Omnidirectional moving device

Abstract

The utility model relates to an omni-directional moving device using Mecanum wheels, in particular to an omni-directional moving device which comprises an installation frame, a front wheel arranged on the front portion of the installation frame and a rear wheel arranged on the rear portion of the installation frame, and the rear wheel is a universal wheel. The front wheel is composed of four coaxially mounted Mecanum wheels, the four Mecanum wheels are a first front wheel I, a first front wheel II, a second front wheel I and a second front wheel II in sequence, and any two adjacent Mecanum wheels are symmetrically mounted; and the four Mecanum wheels work independently. Compared with an existing moving device adopting Mecanum wheels, according to the scheme, the two original rear Mecanum wheels and the front wheel are coaxially installed, the omni-directional movement characteristic is reserved while the traditional application mode of the Mecanum wheels is broken through, in addition, the loads of the four Mecanum wheels are reduced by additionally arranging the rear wheels, and the moving device is more convenient to use. The abrasion of the Mecanum wheel can be reduced, and the influence of self vibration of the Mecanum wheel on the shifting machine can be reduced.

Description

Technical Field

[0001] This utility model relates to an omnidirectional moving device using Mecanum wheels, specifically an omnidirectional moving device. Background Technology

[0002] Mecanum wheels, as omnidirectional mobility devices, require four to function simultaneously for full omnidirectional movement. Examples include the medical transfer machine based on Mecanum wheels disclosed in patent application CN202121017589.8, and a transfer machine device with automatic following function disclosed in patent application CN201811540579.5. However, without exception, current devices using Mecanum wheels all install four Mecanum wheels in a rectangular arrangement. While this arrangement satisfies the omnidirectional movement requirement due to the structural characteristics of the Mecanum wheel, the rectangular installation also limits its application and user needs. Furthermore, the four Mecanum wheels used as walking wheels cause significant wear, and their vibrations have a noticeable impact on mobile devices. Summary of the Invention

[0003] The purpose of this invention is to provide an omnidirectional moving device that coaxially mounts four Mecanum wheels and uses them as front wheels, in order to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an omnidirectional moving device, comprising a mounting frame and a front wheel and a rear wheel disposed at the front and rear of the mounting frame, characterized in that: the rear wheel is a universal wheel; the front wheel consists of four Mecanum wheels mounted coaxially, the four Mecanum wheels being sequentially arranged as first front wheel I, first front wheel II, second front wheel I, and second front wheel II, and any two adjacent Mecanum wheels are symmetrically mounted; the four Mecanum wheels operate independently.

[0005] In the above technical solution, the rear wheels of the omnidirectional moving device are casters, while the front wheels consist of four coaxially mounted Mecanum wheels, with any two adjacent Mecanum wheels installed symmetrically. Since Mecanum wheels have left-hand and right-hand rotation, the four Mecanum wheels in this solution are installed in an alternating left-hand and right-hand rotation configuration. Based on the motion principle of Mecanum wheels, by controlling the coordinated rotation of the four Mecanum wheels, the omnidirectional moving device can achieve forward, backward, and turning movements. In this case, the casters move passively and do not significantly interfere with the movement of the front wheels. Therefore, this omnidirectional moving device can meet the omnidirectional movement requirements of the transfer machine. Compared with existing moving devices that use four Mecanum wheels arranged in a rectangular pattern, this solution mounts the two rear Mecanum wheels coaxially with the front wheels, breaking through the traditional application of Mecanum wheels while retaining the omnidirectional movement characteristics. Furthermore, by adding rear wheels to reduce the load on the four Mecanum wheels, not only can wear on the Mecanum wheels be reduced, but the impact of Mecanum wheel vibration on the transfer machine can also be mitigated.

[0006] As a preferred embodiment, the mounting frame includes a rear mounting frame and front mounting wheel frames I and II, wherein mounting wheel frames I and II are symmetrically distributed left and right, and their rear ends are respectively hinged to the mounting frame via hinge mechanisms with the hinge axes perpendicularly downward; the first front wheel I and the first front wheel II are mounted on the front of mounting wheel frame I, and the second front wheel I and the second front wheel II are mounted on the rear of mounting wheel frame II. This design divides the four Mecanum wheels into two groups, each group mounted on a laterally rotatable mounting wheel frame. According to the working principle of Mecanum wheels, when two Mecanum wheels in the same group rotate in opposite directions, the Mecanum wheels will produce a lateral movement effect, thereby realizing the lateral movement of mounting wheel frame I or mounting wheel frame II. This gives the relocation machine base a certain obstacle avoidance function, making it convenient for the relocation machine base to be used with toilets, stools, or other equipment.

