A Mecanum wheel and a cleaning robot

Abstract

The embodiment of the application relates to the technical field of all-terrain mobile wheels, and discloses a Mecanum wheel and a cleaning robot, the Mecanum wheel comprising a wheel hub, a motor, a transition connecting piece, a plurality of driven roller assemblies and a fixing assembly, the transition connecting piece being sleeved on the motor, the plurality of driven roller assemblies being uniformly arranged along the transition connecting piece in a circumferential direction, and the driven roller assemblies being rotatably installed on the wheel hub, the fixing assembly comprising a first fastener, a second fastener and a third fastener, the wheel hub and the transition connecting piece being fixedly connected through the first fastener, the motor being fixedly connected with the wheel hub through the second fastener, the wheel hub being connected with the driven roller assemblies through the third fastener, and an output shaft of the motor being in transmission connection with the wheel hub to directly drive the Mecanum wheel to rotate. In the above manner, the embodiment of the application can solve the problems existing in the installation structure of a traditional Mecanum wheel.

Description

Technical Field

[0001] This application relates to the field of omnidirectional moving wheel technology, and in particular to a Mecanum wheel and a cleaning robot. Background Technology

[0002] Mecanum wheels, as an important means of constructing omnidirectional mobile platforms, utilize their unique structure. Multiple driven wheels, angled to the axis, are mounted on the driving wheel, allowing the wheels to generate oblique friction during movement. By combining multiple Mecanum wheels, omnidirectional movement of the mobile platform can be achieved, including translation at any angle and rotation around any point. This characteristic gives it strong maneuverability, especially in confined spaces where it can perform complex actions. In fields such as pipeline cleaning robots, Mecanum wheels are often used to achieve omnidirectional movement to adapt to complex environments. However, its mainstream installation structure has inherent drawbacks.

[0003] During the implementation of this application's embodiments, the inventors discovered that the current Mecanum wheel installation method directly connects the Mecanum wheel to the motor using only three screws on the motor end face. This "three-point fixation" method causes all the complex loads borne by the wheel during operation—including torque, radial impact, and vibration—to be concentrated on these three small screws. Under long-term, heavy-load conditions of the robot, this concentrated force will quickly cause the screws to experience torque attenuation, fatigue fracture, or thread stripping, thereby causing the entire wheel to loosen or even fail, severely restricting the reliability and service life of the equipment. Utility Model Content

[0004] The main technical problem solved by the embodiments of this application is to provide a Mecanum wheel that integrates the motor inside the wheel hub and uses a fixing component to achieve an integrated connection of the wheel hub, transition connector, motor and driven roller assembly, thus solving the problems existing in the traditional Mecanum wheel installation structure.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application embodiment is: providing a Mecanum wheel, including a hub, a motor, a transition connector, multiple driven roller assemblies, and a fixing assembly. The transition connector is sleeved on the motor, and the multiple driven roller assemblies are evenly arranged circumferentially along the transition connector. The driven roller assemblies are rotatably mounted on the hub. The fixing assembly includes a first fastener, a second fastener, and a third fastener. The hub and the transition connector are connected and fixed by the first fastener. The motor is fixedly connected to the hub by the second fastener. The hub is connected to the driven roller assemblies by the third fastener. The output shaft of the motor is driven by the hub to drive the Mecanum wheel to rotate.

[0006] Optionally, the motor includes a housing with multiple mounting bosses and threaded holes; the transition connector has a connecting hole corresponding to the mounting boss, and the second fastener passes through the connecting hole and is screwed into the threaded hole.

[0007] Optionally, the transition connector includes a cylindrical body and an end plate. The cylindrical body is fitted around the outer periphery of the motor, and the end plate has a central through hole for the output shaft of the motor to pass through. The hub, transition connector and motor form a coaxial assembly structure, and the motor is housed within the axial projection range of the hub.

[0008] Optionally, the motor housing is further provided with multiple recesses, and the hub is further provided with multiple groove structures and retaining platforms. The groove structures accommodate the protrusions, and the retaining platforms are embedded in the recesses. A second fastener passes through the groove structure of the hub and is fixedly connected to the motor, and / or, a second fastener passes through the retaining platform of the hub and is fixedly connected to the motor.

[0009] Optionally, the number of the first fasteners is multiple, and the wheel hub includes a first side plate and a second side plate disposed relative to the transition connector. The transition connector includes a first screw hole and a second screw hole disposed opposite to each other. The first side plate is provided with a first through hole, and the second side plate is provided with a second through hole. One of the first fasteners passes through the first through hole and is fixed to the first screw hole, and another of the first fasteners passes through the second through hole and is screwed to the second screw hole.

[0010] Optionally, the motor includes a first end face and a second end face disposed opposite to each other. The hub is also provided with a covering structure, which includes a first end face protection part and a second end face protection part. The first end face protection part extends inward from the first side plate and covers the first end face of the motor. The second end face protection part extends inward from the second side plate and covers the second end face of the motor. Furthermore, the first end face protection part and the second end face protection part are fitted together with the first end face and the second end face or form a nested fit.

