Patent ID: 12194777

DETAILED DESCRIPTION

To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the following clearly and completely describes the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are part rather than all of the embodiments of the present disclosure. Typically, the components of the embodiments of the present disclosure, which are described and shown in the accompanying drawings herein, may be arranged and designed in a variety of different configurations.

Therefore, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of protection of the present disclosure, but only represents the selected embodiments of the present disclosure. On the basis of the embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present disclosure.

It should be noted that: similar numerals and letters represent similar items in the following accompanying drawings. Therefore, once a certain item is defined in one accompanying drawing, it is unnecessary to further define and explain the certain item in subsequent accompanying drawings.

In the descriptions of the present disclosure, it should be noted that the orientations or positional relationships indicated by the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inner”, “outer”, and the like are based on the orientations or positional relationships shown in the accompanying drawings, or the customary placement orientations or positional relationships when the product of the present application is used, are only intended to facilitate the descriptions of the present application and simplify the descriptions, rather than indicating or implying that the apparatuses or elements must have specific orientations or must be constructed and operated in specific orientations, and thus may not be interpreted as limitation to the present disclosure.

In addition, terms “first”, “second”, “third”, and the like are only used for distinguishing descriptions, and cannot be understood as indicating or implying relative importance.

In addition, terms “horizontal”, “vertical”, “overhung”, and the like do not mean that the parts are required to be absolutely horizontal or overhung, but may be slightly tilted. For example, “horizontal” only means that its direction is more horizontal relative to “vertical”, rather than meaning that the structure must be completely horizontal, but may be slightly tilted.

In the descriptions of the present disclosure, it should be noted that, unless otherwise specified and defined explicitly, terms “arranged”, “mounted”, “interconnected”, and “connected” are to be interpreted broadly, for example, may be fixedly connected, or detachably connected, or integrally connected, may be mechanically connected, or electrically connected, may be directly connected, or indirectly connected through an intermediate medium, or internally communicated between two elements. Those of ordinary skill in the art may understand specific meanings of these terms in the present disclosure in specific situations.

It is should be noted that features in the embodiments of the present disclosure may be combined with each other without conflict.

Referring toFIG.1AtoFIG.1C, the present embodiment provides a mecanum wheel.FIG.1AandFIG.1Bare two schematic structural diagrams of the mecanum wheel provided by the present embodiment.FIG.1Cis an exploded view of the mecanum wheel as shown inFIG.1B. Referring toFIG.1DtoFIG.1F,FIG.1Dis a third schematic structural diagram of the mecanum wheel provided by the present embodiment.FIG.1Eis an enlarged view of a region A of the mecanum wheel as shown inFIG.1D.FIG.1Fis an exploded view of the mecanum wheel as shown inFIG.1D.

The mecanum wheel provided by the present embodiment is applicable to apparatuses and equipment, such as AGV (the abbreviation of Automated Guided Vehicle) transport vehicles, assistant robots, transportation platforms, and forklifts, that need to be moved in all directions, and is also applicable to the apparatuses and equipment that have compact structures, flexible movement, limited transfer space, and narrow operation channels.

Referring toFIG.1AtoFIG.1F, the mecanum wheel includes a mecanum wheel body310and a drive device320;a wheel axle hole (not shown in the drawings) is formed in the mecanum wheel body310; the drive device320is partially or completely arranged in the wheel axle hole;the axis of a connecting shaft321of the drive device320is collinear with a rotary shaft of the mecanum wheel body310, and the mecanum wheel body310rotates along with a housing of the drive device320. Optionally, the connecting shaft321of the drive device320is configured to connect equipment, for example, to connect the base of equipment, so as to mount the mecanum wheel on the equipment. The axis of the connecting shaft321of the drive device320is collinear with the rotary shaft of the mecanum wheel body310, so that the mecanum wheel body310rotates along with the housing of the drive device320more stably, thereby reducing the shock of the equipment using the mecanum wheel during traveling. Optionally, when the drive device320works, the connecting shaft321of the drive device320is relatively fixed, and the housing of the drive device320rotates around the connecting shaft321of the drive device320, so as to make the mecanum wheel body310rotate along with the housing of the drive device320.

The mecanum wheel in the present embodiment includes the mecanum wheel body310and the drive device320; the drive device320is partially or completely arranged in a wheel axle hole of the mecanum wheel body310to reduce the structural sizes of the mecanum wheel and its drive motor and form a drive device320and mecanum wheel body310integrated mecanum wheel, thereby making the structure of the equipment, such as an assistant robot, using the mecanum wheel more compact.

