Electric control integrated Mecanum wheel

Abstract

The utility model relates to an electric control integrated Mecanum wheel which comprises a Mecanum wheel body and a gearbox. A mounting groove is formed in the Mecanum wheel body; the gearbox is arranged in the mounting groove, and the Mecanum wheel body rotates along with the gearbox; the integrated Mecanum wheel is suitable for a child electric vehicle or a baby carriage, the gear boxes are all arranged in the mounting grooves of the Mecanum wheel body, so that the structural sizes of the Mecanum wheel body and the gear boxes of the Mecanum wheel body are reduced, and the Mecanum wheel with the gear boxes and the Mecanum wheel body integrated is formed; the structures of equipment such as a baby carriage adopting the Mecanum wheel can be more compact.

Description

Technical Field

[0001] The utility model belongs to the technical field of baby carriage accessories, and particularly relates to an electronically controlled integrated Mecanum wheel. Background Art

[0002] The omnidirectional movement of the Mecanum wheel is based on the principle of a central wheel with many axles located around the wheel. These angled peripheral axles convert part of the wheel steering force into a wheel normal force. Depending on the direction and speed of each wheel, the final synthesis of these forces produces a resultant force vector in any required direction, thereby ensuring that the platform can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself. There are many small rollers distributed obliquely on its rim, so the wheel can slide laterally. The generatrix of the small rollers is very special. When the wheel rotates around the fixed wheel axis, the envelope of each small roller is a cylindrical surface, so the wheel can roll forward continuously; the Mecanum wheel has a compact structure and flexible movement, and is a very successful omnidirectional wheel.

[0003] However, the current Mecanum wheel and its gearbox are designed separately, and their structural dimensions are large, which affects the structural dimensions of the Mecanum wheel installation equipment; especially in the installation of children's electric vehicles, the Mecanum wheel with large structural dimensions and its drive motor affect the performance of children's electric vehicles. The Mecanum wheel is directly driven by the drive motor, with small torque and low load, which affects the stability and safety of the children's electric vehicle and brings inconvenience to its use.

[0004] In view of the above problems, it is necessary to improve them. Utility Model Content

[0005] The utility model aims to overcome the defects in the prior art and provides an electronically controlled integrated Mecanum wheel with simple structure, reasonable design, high transmission efficiency, large transmission torque, long service life and noise reduction.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is: an electronically controlled integrated Mecanum wheel, comprising a Mecanum wheel body and a gear box; a mounting groove is formed in the Mecanum wheel body; the gear box is built into the mounting groove, and the Mecanum wheel body rotates with the gear box.

[0007] As a preferred solution of the utility model, the outer side of the Mecanum wheel body is detachably equipped with a wheel cover; the wheel cover is located at the upper end of the mounting groove, and the wheel cover is used to fix the gear box in the mounting groove.

[0008] As a preferred solution of the utility model, a plurality of wheel cover motor heat dissipation holes are formed on the wheel cover, and the plurality of wheel cover motor heat dissipation holes are arranged equidistantly along the circumference of the wheel cover.

[0009] As a preferred solution of the utility model, a plurality of wheel cover motor heat dissipation holes are formed on the Mecanum wheel body, and the plurality of wheel cover motor heat dissipation holes are equidistantly arranged along the circumference of the Mecanum wheel body.

[0010] As a preferred solution of the utility model, the gear box includes a gear box body; the gear box body includes a gear fixed upper cover and a gear fixed lower cover, a accommodating cavity is formed between the gear fixed upper cover and the gear fixed lower cover, and a gear transmission mechanism is installed in the accommodating cavity; a limiting groove is formed on the inner side of the outer side of the gear fixed upper cover along the width direction of the integrated wheel, and a driving motor is installed in the limiting groove, wherein the driving motor is longitudinally installed in the limiting groove, and the driving shaft of the driving motor passes through the gear fixed upper cover to connect the gear, and the gear is connected to the gear transmission mechanism.

[0011] As a preferred solution of the utility model, the gear transmission mechanism includes a first gear, a second gear, a third gear and a driving gear; a first connecting shaft, a second connecting shaft and a third connecting shaft are arranged inside the gear fixing cover; the first gear is movably connected to the first connecting shaft, and the second gear is movably connected to the second connecting shaft; the third gear is movably connected to the third connecting shaft.

