Omni-directional driving wheel and omni-directional moving platform

Abstract

The utility model discloses an omni-directional driving wheel and an omni-directional mobile platform, and relates to the technical field of wheeled mobile robots. In the omni-directional driving wheel, the steering mechanism comprises a driving assembly and a rotating support, and the driving assembly is used for driving the rotating support to rotate in the vertical direction; a mandrel of the hub motor extends in the horizontal direction and is fixed to the rotating support. The horizontal direction is parallel to a plane extending in the transverse direction and the longitudinal direction; the damping assembly comprises a swing assembly and a damper. The swing assembly is connected with the first side of the mounting frame, and one end of the damper is hinged to the second side of the mounting frame. Wherein the swing assembly comprises two swing frames and a first adapter block; the two swing frames are arranged on the opposite sides and hinged to the first side of the mounting frame and the first adapter block correspondingly to form a parallelogram mechanism. The first adapter block is provided with a first adapter hole. The steering flexibility of the omni-directional driving wheel is improved, and the omni-directional driving wheel is convenient to install.

Description

Technical Field

[0001] The present application relates to the technical field of wheeled mobile robots, and in particular to omnidirectional drive wheels and omnidirectional mobile platforms. Background Art

[0002] Wheeled mobile robots are widely used in industrial logistics, hotel and restaurant services, and specialized applications such as orchard fruit transportation, plant protection, inspection, exploration, and bomb disposal. Therefore, they require both flexible mobility and excellent material handling capabilities.

[0003] At present, wheeled mobile robots generally include a mobile platform, which includes a transfer base and drive wheels. The drive wheels are used to drive the transfer base to turn and move, and the transfer base can be used to install other devices for achieving the required functions or place items that need to be transported.

[0004] Common drive wheel systems for mobile platforms use differential or front-wheel steering for steering and travel, making them suitable for applications with wide roads and less stringent positioning requirements. However, they are less suitable for applications with limited road space and where the mobile platform needs to adjust its position after moving to a specific location, as they lack steering flexibility.

[0005] Therefore, how to improve the steering flexibility of the driving wheels and facilitate installation is still a technical problem that needs to be urgently solved by those skilled in the art. Utility Model Content

[0006] In view of this, in order to solve the above technical problems, the present application provides an omnidirectional driving wheel and an omnidirectional mobile platform.

[0007] To solve the above technical problems, one of the technical solutions adopted by the present application is to provide an omnidirectional drive wheel, which includes:

[0008] The mounting frame has mutually perpendicular transverse, longitudinal and vertical directions, and the two sides along the transverse direction of each component structure of the omnidirectional drive wheel are respectively a first side and a second side;

[0009] The steering mechanism includes a driving assembly and a rotating bracket, wherein the driving assembly is used to drive the rotating bracket to rotate vertically;

[0010] The hub motor has a spindle extending in a horizontal direction and fixed to the rotating bracket; the horizontal direction is parallel to the plane extending in the transverse and longitudinal directions;

[0011] and a shock absorbing assembly, comprising a swing assembly and a shock absorber; the swing assembly is connected to a first side of the mounting frame, and one end of the shock absorber is hinged to a second side of the mounting frame;

[0012] Among them, the swing assembly includes two swing frames and a first adapter block; the two swing frames are arranged on opposite sides and are respectively hinged to the first side of the mounting frame and the first adapter block to form a parallelogram mechanism; the first adapter block is provided with a first adapter hole.

[0013] In order to solve the above technical problems, another technical solution adopted by the present application is to provide an omnidirectional mobile platform, which includes a transfer base and a plurality of omnidirectional drive wheels, and the omnidirectional drive wheels are the above-mentioned omnidirectional drive wheels;

[0014] The parallelogram mechanism is located on the first side of the mounting frame, and the first adapter block is fixed to the transfer base through the first adapter hole by a first fastener; the shock absorber is located on the second side of the mounting frame, and the other end of the shock absorber is hinged to the transfer base.