In addition, the mecanum wheel in the present embodiment integrates the existing mecanum wheel and drive device, which reduces mounting components and parts for the mecanum wheel and the drive device, and simplifies the structure of the equipment, such as the assistant robot, using the mecanum wheel to a certain extent. The mounting process and requirements of the equipment, such as an assistant robot, using the mecanum wheel are also simplified to a certain extent, the structural weight and the manufacturing maintenance cost thereof are reduced, and the traveling reliability of the equipment may also be improved to a certain extent.

In an optional solution the present embodiment, the mecanum wheel body310consists of a mecanum roller bracket and mecanum rollers; the mecanum rollers are arranged on the mecanum roller bracket; the mecanum roller bracket is connected to a housing of the drive device320. Two ends of the mecanum roller are connected to the mecanum roller bracket, or the middle of the mecanum roller is connected to the mecanum roller bracket.

Referring toFIG.1AtoFIG.1F, optionally, the mecanum wheel body310includes a first end cover311, a second end cover312, and a plurality of mecanum rollers313; the plurality of the mecanum rollers313are connected between the first end cover311and the second end cover312; the plurality of the mecanum rollers313form a wheel axle hole;a connecting shaft321of the drive device320extends out from the first end cover311; the first end cover311may rotate relative to the connecting shaft321of the drive device320.

Optionally, the connecting shaft321of the drive device320is connected to a flange plate330, so that the connecting shaft321of the drive device320is connected to the equipment through the flange plate330.

Referring toFIG.1AtoFIG.1F, optionally, end cover hole slots314with the number corresponding to that of the mecanum rollers313are formed in the first end cover311and/or the second end cover312; that it to say, the end cover hole slots314with the number corresponding to that of the mecanum rollers313are formed in the first end cover311, or the end cover hole slots314with the number corresponding to that of the mecanum rollers313are formed in the second end cover312, or the end cover hole slots314with the number25corresponding to that of the mecanum rollers313are formed in the first end cover311and the second end cover312.

A roller shaft of the mecanum roller313is in fit connection with the end cover hole slot314; optionally, the end cover hole slot314extends in the axial direction of the mecanum roller313, so that the roller shaft of the mecanum roller313is plugged in the end cover hole slot314, and the mecanum roller313is more easily in fit connection with the first end cover311or the second end cover312.

In the radial direction of the first end cover311or the second end cover312, the end cover hole slots314are opened in the edge of the first end cover311or the second end cover312and form edge notches, so that the roller shafts of the mecanum rollers313may enter the end cover hole slots314from the edge notches. The roller shaft of the mecanum roller313may enter the end cover hole slot314from the edge notch, so that the convenience in assembling the mecanum roller313and the first end cover311or the second end cover312is improved, thereby improving the convenience in assembling the mecanum wheel. In the case of a failure of a part number of the mecanum rollers, the part number of the mecanum rollers may be replaced or maintained conveniently and quickly, which improves the convenience in maintenance of the mecanum wheel.

Compared with the existing mecanum wheel, when a part number of the mecanum rollers are replaced or maintained, the first end cover or the second end cover and a total number of the mecanum rollers need to be detached. With respect to the mecanum wheel, only failed mecanum rollers need to be replaced, so the convenience in maintenance is greatly improved.

Referring toFIG.1DtoFIG.1F, optionally, in the radial direction of the mecanum roller313, the size of the edge notch is greater than or equal to the maximum size of the roller shaft of the mecanum roller313, so that the roller shaft of the mecanum roller313is more easily in fit connection with the first end cover311or the second end cover312, and the mecanum roller313is more easily in fit connection with the first end cover311or the second end cover312.

Optionally, in the radial direction of the mecanum roller313, the cross section of the end cover hole slot314is a triangle, a rectangle, a semicircle, or other shapes.

The cross section, fitting the end cover hole slot314, of the roller shaft of the mecanum roller313is in a shape corresponding to that of the cross section of the end cover hole slot314.

