Mecanum omnidirectional wheel and advancing equipment

Abstract

The invention provides a Mecanum omnidirectional wheel and advancing equipment. The Mecanum omnidirectional wheel comprises a first moving plate, a second moving plate, a plurality of rollers and a clutch structure, the first moving plate and the second moving plate are coaxially and oppositely arranged, and the roller is rotatably arranged between the first moving plate and the second moving plate; the clutch structure is connected with the first moving plate and the second moving plate; when the clutch structure is in a first state, at least one of the first moving plate and the second moving plate can rotate around a set axis so as to change the axis direction of the roller; and when the clutch structure is in the second state, the first moving plate and the second moving plate are relatively fixed, and the axes of the rollers are arranged in parallel. Through state switching of the clutch structure, the axis directions of the rollers are dynamically adjusted, the driving force direction of the wheel body is changed, the driving force in the advancing direction can be improved, and the overall energy efficiency of the system can be optimized.

Description

Technical Field

[0001] This application relates to the field of vehicle wheels, and more particularly to a Mecanum omnidirectional wheel and a travel device. Background Technology

[0002] Mecanum wheels are omnidirectional wheels. By installing a series of driven rollers at a certain angle around the hub, they enable platforms (such as AGVs and mobile robots) to not only move forward, backward, and rotate, but also to translate laterally in any direction. This lack of maneuverability gives them a significant advantage in industrial scenarios where space is limited and flexible scheduling is required.

[0003] However, because the Mecanum wheel roller angle is fixed, the vehicle cannot adjust the force ratio of the roller in each direction under load changes or complex road conditions, which will lead to uneven distribution of driving force. Summary of the Invention

[0004] This application provides a Mecanum omnidirectional wheel and a traveling device to solve the problem of uneven driving force distribution caused by the inability to adjust the force ratio of the roller in each direction.

[0005] In a first aspect, embodiments of this application provide a Mecanum omnidirectional wheel, including a first motion plate, a second motion plate, multiple rollers, and a clutch structure;

[0006] The first moving plate and the second moving plate are coaxial and arranged opposite to each other, and the roller is rotatably arranged between the first moving plate and the second moving plate;

[0007] The clutch structure connects the first moving plate and the second moving plate;

[0008] When the clutch structure is in the first state, at least one of the first moving plate and the second moving plate can rotate around a set axis to change the axial direction of the roller;

[0009] When the clutch structure is in the second state, the first moving plate and the second moving plate are relatively fixed, and the axes of the plurality of rollers are arranged in parallel.

[0010] In some embodiments of this application, when the clutch structure is in a first state, at least one of the first moving plate and the second moving plate can move closer to or further away from each other along a set axis.

[0011] In some embodiments of this application, the clutch structure includes a drive element and a control element, and the output end of the drive element is connected to the control element;

[0012] The driving component can drive the first moving plate to rotate, and the control end of the control component can be connected to or disconnected from the first moving plate.

[0013] When the clutch structure is in the first state, the control end of the control element is disengaged from the first moving plate, and the drive element can drive the first moving plate to rotate relative to the second moving plate through the control element.

[0014] When the clutch structure is in the second state, the control end of the control element is connected to the first motion plate, and the first motion plate and the second motion plate are relatively fixed.

[0015] In some embodiments of this application, the control element includes a connecting disk, and the first motion plate is provided with a drive rod;

[0016] The connecting plate is fixed relative to the second moving plate;

[0017] The first end of the drive rod is fixedly connected to the first moving plate. When the clutch structure is in the first state, the second end of the drive rod is disengaged from the connecting plate, and the drive rod and the connecting plate can rotate relative to each other. When the clutch structure is in the second state, the second end of the drive rod is connected to the connecting plate, and the drive rod and the connecting plate are relatively fixed. In some embodiments of this application, the drive rod is provided with a limiting part, and the extending direction of the limiting part is parallel to the set axis.

[0018] The first moving plate can move relative to the limiting part along the set axis, and the limiting part can restrict the first moving plate from rotating about the set axis.

[0019] In some embodiments of this application, the cross-sectional shape of the drive rod is set to hexagonal, with a plane perpendicular to the set axis as the cross-section;

[0020] The drive rod is reused to form the limiting part, the first moving plate is provided with a limiting groove, and the drive rod passes through the limiting groove.

[0021] In some embodiments of this application, a first steering ball is provided at the first end of the roller, and a first spherical groove is provided on the first moving plate, wherein the first steering ball is movably disposed within the first spherical groove;

[0022] The second end of the roller is provided with a second steering ball, and the second moving plate is provided with a second spherical groove. The second steering ball is movably disposed in the second spherical groove.