[0015] Beneficial effects: Different from the prior art, the present application has at least the following three beneficial effects. On the one hand, the first adapter block is fixed to the transfer base by passing through the first adapter hole using a first fastener. When installing the omnidirectional drive wheel, the two swing frames and the transfer base can be more conveniently hinged, thereby achieving the purpose of facilitating installation. On the other hand, the hub motor can be rotated vertically by using the driving assembly to drive the rotating bracket, thereby changing the direction of travel of the hub motor and thus flexibly adjusting the posture of the omnidirectional mobile platform. On the other hand, since the swing assembly and the shock absorber are located on both sides of the mounting frame, the force exerted by the mounting frame on the swing assembly due to its own gravity can be concentrated in the extension direction of the swing frame, and the force exerted by the mounting frame on the shock absorber due to its own gravity can be concentrated in the extension direction of the shock absorber, thereby making the swing assembly and the shock absorber less likely to be bent and improving their service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural diagram of the omnidirectional mobile platform of this application. Figure 1 The middle shell is not hidden;

[0017] Figure 2 This is a structural diagram of the omnidirectional mobile platform of this application. Figure 2 The middle housing is partially hidden, and Figure 2 Obtained from observing the omnidirectional mobile platform from one perspective;

[0018] Figure 3 This is a structural diagram of the omnidirectional mobile platform of this application. Figure 3 The middle housing is partially hidden, and Figure 3 This is obtained by observing the omnidirectional mobile platform from another perspective;

[0019] Figure 4 This is a schematic diagram of the structure of the omnidirectional driving wheel of the omnidirectional mobile platform of this application. Figure 4 Obtained by observing the omnidirectional drive wheel from one perspective;

[0020] Figure 5 This is a schematic diagram of the structure of the omnidirectional driving wheel of the omnidirectional mobile platform of this application. Figure 5 This is obtained by observing the omnidirectional drive wheel from another perspective;

[0021] Figure 6 This is a schematic diagram of the exploded structure of the omnidirectional drive wheel in the omnidirectional mobile platform of the present application;

[0022] Figure 7 This is a schematic diagram of the assembly structure of the shock absorber and the second adapter block of the omnidirectional mobile platform of the present application;

[0023] Figure 8 It is a schematic diagram of the exploded structure of the omnidirectional mobile platform of this application.

[0024] Omnidirectional mobile platform 1; transfer base 10; housing 11; frame body 12; avoidance hole 13; omnidirectional driving wheel 20; horizontal direction W; longitudinal direction L; vertical direction H; first side c1; second side c2; third side c3; fourth side c4;

[0025] Mounting frame 100; accommodating cavity 101; first through-hole 102; second through-hole 103; main frame 110; connecting ear 111; second fixing hole 112; second bearing 113; limiting space 114; third side plate 115; bottom plate 116; fourth side plate 117; first side plate 120; second side plate 130;

[0026] Steering mechanism 200; drive assembly 210; steering gear 211; first coupling 212; vertical transmission component 213; first rotating shaft 2131; second rotating shaft 2132; second coupling 214; rotating bracket 220;

[0027] In-wheel motor 300; shock absorber assembly 400; swing assembly 410; swing frame 411; first longitudinal rod 4111; second longitudinal rod 4112; first connecting rod 4113; second connecting rod 4114; first connecting end 4115; second connecting end 4116; first adapter block 412; first adapter hole 413; first fixing hole 414; first bearing 415; first fastener 416; shock absorber 420; second adapter block 430; second adapter hole 431; second fastener 432. DETAILED DESCRIPTION

[0028] To enable those skilled in the art to better understand the technical solutions of this application, the present application is further described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of this application.