[0012] As a preferred solution of the utility model, the first gear includes a first large gear and a first small gear; the first large gear is meshed with the gear; the second gear includes a second large gear and a second small gear; the third gear includes a third large gear and a third small gear; the driving gear includes a connecting gear and a driving member; the first small gear is meshed with the second large gear, the second small gear is meshed with the third large gear, and the third small gear is meshed with the connecting gear.

[0013] As a preferred solution of the utility model, a positioning cylinder compatible with the driving gear is fixed on the gear fixing lower cover, a positioning hole is formed in the positioning cylinder, and a driving member on the driving gear passes through and is movably sleeved on the positioning cylinder; a through hole compatible with the driving member is formed in the middle of the gear fixing upper cover, and the driving member of the driving gear passes through and is rotatably connected to the through hole.

[0014] As a preferred solution of the utility model, a connecting cylinder is fixedly provided on the outer side of the gear fixing lower cover, and the connecting cylinder is an extension of the positioning cylinder, and a bearing is sleeved on the connecting cylinder.

[0015] As a preferred solution of the utility model, a square through hole is formed in the connecting cylinder, and the square through hole is connected to the positioning hole.

[0016] As a preferred solution of the utility model, an output clamping part is fixedly provided at the middle part of the inner side of the Mecanum wheel body near the position of the gear box, and the driving member and the output clamping part are clamped and locked with each other, thereby driving the integrated Mecanum wheel to move; the output clamping part includes a clamping ring and a clamping column; a spacing is left between the clamping ring and the clamping column, a threaded assembly groove is formed in the middle part of the clamping column, and a plurality of grooves arranged equidistantly are formed in the circumference of the clamping column, and correspondingly, a plurality of protrusions corresponding to the grooves are formed on the driving member, and when the driving member is assembled with the output clamping part, the protrusions are clamped in the grooves

[0017] The beneficial effects of the utility model are as follows: the integrated Mecanum wheel in the utility model integrates all the structures and functions of the existing Mecanum wheel, reduces the installation parts of the Mecanum wheel and its gear box to a certain extent, reduces its structural weight and manufacturing and maintenance costs, and can also improve the reliability of equipment travel to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the integrated Mecanum wheel of the utility model;

[0019] Figure 2 This is a front view of the integrated Mecanum wheel of the utility model;

[0020] Figure 3 This utility model Figure 2 AA section view;

[0021] Figure 4 It is an exploded view of the integrated Mecanum wheel of the utility model;

[0022] Figure 5 This utility model Figure 4 A partial enlarged view of the A direction;

[0023] Figure 6 It is a structural schematic diagram of the wheel cover of the utility model;

[0024] Figure 7 It is a structural schematic diagram of the gear box of the utility model without the gear fixing lower cover;

[0025] Figure 8 It is an exploded view of the gear box of the utility model;

[0026] Fig. 9 It is an exploded diagram of the gear transmission mechanism of the utility model;

[0027] Fig.10 This is a schematic diagram of the gear fixing lower cover structure of the utility model;

[0028] Reference numerals in the figure: Mecanum wheel body 1, wheel cover motor cooling hole 1-1, wheel cover 2, wheel cover motor cooling hole 2-1, limit hole 2-2, mounting slot 3, gear box 4, gear 5, integrated Mecanum wheel 6, square tube 7, bearing 8, vehicle body 9, gear transmission mechanism 10, first gear 11, first large gear 11-1, first small gear 11-2, second gear 12, second large gear 12-1, second small gear 12-2, third gear 13, third large gear 13-1, third small gear 13-2, drive gear 14, connecting gear 15, connecting gear 16, connecting gear 17, connecting gear 18, connecting gear 19, connecting gear 20, connecting gear 21, connecting gear 22, connecting gear 23, connecting gear 24, connecting gear 25, connecting gear 26, connecting gear 27, connecting gear 28, connecting gear 29, connecting gear 30, connecting gear 31, connecting gear 32 Connect the gear 14-1, the driving member 14-2, the motor limit cover 15, the protrusion 17, the gear box body 20, the gear fixing upper cover 21, the first connecting shaft 22, the second connecting shaft 23, the third connecting shaft 24, the driving shaft 25, the through hole 26, the limit groove 27, the positioning cylinder 28, the positioning hole 28-1, the gear fixing lower cover 29, the connecting cylinder 29-1, the square through hole 29-2, the accommodating chamber 30, the driving motor 31, the output clamping part 46, the clamping ring 46-1, the clamping column 46-2, the groove 46-3, and the threaded assembly groove 46-4. DETAILED DESCRIPTION

[0029] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Example

[0031] like Figure 1-10 As shown, the embodiment provides an electronically controlled integrated Mecanum wheel, comprising a Mecanum wheel body 1 and a gear box 4; a mounting groove 3 is formed in the Mecanum wheel body 1; the gear box 4 is built into the mounting groove 3, and the Mecanum wheel body 1 rotates with the gear box 4; the gearbox 4 of the utility model is installed inside the integrated Mecanum wheel, and the motor of the gearbox 4 is speed-changed, and the last-stage output gear drives the Mecanum wheel body 1 to move, thereby achieving load efficiency.