[0023] In some embodiments of this application, the first moving plate is provided with a plurality of first rotating parts, the plurality of first rotating parts are arranged sequentially at intervals around the set axis, and the first rotating parts are provided with the first spherical groove;

[0024] The second moving plate is provided with a plurality of second rotating parts, which are arranged sequentially at intervals around the set axis, and the second rotating parts are provided with the second spherical groove.

[0025] In some embodiments of this application, the roller is provided with a contact surface;

[0026] When the clutch structure is in the second state, the axial distance between two adjacent rollers is less than or equal to the maximum diameter of the roller, and the contact surfaces of the two adjacent rollers are in contact.

[0027] Secondly, embodiments of this application provide a Mecanum omnidirectional wheel, as described above.

[0028] The Mecanum omnidirectional wheel and traveling device provided in this application embodiment can adjust the installation angle of multiple rollers in real time through the state switching of the clutch structure. This overcomes the problem of insufficient adaptability of traditional fixed-angle designs under complex working conditions, enhances the adaptability and controllability of the overall motion, and improves dynamic response capability. By dynamically adjusting the axial direction of multiple rollers, the driving force decomposition is always in the optimal state, the roller driving force is evenly distributed, energy loss caused by slip friction is reduced, and the overall energy efficiency of the system is improved. In the second state of the clutch structure, the first and second motion plates are relatively fixed, ensuring that the axes of multiple rollers always remain parallel, reducing the risk of vibration or displacement during the movement, and improving the reliability of the equipment in linear motion or high-load scenarios. The coaxial relative arrangement of the first and second motion plates, combined with the compact layout of multiple rollers, reduces the volume occupied by the overall structure and is suitable for space-constrained application scenarios. Attached Figure Description

[0029] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0030] Figure 1 This application provides a schematic diagram showing the assembly of a roller and a first moving plate at a 90° angle in a Mecanum omnidirectional wheel according to an embodiment of the present application.

[0031] Figure 2 This application provides a schematic diagram showing the assembly of a roller in a Mecanum omnidirectional wheel with a first moving plate at a 45° angle.

[0032] Figure 3 This application provides a schematic diagram showing the assembly of a roller and a first moving plate at a -45° angle in an embodiment of a Mecanum omnidirectional wheel;

[0033] Figure 4 This application provides a schematic diagram of the structure of the first motion plate in a Mecanum omnidirectional wheel.

[0034] Figure 5 This application provides a schematic diagram of the structure of the second motion plate in a Mecanum omnidirectional wheel.

[0035] Explanation of reference numerals in the attached figures:

[0036] 100 - First moving plate; 101 - Limiting groove; 110 - First rotating part; 120 - First ball bearing;

[0037] 200 - Second moving plate; 210 - Second rotating part; 220 - Second ball bearing;

[0038] 300-roller;

[0039] 410-Drive component; 420-Control component; 421-Connecting plate; 422-Drive rod; 4221-Limiting part.

[0040] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0041] As mentioned in the background section, traditional Mecanum wheels use rollers with a preset fixed angle, rigidly installed along the wheel edge, and rely on the decomposition of fixed forces to achieve omnidirectional motion. They are widely used in fields such as automated logistics, service robots, and mobile platforms.

[0042] The omnidirectional motion of a Mecanum wheel relies on the precise coordination of the speeds of each wheel to generate the desired resultant force. When the load changes (such as when an AGV lifts or lowers a heavy object) or the center of gravity shifts, the normal force exerted by each wheel on the ground changes. According to the principle of friction, the maximum static friction (the driving traction limit) also changes accordingly.

[0043] This will lead to the following problems:

[0044] The wheel with reduced positive pressure will be the first to reach its driving force limit and slip.

[0045] The actual direction of motion deviates from the expected direction, resulting in decreased control accuracy.

[0046] The platform may experience unstable shaking during high-speed start-stop or uneven load distribution.

[0047] Furthermore, under complex road conditions or on slightly uneven surfaces (such as ground joints or gentle slopes), all four wheels may not be able to fully contact the ground simultaneously. Rollers with fixed angles will cause wheels that are suspended or under insufficient pressure to lose their due driving force contribution, disrupting the force composition of the entire kinematic chain. This can lead to path deviation at best, and complete instability at worst due to individual wheels spinning freely.

[0048] This limits the application of traveling devices using Mecanum wheels with fixed roller angles in scenarios requiring high dynamic response and precision control.

[0049] In view of this, this application provides a Mecanum omnidirectional wheel and a traveling device. By switching the state of the clutch structure, the installation angle of multiple rollers can be adjusted in real time, overcoming the problem of insufficient adaptability of traditional fixed-angle designs under complex working conditions, enhancing the adaptability and controllability of the overall motion, and improving dynamic response capability. By dynamically adjusting the axial direction of multiple rollers, the driving force decomposition is always in the optimal state, the roller driving force is evenly distributed, reducing energy loss caused by slip friction and improving the overall energy efficiency of the system. In the second state of the clutch structure, the first and second motion plates are relatively fixed, ensuring that the axes of multiple rollers always remain parallel, reducing the risk of vibration or offset during the movement, and improving the reliability of the device in linear motion or high-load scenarios. The coaxial relative arrangement of the first and second motion plates, combined with the compact layout of multiple rollers, reduces the volume occupied by the overall structure and is suitable for space-constrained application scenarios.