[0029] In addition, all directional indications in the embodiments of the present application (such as horizontal, vertical, longitudinal, first side, second side, third side, fourth side...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0030] See also Figure 1-3 The omnidirectional mobile platform 1 of the present application includes a transfer base 10 and a plurality of omnidirectional drive wheels 20. The plurality of omnidirectional drive wheels 20 are disposed at the bottom of the transfer base 10 and are used to drive the transfer base 10 to steer and move. The transfer base 10 can be used to mount other devices for achieving desired functions or to place items to be transported. Thus, when the plurality of omnidirectional drive wheels 20 drive the transfer base 10 to steer and move, they can also drive other devices mounted on the transfer base 10 or items to be transported to move.

[0031] Combine Figure 2-Figure 3 See Figure 4-Figure 6 As shown, the omnidirectional drive wheel 20 includes a mounting frame 100 , a steering mechanism 200 , a hub motor 300 and a shock absorbing assembly 400 .

[0032] The mounting frame 100 has a mutually perpendicular lateral direction W, longitudinal direction L, and vertical direction H. The components of the omnidirectional drive wheel 20 have a first side c1 and a second side c2 along the lateral direction W. The steering mechanism 200 includes a drive assembly 210 and a rotating bracket 220. The drive assembly 210 is used to drive the rotating bracket 220 to rotate about the vertical direction H. The spindle of the hub motor 300 extends horizontally and is fixed to the rotating bracket 220. The horizontal direction is parallel to the plane extending along the lateral direction W and longitudinal direction L. The shock absorber assembly 400 includes a swing assembly 410 and a shock absorber 420. The swing assembly 410 is connected to the first side c1 of the mounting frame 100, and one end of the shock absorber 420 is hinged to the second side c2 of the mounting frame 100.

[0033] The swing assembly 410 includes two swing frames 411 and a first adapter block 412. The two swing frames 411 are arranged on opposite sides and are respectively hinged to the first side c1 of the mounting frame 100 and the first adapter block 412, forming a parallelogram mechanism. The first adapter block 412 is provided with a first adapter hole 413. The parallelogram mechanism is located on the first side c1 of the mounting frame 100, and the first adapter block 412 is fixed to the transfer base 10 via a first fastener 416 passing through the first adapter hole 413. The shock absorber 420 is located on the second side c2 of the mounting frame 100, and the other end of the shock absorber 420 is hinged to the transfer base 10.

[0034] Through the above-mentioned method, the present application has at least the following three beneficial effects. On the one hand, the first adapter block 412 is fixed to the transfer base 10 by using the first fastener 416 to pass through the first adapter hole 413. When installing the omnidirectional drive wheel 20, the two swing frames 411 can be more conveniently hinged to the transfer base 10, thereby facilitating installation. On the other hand, using the drive assembly 210 to drive the rotating bracket 220 to rotate around the vertical direction H can cause the hub motor 300 to rotate around the vertical direction H, thereby changing the direction of travel of the hub motor 300, and thus flexibly adjusting the posture of the omnidirectional mobile platform 1. Thirdly, since the swing assembly 410 and the shock absorber 420 are located on both sides of the mounting frame 100, the force exerted by the mounting frame 100 on the swing assembly 410 due to its own gravity can be concentrated in the extension direction of the swing frame 411, and the force exerted by the mounting frame 100 on the shock absorber 420 due to its own gravity can be concentrated in the extension direction of the shock absorber 420, thereby making the swing assembly 410 and the shock absorber 420 less likely to be bent, and their service life is improved.

[0035] Optionally, multiple first adapter holes 413 are arranged along the vertical direction H and located between the two swing brackets 411. This enhances the stability of the connection between the first adapter block 412 and the transfer base 10. Optionally, the drive assembly 210 drives the rotating bracket 220 to rotate about the vertical direction H by a first angle, which can be any angle within a range of 0 to 360 degrees. For example, if the rotating bracket 220 rotates 0 degrees about the vertical direction H, the wheel hub motor 300 maintains its direction of travel. For example, if the rotating bracket 220 rotates 30 degrees about the vertical direction H, the wheel hub motor 300 rotates 30 degrees to form a new direction of travel, and the wheel hub motor 300 continues to travel in the new direction of travel. For example, if the rotating bracket 220 rotates 360 degrees about the vertical direction H, the wheel hub motor 300 returns to its original direction of travel, and the wheel hub motor 300 continues to travel in the original direction of travel.