Optionally, in the radial direction of the mecanum roller313, the roller shaft of the mecanum roller313is provided with a roller shaft assembling platform3131;the roller shaft assembling platform3131is provided with a screw that is in threaded connection with the first end cover311or the second end cover312. The roller shaft assembling platform3131facilitates the assembling of the first end cover311or the second end cover312and the roller shaft of the mecanum roller313, and then facilitates the assembling of the first end cover311or the second end cover312and the mecanum roller313. The roller shaft assembling platform3131may be a part of the shape of the roller shaft itself of the mecanum roller313, for example, the roller shaft assembling platform3131is one of the surfaces of the end cover hole slot314with a triangular or rectangular cross section. The roller shaft assembling platform3131may also be a platform formed by cutting the roller shaft of the mecanum roller313.

Optionally, the housing of the drive device320is detachably connected to the first end cover311, so that the first end cover311rotates along with the housing of the drive device320, that is, the mecanum wheel body310rotates along with the housing of the drive device320.

Optionally, the housing of the drive device320is detachably connected to the second end cover312, and both the first end cover311and the second end cover312are fixedly connected to the housing of the drive device320, so that the mecanum wheel body310is connected to the housing of the drive device320more firmly.

Optionally, the housing of the drive device320is detachably connected to the first end cover311by screws. Optionally, the number of the screws between the housing of the drive device320and the first end cover311is four, six, eight, nine, or the like. Optionally, the housing of the drive device320is detachably connected to the second end cover312by screws. Optionally, the number of the screws between the housing of the drive device320and the second end cover312is four, six, eight, nine, or the like.

In an optional solution of the present embodiment, the first end cover311is provided with a first end cover fitting groove; the housing of the drive device320is provided with a first drive fitting structure corresponding to the first end cover fitting groove; the first end cover fitting groove extends in the axial direction322of the connecting shaft321of the drive device320; the first end cover fitting groove is in fit connection with the first drive fitting structure, so the first end cover311is more firmly connected to the housing of the drive device320to transfer a steering force of the housing of the drive device320to the first end cover311better, thereby making the mecanum wheel body310rotate along with the housing of the drive device320, and also reducing the shearing force born by the screws between the first end cover311and the housing of the drive device320when the first end cover311rotates along with the housing of the drive device320to a certain extent. The first drive fitting structure, for example, may be a fitting bump, corresponding to the first end cover fitting groove, formed on the housing of the drive device320, or may also be that the housing of the drive device320is in a shape corresponding to the first end cover fitting groove. For example, the cross section of the first end cover fitting groove is a rectangle, and the cross section, fitting the first end cover fitting groove, of the housing of the drive device320is also a rectangle. For another example, the cross section of the first end cover fitting groove is a regular polygon, and the cross section, fitting the first end cover fitting groove, of the housing of the drive device320is also a regular polygon.

In an optional solution of the present embodiment, the first end cover311is provided with a first end cover fitting bump. The housing of the drive device320is provided with a first drive fitting groove corresponding to the first end cover fitting bump. The first end cover fitting bump extends in the axial direction322of the connecting shaft321of the drive device320. The first end cover fitting bump is in fit connection with the first drive fitting groove, so the first end cover311is more firmly connected to the housing of the drive device320to transfer a steering force of the housing of the drive device320to the first end cover311better, thereby making the mecanum wheel body310rotate along with the housing of the drive device320, and also reducing the shearing force born by the screws between the first end cover311and the housing of the drive device320when the first end cover311rotates along with the housing of the drive device320to a certain extent.

In an optional solution of the present embodiment, the second end cover312is provided with a second end cover fitting groove. The housing of the drive device320is provided with a second drive fitting structure corresponding to the second end cover fitting groove. The second end cover fitting groove extends in the axial direction322of the connecting shaft321of the drive device320. The second end cover fitting groove is in fit connection with the second drive fitting structure, so the second end cover312is more firmly connected to the housing of the drive device320to transfer a steering force of the housing of the drive device320to the second end cover312better, thereby making the mecanum wheel body310rotate along with the housing of the drive device320, and also reducing the shearing force born by the screws between the second end cover312and the housing of the drive device320when the second end cover312rotates along with the housing of the drive device320to a certain extent. The second drive fitting structure, for example, may be a fitting bump, corresponding to the second end cover fitting groove, formed on the housing of the drive device320, or may also be that the housing of the drive device320is in a shape corresponding to the second end cover fitting groove. For example, the cross section of the second end cover fitting groove is a rectangle, and the cross section, fitting the second end cover fitting groove, of the housing of the drive device320is also a rectangle. For another example, the cross section of the second end cover fitting groove is a regular polygon, and the cross section, fitting the second end cover fitting groove, of the housing of the drive device320is also a regular polygon.