[0050] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0051] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0052] refer to Figures 1-4 This application provides a Mecanum omnidirectional wheel, including a first motion plate 100, a second motion plate 200, a plurality of rollers 300 and a clutch structure.

[0053] The first moving plate 100 and the second moving plate 200 are coaxial and arranged opposite to each other, and the roller 300 is rotatably arranged between the first moving plate 100 and the second moving plate 200.

[0054] The clutch structure connects the first moving plate 100 and the second moving plate 200.

[0055] When the clutch mechanism is in the first state, at least one of the first moving plate 100 and the second moving plate 200 can rotate around a set axis to change the axial direction of the roller 300.

[0056] When the clutch structure is in the second state, the first moving plate 100 and the second moving plate 200 are relatively fixed, and the axes of the multiple rollers 300 are arranged in parallel.

[0057] As can be seen, the first moving plate 100 and the second moving plate 200 are arranged coaxially and oppositely. This design ensures that multiple rollers 300 can be stably installed between them, forming a symmetrical support structure. The coaxial layout helps maintain the balance of the overall structure and provides uniform constraints for the rotation of the rollers 300.

[0058] Each roller 300 can rotate independently around its own axis, while the coordinated action of the first motion plate 100 and the second motion plate 200 ensures that the multiple rollers 300 maintain synchronization during movement.

[0059] In the first state, the clutch structure allows at least one of the first moving plate 100 and the second moving plate 200 to rotate around a set axis, and allows the first moving plate 100 and the second moving plate 200 to rotate relative to each other. The relative rotation directly changes the installation angle of the multiple rollers fixed therebetween, thereby realizing the synchronous and precise collective adjustment of the axial direction of all rollers, and transforming the roller angle from a fixed parameter into a dynamically adjustable variable.

[0060] In the second state, the clutch structure fixes the first moving plate 100 and the second moving plate 200 relative to each other, forcing the axes of the multiple rollers 300 to remain parallel, ensuring the motion stability of the Mecanum wheel and preventing changes in the axis angle of the rollers 300.

[0061] The movement of a Mecanum wheel depends on a specific angle (typically 45°) between the roller axis and the wheel body axis, decomposing the rotational force of the motor into forward driving force and lateral force. In traditional fixed-angle designs, this decomposition direction is constant. However, the Mecanum wheel of this application embodiment dynamically adjusts the axial directions of multiple rollers, meaning that this force decomposition angle can be optimized in real time. When the device is moving, roller 300 is adjusted to the optimal angle in the forward direction. The optimal angle means that roller 300 can generate the maximum lateral thrust, ensuring that the power output by the motor is used most effectively for movement in the target direction. Dynamically adjusting the force on the roller in the forward direction minimizes sliding friction losses caused by force decomposition mismatch, thereby improving energy conversion efficiency.

[0062] When subjected to disturbances such as external loads or uneven ground, a fixed roller angle can cause the motion to deviate from the expected direction. The Mecanum wheel in this embodiment can actively compensate for these disturbances by real-time fine-tuning the axial direction of multiple rollers when the clutch structure is in the first state, adjusting the force ratio of the roller 300 in each direction, and correcting the motion trajectory in real time.

[0063] By switching the state of the clutch structure, the installation angle of multiple rollers 300 can be adjusted in real time, overcoming the problem of insufficient adaptability of traditional fixed-angle designs under complex working conditions, enhancing the adaptability and controllability of the overall motion, and improving dynamic response capability. By dynamically adjusting the axial direction of multiple rollers 300, the direction of the driving force of the wheel body is changed, so that the decomposition of the driving force is always in the optimal state, increasing the magnitude of the driving force in the forward direction, and the driving force of the rollers 300 is evenly distributed, reducing energy loss caused by slip friction and improving the overall energy efficiency of the system. In the second state of the clutch structure, the first motion plate 100 and the second motion plate 200 are relatively fixed, ensuring that the axes of multiple rollers 300 remain parallel at all times, reducing the risk of vibration or offset during the movement, and improving the reliability of the equipment in linear motion or high-load scenarios. The coaxial relative setting of the first motion plate 100 and the second motion plate 200, combined with the compact layout of multiple rollers 300, reduces the volume occupied by the overall structure, making it suitable for space-constrained application scenarios.