[0032] The integrated Mecanum wheel provided in this embodiment is suitable for children's electric vehicles or baby carriages. The gear box 4 is completely arranged in the mounting groove 3 of the Mecanum wheel body 1 to reduce the structural size of the Mecanum wheel body 1 and its gear box 4, so as to form a Mecanum wheel in which the gear box 4 and the Mecanum wheel body 1 are integrated; the structure of the baby carriage or other equipment using the Mecanum wheel can be made more compact.

[0033] The integrated Mecanum wheel in this embodiment integrates all the structures and functions of the existing Mecanum wheel, which reduces the installation parts of the Mecanum wheel and its gear box 4 to a certain extent, reduces its structural weight and manufacturing and maintenance costs, and can also improve the reliability of equipment travel to a certain extent.

[0034] The outer side of the Mecanum wheel body 1 is detachably equipped with a wheel cover 2; the wheel cover 2 is located at the upper end of the mounting groove 3, and the wheel cover 2 is used to fix the gear box 4 in the mounting groove 3; by providing a detachable wheel cover 2, it is convenient to disassemble and assemble the drive motor 31, which provides convenience for subsequent maintenance and replacement. At the same time, the gear fixing cover 21 fixes the drive motor 31, thereby ensuring the safety of the use of the drive motor 31.

[0035] The wheel cover 2 and the Mecanum wheel body 1 are detachably connected by screws; the number of screws between the wheel cover 2 and the Mecanum wheel body 1 is 4, 6, 8 or 9, etc.

[0036] A plurality of wheel cover motor heat dissipation holes 2-1 are formed on the wheel cover 2, and the plurality of wheel cover motor heat dissipation holes 2-1 are arranged equidistantly along the circumference of the wheel cover 2; a plurality of wheel cover motor heat dissipation holes 1-1 are formed on the Mecanum wheel body 1, and the plurality of wheel cover motor heat dissipation holes 1-1 are arranged equidistantly along the circumference of the Mecanum wheel body 1.

[0037] The multiple wheel cover motor cooling holes 2-1 and the multiple wheel cover motor cooling holes 1-1 improve the heat dissipation effect of the entire gear box 4 and extend the service life of the equipment; moreover, the multiple wheel cover motor cooling holes 2-1 and the multiple wheel cover motor cooling holes 1-1 are respectively located on both sides of the gear box 4, further improving the heat dissipation area on both sides of the gear box 4, so that the heat dissipation effect is good.

[0038] Specifically, Figure 4 , Figure 7 and Figure 8As shown; the gear box 4 includes a gear box body 20; the gear box body 20 includes a gear fixing upper cover 21 and a gear fixing lower cover 29, a receiving chamber 30 is formed between the gear fixing upper cover 21 and the gear fixing lower cover 29, and the gear transmission mechanism 10 is assembled in the receiving chamber 30; a limiting groove 27 is formed on the inner side of the outer side of the gear fixing upper cover 21 along the width direction of the integrated wheel, and a driving motor 31 is assembled in the limiting groove 27, wherein the driving motor 31 is longitudinally assembled in the limiting groove 27, and the driving shaft 25 of the driving motor 31 passes through the gear fixing upper cover 21 to connect the gear 5, and the gear 5 is connected to the gear transmission mechanism 10.

[0039] The utility model has the advantages of simple structure, convenience and practicality, and ingenious design. By setting the gear box 4, specifically, the gear box 4 adopts a multi-stage speed-changing gear, so that when the driving motor of the baby carriage adopts high power, the gear transmission is smooth, the transmission ratio is accurate, the working reliability is high, the transmission efficiency is high, the transmission torque is large, and the service life is long. The set one-piece Mecanum wheel can be directly applicable to the existing baby carriage body structure and shaft without modification, and is easy to install. In addition, the driving motor 31 is longitudinally assembled in the limiting groove 27, and the outer end face of the driving motor 31 is lower than the outer end face of the driving member 14-2 of the driving gear 14 on the horizontal plane, so that the design of the whole gear box is more reasonable, and the arrangement of multiple gears in the gear transmission mechanism 10 is more reasonable. At the same time, because the driving motor 31 is longitudinally assembled in the limiting groove 27, the noise generated by the driving motor when the driving gear transmission mechanism is working is reduced, thereby improving the use effect of the whole baby carriage.