In an optional solution of the present embodiment, the second end cover312is provided with a second end cover fitting bump. The housing of the drive device320is provided with a second drive fitting groove corresponding to the second end cover fitting bump. The second end cover fitting bump extends in the axial direction322of the connecting shaft321of the drive device320. The second end cover fitting bump is in fit connection with the second drive fitting groove, so the second end cover312is more firmly connected to the housing of the drive device320to transfer a steering force of the housing of the drive device320to the second end cover312better, thereby making the mecanum wheel body310rotate along with the housing of the drive device320, and also reducing the shearing force born by the screws between the second end cover312and the housing of the drive device320when the second end cover312rotates along with the housing of the drive device320to a certain extent.

In the mecanum wheel of the present embodiment, through fitting structures arranged between the first end cover311and the housing of the drive device320and between the second end cover312and the housing of the drive device320, the mecanum wheel body310is more firmly connected to the housing of the drive device320to transfer a steering force of the housing of the drive device320to the mecanum wheel body310better. Meanwhile, the shearing force born by the connecting screws between the mecanum wheel body310and the housing of the drive device320when the mecanum wheel body310rotates along with the housing of the drive device320is also reduced to a certain extent.

In an optional solution of the present embodiment, the drive device320includes a hub motor. The connecting shaft321of the drive device320is a connecting shaft of the hub motor. The hub motor is arranged in a wheel axle hole. The mecanum wheel body310rotates around the connecting shaft of the hub motor along with a housing of the hub motor. The connecting shaft of the hub motor is connected to equipment, for example, connected to a base of equipment, so that the mecanum wheel body310rotates around the housing of the hub motor.

In an optional solution of the present embodiment, the drive device320includes a hub motor and a speed reducer. The hub motor is connected to the speed reducer and drives the speed reducer. The connecting shaft321of the drive device320is a connecting shaft of the hub motor. The hub motor is arranged in the wheel axle hole. The speed reducer is partially or completely arranged in the wheel axle hole. The mecanum wheel body310rotates around the connecting shaft of the speed reducer along with a housing of the hub motor. The connecting shaft of the hub motor is connected to equipment, for example, connected to a base of equipment, so that the mecanum wheel body310rotates along with the housing of the hub motor.

In an optional solution of the present embodiment, the hub motor includes an inner stator connecting shaft and an outer rotor housing;in the axial direction of the inner stator connecting shaft, the first end cover311and/or the second end cover312are respectively connected to two ends of the outer rotor housing by screws;the inner stator connecting shaft extends out of the first end cover311, and the axis of the inner stator connecting shaft is collinear with the rotary shaft of the mecanum wheel body310;when the hub motor works, the first end cover311and the second end cover312rotate along with the outer rotor housing. Optionally, when the hub motor works, the first end cover311and the second end cover312rotate around the inner stator connecting shaft along with the outer rotor housing.

The present embodiment provides a shock absorbing device.

Referring toFIG.2CtoFIG.2H,FIG.2CandFIG.2Eare two schematic structural diagrams of the shock absorbing device provided by the present embodiment.FIG.2Dis an exploded view of the shock absorbing device as shown inFIG.2C.FIG.2Fis a main view of the shock absorbing device as shown inFIG.2E.FIG.2Gis an exploded view of the shock absorbing device as shown inFIG.2E.FIG.2His a schematic structural diagram of a shock absorbing adjusting piece provided by the present embodiment.FIG.2Iis a third schematic structural diagram of the shock absorbing device provided by the present embodiment.FIG.2Jis an exploded view of the shock absorbing device as shown inFIG.2I.

Referring toFIG.2CtoFIG.2H, the shock absorbing device provided by the present embodiment includes a shock absorbing fixed bracket910and a shock absorbing moving bracket920; the shock absorbing fixed bracket910is fixedly connected to a connecting shaft of a wheel;the shock absorbing fixed bracket910includes at least one shock absorbing fixed shaft930; the shock absorbing moving bracket920is arranged outside the shock absorbing fixed shaft930in a sleeving manner and may move reciprocally in the longitudinal direction935of the shock absorbing fixed shaft930, so that the wheel may move reciprocally in the longitudinal direction935of the shock absorbing fixed shaft930along with the shock absorbing moving bracket920. Optionally, the number of the shock absorbing fixed shafts930is one, two, four, five, or the like. Optionally, the shock absorbing fixed shafts930are arranged pairwise.