[0011] Optionally, the first side plate has a plurality of first mounting ears on its circumferential edge, and the second side plate has a plurality of second mounting ears on its circumferential edge. The plurality of first mounting ears are evenly arranged around the central axis of the first side plate, and the plurality of second mounting ears are evenly arranged around the central axis of the second side plate.

[0012] Optionally, the first mounting ear is provided with a first mounting hole, and the driven roller assembly is connected to the first mounting hole through the third fastener and is rotatably mounted on the first mounting ear.

[0013] Optionally, the second mounting ear is provided with a second mounting hole, and the driven roller assembly is connected to the second mounting hole via the third fastener and is rotatably mounted on the second mounting ear.

[0014] The other end of the shaft passes through the second mounting hole and is screwed into one of the third fasteners.

[0015] To solve the above-mentioned technical problems, another technical solution adopted in the embodiments of this application is to provide a cleaning robot, including any of the Mecanum wheels mentioned above.

[0016] This application provides a Mecanum wheel, including a hub, a motor, a transition connector, multiple driven roller assemblies, and a fixing assembly. The transition connector is sleeved on the motor. The multiple driven roller assemblies are evenly arranged circumferentially along the transition connector and are rotatably mounted on the hub. The fixing assembly includes a first fastener, a second fastener, and a third fastener. The hub and the transition connector are connected and fixed by the first fastener. The motor is fixedly connected to the hub by the second fastener. The hub is connected to the driven roller assemblies by the third fastener. The output shaft of the motor is driven by the hub to directly drive the Mecanum wheel to rotate. Through the above configuration, the Mecanum wheel uses a fixing assembly to achieve an integrated connection of the hub, transition connector, motor, and driven roller assemblies, eliminating the need for a coupling, simplifying the installation process, reducing assembly difficulty and maintenance costs. Furthermore, the built-in motor design significantly saves space, improves the overall structural compactness, and effectively protects the motor surface, preventing scratches and contamination, and extending the motor's service life. More importantly, by using a multi-point fixing method with the first, second, and third fasteners, the load is distributed to multiple connection points, avoiding problems such as screw torque attenuation, fatigue fracture, and stripping caused by stress concentration under the traditional three-point fixing method. The contact area between the hub and the motor is increased, forming a compression assembly, which improves the overall structural stability and integration. It can withstand torque, radial impact, and vibration under long-term heavy-load conditions, improving the reliability and service life of the equipment. It is suitable for applications such as pipeline cleaning robots that require omnidirectional movement. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0018] Figure 1 This is a schematic diagram of the Mecanum wheel according to an embodiment of this application; Figure 2 This is an exploded view of the Mecanum wheel in an embodiment of this application; Figure 3 This is another exploded view of the Mecanum wheel in the embodiments of this application; Figure 4 This is a schematic diagram of the first side panel according to an embodiment of this application; Figure 5 This is a schematic diagram of the second side plate in an embodiment of this application.

[0019] The reference numerals in the detailed embodiments are as follows: 100, Mecanum; 10, hub; 11, first side plate; 101, first through hole; 12, second side plate; 102, second through hole; 13, first mounting ear; 131, first fixing part; 132, first bending part; 133, first inclined part; 134, first mounting hole; 14, second mounting ear; 141, second fixing part; 142, second bending part; 143, second inclined part; 144, second mounting hole; 20, motor; 30, transition connector; 40, driven roller assembly; 41, roller; 42, spindle; 50, fixing assembly; 51, first fastener; 52, second fastener; 53, third fastener. Detailed Implementation

[0020] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "vertical," "horizontal," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0022] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0023] Please see Figure 1 The Mecanum wheel includes a hub 10, a motor 20, a transition connector 30, a plurality of driven roller assemblies 40, and a fixing assembly 50.