[0064] During use, the Mecanum omnidirectional wheel is installed on the target equipment, ensuring that the clutch mechanism is in the second state. At this time, the first motion plate 100 and the second motion plate 200 are relatively fixed, and the axes of multiple rollers 300 are set in parallel, allowing the equipment to perform stable linear or basic movements.

[0065] When it is necessary to change the direction of motion, the clutch structure switches to the first state, and at least one of the first motion plate 100 and the second motion plate 200 rotates around a set axis, causing the axial direction of multiple rollers 300 to change synchronously.

[0066] After the direction adjustment is completed, the clutch structure can maintain the first state to continuously adapt to the dynamic path, or return to the second state to lock the parallel axes of multiple rollers 300, ensuring that the equipment operates efficiently in a specific direction.

[0067] In some embodiments, the first motion plate 100 and the second motion plate 200 can be made of lightweight, rigid materials, such as titanium alloy, aluminum alloy, or reinforced nylon. Using lightweight materials like titanium alloy, aluminum alloy, or reinforced nylon significantly reduces the mass of the first motion plate 100 and the second motion plate 200. When the clutch mechanism is in the first state and needs to drive the first motion plate 100 and the second motion plate 200 to rotate relative to each other to adjust the angle of the multiple rollers 300, the lighter mass means less inertia the clutch mechanism needs to overcome, and less energy is consumed to perform the angle adjustment action. Throughout the rotational motion of the Mecanum omnidirectional wheel, the lighter first motion plate 100 and the second motion plate 200 also reduce rotational inertia, thus reducing the energy required to accelerate or decelerate the omnidirectional wheel itself.

[0068] In some embodiments, the roller 300 matrix is ​​made of ABS plastic (acrylonitrile-butadiene-styrene copolymer), with an outer rubber sheath. The ABS plastic matrix provides the roller 300 with the necessary structural strength and shape stability, while its lower density compared to metal helps reduce rotational inertia. This results in less energy consumption for accelerating the rotation of the roller 300 itself when the drive device moves. The outer rubber sheath increases the static friction coefficient between the roller 300 and the ground, ensuring that when the clutch mechanism adjusts the axial orientation of multiple rollers 300 to decompose forces, the roller 300 can more effectively grip the ground, generating the required propulsive force, and avoiding slippage and spinning in place.

[0069] In some possible implementations, when the clutch structure is in the first state, at least one of the first moving plate 100 and the second moving plate 200 can move closer to or further away from each other along a set axis.

[0070] It is understandable that, in the first state, the clutch structure not only allows the relative rotation of the first moving plate 100 and the second moving plate 200, but also increases the relative displacement degree of freedom along the set axis, making the axial distance between the first moving plate 100 and the second moving plate 200 an adjustable variable.

[0071] When the first moving plate 100 and the second moving plate 200 rotate relative to each other, the installation angle of the multiple rollers 300 fixed between them will change accordingly, and the first moving plate 100 and the second moving plate 200 will move closer to or further away from each other along a set axis.

[0072] By adjusting the axial distance between the first moving plate 100 and the second moving plate 200, the contact state between multiple rollers 300 and the ground can be optimized in real time. When the load is uneven or the center of gravity shifts, the roller tilt angle can be adjusted to redistribute the grounding pressure of each roller, preventing a single roller from slipping due to insufficient pressure. When encountering uneven ground, the grounding range of the rollers can be increased by moving the first moving plate 100 and the second moving plate 200 further apart, or the force in a specific direction can be optimized by moving them closer together, ensuring that all rollers are effectively grounded on slightly uneven ground. Under high-speed start-stop or uneven load conditions, by dynamically adjusting the axial distance between the first moving plate 100 and the second moving plate 200, motion deviations caused by changes in pressure distribution can be corrected in a timely manner, suppressing platform swaying.

[0073] In some possible implementations, the clutch structure includes a drive element 410 and a control element 420, with the output of the drive element 410 connected to the control element 420.

[0074] The driving component 410 can drive the first moving plate 100 to rotate, and the control end of the control component 420 can be connected to or disconnected from the first moving plate 100.

[0075] When the clutch structure is in the first state, the control end of the control element 420 is disengaged from the first moving plate 100, and the drive element 410 drives the first moving plate 100 to rotate relative to the second moving plate 200.

[0076] When the clutch structure is in the second state, the control end of the control component 420 is connected to the first motion plate 100, and the first motion plate 100 and the second motion plate 200 are relatively fixed.

[0077] It is known that the drive component 410 serves as a power source to provide torque to the first moving plate 100 and the second moving plate 200, and the control component 420 serves as an actuator for torque transmission and interruption.

[0078] When the control terminal of the control component 420 is connected, a rigid transmission chain is formed; when disconnected, the motion coupling between the first motion plate 100 and the second motion plate 200 is released.

