A conversion structure of a round wheel and an omni-wheel

Abstract

The application discloses a kind of round wheel and omni-directional wheel conversion structure, belong to wheel technical field, including two symmetrically arranged connecting plate assemblies, two symmetrically arranged V-shaped rod body two assemblies, two symmetrically arranged moving plate assemblies, two symmetrically arranged V-shaped rod body three assemblies, roller assembly, gear assembly, fixed rod and transmission rod assembly, in the state of conversion into omni-directional wheel, the size of the diameter d1 of the outer ring of multiple rollers of roller assembly is greater than the size of the diameter d2 of the outer ring of multiple moving plates of moving plate assembly, in the state of conversion into round wheel, the size of the diameter d3 of the outer ring of multiple moving plates of moving plate assembly is greater than the size of the diameter d4 of the outer ring of multiple rollers of roller assembly.The application is rotated by fixed rod and drives two gears, realizes the conversion of omni-directional wheel and round wheel, and the application optimizes the existing gap between omni-directional wheel rollers, and the roller rotates around its own axis, resulting in the shortcomings of vibration and motion slip of omni-directional wheel.

Description

Technical Field

[0001] This invention relates to the field of wheel technology, and in particular to a structure for converting a circular wheel into an omnidirectional wheel. Background Technology

[0002] Mecanum wheels, also known as Swedish wheels or omnidirectional wheels, are a special type of wheel that allows robots or equipment to move directly in any direction without changing the direction of the wheels, including straight, lateral, diagonal, and rotation in place.

[0003] The Mecanum wheel's rollers, through a specially designed curved surface with a specific tilt angle, contact the bottom surface, giving it three degrees of freedom: it can rotate not only on its own axis but also around the axle and even around the point of contact between the roller and the ground. However, due to the gaps between the rollers and the rotation of the rollers around their own axes, the Mecanum wheel suffers from vibration and slippage.

[0004] Therefore, those skilled in the art can provide a structure for converting a circular wheel to an omnidirectional wheel. Through a special structure, the conversion between a circular wheel and an omnidirectional wheel can be realized, solving the problems of vibration and slippage in existing omnidirectional wheels. Summary of the Invention

[0005] The purpose of this invention is to provide a structure for converting between a circular wheel and an omnidirectional wheel. Through a special structure, the conversion between a circular wheel and an omnidirectional wheel can be realized, solving the problems of vibration and slippage in existing omnidirectional wheels.

[0006] To achieve the above objectives, the present invention provides a wheel-to-omnidirectional wheel conversion structure, comprising two symmetrically arranged connecting plate assemblies, two symmetrically arranged V-shaped rod assemblies, two symmetrically arranged movable plate assemblies, two symmetrically arranged V-shaped rod assemblies, a roller assembly, a gear assembly, a fixing rod, and a transmission rod assembly; the gear assembly includes two gears, each gear being connected to one connecting plate assembly; one connecting plate assembly, one V-shaped rod assembly, and one V-shaped rod assembly are all mounted on one movable plate assembly; one end of the roller assembly is connected to one V-shaped rod assembly, and the other end of the roller assembly is connected to the other V-shaped rod assembly; both gears are positioned at the center; the fixing rod passes through the connecting holes of the two gears and is fixed thereon; the transmission rod assembly is connected to and fixed to the two connecting plate assemblies.

[0007] Preferably, each of the connecting plate assemblies includes multiple connecting plates. Each connecting plate includes a corner plate and a V-shaped rod. The V-shaped rod is fixedly connected to the two outer corners of the corner plate. One end of the V-shaped rod has a through hole, and the other end of the V-shaped rod has a sliding column. A column is fixedly connected to the middle of the V-shaped rod.

[0008] A half-gear is provided at one corner of the corner plate near the center, and a through hole is provided at the other corner of the outer side of the corner plate. The through hole communicates with the sliding column. Multiple connecting plates are evenly arranged along the circumference, and the half-gear of the corner plate meshes with the gear for transmission. A connecting hole is provided at the corner plate near the half-gear.