[0024] Please see Figure 2 Specifically, the hub 10, as the main structural component of the Mecanum 100 wheel, supports the motor 20 and the driven roller assembly 40, and is fixed to the other components via the fixing assembly 50. The hub 10 has sufficient strength and rigidity to withstand various loads generated by the Mecanum 100 wheel during operation. The motor 20 is the power source driving the rotation of the Mecanum 100 wheel. The motor 20 can be in the form of a hub 10 motor 20, which features high torque and flexible control. The output shaft of the motor 20 is connected to the hub 10 for transmission, enabling direct drive of the Mecanum 100 wheel and direct power transmission. The transition connector 30 is fitted onto the motor 20, serving as a transition between the hub 10 and the motor 20. The transition connector 30 allows the motor 20 to be stably installed inside the hub 10, forming an embedded structural layout. The transition connector 30 and the motor 20 are connected by a sleeve to ensure the fitting accuracy between them. Multiple driven roller assemblies 40 are evenly arranged circumferentially along the transition connector 30. The driven roller assemblies 40 are rotatably mounted on the hub 10, and each driven roller assembly 40 can rotate freely relative to the hub 10, thereby realizing the omnidirectional movement function unique to the Mecanum 100 wheel. The axis of rotation of the driven roller assembly 40 is at a certain angle to the radial direction of the hub 10, usually forty-five degrees. The fixing component 50 includes a first fastener 51, a second fastener 52, and a third fastener 53. The first fastener 51 is used to fix the connection between the hub 10 and the transition connector 30. Through the fastening action of the first fastener 51, the hub 10 and the transition connector 30 form a stable connection relationship. The second fastener 52 is used to fix the motor 20 to the hub 10. Through the fastening action of the second fastener 52, the motor 20 is fixed inside the hub 10. The third fastener 53 is used to connect the hub 10 and the driven roller assembly 40. Through the action of the third fastener 53, the driven roller assembly 40 can be fixed on the hub 10 and can rotate freely relative to the hub 10.

[0025] Preferably, in this embodiment, the motor 20 includes a housing (not shown), the housing being provided with a plurality of mounting bosses (not shown), and the mounting bosses having fixing threaded holes. The transition connector 30 is provided with a connecting hole corresponding to the mounting boss, and the second fastener 52 passes through the connecting hole and is screwed into the fixing threaded hole.

[0026] During assembly, the transition connector 30 is fitted onto the outer periphery of the motor 20, with the connecting hole corresponding to the mounting boss on the motor 20 housing. The second fastener 52 passes through the connecting hole from the outside of the transition connector 30, enters the fixing threaded hole of the mounting boss, and engages with the internal thread of the fixing threaded hole. By tightening the second fastener 52, a stable connection is formed between the transition connector 30 and the motor 20 housing. The mounting boss, as a protruding structure on the motor 20 housing, provides a reliable screwing position for the second fastener 52, and the internal thread of the fixing threaded hole engages with the external thread of the second fastener 52 to achieve a tight connection. Due to the presence of multiple mounting bosses and corresponding connecting holes, the second fastener 52 forms a multi-point fixation, distributing the connection load across multiple fastening points, thereby improving the reliability and stability of the connection between the transition connector 30 and the motor 20.

[0027] Furthermore, in some preferred embodiments, the housing is provided with multiple mounting bosses and multiple recesses. The mounting bosses are provided with fixing threaded holes, and the recesses are recessed portions on the surface of the motor 20 housing. The transition connector 30 is provided with connecting holes corresponding to the mounting bosses, and the second fastener 52 passes through the connecting holes and is screwed into the fixing threaded holes.

[0028] The hub 10 also features multiple groove structures and retaining platforms. The groove structures accommodate protrusions, and the retaining platforms are embedded in recesses. The groove structures of the hub 10 are grooves on the inner surface of the hub 10. The shape and size of the groove structures are adapted to the protrusions on the motor 20 housing, and the protrusions are embedded in the groove structures to achieve a shape fit. The retaining platforms are inwardly protruding steps or bumps on the inner surface of the hub 10. The shape and size of the retaining platforms are adapted to the recesses on the motor 20 housing, and the retaining platforms are embedded in the recesses to achieve a shape fit.

[0029] The second fastener 52 passes through the groove structure of the hub 10 and is fixedly connected to the motor 20, or the second fastener 52 passes through the retaining plate of the hub 10 and is fixedly connected to the motor 20, or both connection methods are used simultaneously. The second fastener 52 passes through the groove structure or retaining plate from the outside of the hub 10, enters the connection hole of the transition connector 30, and then enters the fixing thread hole of the motor 20 housing. Fixing is achieved by tightening the second fastener 52. The cooperation between the groove structure and the protrusion, and the retaining plate and the recess, not only achieves shape matching, but also provides additional positioning and anti-rotation functions. Combined with the mechanical fixing of the second fastener 52, a double guarantee of shape matching and mechanical fixing is formed, enhancing the connection stability between the motor 20 and the hub 10.

[0030] Preferably, in this embodiment, the transition connector 30 includes a cylindrical portion and an end plate portion. The cylindrical portion is sleeved on the outer periphery of the motor 20, and the cylindrical portion has a cylindrical or polygonal cylindrical structure. The inner diameter of the cylindrical portion is adapted to the outer diameter of the motor 20 housing, so that the motor 20 can be contained inside the cylindrical portion. The end plate portion has a central through hole through which the output shaft of the motor 20 passes. The end plate portion is located at one end of the cylindrical portion, and the central through hole is located at the center of the end plate portion. The diameter of the central through hole is slightly larger than the diameter of the output shaft of the motor 20, allowing the output shaft to pass freely.