[0007] As a preferred embodiment, both the top of the wheel mounting frame I and the wheel mounting frame II are provided with protective plates, which cover the corresponding Mecanum wheels in a top view to protect external objects from colliding with the Mecanum wheels.

[0008] As a preferred embodiment, the rear mounting bracket has a battery compartment with a cover, and the battery inside the battery compartment powers the omnidirectional mobile device.

[0009] As a preferred embodiment, the omnidirectional moving device has a positioning mechanism for positioning the mounting wheel frame I and mounting wheel frame II. Preferably, the positioning mechanism includes positioning teeth or positioning grooves located at the rear ends of mounting wheel frame I and mounting wheel frame II, and two positioning plugs that respectively engage with the positioning teeth or positioning grooves. An independent control mechanism is provided to control the two positioning plugs, which can push the positioning plugs to engage with the corresponding positioning teeth or positioning grooves to achieve positioning. The deflection of the two mounting wheel frames is achieved through the movement of the corresponding Mecanum wheels. During normal movement of the omnidirectional moving device, it is necessary to ensure that the four Mecanum wheels are coaxial. The positioning mechanism can eliminate the influence of the Mecanum wheel movement on the mounting wheel frames. Furthermore, when the mounting wheel frame deflects to a certain angle, the positioning mechanism can also be used to lock the mounting wheel frame, thereby maintaining the stable shape of the transfer machine base.

[0010] As a preferred option, the Mecanum wheel has a built-in drive module, which eliminates the need for an external motor drive and can greatly reduce the installation space required.

[0011] As a preferred embodiment, all four Mecanum wheels are mounted with shock-absorbing frames to reduce the impact of Mecanum wheel vibration on the omnidirectional moving device. Attached Figure Description

[0012] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0013] Figure 1 A schematic diagram of the omnidirectional moving device provided in the embodiments of this utility model;

[0014] Figure 2 for Figure 1 A schematic diagram of the structure at the front of the omnidirectional moving device shown;

[0015] Figure 3 for Figure 1 A schematic diagram of the structure of the wheel frame I;

[0016] Figure 4 for Figure 1 Schematic diagram of the middle and rear mounting bracket;

[0017] Figure 5 for Figure 4 Schematic diagram of the installation structure of the center positioning plug;

[0018] Figure 6 for Figure 1 A top-down view illustrating the installation of the four Mecanum wheels;

[0019] Figure 7 for Figure 1 The diagram shows the usage state of the omnidirectional moving device when it is used in conjunction with the bed.

[0020] Figure 8 for Figure 1 The diagram shows the structure of the omnidirectional moving device when avoiding an object.

[0021] In the diagram, there are: wheel mounting bracket I1, wheel mounting bracket II2, rear mounting bracket 3, caster wheel 4, hinge joint 5, first front wheel I7, first front wheel II8, second front wheel I9, second front wheel II10, shock absorber bracket 11, through hole 12, positioning plug 13, electromagnet 14, guard plate 101, shaft hole 102, positioning tooth 103, battery compartment 302, compartment cover 301, and hinge shaft 501. Detailed Implementation

[0022] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0023] Figure 1 This is one embodiment of the present invention, an omnidirectional moving device. The mounting frame of the omnidirectional moving device mainly includes three parts: a rear mounting frame 3 at the rear, two front mounting wheel frames, which are symmetrically distributed left and right, specifically a left mounting wheel frame I1 and a right mounting wheel frame II2. The omnidirectional moving device of this embodiment includes front wheels and rear wheels. The rear wheels are two swivel wheels 4, which are symmetrically mounted on the bottom of the rear mounting frame 3. The front wheels are four Mecanum wheels mounted coaxially. From left to right, they include a first front wheel I7 and a first front wheel II8 mounted on the bottom front end of the mounting wheel frame I1, and a second front wheel I9 and a second front wheel II10 mounted on the bottom front end of the mounting wheel frame II2. Protective plates 101 are installed on the front of the mounting wheel frame I1 and the mounting wheel frame II2, respectively. The protective plates 101 can cover the corresponding Mecanum wheels in the top view, thus providing a certain degree of protection for the Mecanum wheels. According to the usage requirements, the front edge of the protective plate 101 can also be extended downward to cover the upper part of the Mecanum wheel, thereby further ensuring that the operation of the Mecanum wheel is not interfered with by external objects.