[0009] Preferably, each of the V-shaped rod components includes multiple V-shaped rods, each V-shaped rod having a through hole three and a through hole four at its two ends, a fixed post fixedly connected to the middle of the V-shaped rod, and a sliding post two provided on one end face of the V-shaped rod, the sliding post two communicating with the through hole three; the multiple V-shaped rods are evenly arranged along the circumferential direction.

[0010] Preferably, each of the movable plate assemblies includes multiple movable plates, the outer edge of each movable plate is arc-shaped, the edge of each movable plate near the center of the circle is V-shaped, the multiple movable plates are evenly arranged along the circumferential direction, and the outer edges of the multiple movable plates form a complete circle; the ends of two adjacent movable plates are fitted with a clearance, and a U-shaped groove is formed between the V-shaped edges of two adjacent movable plates;

[0011] The movable plate has a through hole and a guide groove in the middle, and the center of the through hole and the extension direction of the guide groove are on the same diameter.

[0012] Preferably, each of the V-shaped rod three-components includes multiple V-shaped rods three, which are evenly arranged along the circumferential direction; each of the two ends of the V-shaped rod three is provided with a through hole six and a sliding column three, the middle of the sliding column three is provided with a through hole seven, the middle of the V-shaped rod three is fixedly connected with a connecting column, the connecting column is provided with a through groove in the axial direction, and the top of the connecting column is provided with a ball joint groove.

[0013] Preferably, the hinge shaft passes through the through hole four of the V-shaped rod body two, the through hole five of a movable plate, and the through hole six of the V-shaped rod body three and is hinged together.

[0014] The hinge shaft passes through the through hole three of the V-shaped rod body two and the sliding column two, the guide groove of another adjacent moving plate, and the sliding column three of another adjacent V-shaped rod body three and is hinged together. The sliding column two of the V-shaped rod body two and the sliding column three of the V-shaped rod body three are slidably connected in the guide groove of the moving plate.

[0015] The sliding column one of the connecting plate and the sliding column three of the V-shaped rod are both slidably connected to the guide groove of the moving plate, and the hinge shaft passes through the sliding column one of the connecting plate, the guide groove of the moving plate and the sliding column three of the V-shaped rod and is hinged together.

[0016] The hinge shaft passes through the through hole one of the V-shaped rod one of the connecting plate, the through hole five of the other movable plate, and the through hole six of the other V-shaped rod three, and is hinged together.

[0017] The upright of the connecting plate and the fixed post of the second V-shaped rod both pass through the U-shaped grooves formed by the two moving plates and are then inserted into the through slots of the corresponding third V-shaped rod.

[0018] Preferably, the roller assembly includes multiple rollers, each roller having a ball at both ends. The balls are connected by ball hinges to the ball slots of the V-shaped rod assembly. The multiple rollers are evenly arranged along the circumferential direction, and the multiple rollers are inclinedly connected between two V-shaped rod assemblies.

[0019] The transmission rod assembly includes multiple transmission rods, each of which passes through two opposite connection holes of the two connecting plate assemblies and is fixed together.

[0020] Preferably, in the state of being converted into an omnidirectional wheel, the outer diameter d1 of the plurality of rollers of the roller assembly is larger than the outer diameter d2 of the plurality of movable plates of the movable plate assembly; and in the state of being converted into a circular wheel, the outer diameter d3 of the plurality of movable plates of the movable plate assembly is larger than the outer diameter d4 of the plurality of rollers of the roller assembly.

[0021] Preferably, the number of connecting plates in each connecting plate assembly, the number of V-shaped rods in each V-shaped rod assembly, the number of moving plates in each moving plate assembly, the number of V-shaped rods in each V-shaped rod assembly, the number of rollers in each roller assembly, and the number of transmission rods in the transmission rod assembly are proportionally corresponding, with the ratio being 4:4:8:8:8:4, and set as positive integer multiples of the ratio.

[0022] Preferably, each connecting plate assembly has four connecting plates, each V-shaped rod II assembly has four V-shaped rod IIs, each moving plate assembly has eight moving plates, each V-shaped rod III assembly has eight V-shaped rod IIIs, each roller assembly has eight rollers, and each transmission rod assembly has four transmission rods.