[0031] The hub 10, transition connector 30, and motor 20 form a coaxial assembly structure, with the central axis of the hub 10, the central axis of the transition connector 30, and the central axis of the motor 20 coinciding. The motor 20 is housed within the axial projection range of the hub 10, meaning the motor 20 is entirely within the axial length of the hub 10, and when viewed from the axial direction of the hub 10, the motor 20 does not protrude from either end of the hub 10. This structural arrangement achieves an embedded installation of the motor 20, resulting in a compact structure and minimal space occupation for the entire Mecanum wheel 100. The motor 20 is protected by the hub 10, preventing its surface from being directly exposed to the external environment.

[0032] In this embodiment, the motor 20 includes a first end face (not shown) and a second end face (not shown) disposed opposite to each other. The first end face and the second end face are located at the two ends of the motor 20, and the first end face and the second end face are symmetrically distributed with respect to the central axis of the motor 20.

[0033] Preferably, in some embodiments, the hub 10 further includes a covering structure (not shown), which includes a first end face protection portion and a second end face protection portion. The first end face protection portion extends inward from the first side plate 11 and covers the first end face of the motor 20. The first end face protection portion is the part of the first side plate 11 extending into the hub 10 and covering the first end face of the motor 20 after extension. The second end face protection portion extends inward from the second side plate 12 and covers the second end face of the motor 20. The second end face protection portion is the part of the second side plate 12 extending into the hub 10 and covering the second end face of the motor 20 after extension.

[0034] The first end face protection part and the second end face protection part are fitted together or form a nested fit with the first end face and the second end face. Fitting together means that the inner surface of the first end face protection part is in direct contact with the first end face, and the inner surface of the second end face protection part is in close contact with the second end face. Nested fit means that the first end face protection part is nested with the first end face, and the second end face protection part is nested with the second end face through a concave-convex structure. For example, the first end face protection part has a protrusion or a recess, which fits with a corresponding recess or protrusion on the first end face to form a nested structure. Through the covering structure, the two end faces of the motor 20 are covered and protected by the hub 10, preventing the end faces of the motor 20 from being directly exposed and subjected to external scratches, contamination, or mechanical damage, thus extending the service life of the motor 20.

[0035] In the embodiments of this application, the output shaft of the motor 20 is connected to the hub 10 to directly drive the Mecanum 100 wheel to rotate. When the motor 20 is running, its output shaft directly drives the hub 10 to rotate, and the rotation of the hub 10 in turn drives the entire Mecanum 100 wheel to rotate, realizing the movement of the mobile platform. This embodiment achieves an integrated connection between the hub 10, the motor 20, the transition connector 30 as an intermediate connecting component, and the fixing assembly 50 composed of the first fastener 51, the second fastener 52, and the third fastener 53 by embedding the motor 20 inside the hub 10 and using the transition connector 30 as an intermediate connecting component. Compared with the traditional method of connecting the external motor 20 through a coupling, this embodiment eliminates the coupling, simplifies the structure, and reduces the number of parts. The design of embedding the motor 20 inside the hub 10 makes the structure of the entire Mecanum 100 wheel more compact and occupies less space. Meanwhile, the motor 20 is protected by the hub 10, preventing its surface from being directly exposed to the external environment, reducing the risk of scratches and contamination, and extending its service life. By using multiple fasteners to fix different components, the load borne by the Mecanum 100 wheel during operation is distributed to multiple connection points, avoiding the problem of excessive stress concentration in the traditional three-point fixing method. The first fastener 51 distributes the connection force between the hub 10 and the transition connector 30, the second fastener 52 distributes the fixing force between the motor 20 and the hub 10, and the third fastener 53 distributes the force exerted by the driven roller assembly 40 on the hub 10. This load distribution makes it less prone to torque attenuation, fatigue fracture, or thread stripping failures in the fasteners, improving the overall reliability and stability of the structure. The hub 10 and the transition connector 30 are connected and fixed by the first fastener 51, forming a large contact area between them, which improves the stability of the connection. The motor 20 is fixedly connected to the hub 10 via the second fastener 52. A large contact surface is also formed between the motor 20 and the hub 10, achieving a compression assembly and further enhancing the connection strength between the motor 20 and the hub 10. The hub 10 is connected to the driven roller assembly 40 via the third fastener 53. The third fastener 53 serves both a fixing function and allows the driven roller assembly 40 to rotate relative to the hub 10, achieving a combination of fixing and rotation functions.

[0036] In this embodiment, there are multiple first fasteners 51. By setting multiple first fasteners 51, a multi-point connection can be formed between the hub 10 and the transition connector 30, distributing the connection load to multiple fastening points and improving the reliability and stability of the connection. The multiple first fasteners 51 are distributed along the circumference of the transition connector 30, making the connection force between the hub 10 and the transition connector 30 more uniform.

