, in combination Figure 4 The first slip ring 2151 has a positioning protrusion 2152 on its outer peripheral surface, and a positioning groove (not shown) is formed on the side wall of the through hole 2141. The positioning protrusion 2152 fits into the positioning groove. For example, in Figure 4 In the example, the positioning protrusion 2152 extends axially along the first slip ring 2151, and the positioning groove extends axially along the cylinder body 214. The outer wall of the positioning protrusion 2152 fits against the inner wall of the positioning groove. Thus, through the cooperation of the positioning protrusion 2152 and the positioning groove, on the one hand, the cylinder body 214 can position the first slip ring 2151 through the positioning groove, which facilitates the rapid assembly of the cylinder body 214 and the slip ring 2151, improves assembly efficiency, and also improves the positioning accuracy. On the other hand, the positioning groove can restrict the movement of the first slip ring 2151 relative to the cylinder body 214, so that the first slip ring 2151 and the cylinder body 214 are connected as a whole.

[0076] According to some embodiments of the present invention, with reference to Figure 4 The slip ring 215 further includes a plurality of bearings 2154 and a plurality of limiting members 2155. The bearings 2154 are disposed between the first slip ring 2151 and the second slip ring 2153, the plurality of bearings 2154 are arranged at intervals along the axial direction of the first slip ring 2151, and the plurality of limiting members 2155 are respectively disposed at both ends of the second slip ring 2153 along the axial direction, with the plurality of bearings 2154 located between the plurality of limiting members 2155.

[0077] For example, in Figure 4 In the example, slip ring 215 is provided with two bearings 2154, both of which are sleeved on the outer periphery of the second slip ring 2153. The two bearings 2154 are respectively located near the two axial ends of the second slip ring 2153. This allows for smoother relative rotation between the first slip ring 2151 and the second slip ring 2153, thus facilitating the use of slip ring 215. Figure 4 As shown, the second slip ring 2153 is provided with two limiting members 2155, which are respectively located at both ends of the second slip ring 2153 and on opposite sides of the two bearings 2154. Therefore, the limiting members 2155 restrict the relative movement of the first slip ring 2151 and the second slip ring 2153 along the axial direction of the second slip ring 2153, and also prevent the first slip ring 2151 from separating from the second slip ring 2153 during rotation, thus ensuring the reliability of the rotation of the first slip ring 2151 relative to the second slip ring 2153.

[0078] According to some embodiments of the present invention, in combination Figure 7The first flow channel 212 includes a first sub-flow channel 2121, a second sub-flow channel 2122, a third sub-flow channel 2123, a first annular flow channel 2124, and a fourth sub-flow channel 2125. The first sub-flow channel 2121 and the second sub-flow channel 2122 are formed on the cylinder block 214. The first sub-flow channel 2121 communicates with the first openings 2111 of multiple cavities 211, and extends circumferentially along the cylinder block 214. One end of the second sub-flow channel 2122 communicates with the first sub-flow channel 2121. The other end extends radially along the cylinder body 214 to the side wall of the through hole 2141. The third sub-flow channel 2123 is formed on the first slip ring 2151. One end of the third sub-flow channel 2123 is connected to the other end of the second sub-flow channel 2122. The outer peripheral surface of the second slip ring 2153 and the inner wall surface of the first slip ring 2151 together define the first annular flow channel 2124. The fourth sub-flow channel 2125 is formed on the second slip ring 2153. The fourth sub-flow channel 2125 is connected to the third sub-flow channel 2123 through the first annular flow channel 2124.

[0079] For example, in Figure 7 In the example, one end of the first pipe 201 of the hydraulic mechanism 200 is connected to the hydraulic mechanism 200, and the other end of the first pipe 201 is connected to the fourth sub-channel 2125. That is, the other end of the first pipe 201 can be connected to the first cavity 2113 of the plurality of cavities 211 through the fourth sub-channel 2125, the first annular channel 2124, the third sub-channel 2123, the second sub-channel 2122, and the first sub-channel 2121, respectively. The end of the third sub-channel 2123 away from the second slip ring 2153 is radially opposite to the second sub-channel 2122 along the slip ring 215, so that the fluid, such as gas or liquid, in the third sub-channel 2123 flows into the second sub-channel 2122, thereby realizing the connection between the first pipe 201 and the plurality of first cavities 2113. Therefore, the layout of the first sub-channel 2121, the second sub-channel 2122, the third sub-channel 2123, the first annular channel 2124, and the fourth sub-channel 2125 is reasonable, and the number of channels formed on the main body 21 is small, thus achieving the switching between the Mecanum wheel 2 and the wheel 1 with a simple structure. In addition, by setting the first annular channel 2124, when the first slip ring 2151 rotates relative to the second slip ring 2153, the third sub-channel 2123 and the fourth sub-channel 2125 can always remain connected, thereby ensuring the connection of the first channel 212, further improving the reliability of the cooperation between the main body 21 and the roller 22, and also ensuring the normal use of the first slip ring 2151 and the second slip ring 2153.