[0040] The utility model has the advantages of smaller volume, lighter weight, etc., is easy to install, and can reduce noise; the gear box can be suitable for Mecanum wheel bodies 1 of various specifications, and has a built-in drive.

[0041] The gear transmission mechanism 10 includes a first gear 11, a second gear 12, a third gear 13 and a driving gear 14; a first connecting shaft 22, a second connecting shaft 23 and a third connecting shaft 24 are arranged in the gear fixing cover 21; the first gear 11 is movably connected to the first connecting shaft 22, the second gear 12 is movably connected to the second connecting shaft 23; the third gear 13 is movably connected to the third connecting shaft 24.

[0042] The utility model has the first gear 11 movably sleeved on the first connecting shaft 22, the second gear 12 movably sleeved on the second connecting shaft 23; the third gear 13 movably sleeved on the third connecting shaft 24; the dead weight is reduced, the speed change is light, the external space of the gear box is saved, and the production demand is met.

[0043] The gear transmission mechanism 10 of the utility model comprises a first gear 11, a second gear 12, a third gear 13 and a driving gear 14; through the gears and the spur-tooth double-linked meshing structure, the gears mesh with the internal intermediate transmission gear to drive the wheels as an integrated structure; so that the gear meshing noise is reduced.

[0044] In this structure, the first gear, the second gear and the third gear are small gears, the gear box is smaller in size and can reduce noise. At the same time, the combined application of small motors can reduce the output current, thereby reducing power consumption.

[0045] The first gear 11 includes a first large gear 11-1 and a first small gear 11-2; the first large gear 11-1 is meshed with the gear 5; the second gear 12 includes a second large gear 12-1 and a second small gear 12-2; the third gear 13 includes a third large gear 13-1 and a third small gear 13-2; the driving gear 14 includes a connecting gear 14-1 and a driving member 14-2; the first small gear 11-2 is meshed with the second large gear 12-1, the second small gear 12-2 is meshed with the third large gear 13-1, and the third small gear 13-2 is meshed with the connecting gear 14-1.

[0046] A positioning cylinder 28 adapted to the driving gear 14 is fixedly provided on the gear fixing lower cover 29, and a positioning hole 28-1 is formed in the positioning cylinder 28, through which the driving member 14-2 on the driving gear 14 passes and is movably sleeved on the positioning cylinder 28; a through hole 26 adapted to the driving member 14-2 is formed in the middle of the gear fixing upper cover 21, and the driving member 14-2 of the driving gear 14 passes and is rotatably connected in the through hole 26.

[0047] A connecting cylinder 29-1 is fixedly arranged on the outer side of the gear fixing lower cover 29, and the connecting cylinder 29-1 is an extension of the positioning cylinder 28, and a bearing 8 is sleeved on the connecting cylinder 29-1. The wear resistance and supporting structure strength of the entire gearbox are improved, the structural strength and overall firmness of the wheel hub are improved, the strength of the wheel hub is significantly improved, the possibility of shaking during movement is reduced, and the integrated Mecanum wheel can withstand greater shear force and impact force during driving; in addition, the bearing 8 is provided to reduce the current of the wheel hub during operation, reduce energy consumption, and increase cruising.

[0048] A square through hole 29-2 is formed in the connecting tube 29-1, and the square through hole 29-2 is connected to the positioning hole 28-1. A square tube 7 is inserted into the square through hole 29-2, and the square tube 7 is assembled with the square through hole 29-2 to achieve fixed assembly.

[0049] An output clamping portion 46 is fixedly provided at the inner middle part of the Mecanum wheel body 1 near the gear box 4, and the driving member 14-2 and the output clamping portion 46 are clamped and locked with each other, thereby driving the integrated Mecanum wheel to move; the output clamping portion 46 includes a clamping ring 46-1 and a clamping column 46-2; a spacing is left between the clamping ring 46-1 and the clamping column 46-2, a threaded assembly groove 46-4 is formed in the middle of the clamping column 46-2, and a plurality of equidistantly arranged grooves 46-3 are formed in the circumferential direction of the clamping column 46-2, and correspondingly, a plurality of protrusions 17 corresponding to the grooves 46-3 are formed on the driving member 14-2, and when the driving member 14-2 is assembled with the output clamping portion 46, the protrusion 17 is clamped in the groove 46-3.