[0037] Please continue reading. Figure 2Specifically, the wheel hub 10 includes a first side plate 11 and a second side plate 12 disposed relative to the transition connector 30. The first side plate 11 and the second side plate 12 are located on both sides of the transition connector 30, forming a clamping structure for the transition connector 30. The first side plate 11 and the second side plate 12 cooperate with the transition connector 30 to jointly constitute the main frame structure of the wheel hub 10. The arrangement of the first side plate 11 and the second side plate 12 gives the wheel hub 10 good structural strength and can withstand various loads generated during the operation of the Mecanum 100 wheel. The transition connector 30 further includes a first threaded hole (not shown) and a second threaded hole (not shown) disposed opposite to each other. The first threaded hole and the second threaded hole are located on both end faces or both side faces of the transition connector 30, corresponding to the first side plate 11 and the second side plate 12. The inner walls of the first threaded hole and the second threaded hole are provided with internal threads for threaded connection with the first fastener 51. The arrangement of the first threaded hole and the second threaded hole provides a reliable threaded position for the first fastener 51. The first side plate 11 has a first through hole 101, and the second side plate 12 has a second through hole 102. The first through hole 101 and the second through hole 102 pass through the first side plate 11 and the second side plate 12 respectively, providing a channel for the first fastener 51 to pass through. The position of the first through hole 101 corresponds to the position of the first screw hole, and the position of the second through hole 102 corresponds to the position of the second screw hole, ensuring that the first fastener 51 can pass through smoothly and achieve connection. One first fastener 51 passes through the first through hole 101 and is fixed to the first screw hole. During assembly, the first fastener 51 passes through the first through hole 101 from the outside of the first side plate 11, enters the first screw hole, and engages with the internal thread of the first screw hole. By tightening the first fastener 51, the first side plate 11 is pressed and fixed on the transition connector 30, realizing a reliable connection between the first side plate 11 and the transition connector 30.

[0038] Specifically, another first fastener 51 passes through the second through hole 102 and is screwed into the second threaded hole. Similarly, the first fastener 51 passes through the second through hole 102 from the outside of the second side plate 12, enters the second threaded hole, and engages with the internal thread of the second threaded hole. By tightening the first fastener 51, the second side plate 12 is pressed and fixed onto the transition connector 30, achieving a reliable connection between the second side plate 12 and the transition connector 30.

[0039] In some embodiments of this application, since there are multiple first fasteners 51, the first side plate 11 and the second side plate 12 are respectively provided with multiple first through holes 101 and second through holes 102, and the transition connector 30 is correspondingly provided with multiple first screw holes and second screw holes. Multiple first fasteners 51 pass through the corresponding through holes and are screwed into the corresponding screw holes, forming a multi-point fixing structure. The transition connector 30 is clamped and fixed from both sides by the first side plate 11 and the second side plate 12, and the connection is achieved using multiple first fasteners 51, forming a stable combined structure. The contact area between the first side plate 11, the second side plate 12 and the transition connector 30 is large, and with the distributed fixing of multiple first fasteners 51, the connection strength between the hub 10 and the transition connector 30 is significantly improved.

[0040] Preferably, the first fastener 51 can be a bolt, screw, or other fastener. In specific implementation, the appropriate specification of the first fastener 51 can be selected according to the size and load-bearing requirements of the hub 10 and the transition connector 30. For example, an M3×55 bolt can be used as the first fastener 51, which can meet the connection strength requirements and facilitate assembly operations.

[0041] Please see Figure 3The first side plate 11 has a plurality of first mounting ears 13 on its circumferential edge. The first mounting ears 13 extend outward from the circumferential edge of the first side plate 11 and are used to mount the driven roller assembly 40. The arrangement of the plurality of first mounting ears 13 provides mounting positions for the plurality of driven roller assemblies 40, allowing the driven roller assemblies 40 to be evenly distributed around the hub 10. The plurality of first mounting ears 13 are evenly arranged around the central axis of the first side plate 11. The central axis of the first side plate 11 is the rotation axis of the Mecanum 100 wheel, and the plurality of first mounting ears 13 are arranged in a circular array around this central axis. Even arrangement means that the circumferential angle between two adjacent first mounting ears 13 is equal, thereby ensuring the even distribution of the driven roller assemblies 40. The second side plate 12 has a plurality of second mounting ears 14 on its circumferential edge. The second mounting ears 14 extend outward from the circumferential edge of the second side plate 12 and are used to mount the driven roller assembly 40. The second mounting ear 14 cooperates with the first mounting ear 13 to jointly support the driven roller assembly 40, enabling the driven roller assembly 40 to be stably mounted on the hub 10. Multiple second mounting ears 14 are evenly arranged around the central axis of the second side plate 12. The central axis of the second side plate 12 coincides with the central axis of the first side plate 11, both being the rotation axis of the Mecanum 100 wheel. The multiple second mounting ears 14 are also arranged in a circular array around this central axis, with equal circumferential angles between adjacent second mounting ears 14. The first mounting ear 13 and the second mounting ear 14 correspond one-to-one in the circumferential direction. Each first mounting ear 13 is paired with one second mounting ear 14, both located in the same radial plane, jointly supporting one driven roller assembly 40. The corresponding arrangement of the first mounting ears 13 and the second mounting ears 14 allows the driven roller assembly 40 to be stably mounted between the two mounting ears. The two ends of the spindle 42 of the driven roller assembly 40 are respectively supported on the first mounting ear 13 and the second mounting ear 14.