[0080] Combination Figure 7The second flow channel 213 includes a fifth sub-flow channel 2131, a sixth sub-flow channel 2132, a seventh sub-flow channel 2133, a second annular flow channel 2134, and an eighth sub-flow channel 2135. The fifth sub-flow channel 2131 and the sixth sub-flow channel 2132 are formed on the cylinder block 214. The fifth sub-flow channel 2131 communicates with the second openings 2112 of multiple cavities 211, extending circumferentially along the cylinder block 214. One end of the sixth sub-flow channel 2132 communicates with the fifth sub-flow channel 2131. The sixth sub-flow channel 2132... The other end extends radially along the cylinder body 214 to the side wall of the through hole 2141. The seventh sub-flow channel 2133 is formed on the first slip ring 2151. One end of the seventh sub-flow channel 2133 is connected to the other end of the sixth sub-flow channel 2132. The outer peripheral surface of the second slip ring 2153 and the inner wall surface of the first slip ring 2151 together define the second annular flow channel 2134. The eighth sub-flow channel 2135 is formed on the second slip ring 2153. The eighth sub-flow channel 2135 is connected to the seventh sub-flow channel 2133 through the second annular flow channel 2134.

[0081] For example, in Figure 7 In the example, one end of the second pipe 202 of the hydraulic mechanism 200 is connected to the hydraulic mechanism 200, and the other end of the second pipe 202 is connected to the eighth sub-channel 2135. That is, the other end of the second pipe 202 can be connected to the second cavity 2114 of the multiple cavities 211 respectively through the eighth sub-channel 2135, the second annular channel 2134, the seventh sub-channel 2133, the sixth sub-channel 2132, and the fifth sub-channel 2131. The end of the seventh sub-channel 2133 away from the second slip ring 2153 is radially opposite to the sixth sub-channel 2132 along the slip ring 215, so that the fluid, such as gas or liquid, in the seventh sub-channel 2133 flows into the sixth sub-channel 2132, thereby realizing the connection between the second pipe 202 and the multiple second cavities 2114. Therefore, the layout of the fifth sub-channel 2131, the sixth sub-channel 2132, the seventh sub-channel 2133, the second annular channel 2134, and the eighth sub-channel 2135 is reasonable, and the number of channels formed on the main body 21 is small, thus achieving the switching between the Mecanum wheel 2 and the wheel 1 with a simple structure. In addition, by setting the second annular channel 2134, when the first slip ring 2151 rotates relative to the second slip ring 2153, the seventh sub-channel 2133 and the eighth sub-channel 2135 can always remain connected, thereby ensuring the connection of the second channel 213, further improving the reliability of the cooperation between the main body 21 and the roller 22, and also ensuring the normal use of the first slip ring 2151 and the second slip ring 2153.

[0082] According to some optional embodiments of the present invention, a first seal 2156 is provided between the first annular flow channel 2124 and the bearing 2154 adjacent to the first annular flow channel 2124 among the plurality of bearings 2154. And / or, a second seal 2157 is provided between the first annular flow channel 2124 and the second annular flow channel 2134. And / or, a third seal 2158 is provided between the second annular flow channel 2134 and the bearing 2154 adjacent to the second annular flow channel 2134 among the plurality of bearings 2154.

[0083] For example, in Figure 4 In the example, a first seal 2156, a second seal 2157, and a third seal 2158 are provided between the second slip ring 2153 and the first slip ring 2151. The first seal 2156, the second seal 2157, and the third seal 2158 are arranged at intervals along the axial direction of the second slip ring 2153. For example, the first seal 2156, the second seal 2157, and the third seal 2158 are respectively provided on the outer circumferential surface of the second slip ring 2153. The first seal 2156 is located between the bearing 2154 on the left and the first annular flow channel 2124, the second seal 2157 is located between the first annular flow channel 2124 and the second annular flow channel 2134, and the third seal 2158 is located between the second annular flow channel 2134 and the bearing 2154 on the right.