[0023] The advantages and positive effects of the wheel-to-omnidirectional wheel conversion structure described in this invention are:

[0024] (1) The present invention drives two gears to rotate through a fixed rod. Through a special connection structure between the connecting plate assembly, the second V-shaped rod assembly, the moving plate assembly, the third V-shaped rod assembly and the roller assembly, the conversion between the omnidirectional wheel and the circular wheel is realized. The transformation structure of the present invention optimizes the shortcomings of the existing omnidirectional wheel rollers, which have gaps between them and the rollers rotate around their own axis, resulting in vibration and slippage of the omnidirectional wheel.

[0025] (2) The present invention can achieve self-locking at extreme positions through the characteristics of the connection structure, which makes it easy for the mechanism to maintain stability in the state of the wheel and the Mecanum wheel.

[0026] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the left wheel structure of the present invention, which is a transformation structure between a circular wheel and an omnidirectional wheel;

[0028] Figure 2 This is a front view of the left wheel of the present invention;

[0029] Figure 3 This is a schematic diagram of the present invention converted into an omnidirectional wheel structure;

[0030] Figure 4 This is a schematic diagram of the present invention converted into a circular wheel structure;

[0031] Figure 5 This is a schematic diagram of the front structure of the connecting plate of the present invention;

[0032] Figure 6 This is a schematic diagram of the reverse side structure of the connecting plate of the present invention;

[0033] Figure 7 This is a front structural diagram of the V-shaped rod of the present invention;

[0034] Figure 8 This is a schematic diagram of the reverse side structure of the V-shaped rod of the present invention;

[0035] Figure 9 This is a schematic diagram of the movable plate structure of the present invention;

[0036] Figure 10 This is a schematic diagram of the front structure of the V-shaped rod body II of the present invention;

[0037] Figure 11 This is a schematic diagram of the reverse side structure of the V-shaped rod body II of the present invention;

[0038] Figure 12 This is a schematic diagram of the roller structure of the present invention;

[0039] Figure 13 This is a schematic diagram of the gear structure of the present invention;

[0040] Figure 14 This is a schematic diagram of the front connection structure of the connecting plate, V-shaped rod, and movable plate of the present invention;

[0041] Figure 15 This is a schematic diagram of the connection structure between the connecting plate, the V-shaped rod, and the movable plate on the reverse side of the present invention.

[0042] Figure 16 This is a schematic diagram showing the connection between the connecting plate, V-shaped rod one, the movable plate, and V-shaped rod two of the present invention.

[0043] Figure 17 This is a schematic diagram of the connection structure of the connecting plate, V-shaped rod one, moving plate, V-shaped rod two, and roller of the present invention;

[0044] Figure 18 This is a schematic diagram of the revolver structure of the present invention;

[0045] Figure 19 This is a schematic diagram of the right wheel structure of the present invention.

[0046] Figure Labels

[0047] 1. Connecting plate; 101. V-shaped rod body one; 1011. Through hole one; 1012. Sliding column one; 102. Angle plate; 1021. Through hole two; 1022. Connecting hole one; 103. Half gear; 104. Column;

[0048] 2. V-shaped rod two; 201. Fixed post; 202. Through hole three; 203. Through hole four; 204. Sliding post two;

[0049] 3. Moving plate; 301. Through hole five; 302. Guide groove; 4. Roller; 401. Ball;

[0050] 5. V-shaped rod body three; 501. Connecting post; 5011. Ball joint groove; 502. Through hole six; 503. Sliding post three;

[0051] 6. Gear; 601. Connecting hole two; 7. Transmission rod; 8. Fixing rod. Detailed Implementation

[0052] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the 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 the invention. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0053] In this application, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. In case of any inconsistency, the meaning set forth in this specification or derived from the content described herein shall prevail. Furthermore, the terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit the scope of this application.

[0054] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0055] like Figures 1-19 As shown, a wheel-to-omnidirectional wheel conversion structure includes two symmetrically arranged connecting plate assemblies, two symmetrically arranged V-shaped rod assemblies, two symmetrically arranged movable plate assemblies, two symmetrically arranged V-shaped rod assemblies, a roller assembly, a gear assembly, a fixing rod 8, and a transmission rod assembly. The gear assembly includes two gears 6, each gear 6 connected to one connecting plate assembly. One connecting plate assembly, one V-shaped rod assembly, and one V-shaped rod assembly are all mounted on a movable plate assembly. One end of the roller assembly is connected to one V-shaped rod assembly, and the other end is connected to the other V-shaped rod assembly. Both gears 6 are positioned at the center. The fixing rod 8 passes through the connecting hole 601 of the two gears 6 and is fixed thereon. The transmission rod assembly is connected to and fixed to the two connecting plate assemblies.