[0024] Compared with existing moving devices that use rectangular distributed Mecanum wheels, this embodiment installs the two rear Mecanum wheels coaxially with the front wheels and adds omnidirectional wheels as rear wheels. First, it breaks through the traditional application of Mecanum wheels while retaining the omnidirectional motion characteristics. In addition, it can effectively reduce the load on a single Mecanum wheel, which can not only reduce the wear of the Mecanum wheels, but also reduce the impact of the Mecanum wheel's own vibration on the moving machine.

[0025] from Figure 2 As can be seen, in this embodiment, the four Mecanum wheels are all mounted on the bottom of the corresponding mounting wheel frame via shock absorber 11, and any two adjacent Mecanum wheels are symmetrically mounted. That is, in this embodiment, the four Mecanum wheels are mounted in an alternating left-handed and right-handed configuration. In addition, this embodiment uses a built-in drive module for the Mecanum wheels, which can rotate when plugged in. The four Mecanum wheels work independently, and the coordinated movement of the four Mecanum wheels can be controlled according to usage requirements.

[0026] In addition, a recessed battery compartment 302 is provided in the middle of the mounting frame 3, and a compartment cover 301 is provided, so that a storage battery can be provided during use. The storage battery powers the four Mecanum wheels and other electrical components, so that the movement of the mobile device is not limited by the power cord.

[0027] from Figure 1 As can be seen, in this embodiment, the mounting wheel frame I1 and mounting wheel frame II2 are respectively connected to the rear mounting frame 3 via hinge joint 5, and the hinge axis is perpendicular to the ground. That is, in this embodiment, the mounting wheel frame I1 and mounting wheel frame II2 can increase the distance between the mounting wheel frames by deflecting outwards, thereby avoiding obstacles. The mounting wheel frame II2 used in this embodiment has the same structure as the mounting wheel frame I1. Here, we will focus on the mounting wheel frame I1 for specific explanation, combined with... Figures 3-5 The front end of the mounting wheel frame I1 is provided with a shaft hole 102, and a number of positioning teeth 103 are provided around the shaft hole 102 at the front end. The positioning teeth 103 are used to position the mounting wheel frame I1. Figure 4 In this design, the hinge joint 5 is roughly "U"-shaped, with its rear end welded to the rear mounting bracket 3, and its front end vertically mounted with a hinge shaft 501 that mates with the shaft hole 102. Additionally, a through hole 12 penetrating the rear mounting bracket 3 is provided in the middle of the rear part of the hinge joint 5, and a positioning plug 13 is movably mounted within the through hole. Figure 5 As shown, an electromagnet 14 that controls the positioning plug 13 to move forward or backward is installed on the rear mounting bracket 3. According to the above structure, when the mounting wheel bracket I1 does not deflect, the positioning plug 13 extends and inserts into the positioning tooth 103. At this time, neither the mounting wheel bracket I1 nor the mounting wheel bracket II2 can rotate, and the four Mecanum wheels are coaxial. Therefore, forward, backward, and turning movements can be achieved by controlling the Mecanum wheels. When it is necessary to deflect the mounting wheel bracket I1 and / or the mounting wheel bracket II2...

[0028] When the corresponding positioning plug 13 is disengaged from the positioning tooth 103, the mounting wheel frame can be deflected by controlling the movement of the corresponding Mecanum wheel. If it is necessary to maintain this deflection state for a long period after the mounting wheel frame has deflected, the positioning plug 13 can be inserted into the positioning tooth 103.