[0042] In this embodiment, the first mounting ear 13 and the second mounting ear 14 extend outward from the circumferential edge of their respective side plates, providing sufficient space for the installation of the driven roller assembly 40. The driven roller assembly 40 is installed between the first mounting ear 13 and the second mounting ear 14, located on the periphery of the hub 10. The roller 41 portion of the driven roller assembly 40 protrudes beyond the outer circumference of the hub 10, enabling it to contact the ground or the inner wall of a pipe, thus realizing the movement function of the Mecanum 100 wheel. The materials of the first mounting ear 13 and the second mounting ear 14 can be the same as those of the first side plate 11 and the second side plate 12, and they can be connected to the side plates by integral molding or welding. Integral molding ensures the connection strength between the mounting ear and the side plate, reducing stress concentration at the connection point. Welding facilitates processing and assembly, and allows for flexible adjustment of the position and angle of the mounting ear according to actual needs.

[0043] For further details, please refer to Figure 4The first mounting ear 13 includes a first fixing part 131, a first bending part 132, and a first inclined part 133. The combination of these three parts forms a specific structural shape, enabling reliable connection with the first side plate 11 and providing a suitable mounting position and angle for the driven roller assembly 40. One end of the first fixing part 131 is connected to the first side plate 11. As the connection between the first mounting ear 13 and the first side plate 11, the first fixing part 131 is directly connected to the circumferential edge of the first side plate 11. The first fixing part 131 and the first side plate 11 can be fixedly connected by integral molding, welding, or bolting. The first fixing part 131 has sufficient connection strength to withstand the load transmitted by the driven roller assembly 40. One end of the first bending part 132 is connected to the other end of the first fixing part 131. The first bending part 132 serves as a transition and bend, connecting the first fixing part 131 and the first inclined part 133. The first bend 132 can be curved, allowing the first mounting ear 13 to extend outward from the circumferential edge of the first side plate 11 while changing its extension direction, thus providing a suitable spatial position for the first inclined portion 133. The other end of the first bend 132 is connected to one end of the first inclined portion 133. The first inclined portion 133, as the end portion of the first mounting ear 13, is used for direct mounting of the driven roller assembly 40. After the first inclined portion 133 is connected to the first bend 132, it forms an inclined posture relative to the first side plate 11, the inclination angle corresponding to the mounting angle of the driven roller assembly 40.

[0044] For further details, please refer to Figure 5The second mounting ear 14 includes a second fixing part 141, a second bending part 142, and a second inclined part 143. The structure of the second mounting ear 14 corresponds to that of the first mounting ear 13, enabling connection with the second side plate 12 and support for the driven roller assembly 40. One end of the second fixing part 141 is connected to the second side plate 12, serving as the connection between the second mounting ear 14 and the second side plate 12, directly connected to the circumferential edge of the second side plate 12. The second fixing part 141 and the second side plate 12 can be fixedly connected by integral molding, welding, or bolting to ensure sufficient connection strength. One end of the second bending part 142 is connected to the other end of the second fixing part 141. The second bending part 142 acts as a transition and bend, connecting the second fixing part 141 and the second inclined part 143, allowing the second mounting ear 14 to change its extension direction when extending outward from the circumferential edge of the second side plate 12. The other end of the second bending part 142 is connected to one end of the second inclined part 143. The second inclined portion 143 serves as the end portion of the second mounting ear 14 and is used to directly support the other end of the driven roller assembly 40. After the second inclined portion 143 is connected to the second bent portion 142, it forms an inclined posture relative to the second side plate 12, corresponding to the inclination angle of the first inclined portion 133, and together they support the driven roller assembly 40.

[0045] Please continue reading. Figure 3 The first mounting ear 13 is provided with a first mounting hole 134, which is located on the first inclined portion 133 and is used to mount the spindle 42 of the driven roller assembly 40. The first mounting hole 134 passes through the first inclined portion 133, and its axial direction is consistent with the axial direction of the spindle 42 of the driven roller assembly 40. The driven roller assembly 40 is connected to the first mounting hole 134 by a third fastener 53 and is rotatably mounted on the first mounting ear 13. After one end of the spindle 42 of the driven roller assembly 40 passes through the first mounting hole 134, it is fixed by the third fastener 53. The third fastener 53 can be a nut, bolt, or other type of fastener, which fixes the driven roller assembly 40 to the first mounting ear 13 by threaded engagement with the end of the spindle 42. Preferably, a bearing or bushing or other rotational support element is provided between the driven roller assembly 40 and the first mounting hole 134, so that the driven roller assembly 40 can rotate smoothly. The third fastener 53 secures the driven roller assembly 40 while not restricting its rotation, thus combining the functions of fixing and rotating.