[0036] It should be understood that the so-called moving direction of the hub motor 300 is the moving direction of the contact point between the hub motor 300 and the road surface when the hub motor 300 moves on the road surface.

[0037] It should be noted that when the in-wheel motor 300 vibrates vertically (up and down) due to uneven road conditions, it causes the mounting frame 100 to vibrate up and down. When the mounting frame 100 vibrates upward, the shock absorber 420 elastically deforms, causing the swing frame 411 to swing relative to the first adapter block 412. When the mounting frame 100 vibrates downward, the elastic restoring force of the shock absorber 420 drives the mounting frame 100 downward and causes the swing frame 411 to swing relative to the first adapter block 412. The shock absorber 420 acts as a buffer against the vertical vibration of the mounting frame 100.

[0038] Recombination Figure 2-Figure 3 See Figure 4-Figure 6 As shown, the swing frame 411 includes a first longitudinal rod 4111 and a second longitudinal rod 4112 arranged along the transverse direction W, and a first connecting rod 4113 and a second connecting rod 4114 arranged along the longitudinal direction L. The two first adapter blocks 412 are arranged along the longitudinal direction L.

[0039] The first connecting rod 4113 has two ends connected to the first longitudinal rod 4111 and the second longitudinal rod 4112. The second connecting rod 4114 has two ends connected to the first longitudinal rod 4111 and the second longitudinal rod 4112.

[0040] The first longitudinal rod 4111 has first connecting ends 4115 at both ends along the longitudinal direction L, and the second longitudinal rod 4112 has second connecting ends 4116 at both ends along the longitudinal direction L. The first longitudinal rod 4111 is hingedly connected to the first side c1 of the mounting bracket 100 via the two first connecting ends 4115. The second longitudinal rod 4112 is hingedly connected to the two first adapter blocks 412 via the two second connecting ends 4116.

[0041] In the above manner, the two swing frames 411 are hinged to the first side c1 of the mounting frame 100 via at least four first connecting ends 4115, and the two swing frames 411 are connected to the transfer base 10 via at least two first adapter blocks 412. This makes the vertical H swinging of the two swing frames 411 more stable, and is less likely to shake in directions other than the vertical H, such as the longitudinal direction L.

[0042] Optionally, combined Figure 2-Figure 3 See Figure 4-Figure 6 As shown, the first adapter block 412 is provided with a first fixing hole 414 corresponding to the second connection end 4116. A first bearing 415 is fixed to the first fixing hole 414. The second connection end 4116 is hinged to the first adapter block 412 via the first bearing 415. In this way, the shaking of the swing frame 411 in the longitudinal direction L can be further limited.

[0043] Optionally, combined Figure 2-Figure 3 See Figure 4-Figure 6As shown, the driving assembly 210 includes a steering gear 211, a first coupling 212, a vertical transmission component 213, and a second coupling 214. The steering gear 211 and the vertical transmission component 213 are disposed on the mounting frame 100.

[0044] The vertical transmission component 213 includes a first rotating shaft 2131 and a second rotating shaft 2132 for vertical transmission. The second rotating shaft 2132 extends along the vertical direction H. The steering gear 211 is connected to the first rotating shaft 2131 through the first coupling 212. The second rotating shaft 2132 is connected to the rotating bracket 220 through the second coupling 214.

[0045] In this manner, when the in-wheel motor 300 vibrates due to uneven road conditions, the impact force of the in-wheel motor 300 is first transmitted through the second coupling 214 to the vertical transmission component 213. Furthermore, the servo 211 and the in-wheel motor 300 are not coaxial. Therefore, the vertical transmission component 213 can share and block the impact force of the in-wheel motor 300, thereby protecting the servo 211 and extending its service life.