[0056] Each connecting plate assembly includes multiple connecting plates 1. The connecting plate 1 includes a corner plate 102 and a V-shaped rod 101. The V-shaped rod 101 is fixedly connected to the two corners on the outer side of the corner plate 102. One end of the V-shaped rod 101 has a through hole 1011, and the other end of the V-shaped rod 101 has a sliding post 1012. A column 104 is fixedly connected to the middle of the V-shaped rod 101.

[0057] A half-gear 103 is provided at one corner of the angle plate 102 near the center, and a through hole 1021 is provided at the other corner of the outer side of the angle plate 102, which communicates with the sliding column 1012. Four connecting plates 1 are evenly arranged along the circumference, and the half-gear 103 of the angle plate 102 meshes with a gear for transmission. A connecting hole 1022 is provided on the angle plate 102 near the half-gear 103.

[0058] Each V-shaped rod assembly includes multiple V-shaped rods 2. Each V-shaped rod 2 has a through hole 3 202 and a through hole 4 203 at both ends. A fixing post 201 is fixedly connected to the middle of each V-shaped rod 2. A sliding post 204 is provided on one end face of each V-shaped rod 2, and the sliding post 204 communicates with the through hole 3 202. The multiple V-shaped rods 2 are evenly arranged along the circumferential direction.

[0059] Specifically, multiple V-shaped rods 2 and multiple connecting plates 1 are evenly arranged, with one V-shaped rod 2 between two connecting plates 1.

[0060] Each movable plate assembly includes multiple movable plates 3. The outer edges of the movable plates 3 are arc-shaped, and the edges of the movable plates 3 near the center are V-shaped. The multiple movable plates 3 are evenly arranged along the circumference, and the outer edges of the eight movable plates 3 form a complete circle. The ends of two adjacent movable plates 3 are fitted with a clearance, and a U-shaped groove is formed between the V-shaped edges of two adjacent movable plates 3.

[0061] The movable plate 3 has a through hole 301 and a guide groove 302 in the middle, and the center of the through hole and the extension direction of the guide groove 302 are on the same diameter.

[0062] Each V-shaped rod assembly includes multiple V-shaped rods 5, which are evenly arranged along the circumference. Each V-shaped rod 5 has a through hole 502 at one end and a sliding post 503 at the other. The sliding post 503 has a through hole 7 in its middle. A connecting post 501 is fixedly connected to the middle of each V-shaped rod 5. The connecting post 501 has a through groove in the axial direction and a ball joint groove 5011 at its top.

[0063] The hinge shaft passes through the through hole 203 of the V-shaped rod 2, the through hole 301 of the movable plate 3, and the through hole 502 of the V-shaped rod 3 5, and is hinged together.

[0064] The hinge shaft passes through the through hole 202 of the V-shaped rod 2 and the sliding column 204, the guide groove 302 of the other adjacent moving plate 3, and the sliding column 503 of the other adjacent V-shaped rod 5 and is hinged together. The sliding column 204 of the V-shaped rod 2 and the sliding column 503 of the V-shaped rod 5 are both slidably connected in the guide groove 302 of the moving plate 3.

[0065] The sliding post 1012 of the connecting plate 1 and the sliding post 503 of the V-shaped rod 5 are both slidably connected to the guide groove 302 of the moving plate 3, and the hinge shaft passes through the sliding post 1012 of the connecting plate 1, the guide groove 302 of the moving plate 3 and the sliding post 503 of the V-shaped rod 5 and is hinged together.

[0066] The hinge shaft passes through the through hole 1011 of the V-shaped rod 101 of the connecting plate 1, the through hole 301 of the other moving plate 3, and the through hole 502 of the other V-shaped rod 5, and is hinged together.

[0067] The column 104 of the connecting plate 1 and the fixing column 201 of the V-shaped rod 2 both pass through the U-shaped groove formed by the two moving plates 3 and are inserted into the through groove of the corresponding V-shaped rod 3 5.