[0084] With this configuration, the first seal 2156 and the second seal 2157 can fill the gap between the first slip ring 2151 and the second slip ring 2153, preventing fluid in the first annular flow channel 2124 from flowing between the first slip ring 2151 and the second slip ring 2153, or even into the second annular flow channel 2134. This improves the sealing performance of the first annular flow channel 2124 and also reduces the likelihood of mutual interference between the first annular flow channel 2124 and the second annular flow channel 2134. The second seal 2157 and the third seal 2158 can prevent fluid in the second annular flow channel 2134 from flowing into the first annular flow channel 2124 or the bearing 2154 adjacent to the second annular flow channel 2134, thereby improving the sealing performance of the second annular flow channel 2134. This is more conducive to the normal use of the slip ring 215 and enhances its performance.

[0085] According to some embodiments of the present invention, in combination Figure 7 The first sub-flow channel 2121 and the fifth sub-flow channel 2131 are arranged radially spaced along the cylinder block 214, with the fifth sub-flow channel 2131 located radially inside the first sub-flow channel 2121. And / or, the second sub-flow channel 2122 and the sixth sub-flow channel 2132 are arranged axially spaced along the cylinder block 214. And / or, the third sub-flow channel 2123 and the seventh sub-flow channel 2133 are arranged axially spaced along the first slip ring 2151. And / or, the fourth sub-flow channel 2125 and the eighth sub-flow channel 2135 are arranged axially spaced along the second slip ring 2153.

[0086] For example, in Figure 7 In the example, the first sub-flow channel 2121 is formed on the side of the fifth sub-flow channel 2131 near the edge of the cylinder block 214. The second sub-flow channel 2122 and the third sub-flow channel 2123 are located on the same radial line, and the sixth sub-flow channel 2132 and the seventh sub-flow channel 2133 are also located on the same radial line. This arrangement provides a reasonable layout for the first and fifth sub-flow channels 2121 and 2131, the second and sixth sub-flow channels 2122 and 2132, the third and seventh sub-flow channels 2123, and the fourth and eighth sub-flow channels 2125, reducing mutual interference between the channels. Furthermore, the structures of the first sub-flow channel 2121 and the fifth sub-flow channel 2131, the second sub-flow channel 2122 and the sixth sub-flow channel 2132, the third sub-flow channel 2123 and the seventh sub-flow channel 2133, as well as the fourth sub-flow channel 2125 and the eighth sub-flow channel 2135 have been simplified, which facilitates production and processing and shortens the fluid flow path, thereby facilitating the coordinated use of the wheel assembly 100 and the hydraulic mechanism 200.

[0087] According to some embodiments of the present invention, in combination Figure 1 The cylinder block 214 of the Mecanum wheel 2 is connected to the hub 11 of the wheel 1. For example, the central axis of the Mecanum wheel 2 overlaps with the central axis of the wheel 1. Thus, the Mecanum wheel 2 is integrated with the wheel 1 through the connection between the cylinder block 214 and the hub 11, improving the overall performance of the wheel assembly 100, facilitating the switching between the Mecanum wheel 2 and the wheel 1, and enhancing the stability of the use of the Mecanum wheel 2 and the wheel 1, which is beneficial for the long-term stable use of the wheel assembly 100.

[0088] According to some embodiments of the present invention, with reference to Figure 1 and Figure 2 The cylinder body 214 has a plurality of first mounting holes 2142, which are arranged at intervals along the circumference of the cylinder body 214. The wheel hub 11 has a plurality of second mounting holes 111, which are arranged at intervals along the circumference of the wheel hub 11. The plurality of second mounting holes 111 are respectively opposite to the plurality of first mounting holes 2142 along the axial direction of the wheel 1. The wheel assembly 100 further includes a plurality of fasteners (not shown in the figure), which are threaded through the plurality of first mounting holes 2142 and connected to the corresponding second mounting holes 111.