[0046] Optionally, the servo 211 and the vertical rotation component 213 can be respectively secured to the mounting frame 100 via fifth fasteners (not shown). It should be understood that the vertical transmission component 213 is commonly used in the prior art for transmission between two shafts whose axis extension directions are 90 degrees (i.e., perpendicular). It can employ a structure already disclosed in the prior art and will not be further described here.

[0047] Optionally, combined Figure 2-Figure 3 See Figure 4-Figure 6 As shown, the mounting frame 100 includes a main frame 110, a first side panel 120, and a second side panel 130. A connecting ear 111 is provided on the first side c1 of the main frame 110, corresponding to the first connecting end 4115. The connecting ear 111 is provided with a second fixing hole 112, and a second bearing 113 is fixed to the second fixing hole 112. The first connecting end 4115 is hingedly connected to the connecting ear 111 via the second bearing 113.

[0048] A limiting space 114 is formed between the two connecting ears 111 arranged along the vertical direction H. The first side panel 120 is arranged at both ends along the longitudinal direction L in the limiting space 114 and fixed to the main frame 110. The second side panel 130 is arranged on the second side c2 of the main frame 110, and the shock absorber 420 is hinged to the second side c2 of the main frame 110. The main frame 110, the first side panel 120 and the second side panel 130 are surrounded by a receiving chamber 101. The servo 211 is arranged on the main frame 110 and is located outside the receiving chamber 101; the vertical transmission component 213 is arranged on the second side panel 130 and is located inside the receiving chamber 101.

[0049] The above-described method has at least the following two beneficial effects. First, the limiting space 114 can limit the displacement of the first side plate 120 along the vertical direction H, so that when the mounting frame 100 as a whole vibrates along the vertical direction H, the connection between the first side plate 120 and the main frame 110 is not easily loosened. Second, because the first connecting end 4115 is hingedly connected to the connecting ear 111 via the second bearing 113, this can further limit the vibration of the swing frame 411 in the longitudinal direction L.

[0050] Optionally, combined Figure 2-Figure 3 See Figure 4-Figure 6 As shown, the two sides of each component structure of the omnidirectional drive wheel 20 along the longitudinal direction L are respectively the third side c3 and the fourth side c4. The main frame 110 includes a third side plate 115, a bottom plate 116, and a fourth side plate 117. The third side plate 115 is disposed on the third side c3 of the bottom plate 116, and the fourth side plate 117 is disposed on the fourth side c4 of the bottom plate 116.

[0051] The connecting ears 111 protrude from the edges of the first side c1 of the third side panel 115 and the first side c1 of the fourth side panel 117. The first side panel 120 is fixed at both ends along the longitudinal direction L to the edges of the first side c1 of the third side panel 115 and the first side c1 of the fourth side panel 117. The second side panel 130 is fixed at both ends along the longitudinal direction L to the edges of the second side c2 of the third side panel 115 and the second side c2 of the fourth side panel 117. The servo 211 is mounted on the fourth side panel 117.

[0052] In this way, the first side plate 120 and the second side plate 130 can reinforce the third side plate 115 and the fourth side plate 117 to prevent the third side plate 115 and the fourth side plate 117 from bending along the longitudinal direction L, so as to maintain the stability of the shape of the main frame 110.

[0053] Optionally, combined Figure 2-Figure 3 See Figure 4-Figure 6 As shown, the two ends of the first side panel 120 along the longitudinal direction L are respectively fixed to the edge of the first side c1 of the third side panel 115 by a third fastener (not labeled in the figure), and the two ends of the second side panel 130 along the longitudinal direction L are respectively fixed to the edge of the second side c2 of the third side panel 115 and the edge of the second side c2 of the fourth side panel 117 by a fourth fastener (not labeled in the figure).