[0046] The second mounting ear 14 is provided with a second mounting hole 144. The second mounting hole 144 is located on the second inclined portion 143 and is used to mount the other end of the spindle 42 of the driven roller assembly 40. The second mounting hole 144 passes through the second inclined portion 143, and its axial direction is collinear with the axial direction of the first mounting hole 134, ensuring that the spindle 42 of the driven roller assembly 40 can accurately pass through the two mounting holes. The driven roller assembly 40 is connected to the second mounting hole 144 by a third fastener 53 and is rotatably mounted on the second mounting ear 14. After the other end of the spindle 42 of the driven roller assembly 40 passes through the second mounting hole 144, it is fixed by the third fastener 53. The driven roller assembly 40 can rotate freely about its spindle 42 relative to the second mounting ear 14, realizing the rotation function of the driven roller.

[0047] Please reconsider. Figure 3 The driven roller assembly 40 includes a roller 41, a spindle 42, and a bearing (not shown). The roller 41 can rotate freely relative to the spindle 42, thereby achieving the omnidirectional movement characteristic of the Mecanum 100 wheel. Specifically, the two ends of the spindle 42 are respectively inserted into the first mounting hole 134 and the second mounting hole 144. The spindle 42 serves as the support shaft of the driven roller assembly 40, with its two ends passing through the first mounting hole 134 of the first mounting ear 13 and the second mounting hole 144 of the second mounting ear 14, respectively, to achieve the mounting and positioning of the driven roller assembly 40 on the hub 10. The bearing is disposed on the spindle 42, and the bearing is sleeved in the middle of the spindle 42 to provide rotational support for the roller 41. The bearing can be a rolling bearing or a sliding bearing. Rolling bearings have the advantages of low frictional resistance and flexible rotation, while sliding bearings have a simple structure and lower cost. The inner ring of the bearing mates with the spindle 42, and the outer ring of the bearing provides a support surface for the roller 41. When the Mecanum 100 wheel is running, the roller 41 contacts the ground or the inner wall of the pipe. Under the action of friction, the roller 41 rotates around the spindle 42, thereby realizing the unique motion mode of the Mecanum 100 wheel.

[0048] Please reconsider. Figure 3One end of the mandrel 42 has a first external thread (not shown), and the other end has a second external thread (not shown). The first and second external threads are located at the ends of the mandrel 42, respectively, for threaded connection with the third fastener 53. One end of the mandrel 42 passes through the first mounting hole 134 and is screwed onto a third fastener 53. One end of the mandrel 42 passes through the first mounting hole 134 from the inside of the first mounting ear 13 and extends to the outside of the first mounting ear 13, with the first external thread exposed on the outside of the first mounting hole 134. The third fastener 53 is screwed into the first external thread from the outside of the first mounting ear 13. By tightening the third fastener 53, one end of the mandrel 42 is fixed to the first mounting ear 13. The other end of the mandrel 42 passes through the second mounting hole 144 from the inside of the second mounting ear 14 and extends to the outside of the second mounting ear 14, with the second external thread exposed on the outside of the second mounting hole 144. The third fastener 53 is screwed into the second external thread from the outside of the second mounting ear 14. By tightening the third fastener 53, the other end of the spindle 42 is fixed on the second mounting ear 14.

[0049] Preferably, the third fastener 53 can be in the form of a lock nut. The lock nut has the function of preventing loosening, maintaining connection stability during long-term operation of the Mecanum 100 wheel and preventing loosening of the threaded connection due to vibration. The lock nut can employ nylon inserts, deformed threads, or other anti-loosening structures. The roller 41 can be made of acetal or other wear-resistant materials. Acetal has good wear resistance, a low coefficient of friction, and high strength, making it suitable as the material for the Mecanum 100 wheel roller 41. When the roller 41 contacts the ground or the inner wall of a pipe, the acetal material reduces wear, extends service life, and ensures good motion performance.