[0079] Through the mechanism of selectively driving the second motion plate 200 by the control element 420, the second motion plate 200 can rotate relative to the first motion plate 100 when the clutch structure is in the first state, and in the second state, the second motion plate 200 remains stationary or passive relative to the first motion plate 100.

[0080] By precisely connecting and disconnecting the control component 420 from the second motion plate 200, deterministic control of the motion relationship between the first motion plate 100 and the second motion plate 200 is achieved, ensuring reliable unlocking when angle adjustment is required and secure locking when fixation is required. The clutch structure, designed to drive only the first motion plate 100 to rotate in the first state, avoids the complex transmission mechanism required to drive both motion plates simultaneously, simplifies system complexity, and improves control accuracy and response speed.

[0081] In some possible implementations, the control element 420 includes a connecting plate 421, and the first motion plate 100 is provided with a drive rod 422.

[0082] The connecting plate 421 is fixed relative to the second moving plate 200.

[0083] The first end of the drive rod 422 is fixedly connected to the first moving plate 100. When the clutch structure is in the first state, the second end of the drive rod 422 is disengaged from the connecting plate 421, and the drive rod 422 and the connecting plate 421 can rotate relative to each other. When the clutch structure is in the second state, the second end of the drive rod 422 is connected to the connecting plate 421, and the drive rod 422 and the connecting plate 421 are fixed relative to each other.

[0084] It is understandable that the connecting plate 421 and the second motion plate 200 maintain a relatively fixed relationship, forming a stable connection reference surface, and providing a reliable docking interface for the drive rod 422.

[0085] The drive component 410 is connected to the first motion plate 100 in a transmission connection, and the output rotational motion of the drive component 410 can be directly transmitted to the first motion plate 100.

[0086] First state: The drive rod 422 and the connecting plate 421 form a rotatable connection, allowing the first moving plate 100 to rotate independently relative to the second moving plate 200.

[0087] Second state: A relatively fixed connection is established between the drive rod 422 and the connecting plate 421, so that the first moving plate 100 and the second moving plate 200 are kept in sync.

[0088] By rotating or fixing the drive rod 422 to the connecting plate 421, the functions of rotating adjustment of the first motion plate 100 and fixing support of the second motion plate 200 are separated, effectively solving the problem of uneven decomposition of driving force when the load changes in traditional fixed-angle rollers. The relative fixed relationship between the connecting plate 421 and the second motion plate 200 provides a stable structural reference for the entire control component 420, ensuring that the second motion plate 200 remains stable during state switching and avoiding a decrease in control accuracy due to reference shaking.

[0089] When in use, when it is necessary to adjust the axial direction of multiple rollers 300, the control component 420 enters the first state, the drive rod 422 and the connecting plate 421 are in a relative rotational state, and the drive component 410 transmits the rotational power to the first motion plate 100, causing the first motion plate 100 to rotate relative to the second motion plate 200.

[0090] Once the axial directions of the multiple rollers 300 are adjusted to their positions, the control unit 420 switches to the second state, and the drive rod 422 and the connecting plate 421 enter a relatively fixed state. The relatively fixed relationship between the drive rod 422 and the connecting plate 421 ensures that the first moving plate 100 and the second moving plate 200 remain synchronized, and the axes of the multiple rollers 300 maintain a stable parallel arrangement.

[0091] Specifically, the control element 420 can use an electromagnetic clutch, which is an automated actuator that uses electromagnetic force to transmit or disconnect power. It achieves the "engagement" and "disengagement" of the driving and driven parts by controlling energization and de-energization. As the control element 420, the electromagnetic clutch enables rapid and reliable engagement and disengagement, ensuring timely response when the first moving plate 100 and the second moving plate 200 switch working states, thus solving the problem that traditional fixed-angle rollers cannot adapt to dynamic working conditions.

[0092] Specifically, the drive unit 410 can be a permanent magnet DC torque motor. As a drive unit 410, the permanent magnet DC torque motor can provide an output torque that is strictly proportional to the armature current, ensuring precise torque control when adjusting the rotation of the first moving plate 100 relative to the second moving plate 200, and avoiding deviations in the adjustment of the axis angles of multiple rollers 300 due to torque fluctuations.

[0093] In some possible implementations, the drive rod 422 is provided with a limiting part 4221, the extending direction of which is parallel to the set axis.

[0094] The first moving plate 100 can move relative to the limiting part 4221 along a set axis, and the limiting part 4221 can restrict the first moving plate 100 from rotating around the set axis.

[0095] It is known that the extension direction of the limiting part 4221 is parallel to the set axis, forming an axial guide structure, which provides a clear positional constraint reference between the first moving plate 100 and the drive rod 422.

