Mecanum wheel robot with climbing mechanism
By introducing a climbing mechanism into the Mecanum wheeled robot and utilizing spring preload and hydraulic expansion technology, the problems of passability and energy consumption in complex terrain of the Mecanum wheeled robot have been solved, achieving higher adhesion and energy efficiency.
Patent Information
- Application Number
- CN202511548038.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-28
- Publication Date
- 2026-01-20
AI Technical Summary
The existing Mecanum wheel robot has only line contact between the inclined roller and the ground, resulting in insufficient friction and easy slippage. The fixed roller diameter makes it difficult to adapt to complex terrain, leading to decreased throughput and increased energy consumption.
The system employs a climbing mechanism, including a Mecanum wheel, a diameter-changing mechanism, and a hydraulic system. Through spring preload and hydraulic expansion, the roller diameter can be instantly reduced or increased to adapt to local protrusions and low-friction slopes, thereby enhancing adhesion.
It effectively overcomes local obstacles, improves the robot's ability to navigate complex terrain, reduces energy consumption, and enhances the robot's adaptability to discontinuous terrain.
Smart Images
Figure CN121361523A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of robot technology, in particular to a Mecanum wheel robot with a climbing mechanism. BACKGROUND
[0002] The Mecanum wheel robot is an intelligent mobile platform based on a special omnidirectional mobile mechanism. Its core technology originates from the Mecanum wheel design proposed by Bengt Ilon, a Swedish engineer, in the 1970s. The wheel type is composed of a hub and multiple rollers arranged in a circumferential direction at a fixed angle (usually forty-five degrees) with the hub axis. Through the coordinated control of the rotation speed and steering of each wheel, three degrees of freedom of omnidirectional motion in the plane can be achieved, including forward and backward translation, lateral translation, and rotation in place. Compared with the traditional differential drive method, the Mecanum wheel breaks through the nonholonomic constraint and can complete lateral movement without changing the orientation of the wheel body, greatly improving the maneuverability in narrow spaces. This unique motion characteristic is derived from the point contact mechanics principle between the roller and the ground: when the motor drives the hub to rotate, the roller decomposes the main driving force into longitudinal and transverse components, and through the vector synthesis of the four-wheel force, any direction of movement is generated. With the development of servo control, multi-motor collaborative algorithm, and SLAM technology, the Mecanum wheel robot has been widely applied in fields such as industrial logistics, medical transportation, aerospace, and other fields requiring precise position adjustment, becoming a classic solution to space constraint problems in the field of modern mobile robots.
[0003] Most of the Mecanum wheel robots in the prior art have the following shortcomings: first, the obliquely arranged rollers only form line contact with the ground, resulting in a small contact area, and often slipping due to insufficient friction. The fixed roller diameter design makes it difficult to adapt to complex terrain, and when encountering gaps or protrusions, the rollers are prone to jamming or suspension failure, which not only affects the passing performance of the robot, but also forces the drive system to output additional power for compensation, reducing the overall energy efficiency. SUMMARY
[0004] Therefore, the purpose of the present application is to provide a Mecanum wheel robot with a climbing mechanism to solve the technical problems of line contact between oblique rollers and the ground, insufficient friction, and easy slipping; fixed roller diameter difficult to adapt to complex terrain, easy to jam and suspend when encountering gaps or protrusions, affecting the passing performance and increasing energy consumption.
[0005] In order to achieve the above object, the present application provides the following technical scheme: a Mecanum wheel robot with a climbing mechanism, comprising a main body, two groups of connecting rods are arranged inside the main body, Mecanum wheel mechanisms are rotatably connected to the two sides of the two groups of connecting rods, the Mecanum wheel mechanism comprises a roller, a fixing bolt, a main shaft, a fixed plate, a movable shaft, a first spring and a movable cavity, the roller is rotatably connected inside the fixed plate, the fixing bolt is arranged inside the fixed plate, the main shaft is arranged at one end of the fixed plate, the fixed plate is arranged on both sides of the roller respectively, the movable shaft is arranged on both sides of the roller respectively, the first spring is arranged inside the fixed plate, and the movable cavity is arranged inside the fixed plate, two groups of V-shaped rods are arranged inside the main body, and the V-shaped rods and the connecting rods are rotatably connected through shafts.
[0006] By adopting the above technical scheme, the external staff controls the movement of the main body through the external control device, and drives the connecting rod inside the main body through the motor arranged inside the main body, when the connecting rod rotates, the connecting shaft arranged on both sides of the connecting rod is driven to rotate synchronously, when the connecting shaft on both sides rotates, the Mecanum wheel mechanism fixed outside the connecting shaft also rotates synchronously, when the main body encounters a local protrusion during movement, the first spring arranged inside the Mecanum wheel mechanism elastically extrudes the roller, so that the first spring is pre-tightened and compressed to instantaneously reduce the roll diameter, and obstacle crossing is realized; through the reset of the rear spring, the original roll diameter is restored.