[0068] The roller 4 assembly includes multiple rollers 4, each roller 4 having a ball 401 at both ends. The ball 401 is ball-jointed to the ball groove 5011 of the V-shaped rod 3 5 assembly. The multiple rollers 4 are evenly arranged along the circumferential direction, and the multiple rollers 4 are inclinedly connected between the two V-shaped rod 3 5 assemblies.

[0069] Specifically, such as Figures 18-19 As shown, the rollers 4 of the left and right wheels are tilted in opposite directions, and the connecting plate assembly, the second V-shaped rod assembly, the moving plate assembly, and the third V-shaped rod assembly are arranged accordingly.

[0070] The transmission rod 7 assembly includes multiple transmission rods 7, each transmission rod 7 passing through and fixed to two opposite connection holes 1022 of the two connecting plate assemblies.

[0071] The number of connecting plates in each connecting plate assembly, the number of V-shaped rods in each V-shaped rod assembly, the number of moving plates in each moving plate assembly, the number of V-shaped rods in each V-shaped rod assembly, the number of rollers in each roller assembly, and the number of transmission rods in the transmission rod assembly are set in a proportional ratio of 4:4:8:8:8:4, and are set in positive integer multiples of this ratio.

[0072] In one embodiment, each connecting plate assembly has four connecting plates 1, each V-shaped rod assembly has four V-shaped rods 2, each moving plate assembly has eight moving plates 3, each V-shaped rod assembly has eight V-shaped rods 5, each roller assembly has eight rollers 4, and each transmission rod assembly has four transmission rods 7. The connecting plates 1, V-shaped rods 2, moving plates 3, V-shaped rods 5, and rollers 4 are connected together.

[0073] Specifically, such as Figures 3-4 As shown, in the omnidirectional wheel state, the outer diameter d1 of the eight rollers 4 is larger than the outer diameter d2 of the eight moving plates 3. In the circular wheel state, the outer diameter d3 of the eight moving plates 3 is larger than the outer diameter d4 of the eight rollers 4.

[0074] like Figures 3-4 As shown, the principle of the conversion between the circular wheel and the omnidirectional wheel in this invention is as follows: the vehicle drives two gears 6 to rotate clockwise by a certain angle via a fixed rod 8, transforming it into an omnidirectional wheel, i.e., the roller 4 contacts the ground. Then, the gears 6 rotate counterclockwise by a certain angle, transforming it into a circular wheel. The vehicle then drives the left and right wheels to rotate and move forward via a transmission rod 7.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A structure for converting between a circular wheel and an omnidirectional wheel, characterized in that: The system includes two symmetrically arranged connecting plate assemblies, two symmetrically arranged V-shaped rod assemblies, two symmetrically arranged movable plate assemblies, two symmetrically arranged V-shaped rod assemblies, a roller assembly, a gear assembly, a fixing rod, and a transmission rod assembly. Each gear assembly includes two gears, each connected to one connecting plate assembly. One connecting plate assembly, one V-shaped rod assembly, and one V-shaped rod assembly are all mounted on a movable plate assembly. One end of each roller assembly is connected to one V-shaped rod assembly, and the other end is connected to the other V-shaped rod assembly. Both gears are positioned at the center. The fixing rod passes through the connecting holes of the two gears and is fixed in place. The transmission rod assembly is connected to and fixed to both connecting plate assemblies. Each of the connecting plate assemblies includes multiple connecting plates, each connecting plate including a corner plate and a V-shaped rod. The V-shaped rod is fixedly connected to the two outer corners of the corner plate. One end of the V-shaped rod has a through hole, and the other end of the V-shaped rod has a sliding column. A column is fixedly connected to the middle of the V-shaped rod. A half gear is provided at one corner of the corner plate near the center, and a through hole two is provided at the other corner of the outer side of the corner plate, which is connected to the sliding column one; multiple connecting plates are evenly arranged along the circumference, and the half gear of the corner plate meshes with the gear for transmission; a connecting hole one is provided at the corner plate near the half gear. Each of the V-shaped rod components includes multiple V-shaped rods. Each V-shaped rod has a through hole three and a through hole four at its two ends. A fixing post is fixedly connected to the middle of each V-shaped rod. A sliding post two is provided on one end face of each V-shaped rod, and the sliding post two communicates with the through hole three. Multiple V-shaped rods are evenly arranged along the circumferential direction. Each of the movable plate assemblies includes multiple movable plates, the outer edge of each movable plate is arc-shaped, the edge of each movable plate near the center of the circle is V-shaped, the multiple movable plates are evenly arranged along the circumferential direction, and the outer edges of the multiple movable plates form a complete circle; the ends of two adjacent movable plates are fitted with a clearance, and a U-shaped groove is formed between the V-shaped edges of two adjacent movable plates; The movable plate has a through hole and a guide groove in the middle, and the center of the through hole and the extension direction of the guide groove are on the same diameter; Each of the V-shaped rod components includes multiple V-shaped rods, which are evenly arranged along the circumferential direction. Each V-shaped rod has a through hole six and a sliding column three at both ends. The sliding column three has a through hole seven in its middle. A connecting column is fixedly connected to the middle of the V-shaped rod three. The connecting column has a through groove in the axial direction and a ball joint groove at its top.