Two elastic elements931are arranged outside the shock absorbing fixed shaft930in a sleeving manner. The shock absorbing moving bracket920is connected between the two elastic elements931. The elastic elements931are in a compressed state or the elastic elements931are in a non-stressed state. The elastic elements931have the tendency to make the shock absorbing moving bracket920return to an original position.

The longitudinal direction935of the shock absorbing fixed shaft930and the axial direction of the connecting shaft of the wheel are arranged at an included angle. Optionally, the longitudinal direction935of the shock absorbing fixed shaft930and the axial direction of the connecting shaft of the wheel are arranged at a right angle or an approximate right angle. Therefore, the two elastic elements931on the shock absorbing fixed shaft930can well reduce the shock on the equipment, such as an assistant robot and a traveling apparatus, when the30wheel travels.

According to the shock absorbing device of the present embodiment, the shock generated when the wheel travels may be absorbed by the elastic elements931through the shock absorbing fixed bracket910, the shock absorbing moving bracket920, and the elastic elements931. The shock absorbing device9is simple and compact in structure and relatively low in cost, facilitates production and processing, can well reduce the shock on the equipment, such as an assistant robot, when the wheel travels, and can also make the structures of the equipment, such as an assistant robot and a traveling apparatus, more compact.

Referring toFIGS.2C and2D, in an optional solution of the present embodiment, the shock absorbing fixed bracket910includes a first shock absorbing fixed part911, a second shock absorbing fixed part912, and a third shock absorbing fixed part913. Optionally, the first shock absorbing fixed part911includes two first shock absorbing fixed subparts, and corresponding connecting parts of the equipment are clamped by the two first shock absorbing fixed subparts, so as to improve the connection firmness of the shock absorbing device and the equipment.

The first shock absorbing fixed part911is fixedly connected to the second first shock absorbing fixed part912through the shock absorbing fixed shaft930; the first shock absorbing fixed part911is configured to be fixedly connected to the equipment, such as an assistant robot and a traveling apparatus.

The third shock absorbing fixed part913is fixedly connected to the first shock absorbing fixed part911and the second shock absorbing fixed part912. The structure of the shock absorbing fixed bracket910is strengthened by the first shock absorbing fixed part911, the second shock absorbing fixed part912, and the third shock absorbing fixed part913. A supporting force of the wheel is transferred to the shock absorbing device9through the shock absorbing fixed shaft930, and then is transferred to supporting equipment. Through the fit of the third shock absorbing fixed part913and the shock absorbing fixed shaft930, the supporting bearing capacity of the shock absorbing device9is improved, the service life of the shock absorbing fixed shaft930is prolonged, and the service life of the shock absorbing device9is also prolonged.

In an optional solution of the present embodiment, the shock absorbing moving bracket920includes a shock absorbing moving bracket connecting part921and at least two shock absorbing moving bracket sleeving parts922; a connecting shaft of a wheel penetrates through the shock absorbing moving bracket connecting part921and is fixedly connected to the shock absorbing moving bracket connecting part921; optionally, the connecting shaft of the wheel is fixedly connected to the shock absorbing moving bracket920by nuts.

The shock absorbing moving bracket sleeving parts922are arranged outside the shock absorbing fixed shaft930in a sleeving manner; the number of the shock absorbing moving bracket sleeving parts922is corresponding to that of the shock absorbing fixed shafts930; that is to say, the number of the shock absorbing moving bracket sleeving parts922is the same as that of the shock absorbing fixed shafts930.

Adjacent shock absorbing moving bracket sleeving parts922are fixedly connected through the shock absorbing moving bracket connecting part921;the shock absorbing moving bracket connecting part921is protruded from a surface formed by the adjacent shock absorbing moving bracket sleeving parts922, so the shock absorbing moving bracket920forms an arc-shaped or an arc-like structure, so as to improve the elastic deformation capacity of the shock absorbing moving bracket920to better transfer the supporting force of the wheel to traveling equipment through the shock absorbing device9.

Optionally, the number of the shock absorbing fixed shafts930is two; the number of the shock absorbing moving bracket sleeving parts922is also two.

Optionally, the shock absorbing moving bracket920is of a symmetrical structure. Optionally, the connecting shaft of the wheel penetrates through the center of the shock absorbing moving bracket920and is fixedly connected to the shock absorbing moving bracket connecting part921.