[0007] Further, a diameter changing mechanism is arranged outside the connecting rod, the diameter changing mechanism comprises a jacking layer, a fixing layer, a hydraulic cavity and a hydraulic pipe, the jacking layer is arranged outside the connecting rod, the fixing layer is arranged outside the connecting rod, the hydraulic cavity is arranged between the fixing layer and the jacking layer, and the hydraulic pipe is arranged inside the jacking layer.
[0008] By adopting the above technical scheme, when the main body moves, it encounters a low-friction slope (such as a wooden or metal slope), at this time, the external staff can start the hydraulic pump arranged inside the main body through the external control device, so that the hydraulic pump pumps hydraulic oil into the hydraulic pipe, so that the hydraulic oil is pumped into the hydraulic cavity through the hydraulic pipe, and the pressure inside the hydraulic cavity is increased.
[0009] Further, a groove matched with the fixing layer is arranged inside the jacking layer, one end of the hydraulic pipe is in communication with the hydraulic cavity, a cavity is arranged at the bottom end of the main body and matched with the V-shaped rod, and a fixing groove matched with the Mecanum wheel mechanism is arranged inside the connecting rod.
[0010] Through adoption of the technical scheme, the jacking layer is displaced upwards along the fixed layer, so that the jacking layer is radially changed to the outside, so that the plurality of groups of rollers are also radially displaced along the outside, so that the effect that the contact area is increased at one end of the rollers in the radial direction and the adhesion is significantly improved is achieved, and in the process of radial displacement of the rollers, the first spring arranged in the main body also plays a certain limiting role.
[0011] Further, the connecting rod is provided with a fixed block outside, the fixed block is provided with a second spring matched with the main body at the top end, a shaking cavity matched with the second spring is arranged in the main body, and the connecting rod is provided with a connecting shaft on both sides.
[0012] Through adoption of the technical scheme, the v-shaped rod arranged in the main body can limit the position movement of the four groups of Mecanum wheel mechanisms through the plurality of groups of connecting rods with the v-shaped rod center as the axis according to the slope of the slope, at this time, the fixed block arranged in the connecting rod is fixed with the main body through the second spring arranged at one end of the fixed block, so that the Mecanum wheel mechanism is elastically limited, and the Mecanum wheel mechanism can be effectively reset after deformation.
[0013] In summary, the present application mainly has the following beneficial effects: the main body is moved by the control device, the connecting rod is rotated by the motor, the connecting rod drives the two connecting shafts to rotate synchronously, and then the Mecanum wheel mechanism is rotated, when a local protrusion is encountered, the spring in the Mecanum wheel elastically extrudes the roller, so that the roller diameter is instantaneously reduced to realize obstacle crossing, and then the spring is reset to restore the original state, when a low-friction slope is encountered, the hydraulic pump pumps oil into the hydraulic chamber, the jacking layer moves upwards along the fixed layer, the roller is radially expanded to increase the contact area and improve the adhesion, the spring plays a limiting role, the v-shaped rod adjusts the position of the Mecanum wheel through the connecting rod according to the slope angle, the fixed block is elastically limited by the spring to ensure reset after deformation, the structure makes the roller contact the ground line, the adhesion is increased by radial expansion, and the discontinuous terrain is adapted. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 It is an overall structural schematic diagram of the present application; Figure 2 It is an internal structural schematic diagram of the present application; Figure 3 It is an A enlarged view of the present application; Figure 2 Figure 4 It is a partial structural schematic diagram of the present application; Figure 5 It is a B enlarged view of the present application; Figure 4 Figure 6 It is a local structural schematic diagram of the present application; Figure 7 For the present invention Figure 6 Enlarged view of point C.
[0015] In the diagram: 1. Main body; 2. Mecanum wheel mechanism; 201. Roller; 202. Fixing bolt; 203. Main shaft; 204. Fixing plate; 205. Movable shaft; 206. First spring; 207. Movable cavity; 3. Connecting shaft; 4. V-bar; 5. Cavity; 6. Connecting rod; 7. Second spring; 8. Variable diameter mechanism; 801. Lifting layer; 802. Fixing layer; 803. Hydraulic cavity; 804. Hydraulic pipe; 9. Fixing block. Detailed Implementation
[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.
[0017] The embodiments of the present invention will now be described.