[0050] The utility model drives the integrated Mecanum wheel to move through the gear box; the gear transmission mechanism of the utility model is installed in the gear box body, and the drive motor 31 is longitudinally assembled in the limiting groove 27. After the whole baby carriage is assembled, the overall appearance is beautiful, practical and convenient; and the cost is not high.

[0051] Therefore, the utility model of an electrically controlled integrated Mecanum wheel increases torque through multi-stage gear speed transmission. A square tube 7 and a square through hole 29-2 are assembled, and a limiting groove 27 is formed inside the outer side of the gear fixing cover 21 along the width direction of the integrated wheel. A driving motor 31 is installed in the limiting groove 27. The driving motor 31 is longitudinally assembled in the limiting groove 27. The driving shaft 25 of the driving motor 31 passes through the gear fixing cover 21 to connect the gear 5, and the gear 5 is connected to the gear transmission mechanism 10. It is convenient for the hub to be repaired, maintained and produced and installed. A plurality of wheel cover motor heat dissipation holes 2-1 and a plurality of wheel cover motor heat dissipation holes 1-1 are provided to reduce the heat dissipation burden during the operation of the motor.

[0052] A method for assembling an electronically controlled integrated Mecanum wheel comprises the following steps:

[0053] Step 1: Install the assembled gearbox 4 into the mounting slot 3 of the Mecanum wheel body 1, and lock the drive member 14-2 on the gearbox 4 and the output clamping portion 46 on the Mecanum wheel body 1 together;

[0054] Step 2: Install the wheel cover 2 on the Mecanum wheel body 1, and the limiting hole 2-2 of the wheel cover 2 is clamped with the connecting tube 29-1 of the gear box 4; used to position the gear box 4 in the Mecanum wheel body 1;

[0055] Step 3: Fix the Mecanum wheel body 1 and the wheel cover 2 with screws;

[0056] Step 4: Insert one end of the square tube 7 into the integrated Mecanum wheel 6 along the square through hole 29-2;

[0057] Step 5: Pass the round shaft of the baby carriage through the square tube 7 and screw it into the threaded assembly groove 46-4 formed in the middle of the clamping column 46-2. The two integrated Mecanum wheels 6 are fixed by the round shaft.

[0058] In step five, specifically, the other end of the square tube 7 passes through the body 9 of the baby carriage and is inserted into the square through hole 29-2 of another integral Mecanum wheel; the other end of the round shaft is screwed into the threaded assembly groove 46-4 on the Mecanum wheel body 1, so that the two integral Mecanum wheels are assembled together.

[0059] At the same time, in this embodiment, the wheel hub drive variable speed integrated wheel of the baby stroller is installed in the Mecanum wheel, and a controller is added, which can realize the use operation in 10 directions, and the play method is increased. The controller can be set on the steering wheel of the baby stroller, which is convenient for operation, realizes entertainment, and is multi-functional and diversified. A variety of play methods are realized to improve children's experience and interest.

[0060] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention; therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0061] Although this article uses more reference numerals in the figure: Mecanum wheel body 1, wheel cover motor cooling hole 1-1, wheel cover 2, wheel cover motor cooling hole 2-1, limit hole 2-2, mounting slot 3, gear box 4, gear 5, integrated Mecanum wheel 6, square tube 7, bearing 8, vehicle body 9, gear transmission mechanism 10, first gear 11, first large gear 11-1, first small gear 11-2, second gear 12, second large gear 12-1, second small gear 12-2, third gear 13, third large gear 13-1, third small gear 13-2, drive gear 14, connecting gear 1 4-1, driving member 14-2, motor limit cover 15, convex block 17, gear box body 20, gear fixing upper cover 21, first connecting shaft 22, second connecting shaft 23, third connecting shaft 24, driving shaft 25, through hole 26, limit groove 27, positioning cylinder 28, positioning hole 28-1, gear fixing lower cover 29, connecting cylinder 29-1, square through hole 29-2, accommodating chamber 30, driving motor 31, output clamping part 46, clamping ring 46-1, clamping column 46-2, groove 46-3, threaded assembly groove 46-4 and other terms, but does not exclude the possibility of using other terms. The use of these terms is only to more conveniently describe and explain the essence of the utility model; interpreting them as any additional restrictions is contrary to the spirit of the utility model.