[0096] The first moving plate 100 can move axially relative to the limiting part 4221 along the set axis direction, while being restricted by the limiting part 4221 to its rotational degree of freedom around the set axis. Through the constraint of the limiting part 4221, the first moving plate 100 retains the translational degree of freedom along the set axis, but loses the rotational degree of freedom around the set axis, thus achieving motion guidance in a specific direction and preventing the first moving plate 100 from slipping and spinning freely relative to the drive rod 422.

[0097] The parallel extension characteristic of the limiting part 4221 provides an accurate axial movement trajectory reference for the first moving plate 100, ensuring that the first moving plate 100 and the second moving plate 200 can move stably along the set axis when the load changes, avoiding angular deviation of multiple rollers 300 due to deflection; the limiting part 4221 restricts the rotation of the first moving plate 100 around the set axis, preventing unnecessary circumferential movement when the drive member 410 transmits torque, and ensuring the stability of the axial direction adjustment of multiple rollers 300; the additional constraint provided by the limiting part 4221 enhances the structural rigidity of the first moving plate 100 in the non-movement direction, suppressing vibration and shaking that may occur during high-speed start-stop or uneven load.

[0098] In some possible implementations, the cross-sectional shape of the drive rod 422 is set to hexagonal, with the plane perpendicular to the set axis as the cross-section.

[0099] The drive rod 422 is reused to form the limiting part 4221. The first moving plate 100 is provided with a limiting groove 101, and the drive rod 422 passes through the limiting groove 101.

[0100] It is understandable that the drive rod 422 itself is reused to form the limiting part 4221, which simultaneously achieves the dual functions of torque transmission and rotation restriction through its hexagonal cross-sectional characteristics.

[0101] The first moving plate 100 is provided with a limiting groove 101. The shape of the limiting groove 101 is in a matching relationship with the hexagonal cross section of the drive rod 422. The drive rod 422 passes through the limiting groove 101, and the limiting groove 101 limits its movement.

[0102] The drive rod 422, with its hexagonal cross-section design, simultaneously achieves torque transmission and rotation restriction, simplifying structural complexity, improving system reliability, and effectively preventing a decrease in control accuracy due to structural gaps when the load changes. The multi-plane contact characteristics of the hexagonal cross-section ensure slip-free torque transmission between the drive rod 422 and the first moving plate 100, avoiding deviations in the movement direction of the rollers due to transmission errors during force synthesis.

[0103] During use, when the first moving plate 100 rotates, the drive rod 422 rotates accordingly, and the limiting groove 101 of the first moving plate 100 transmits torque without slippage through six contact surfaces. When the first moving plate 100 moves along the set axis, the limiting groove 101 slides along the hexagonal surface of the drive rod 422 to maintain precise axial guidance.

[0104] In some possible implementations, the first end of the roller 300 is provided with a first steering ball, the first moving plate 100 is provided with a first spherical groove, and the first steering ball is movably disposed in the first spherical groove.

[0105] The second end of the roller 300 is provided with a second steering ball, and the second moving plate 200 is provided with a second spherical groove. The second steering ball is movably disposed in the second spherical groove.

[0106] It is understood that the first steering ball is movably disposed within the first spherical groove, effectively forming the first ball bearing 120. The second steering ball is movably disposed within the second spherical groove, effectively forming the second ball bearing 220.

[0107] The first steering ball and the first spherical groove, and the second steering ball and the second spherical groove form a double spherical pair of the first ball bearing 120 and the second ball bearing 220, so that the roller 300 has a multi-degree-of-freedom adjustment capability while maintaining the constraints at both ends.

[0108] The low-friction rotation characteristics provided by the first ball bearing 120 and the second ball bearing 220 ensure that the first motion plate 100 drives the roller 300 to respond quickly to angle adjustment commands, effectively improving the control performance in high dynamic response scenarios. The symmetrical arrangement of the first ball bearing 120 and the second ball bearing 220 ensures that the roller 300 maintains a balanced force state during angle adjustment, avoiding deflection jamming caused by single-end constraints and ensuring the integrity of the force synthesis in the motion chain. The multi-degree-of-freedom adjustment capability of the first ball bearing 120 and the second ball bearing 220 allows each roller 300 to independently fine-tune its posture according to ground conditions, maintaining effective grounding on slightly uneven surfaces and preventing motion instability caused by individual rollers 300 being suspended. The double ball bearing structure provides rotational freedom while maintaining sufficient rigidity, ensuring that the driving force is effectively transmitted to each roller 300, avoiding the decrease in control accuracy caused by structural gaps when the load changes in traditional fixed-angle rollers.

[0109] refer to Figure 4 and Figure 5 In some possible implementations, the first moving plate 100 is provided with a plurality of first rotating parts 110, which are arranged sequentially at intervals around a set axis, and the first rotating parts 110 are provided with first spherical grooves.

[0110] The second motion plate 200 is provided with a plurality of second rotating parts 210, which are arranged sequentially at intervals around a set axis, and the second rotating parts 210 are provided with second spherical grooves.