[0029] The omnidirectional moving device provided in this embodiment uses four coaxially mounted Mecanum wheels as its front wheels. Based on the Mecanum wheel's motion principle, by controlling the coordinated rotation of the four Mecanum wheels, the omnidirectional moving device can achieve forward, backward, and turning movements. At this time, the caster wheel 4 moves passively and does not significantly interfere with the movement of the front wheels. Therefore, this omnidirectional moving device can meet the omnidirectional movement requirements of the transfer machine. Figure 6 As shown, the first front wheel I7 and the second front wheel I9 are mounted to the left, while the first front wheel I18 and the second front wheel II10 are mounted to the right. All four Mecanum wheels rotate forward at the same speed, enabling the device to move forward. All four Mecanum wheels rotate backward at the same speed, enabling the device to move backward. During forward or backward movement, if there is a speed difference between the two pairs of Mecanum wheels on the two mounting frames—for example, the speeds of the first front wheels I7 and I18 are V1, and the speeds of the second front wheels I9 and II10 are V2, and V1 is not equal to V2—the entire device will turn. Furthermore, the device can also turn around, for example, from the right. In this case, the first front wheels I7 and I18 need to rotate forward, and the second front wheels I9 and II10 need to rotate backward. When one of the casters is locked, the first front wheels I7 and I9 can also be controlled to rotate backward, and the first front wheels I18 and II10 need to rotate backward. 10. When the device rotates forward, the entire moving mechanism will rotate clockwise around the locked caster wheel 4. Therefore, by controlling the coordinated movement of different Mecanum wheels, various directional movement requirements can be met.

[0030] Additionally, when applied to a patient transfer machine, the portion of the machine that supports the user is mounted on the rear mounting bracket 3, then extends forward and hangs above the mounting wheel frame. During movement, the four Mecanum wheels act as front wheels and control the direction of travel. For example... Figure 7 As shown, the front of the omnidirectional moving device can move under the bed, facilitating the transfer of the user between the bed and the transfer machine; in addition, the omnidirectional moving device can also appropriately avoid obstacles during use, such as... Figure 8 As shown, by controlling the outward deflection of the mounting wheel brackets to increase the distance between the two mounting wheel brackets, the toilet in front can be avoided. Of course, based on the above structure of the omnidirectional movement device, in specific applications, the rear mounting bracket 3 with the omnidirectional wheels 4 can also be used as the front.

[0031] The specification and claims use certain terms to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0032] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0033] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. An omni-directional mobile device comprising a mounting frame and a front wheel disposed at a front portion of the mounting frame and a rear wheel disposed at a rear portion of the mounting frame, characterized in that: The rear wheel is a universal wheel; the front wheel is composed of four coaxial and installed Mecanum wheels, the four Mecanum wheels are sequentially first front wheel I, first front wheel II, second front wheel I and second front wheel II, and any two adjacent Mecanum wheels are symmetrically installed; the four Mecanum wheels work independently.

2. The omnidirectional mobility device of claim 1, wherein: The mounting frame comprises a rear mounting frame at the rear part and mounting wheel frames I and II at the front part, wherein the mounting wheel frames I and II are symmetrically distributed left and right, the rear ends of the mounting wheel frames I and II are respectively hingedly connected to the mounting frame through hinging mechanisms, and the hinging axes are vertically downward; the first front wheel I and the first front wheel II are mounted at the front part of the mounting wheel frame I, and the second front wheel I and the second front wheel II are mounted at the rear part of the mounting wheel frame II.

3. The omnidirectional mobility device of claim 2, wherein: The top parts of the mounting wheel frames I and II are respectively provided with a guard plate, and the guard plate covers the corresponding Mecanum wheel in the top view direction.

4. The omnidirectional mobility device of claim 2, wherein: The rear mounting frame is provided with a battery compartment, and the battery compartment is provided with a compartment cover, and the battery in the battery compartment supplies power to the omnidirectional mobile device.

5. The omnidirectional mobility device of claim 2, wherein: The omnidirectional mobile device is provided with a positioning mechanism for positioning the mounting wheel frames I and II.

6. The omnidirectional mobility device of claim 5, wherein: The positioning mechanism comprises positioning teeth or a positioning groove arranged at the rear ends of the mounting wheel frames I and II, further comprises two positioning plugs matched with the positioning teeth or the positioning groove respectively, and further comprises a control mechanism for independently controlling the two positioning plugs, and the control mechanism can push the positioning plugs to be matched with the corresponding positioning teeth or the positioning groove and realize positioning.

7. The omnidirectional mobility device of any one of claims 1 to 6, wherein: The Mecanum wheel is provided with a built-in driving module.

8. The omnidirectional mobility device of any one of claims 1 to 6, wherein: The four Mecanum wheels are all mounted through damping frames.

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