2. The wheel-to-omnidirectional wheel conversion structure according to claim 1, characterized in that: The hinge shaft passes through the through hole four of the V-shaped rod body two, the through hole five of a movable plate, and the through hole six of the V-shaped rod body three, and is hinged together. The hinge shaft passes through the through hole three of the V-shaped rod body two and the sliding column two, the guide groove of another adjacent moving plate, and the sliding column three of another adjacent V-shaped rod body three and is hinged together. The sliding column two of the V-shaped rod body two and the sliding column three of the V-shaped rod body three are slidably connected in the guide groove of the moving plate. The sliding column one of the connecting plate and the sliding column three of the V-shaped rod are both slidably connected to the guide groove of the moving plate, and the hinge shaft passes through the sliding column one of the connecting plate, the guide groove of the moving plate and the sliding column three of the V-shaped rod and is hinged together. The hinge shaft passes through the through hole one of the V-shaped rod one of the connecting plate, the through hole five of the other movable plate, and the through hole six of the other V-shaped rod three, and is hinged together. The upright of the connecting plate and the fixed post of the second V-shaped rod both pass through the U-shaped grooves formed by the two moving plates and are then inserted into the through slots of the corresponding third V-shaped rod.

3. The wheel-to-omnidirectional wheel conversion structure according to claim 2, characterized in that: The roller assembly includes multiple rollers, each roller having a ball at both ends. The balls are connected by ball hinges to the ball slots of the V-shaped rod assembly. The multiple rollers are evenly arranged along the circumferential direction, and the multiple rollers are inclinedly connected between two V-shaped rod assemblies. The transmission rod assembly includes multiple transmission rods, each of which passes through two opposite connection holes of the two connecting plate assemblies and is fixed together.

4. The wheel-to-omnidirectional wheel conversion structure according to claim 3, characterized in that: When converted to an omnidirectional wheel state, the outer diameter d1 of the multiple rollers of the roller assembly is larger than the outer diameter d2 of the multiple moving plates of the moving plate assembly; when converted to a circular wheel state, the outer diameter d3 of the multiple moving plates of the moving plate assembly is larger than the outer diameter d4 of the multiple rollers of the roller assembly.

5. The wheel-to-omnidirectional wheel conversion structure according to claim 4, characterized in that: The number of connecting plates in each connecting plate assembly, the number of V-shaped rods in each V-shaped rod assembly, the number of moving plates in each moving plate assembly, the number of V-shaped rods in each V-shaped rod assembly, the number of rollers in each roller assembly, and the number of transmission rods in the transmission rod assembly are set in a proportional ratio of 4:4:8:8:8:4, and are set in positive integer multiples of the ratio.

6. The wheel-to-omnidirectional wheel conversion structure according to claim 5, characterized in that: Each of the connecting plate assemblies has four connecting plates, each of the V-shaped rod 2 assemblies has four V-shaped rod 2 assemblies, each moving plate assembly has eight moving plates, each V-shaped rod 3 assemblies has eight V-shaped rod 3 assemblies, each roller assembly has eight rollers, and each transmission rod assembly has four transmission rods.

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