[0111] It can be understood that multiple first rotating parts 110 and multiple second rotating parts 210 are arranged axially to form a symmetrical support point array, providing uniformly distributed installation positions for each roller 300.

[0112] The equidistant circumferential arrangement of multiple first rotating parts 110 and multiple second rotating parts 210 ensures that the load borne by each roller 300 is evenly distributed, effectively avoiding the problem of slippage caused by reduced positive pressure of a single roller 300 due to pressure concentration when the load changes; the symmetrical constraint of multiple first rotating parts 110 and multiple second rotating parts 210 ensures that all rollers 300 maintain synchronous movement when adjusting the angle, preventing deviation in the direction of movement caused by the lag in the response of individual rollers 300; the distributed support system formed by multiple first rotating parts 110 and multiple second rotating parts 210 enhances the overall structural rigidity and effectively suppresses platform shaking when starting and stopping at high speed or when the load is uneven.

[0113] In some possible implementations, the roller 300 is provided with a contact surface.

[0114] When the clutch structure is in the second state, the axial distance between two adjacent rollers 300 is less than or equal to the maximum diameter of roller 300, and the contact surfaces of the two adjacent rollers 300 are in contact.

[0115] It is known that roller 300 is provided with a contact surface. When the clutch structure is in the second state, the axial distance between two adjacent rollers 300 is less than or equal to the maximum diameter of roller 300. At this time, the contact surfaces of two adjacent rollers 300 are brought into contact at a specific angle, establishing a continuous support structure through surface contact. Rollers 300 interfere with each other. Multiple rollers 300 can be regarded as a combination to form a continuous rolling surface. In this state, the Mecanum wheel as a whole behaves as a conventional straight-running wheel.

[0116] It should be understood that when the distance between the first moving plate 100 and the second moving plate 200 is at its maximum, the axis of the roller 300 is perpendicular to either the first moving plate 100 or the second moving plate 200.

[0117] By bonding the contact surfaces of two adjacent rollers 300 together to form a continuous rolling surface, the omnidirectional wheel exhibits the characteristics of a conventional straight-line wheel, effectively preventing swaying caused by gaps between rollers 300 during high-speed start-stop. The continuous support structure established by the bonding contact surfaces ensures that the driving force is evenly transmitted to all rollers 300, preventing a decrease in control accuracy due to discontinuous force transmission when the load changes. The continuous rolling surface formed by the bonding contact surfaces increases the grounding area, maintaining stable grounding on slightly uneven surfaces and preventing motion instability caused by individual rollers 300 being suspended.

[0118] The operating principle of the Mecanum omnidirectional wheel provided in this application embodiment is as follows:

[0119] When adjusting the angle of roller 300, the control component 420 (electromagnetic clutch) is de-energized, the clutch structure is in the first state, the connecting plate 421 is fixed relative to the second moving plate 200, the second moving plate 200 is locked, and the driving component 410 drives the first moving plate 100 to rotate, and the first moving plate 100 and the second moving plate 200 rotate relative to each other. This changes the angle between roller 300 and the first moving plate 100 or the second moving plate 200, thus completing the installation angle adjustment.

[0120] When the Mecanum omnidirectional wheel needs to be driven, the control unit 420 (electromagnetic clutch) is locked. When the clutch structure is in the second state, the first motion plate 100 and the second motion plate 200 are relatively fixed. The first motion plate 100 and the second motion plate 200 are driven by the power source to rotate together. The roller 300 maintains the current angle and participates in the conventional omnidirectional drive of the Mecanum omnidirectional wheel.

[0121] After roller 300 is adjusted to a specific angle, the contact surfaces of two adjacent rollers 300 are in contact, and roller 300 cannot rotate. The Mecanum omnidirectional wheel behaves like a conventional straight wheel.

[0122] The Mecanum omnidirectional wheel's two operating modes are quickly switched via the control unit 420, ensuring stable power transmission during driving while allowing for real-time angle adjustment to optimize motion performance when needed. This design offers significant advantages:

[0123] When the clutch mechanism is in the first state, the roller angle can be precisely adjusted by 300 degrees for different working conditions, breaking through the limitations of traditional fixed angle design;

[0124] By dynamically adjusting the force decomposition state of roller 300, power transmission loss is reduced and energy conversion efficiency is improved;

[0125] It effectively improves the control precision and dynamic response capability of omnidirectional motion platforms, and is suitable for fields such as robotics, logistics and automation equipment.

[0126] This application provides a travel device, including the aforementioned Mecanum omnidirectional wheel.

[0127] The traveling device includes the aforementioned Mecanum omnidirectional wheel with adjustable angle as the core motion actuator, forming a complete mobile platform infrastructure. By integrating the Mecanum omnidirectional wheel with 300° roller angle adjustment capability, the traveling device obtains the hardware foundation for adaptive motion control.