[0018] A Mecanum wheeled robot equipped with a climbing mechanism, such as Figures 1-7 As shown, the device includes a main body 1. Inside the main body 1 are two sets of connecting rods 6. Both sides of the two sets of connecting rods 6 are rotatably connected to a Mecanum wheel mechanism 2. The Mecanum wheel mechanism 2 includes a roller 201, a fixing bolt 202, a main shaft 203, a fixed plate 204, a movable shaft 205, a first spring 206, and a movable cavity 207. The roller 201 is rotatably connected inside the fixed plate 204. The fixing bolt 202 is located inside the fixed plate 204. The main shaft 203 is located at one end of the fixed plate 204. The fixed plate 204 is located on both sides of the roller 201. The movable shaft 205 is located on both sides of the roller 201. The first spring 206 is located inside the fixed plate 204. The movable cavity 207 is located inside the fixed plate 204. The main body 1 contains two sets of V-shaped rods 4. Rod 4 and connecting rod 6 are rotatably connected via a rotating shaft. External personnel control the movement of the main body 1 via an external control device. A motor inside the main body 1 drives the connecting rod 6 to rotate. When the connecting rod 6 rotates, it drives the connecting shafts 3 on both sides to rotate synchronously. When the connecting shafts 3 rotate, they also drive the Mecanum wheel mechanism 2 fixed to the outside of the connecting shafts 3 to rotate synchronously. When the main body 1 encounters a local protrusion during movement, the first spring 206 inside the Mecanum wheel mechanism 2 elastically compresses the roller 201, thus achieving pre-tension compression of the first spring 206 to momentarily reduce the roller diameter, enabling obstacle crossing. The original roller diameter is then restored by the spring's return to its original position. Exemplary, the outer side of the connecting rod 6 is provided with a variable diameter mechanism 8, the variable diameter mechanism 8 includes a jacking layer 801, a fixed layer 802, a hydraulic cavity 803 and a hydraulic pipe 804, the jacking layer 801 is arranged outside the connecting rod 6, the fixed layer 802 is arranged outside the connecting rod 6, the hydraulic cavity 803 is arranged between the fixed layer 802 and the jacking layer 801, and the hydraulic pipe 804 is arranged inside the jacking layer 801, wherein when the main body 1 encounters a low-friction slope (such as a wooden or metal slope) during movement, at this time, the external staff can start the hydraulic pump arranged inside the main body 1 through the external control device, so that the hydraulic pump pumps hydraulic oil into the hydraulic pipe 804, so that the hydraulic oil is pumped into the hydraulic cavity 803 through the hydraulic pipe 804, and the pressure inside the hydraulic cavity 803 is increased; Exemplary, the jacking layer 801 is provided with a groove matched with the fixed layer 802, one end of the hydraulic pipe 804 is communicated with the hydraulic cavity 803, the bottom end of the main body 1 is provided with a cavity 5 matched with the V-shaped rod 4, and the connecting rod 6 is provided with a fixed groove matched with the Mecanum wheel mechanism 2, wherein the jacking layer 801 is displaced upward along the fixed layer 802, so that the jacking layer 801 changes radially outward, so that the plurality of rollers 201 also displace radially outward, so that the radial end of the roller 201 increases the contact area and significantly improves the adhesion effect, and the first spring 206 arranged inside the main body 1 also plays a certain limiting role during the radial displacement of the roller 201; Exemplary, the outer side of the connecting rod 6 is provided with a fixed block 9, the top end of the fixed block 9 is provided with a second spring 7 matched with the main body 1, the inside of the main body 1 is provided with a shaking cavity matched with the second spring 7, and the two sides of the connecting rod 6 are provided with connecting shafts 3, wherein the V-shaped rod 4 arranged inside the main body 1 can limit the position of the four Mecanum wheel mechanisms 2 through the plurality of connecting rods 6 with the V-shaped rod 4 as the axis according to the slope, at this time, the fixed block 9 arranged inside the connecting rod 6 is fixed with the main body 1 through the second spring 7 arranged at one end, so as to elastically limit the Mecanum wheel mechanism 2 and prevent effective resetting after deformation.