[0050] This application provides a Mecanum 100 wheel, including a hub 10, a motor 20, a transition connector 30, multiple driven roller assemblies 40, and a fixing assembly 50. The transition connector 30 is sleeved on the motor 20. The multiple driven roller assemblies 40 are evenly arranged circumferentially along the transition connector 30, and each driven roller assembly 40 is rotatably mounted on the hub 10. The fixing assembly 50 includes a first fastener 51, a second fastener 52, and a third fastener 53. The hub 10 and the transition connector 30 are connected and fixed by the first fastener 51, and the motor 20 is fixedly connected to the hub 10 by the second fastener 52. The hub 10 is connected to the driven roller assembly 40 via the third fastener 53. The output shaft of the motor 20 is connected to the hub 10 to directly drive the Mecanum 100 wheel to rotate. Through the above configuration, the Mecanum wheel uses the fixed assembly 50 to achieve an integrated connection of the hub 10, the transition connector 30, the motor 20, and the driven roller assembly 40, eliminating the need for a coupling, simplifying the installation process, reducing assembly difficulty and maintenance costs. Secondly, the built-in design of the motor 20 greatly saves space and improves the compactness of the overall structure. At the same time, the surface of the motor 20 is effectively protected, avoiding scratches and contamination, and extending the service life of the motor 20. More importantly, by using a multi-point fixing method with the first fastener 51, the second fastener 52, and the third fastener 53, the load is distributed to multiple connection points, avoiding problems such as screw torque attenuation, fatigue fracture, and stripping caused by stress concentration under the traditional three-point fixing method. The contact area between the hub 10 and the motor 20 is increased, forming a compression assembly, which improves the overall structural stability and integration. It can withstand torque, radial impact, and vibration under long-term heavy-load conditions, improving the reliability and service life of the equipment. It is suitable for applications such as pipeline cleaning robots that require omnidirectional movement.

[0051] This embodiment also provides a cleaning robot, which includes the aforementioned Mecanum 100 wheels. By configuring the Mecanum 100 wheels of this embodiment, the cleaning robot can achieve omnidirectional flexible movement, including linear movement, lateral movement, diagonal movement, and rotation in place, adapting to complex pipe environments and improving the efficiency and quality of cleaning operations. The above descriptions are merely embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A Mecanum wheel, characterized in that, include: Wheel hub; Electric motor; A transition connector is fitted onto the motor; Multiple driven roller assemblies are evenly arranged circumferentially along the transition connector, and the driven roller assemblies are rotatably mounted on the hub; The fixing assembly includes a first fastener, a second fastener, and a third fastener. The hub and the transition connector are fixedly connected by the first fastener. The motor is fixedly connected to the hub by the second fastener. The hub is connected to the driven roller assembly by the third fastener. The output shaft of the motor is drivenly connected to the hub to drive the Mecanum wheel to rotate.

2. The Mecanum wheel according to claim 1, characterized in that, The motor includes a housing, the housing being provided with a plurality of mounting bosses, and the mounting bosses being provided with fixing threaded holes; The transition connector is provided with a connection hole corresponding to the mounting boss, and the second fastener passes through the connection hole and is screwed into the fixing threaded hole.

3. The Mecanum wheel according to claim 1, characterized in that, The transition connector includes a cylindrical body and an end plate. The cylindrical body is fitted around the outer periphery of the motor, and the end plate has a central through hole for the output shaft of the motor to pass through. The hub, transition connector and motor form a coaxial assembly structure, and the motor is housed within the axial projection range of the hub.

4. The Mecanum wheel according to claim 2, characterized in that: The motor housing also has multiple recesses. The hub is also provided with multiple groove structures and retaining platforms, the groove structures accommodating the mounting bosses and the retaining platforms being embedded in the recesses; The second fastener passes through the groove structure of the hub and is fixedly connected to the motor, and / or, The second fastener passes through the mounting bracket of the wheel hub and is fixedly connected to the motor.

5. The Mecanum wheel according to claim 1, characterized in that, The number of the first fasteners is multiple. The wheel hub includes a first side plate and a second side plate disposed relative to the transition connector. The transition connector includes a first screw hole and a second screw hole disposed opposite to each other. The first side plate is provided with a first through hole, and the second side plate is provided with a second through hole. A first fastener passes through the first through hole and is fixed to the first screw hole, and a first fastener passes through the second through hole and is screwed to the second screw hole.

6. The Mecanum wheel according to claim 5, characterized in that, The motor includes a first end face and a second end face that are disposed opposite to each other. The hub is also provided with a covering structure, which includes a first end face protection part and a second end face protection part. The first end face protection part extends inward from the first side plate and covers the first end face of the motor. The second end face protection part extends inward from the second side plate and covers the second end face of the motor. Furthermore, the first end face protection part and the second end face protection part are fitted together with the first end face and the second end face or form a nested fit.

7. The Mecanum wheel according to claim 5, characterized in that, The first side plate has a plurality of first mounting ears on its circumferential edge, and the second side plate has a plurality of second mounting ears on its circumferential edge. The plurality of first mounting ears are evenly arranged around the central axis of the first side plate, and the plurality of second mounting ears are evenly arranged around the central axis of the second side plate.

8. The Mecanum wheel according to claim 7, characterized in that, The first mounting ear is provided with a first mounting hole, and the driven roller assembly is connected to the first mounting hole through the third fastener and is rotatably mounted on the first mounting ear.

9. The Mecanum wheel according to claim 7, characterized in that, The second mounting ear is provided with a second mounting hole, and the driven roller assembly is connected to the second mounting hole through the third fastener and is rotatably mounted on the second mounting ear.

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

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