[0054] Optionally, combined Figure 2-Figure 3 See Figure 4-Figure 6 As shown, the fourth side plate 117 is provided with a first through-hole 102 corresponding to the first coupling 212, and the bottom plate 116 is provided with a second through-hole 103 corresponding to the second coupling 214. The first coupling 212 passes through the first through-hole 102, and the second coupling 214 passes through the second through-hole 103.

[0055] Optionally, combined Figure 2-Figure 3 See Figure 4-Figure 7 As shown, the shock absorber assembly 400 includes a second adapter block 430, which is hingedly connected to the other end of the shock absorber 420. The second adapter block 430 is provided with a second adapter hole 431, through which a second fastener 432 passes to secure the second adapter block 430 to the transfer base 10. Optionally, multiple second adapter holes 431 are distributed around the second end of the shock absorber 420 to enhance the stability of the connection between the second adapter block 430 and the transfer base 10.

[0056] Optionally, combined Figure 1-Figure 7 See Figure 8 The transfer base 10 includes a frame body 12 and a shell 11. The frame body 12 is arranged in the shell 11, and the mounting frame 100, the shock absorber assembly 400 and the steering mechanism 200 are arranged in the frame body 12. The first adapter block 412 is connected to the frame body 12 through a first fastener 416. The other end of the shock absorber 420 is hinged to the frame body 12. For example, the second fastener 432 passes through the second adapter hole 431 to fix the second adapter block 430 to the frame body 12. The portion of the shell 11 located below the frame body 12 is provided with an avoidance hole 13, and the steering mechanism 200 is connected to the hub motor 300 through the avoidance hole 13.

[0057] In this way, the mounting frame 100 , the shock absorbing assembly 400 and part of the steering mechanism 200 are arranged in the frame body 12 , and the portion of the housing 11 located at the bottom of the mounting frame 100 can function as a fender.

[0058] Optionally, the first fastener 416 , the second fastener 432 , the third fastener, the fourth fastener, and the fifth fastener mentioned above may be threaded connectors, which may be bolts or screws, but are not limited thereto.

[0059] The above is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An omnidirectional drive wheel, characterized in that: The omnidirectional drive wheel comprises: The mounting frame has mutually perpendicular transverse, longitudinal and vertical directions, and the two sides along the transverse direction in each component structure of the omnidirectional drive wheel are respectively a first side and a second side; The steering mechanism comprises a driving assembly and a rotating bracket, wherein the driving assembly is used to drive the rotating bracket to rotate around the vertical direction; A hub motor, wherein the spindle of the hub motor extends in a horizontal direction and is fixed to the rotating bracket; the horizontal direction is parallel to a plane extending in the transverse direction and the longitudinal direction; and a shock absorbing assembly, comprising a swing assembly and a shock absorber; the swing assembly is connected to the first side of the mounting frame, and one end of the shock absorber is hinged to the second side of the mounting frame; Among them, the swing assembly includes two swing frames and a first adapter block; the two swing frames are arranged on opposite sides and are respectively hinged to the first side of the mounting frame and the first adapter block to form a parallelogram mechanism; the first adapter block is provided with a first adapter hole.

2. The omnidirectional drive wheel according to claim 1, characterized in that: The swing frame includes a first longitudinal rod and a second longitudinal rod arranged along the transverse direction and a first connecting rod and a second connecting rod arranged along the longitudinal direction; the two first adapter blocks are arranged along the longitudinal direction; The two ends of the first connecting rod are respectively connected to the first longitudinal rod and the second longitudinal rod; the two ends of the second connecting rod are respectively connected to the first longitudinal rod and the second longitudinal rod; Wherein, both ends of the first longitudinal rod along the longitudinal direction are formed as first connecting ends, and both ends of the second longitudinal rod along the longitudinal direction are formed as second connecting ends; the first longitudinal rod is hinged to the first side of the mounting frame through the two first connecting ends; the second longitudinal rod is hinged to the two first adapter blocks through the two second connecting ends.