[0019] The working principle of the application is as follows: when in use, the external staff controls the main body 1 to move through the external control device, and drives the connecting rod 6 inside the main body 1 to rotate through the motor arranged inside the main body 1, when the connecting rod 6 rotates, the connecting shafts 3 arranged on the two sides thereof rotate synchronously, and when the connecting shafts 3 on the two sides rotate, the Mecanum wheel mechanisms 2 fixed outside the connecting shafts 3 also rotate synchronously. When the main body 1 encounters a local protrusion during movement, at this time, the first spring 206 arranged inside the Mecanum wheel mechanism 2 elastically extrudes the roller 201, so that the first spring 206 is pre-tightened and compressed to instantaneously reduce the roller diameter, so as to realize obstacle crossing; through the reset of the rear spring, the original roller diameter is restored; When the main body 1 encounters a low-friction slope (such as a wooden or metal slope) during movement, at this time, the external staff can start the hydraulic pump arranged inside the main body 1 through the external control device, so that the hydraulic pump pumps hydraulic oil into the hydraulic pipe 804, so that the hydraulic oil is pumped into the hydraulic cavity 803 through the hydraulic pipe 804, and the pressure inside the hydraulic cavity 803 is increased; So that the jacking layer 801 moves upward along the fixed layer 802, so that the jacking layer 801 changes radially outward, so that the plurality of rollers 201 also move radially outward, so as to increase the contact area of one end of the roller 201 in the radial direction, and significantly improve the adhesion effect, and in the process of radial displacement of the roller 201, the first spring 206 arranged inside the main body 1 also plays a certain limiting role; At this time, the v-shaped rod 4 arranged inside the main body 1 will move the four Mecanum wheel mechanisms 2 according to the slope of the slope, with the V-shaped rod 4 as the axis through the plurality of connecting rods 6, at this time, the fixed block 9 arranged inside the connecting rod 6 will be fixed to the main body 1 due to the second spring 7 arranged at one end, so as to elastically limit the Mecanum wheel mechanism 2, prevent it from being deformed and then being effectively reset; Through the above structure, the rollers arranged obliquely only form line contact with the ground, the roller 201 is actively pressurized to expand radially, the contact area is increased, the adhesion is significantly improved, and the non-continuous terrain can be adapted.
[0020] Although embodiments of the present application have been shown and described, the specific embodiments are merely illustrative of the present application, and are not intended to limit the application. The specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner, and those skilled in the art can make modifications, replacements and variations of the embodiments without creative contribution after reading the specification, as long as they are within the scope of the claims of the present application.
Claims
1. A Mecanum wheel robot with a climbing mechanism, comprising a main body (1), characterized in that: The body (1) is internally provided with two groups of connecting rods (6), both sides of the two groups of connecting rods (6) are rotatably connected with Mecanum wheel mechanisms (2), the Mecanum wheel mechanism (2) comprises a roller (201), a fixed bolt (202), a main shaft (203), a fixed plate (204), a movable shaft (205), a first spring (206) and a movable cavity (207), the roller (201) is rotatably connected inside the fixed plate (204), the fixed bolt (202) is arranged inside the fixed plate (204), the main shaft (203) is arranged at one end of the fixed plate (204), the fixed plate (204) is arranged on both sides of the roller (201) respectively, the movable shaft (205) is arranged on both sides of the roller (201) respectively, the first spring (206) is arranged inside the fixed plate (204), the movable cavity (207) is formed in the fixed plate (204), the body (1) is internally provided with two groups of V-shaped rods (4), and the V-shaped rods (4) and the connecting rods (6) are rotatably connected through shafts.
2. The Mecanum wheel robot with climbing mechanism according to claim 1, characterized in that: The connecting rod (6) is provided with a variable diameter mechanism (8) outside, the variable diameter mechanism (8) comprises a jacking layer (801), a fixed layer (802), a hydraulic cavity (803) and a hydraulic pipe (804), the jacking layer (801) is arranged outside the connecting rod (6), the fixed layer (802) is arranged outside the connecting rod (6), the hydraulic cavity (803) is formed between the fixed layer (802) and the jacking layer (801), and the hydraulic pipe (804) is arranged inside the jacking layer (801).
3. The Mecanum wheel robot with climbing mechanism according to claim 2, characterized in that: The jacking layer (801) is internally provided with a groove matched with the fixed layer (802), one end of the hydraulic pipe (804) is communicated with the hydraulic cavity (803).
4. The Mecanum wheel robot with climbing mechanism according to claim 1, characterized in that: The bottom end of the body (1) is provided with a cavity (5), and the cavity (5) is matched with the V-shaped rod (4), and the connecting rod (6) is internally provided with a fixed groove matched with the Mecanum wheel mechanism (2).
5. The Mecanum wheel robot with climbing mechanism according to claim 1, characterized in that: The connecting rod (6) is provided with a fixed block (9) outside, and the fixed block (9) is provided with a second spring (7) matched with the body (1) at the top end.
6. The Mecanum wheel robot with climbing mechanism according to claim 1, characterized in that: The body (1) is internally provided with a shaking cavity matched with the second spring (7), and the connecting rod (6) is provided with a connecting shaft (3) on both sides.