[0089] For example, in Figure 1 and Figure 2In the example, six first mounting holes 2142 are formed on the cylinder body 214. These six first mounting holes 2142 are evenly spaced along the circumference of the cylinder body 214 and penetrate both sides of the cylinder body 214 in the thickness direction. Six second mounting holes 111 are formed on the wheel hub 11. These six second mounting holes 111 are spaced along the circumference of the wheel hub 11 and correspond one-to-one with the six first mounting holes 2142. Multiple fasteners pass through the first mounting holes 2142 and engage with the corresponding second mounting holes 111 to connect the cylinder body 214 to the wheel hub 11, thereby fixing the Mecanum wheel 2 to the wheel 1, making the Mecanum wheel 2 and the wheel 1 a single unit. Furthermore, the connection method is simple, and the installation and removal of the wheel assembly 100 are convenient, improving installation and removal efficiency. It should be noted that the number and arrangement of the first mounting hole 2142, the second mounting hole 111, and the fasteners can be set according to the specific use to better meet the actual application.

[0090] A vehicle according to a second aspect of the present invention includes a wheel assembly 100 according to the first aspect of the present invention.

[0091] According to the vehicle of the present invention, by adopting the above-mentioned wheel assembly 100, the vehicle can realize the functions of Mecanum wheel 2 (diagonal driving, U-turn, lateral movement, etc.). When the wheel 1 is working, the outer diameter of the Mecanum wheel 2 is contracted by the hydraulic mechanism 200, and its roller 22 does not contact the ground. The outer peripheral surface of the wheel 1 contacts the ground, so that the vehicle can drive normally on ordinary urban roads, thereby improving the performance of the vehicle.

[0092] The wheel assembly 100 and other components and operation of the vehicle according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0093] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0094] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0095] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A wheel assembly, characterized in that, include: wheel; A Mecanum wheel is connected to one side of the wheel along its axial direction. The Mecanum wheel includes a body and a plurality of rollers. The body is connected to the wheel, and the plurality of rollers are disposed on the radially outer side of the body and are arranged at intervals along the circumference of the body. Multiple motion structures are respectively disposed between the main body and the multiple rollers. The multiple motion structures are movable relative to the main body to drive the multiple rollers to move radially relative to the main body along the wheel, so that the outer diameter of the Mecanum wheel is greater than or less than the outer diameter of the wheel.

2. The wheel assembly according to claim 1, characterized in that, The main body has a plurality of cavities arranged circumferentially along the main body, and at least a portion of the plurality of moving structures are respectively located in the plurality of cavities. The at least a portion of the moving structure is adapted to move relative to the main body under the impetus of fluid in the cavity.

3. The wheel assembly according to claim 2, characterized in that, The rollers are arranged at an angle relative to the axis of the main body. Each of the motion structures includes a first motion structure and a second motion structure. The first motion structure and the second motion structure are respectively connected to both ends of the roller. Each roller can extend or retract relative to the main body through the first motion structure and the second motion structure.

4. The wheel assembly according to claim 3, characterized in that, A first opening and a second opening are formed on the side wall of the cavity, with the first opening located on the side of the second opening away from the central axis of the main body; The first motion structure and the second motion structure each include: A support rod, wherein the roller is rotatably connected to one end of the support rod, and the other end of the support rod extends into the corresponding cavity; A piston is connected to the other end of the support rod. The piston is movably fitted into the corresponding cavity to drive the corresponding roller to extend or retract relative to the main body. The piston divides the interior of the cavity into a first cavity and a second cavity. The first opening communicates with the first cavity, and the second opening communicates with the second cavity.

5. The wheel assembly according to claim 4, characterized in that, Each cavity has an opening formed on the outer peripheral surface of the body, and an end cap is provided at the opening. The other end of the support rod extends into the cavity through the corresponding end cap, and the support rod is movable relative to the end cap along the axial direction of the support rod.

6. The wheel assembly according to claim 4, characterized in that, The support rod has a connecting part, and one end of each roller is provided with a first roller shaft. The first roller shaft passes through the connecting part of the support rod of the corresponding first motion structure and is threadedly connected to a first threaded fastener. Each roller has a second roller shaft at its other end, the second roller shaft passing through the connecting portion of the support rod of the corresponding second motion structure and being threadedly connected to a second threaded fastener.

7. The wheel assembly according to claim 4, characterized in that, The main body has a first flow channel and a second flow channel that are independent of each other. The first flow channel is connected to the first opening of the plurality of cavities, and the second flow channel is connected to the second opening of the plurality of cavities.