3. The omnidirectional drive wheel according to claim 2, characterized in that: The first adapter block is provided with a first fixing hole corresponding to the second connecting end, a first bearing is fixed to the first fixing hole, and the second connecting end is hinged to the first adapter block through the first bearing.

4. The omnidirectional drive wheel according to claim 3, characterized in that: The driving assembly includes a steering gear, a first coupling, a vertical transmission component, and a second coupling; the steering gear and the vertical transmission component are arranged on the mounting frame; Among them, the vertical transmission component has a first rotating shaft and a second rotating shaft for vertical transmission; the second rotating shaft extends along the vertical direction, and the steering gear is connected to the first rotating shaft through the first coupling; the second rotating shaft is connected to the rotating bracket through the second coupling.

5. The omnidirectional drive wheel according to claim 4, characterized in that: The mounting frame includes a main frame, a first side plate and a second side plate; A connecting ear is protruding from the first side of the main frame corresponding to the first connecting end, the connecting ear is provided with a second fixing hole, and a second bearing is fixed to the second fixing hole; the first connecting end is hinged to the connecting ear via the second bearing; In which, a limiting space is formed between the two connecting ears arranged along the vertical direction, and the first side panel is arranged at both ends along the longitudinal direction in the limiting space and fixed to the main body bracket; the second side panel is arranged on the second side of the main body bracket, and the shock absorber is hinged to the second side of the main body bracket; the main body bracket, the first side panel and the second side panel form an accommodating cavity; the servo is arranged on the main body bracket and is located outside the accommodating cavity; the vertical transmission component is arranged on the second side panel and is located in the accommodating cavity.

6. The omnidirectional drive wheel according to claim 5, characterized in that: The two sides along the longitudinal direction of each component structure of the omnidirectional drive wheel are respectively a third side and a fourth side; the main frame includes a third side plate, a bottom plate and a fourth side plate; the third side plate is arranged on the third side of the bottom plate, and the fourth side plate is arranged on the fourth side of the bottom plate; Wherein, the connecting ears are respectively protruded from the edge of the first side of the third side panel and the edge of the first side of the fourth side panel; the two ends of the first side panel along the longitudinal direction are respectively fixed to the edge of the first side of the third side panel and the edge of the first side of the fourth side panel; the two ends of the second side panel along the longitudinal direction are respectively fixed to the edge of the second side of the third side panel and the edge of the second side of the fourth side panel; the servo is arranged on the fourth side panel.

7. The omnidirectional drive wheel according to claim 6, characterized in that: The fourth side plate is provided with a first through-hole corresponding to the first coupling, and the bottom plate is provided with a second through-hole corresponding to the second coupling; the first coupling passes through the first through-hole, and the second coupling passes through the second through-hole.

8. The omnidirectional drive wheel according to claim 7, characterized in that: The shock absorbing assembly includes a second adapter block, which is hinged to the other end of the shock absorber; the second adapter block is provided with a second adapter hole.

9. An omnidirectional mobile platform, characterized in that: The omnidirectional mobile platform comprises a transfer base and a plurality of omnidirectional drive wheels, wherein the omnidirectional drive wheels are the omnidirectional drive wheels according to any one of claims 1 to 8; In which, the parallelogram mechanism is located on the first side of the mounting frame, and the first adapter block is fixed to the transfer base through the first adapter hole by a first fastener; the shock absorber is located on the second side of the mounting frame, and the other end of the shock absorber is hinged to the transfer base.

10. The omnidirectional mobile platform according to claim 9, characterized in that: The transfer base includes a frame-type body and a shell; In which, the frame body is arranged in the shell, the mounting frame, the shock absorber assembly and part of the steering mechanism are arranged in the frame body; the first adapter block is connected to the frame body through the first fastener; the other end of the shock absorber is hinged to the frame body; the part of the shell located below the frame body is provided with an avoidance hole, and the steering mechanism is connected to the hub motor through the avoidance hole.

Images