[0128] It should be noted that the moving equipment can be robots, automated handling equipment, AGVs, or other equipment that requires omnidirectional mobility.

[0129] 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," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are 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.

[0130] In the description of this invention, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0131] Unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can be a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0132] 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 the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A Mecanum omnidirectional wheel, characterized in that, It includes a first moving plate (100), a second moving plate (200), multiple rollers (300), and a clutch structure; The first moving plate (100) and the second moving plate (200) are coaxial and arranged opposite to each other, and the roller (300) is rotatably arranged between the first moving plate (100) and the second moving plate (200); The clutch structure connects the first moving plate (100) and the second moving plate (200); When the clutch structure is in the first state, at least one of the first moving plate (100) and the second moving plate (200) can rotate around a set axis to change the axial direction of the roller (300); When the clutch structure is in the second state, the first moving plate (100) and the second moving plate (200) are fixed relative to each other, and the axes of the plurality of rollers (300) are arranged in parallel.

2. The Mecanum omnidirectional wheel according to claim 1, characterized in that, When the clutch structure is in the first state, at least one of the first moving plate (100) and the second moving plate (200) can move closer to or further away from each other along a set axis.

3. The Mecanum omnidirectional wheel according to claim 2, characterized in that, The clutch structure includes a drive element (410) and a control element (420), and the output end of the drive element (410) is connected to the control element (420); The driving component (410) can drive the first moving plate (100) to rotate, and the control end of the control component (420) can be connected to or disconnected from the first moving plate (100); When the clutch structure is in the first state, the control end of the control member (420) is disengaged from the first moving plate (100), and the drive member (410) can drive the first moving plate (100) to rotate relative to the second moving plate (200) through the control member (420); When the clutch structure is in the second state, the control end of the control element (420) is connected to the first motion plate (100), and the first motion plate (100) and the second motion plate (200) are relatively fixed.

4. The Mecanum omnidirectional wheel according to claim 3, characterized in that, The control unit (420) includes a connecting plate (421), and the first motion plate (100) is provided with a drive rod (422); The connecting plate (421) is fixed relative to the second moving plate (200); The first end of the drive rod (422) is fixedly connected to the first moving plate (100). When the clutch structure is in the first state, the second end of the drive rod (422) is disengaged from the connecting plate (421), and the drive rod (422) and the connecting plate (421) can rotate relative to each other. When the clutch structure is in the second state, the second end of the drive rod (422) is connected to the connecting plate (421), and the drive rod (422) and the connecting plate (421) are fixed relative to each other. The drive member (410) can drive the second moving plate (200) to rotate through the drive rod (422).

5. The Mecanum omnidirectional wheel according to claim 4, characterized in that, The drive rod (422) is provided with a limiting part (4221), and the extending direction of the limiting part (4221) is parallel to the set axis; The first moving plate (100) can move relative to the limiting part (4221) along the set axis, and the limiting part (4221) can restrict the first moving plate (100) from rotating around the set axis.

6. The Mecanum omnidirectional wheel according to claim 5, characterized in that, With a plane perpendicular to the set axis as the cross-section, the cross-sectional shape of the drive rod (422) is set to hexagonal; The drive rod (422) is reused to form the limiting part (4221), the first moving plate (100) is provided with a limiting groove (101), and the drive rod (422) passes through the limiting groove (101).

7. The Mecanum omnidirectional wheel according to any one of claims 1-6, characterized in that, The first end of the roller (300) is provided with a first steering ball, and the first moving plate (100) is provided with a first spherical groove, wherein the first steering ball is movably disposed in the first spherical groove; The second end of the roller (300) is provided with a second steering ball, and the second moving plate (200) is provided with a second spherical groove. The second steering ball is movably disposed in the second spherical groove.

8. The Mecanum omnidirectional wheel according to claim 7, characterized in that, The first moving plate (100) is provided with a plurality of first rotating parts (110), and the plurality of first rotating parts (110) are arranged sequentially at intervals around the set axis. The first rotating part (110) is provided with the first spherical groove. The second motion plate (200) is provided with a plurality of second rotating parts (210), and the plurality of second rotating parts (210) are arranged sequentially at intervals around the set axis. The second rotating part (210) is provided with the second spherical groove.

9. The Mecanum omnidirectional wheel according to any one of claims 1-6, characterized in that, The roller (300) is provided with a contact surface; When the clutch structure is in the second state, the axial distance between two adjacent rollers (300) is less than or equal to the maximum diameter of the roller (300), and the contact surfaces of the two adjacent rollers (300) are in contact.

10. A traveling device, characterized in that, Includes the Mecanum omnidirectional wheel as described in any one of claims 1-9.

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