Claims

1. An electronically controlled integrated Mecanum wheel, characterized in that: The invention comprises a Mecanum wheel body (1) and a gear box (4); a mounting groove (3) is formed in the Mecanum wheel body (1); the gear box (4) is built into the mounting groove (3), and the Mecanum wheel body (1) rotates along with the gear box (4).

2. The electronically controlled integrated Mecanum wheel according to claim 1, characterized in that: The outer side of the Mecanum wheel body (1) is detachably equipped with a wheel cover (2); the wheel cover (2) is located at the upper end of the mounting groove (3), and the wheel cover (2) is used to fix the gear box (4) in the mounting groove (3).

3. The electronically controlled integrated Mecanum wheel according to claim 2, characterized in that: A plurality of wheel cover motor heat dissipation holes (2-1) are formed on the wheel cover (2), and the plurality of wheel cover motor heat dissipation holes (2-1) are arranged at equal intervals along the circumference of the wheel cover (2).

4. The electronically controlled integrated Mecanum wheel according to claim 1, characterized in that: A plurality of wheel cover motor heat dissipation holes (1-1) are formed on the Mecanum wheel body (1), and the plurality of wheel cover motor heat dissipation holes (1-1) are arranged at equal intervals along the circumference of the Mecanum wheel body (1).

5. The electronically controlled integrated Mecanum wheel according to claim 1, characterized in that: The gear box (4) comprises a gear box body (20); the gear box body (20) comprises a gear fixing upper cover (21) and a gear fixing lower cover (29); a receiving chamber (30) is formed between the gear fixing upper cover (21) and the gear fixing lower cover (29); a gear transmission mechanism (10) is mounted in the receiving chamber (30); a limiting groove (27) is formed inside the outer side of the gear fixing upper cover (21) along the width direction of the integrated wheel; a driving motor (31) is mounted in the limiting groove (27); the driving motor (31) is longitudinally mounted in the limiting groove (27); a driving shaft (25) of the driving motor (31) passes through the gear fixing upper cover (21) to connect to the gear (5); and the gear (5) is connected to the gear transmission mechanism (10).

6. The electronically controlled integrated Mecanum wheel according to claim 5, characterized in that: The gear transmission mechanism (10) comprises a first gear (11), a second gear (12), a third gear (13) and a driving gear (14); a first connecting shaft (22), a second connecting shaft (23) and a third connecting shaft (24) are arranged inside the gear fixing upper cover (21); the first gear (11) is movably sleeved on the first connecting shaft (22), the second gear (12) is movably sleeved on the second connecting shaft (23); and the third gear (13) is movably sleeved on the third connecting shaft (24).

7. The electronically controlled integrated Mecanum wheel according to claim 6, characterized in that: The first gear (11) comprises a first large gear (11-1) and a first small gear (11-2); the first large gear (11-1) is meshed with the gear (5); the second gear (12) comprises a second large gear (12-1) and a second small gear (12-2); the third gear (13) comprises a third large gear (13-1) and a third small gear (13-2); the driving gear (14) comprises a connecting gear (14-1) and a driving member (14-2); the first small gear (11-2) is meshed with the second large gear (12-1), the second small gear (12-2) is meshed with the third large gear (13-1), and the third small gear (13-2) is meshed with the connecting gear (14-1).

8. The electronically controlled integrated Mecanum wheel according to claim 5, characterized in that: A positioning cylinder (28) adapted to the driving gear (14) is fixedly provided on the gear fixing lower cover (29), a positioning hole (28-1) is formed in the positioning cylinder (28), and a driving member (14-2) on the driving gear (14) passes through and is movably sleeved on the positioning cylinder (28); a through hole (26) adapted to the driving member (14-2) is formed in the middle of the gear fixing upper cover (21), and the driving member (14-2) of the driving gear (14) passes through and is rotatably connected to the through hole (26).

9. The electronically controlled integrated Mecanum wheel according to claim 8, characterized in that: A connecting cylinder (29-1) is fixedly provided on the outer side of the gear fixing lower cover (29). The connecting cylinder (29-1) is an extension of the positioning cylinder (28). A bearing (8) is sleeved on the connecting cylinder (29-1).

10. The electronically controlled integrated Mecanum wheel according to claim 9, characterized in that: A square through hole (29-2) is formed in the connecting cylinder (29-1), and the square through hole (29-2) is connected to the positioning hole (28-1).

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