8. The wheel assembly according to any one of claims 1-7, characterized in that, The subject includes: The cylinder body has rollers disposed on the outer circumferential surface of the cylinder body, and the cylinder body has through holes formed on both sides of the cylinder body through the axial direction of the cylinder body; A slip ring, which fits into the through hole, includes a first slip ring and a second slip ring. The first slip ring fits between the second slip ring and the cylinder body, and the second slip ring is rotatable relative to the first slip ring.

9. The wheel assembly according to claim 8, characterized in that, The first slip ring has a positioning protrusion on its outer circumferential surface, and a positioning groove is formed on the side wall of the through hole, with the positioning protrusion fitting into the positioning groove.

10. The wheel assembly according to claim 8, characterized in that, The slip ring further includes: Multiple bearings are disposed between the first slip ring and the second slip ring, and the multiple bearings are arranged at intervals along the axial direction of the first slip ring; Multiple limiting members are provided at both ends of the second slip ring along its axial direction, and multiple bearings are located between the multiple limiting members.

11. The wheel assembly according to claim 10, characterized in that, The first flow channel includes a first sub-flow channel, a second sub-flow channel, a third sub-flow channel, a first annular flow channel, and a fourth sub-flow channel. The first sub-flow channel and the second sub-flow channel are formed on the cylinder body. The first sub-flow channel is connected to the first opening of the plurality of cavities. The first sub-flow channel extends circumferentially along the cylinder body. One end of the second sub-flow channel is connected to the first sub-flow channel. The other end of the second sub-flow channel extends radially along the cylinder body to the side wall penetrating the perforation. The third sub-flow channel is formed on the first slip ring. One end of the third sub-flow channel is connected to the other end of the second sub-flow channel. The outer peripheral surface of the second slip ring and the inner wall surface of the first slip ring together define the first annular flow channel. The fourth sub-flow channel is formed on the second slip ring. The fourth sub-flow channel is connected to the third sub-flow channel through the first annular flow channel. The second flow channel includes a fifth sub-flow channel, a sixth sub-flow channel, a seventh sub-flow channel, a second annular flow channel, and an eighth sub-flow channel. The fifth sub-flow channel and the sixth sub-flow channel are formed on the cylinder body. The fifth sub-flow channel is connected to the second opening of the plurality of cavities. The fifth sub-flow channel extends circumferentially along the cylinder body. One end of the sixth sub-flow channel is connected to the fifth sub-flow channel. The other end of the sixth sub-flow channel extends radially along the cylinder body to the sidewall that penetrates the perforation. The seventh sub-flow channel is formed on the first slip ring. One end of the seventh sub-flow channel is connected to the other end of the sixth sub-flow channel. The outer peripheral surface of the second slip ring and the inner wall surface of the first slip ring together define the second annular flow channel. The eighth sub-flow channel is formed on the second slip ring. The eighth sub-flow channel is connected to the seventh sub-flow channel through the second annular flow channel.

12. The wheel assembly according to claim 11, characterized in that, A first seal is provided between the first annular flow channel and one of the bearings adjacent to the first annular flow channel; and / or A second seal is provided between the first annular flow channel and the second annular flow channel; and / or A third seal is provided between the second annular flow channel and one of the bearings adjacent to the second annular flow channel.

13. The wheel assembly according to claim 11, characterized in that, The first sub-flow channel and the fifth sub-flow channel are arranged radially spaced along the cylinder block, with the fifth sub-flow channel located radially inside the first sub-flow channel; and / or The second sub-flow channel and the sixth sub-flow channel are arranged at intervals along the axial direction of the cylinder block; and / or The third sub-channel and the seventh sub-channel are arranged at intervals along the axial direction of the first slip ring; and / or The fourth sub-channel and the eighth sub-channel are arranged at intervals along the axial direction of the second slip ring.

14. The wheel assembly according to claim 8, characterized in that, The cylinder of the Mecanum wheel is connected to the hub of the wheel.

15. The wheel assembly according to claim 14, characterized in that, The cylinder block has a plurality of first mounting holes arranged at intervals along the circumference of the cylinder block. The wheel hub has a plurality of second mounting holes arranged at intervals along the circumference of the wheel hub. The plurality of second mounting holes are respectively opposite to the plurality of first mounting holes along the axial direction of the wheel. The wheel assembly further includes: Multiple fasteners are threaded through multiple first mounting holes and connected to corresponding second mounting holes.

16. A vehicle, characterized in that, Includes the wheel assembly according to any one of claims 1-15.

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