Optionally, the shock absorbing moving bracket connecting part921is parallel or approximately parallel to the third shock absorbing fixed part913. Optionally, a third shock absorbing fixing through hole corresponding to the position of the connecting shaft of the wheel is formed in the third shock absorbing fixed part913. The hole diameter of the third shock absorbing fixing through hole is greater than the shaft diameter of the connecting shaft of the wheel, which facilitates the connection between the wheel and the shock absorbing moving bracket connecting part921.

In an optional solution of the present embodiment, the elastic element931includes a spring, a polyurethane structural part, a rubber loop, a silicone loop, or other elastic elements. The polyurethane structural part may be a polyurethane loop, a polyurethane ring, a polyurethane block, or the like.

Referring toFIGS.2E and2H, in an optional solution of the present embodiment, the second shock absorbing fixed part912is detachably and fixedly connected to the third shock absorbing fixed part913, and at least one shock absorbing adjusting piece950is arranged between the second shock absorbing fixed part912and the third shock absorbing fixed part913. Optionally, the number of the shock absorbing adjusting piece950arranged between the second shock absorbing fixed part912and the third shock absorbing fixed part913is one or more, for example, one, two, three, five, or the like.

The shock absorbing adjusting piece950includes a wedge-shaped structure. Optionally, in the extension direction of the shock absorbing adjusting piece950, the surface, connected to the second shock absorbing fixed part912, of the shock absorbing adjusting piece950is a wedge-shaped surface, and/or, in the extension direction of the shock absorbing adjusting piece950, the surface, connected to the third shock absorbing fixed part913, of the shock absorbing adjusting piece950is a wedge-shaped surface. The wedge-shape surface is an inclined surface of the wedge-shaped structure, and it may also be interpreted as that the wedge-shaped surface is an inclined surface, with an acute angle or an obtuse angle in the extension direction of the wedge-shaped structure, of the wedge-shaped structure.

In the longitudinal direction935of the shock absorbing fixed shaft, the shock absorbing adjusting piece950may be moved to change the distance between the second shock absorbing fixed part912and the third shock absorbing fixed part913, so as to adjust the angle between the shock absorbing moving bracket920that is arranged outside the shock absorbing fixed shaft930in a sleeving manner and the third shock absorbing fixed part913, and then adjust the angle between the connecting shaft of the wheel and the third shock absorbing fixed part913, that is, adjust the perpendicularity of the wheel, thereby reducing the shock of the wheel during traveling, and reducing the shock of the equipment using the wheel. In addition, the service life of the wheel may also be prolonged.

Referring toFIG.2H, in an optional solution of the present embodiment, the shock absorbing adjusting piece950includes an adjusting fitting part951and an adjusting threaded part952that is fixedly connected to the adjusting fitting part951; the adjusting fitting part951is of a wedge-shaped structure. Optionally, in the extension direction of the shock absorbing adjusting piece950, the surface, connected to second shock absorbing fixed part912, of the adjusting fitting part951is a wedge-shaped surface, and/or, in the extension direction of the shock absorbing adjusting piece950, the surface, connected to the third shock absorbing fixed part913, of the adjusting fitting part951is a wedge-shaped surface. Optionally, in the extension direction of the shock absorbing adjusting piece950, the surface, connected to second shock absorbing fixed part912, of the adjusting fitting part951is a wedge-shaped surface. The surface, connected to the third shock absorbing fixed part913, of the adjusting fitting part951is parallel to the extension direction of the shock absorbing adjusting piece950.

The adjusting fitting part951is arranged between the second shock absorbing fixed part912and the third shock absorbing fixed part913;

optionally, the adjusting threaded part952is in threaded connection with an adjusting nut953; the adjusting nut953is pressed against one surface, far away from the shock absorbing moving bracket, the second shock absorbing fixed part912; when the adjusting nut953is rotated, the shock absorbing adjusting piece950may be moved to change the distance between the second shock absorbing fixed part912and the third shock absorbing fixed part913. The adjusting nut953fits the shock absorbing moving bracket952to finely adjust the angle between the shock absorbing moving bracket920that is arranged outside the shock absorbing fixed shaft930in a sleeving manner and the third shock absorbing fixed part913, and then finely adjust the angle between the connecting shaft of the wheel and the third shock absorbing fixed part913, that is, finely adjust the perpendicularity of the wheel, thereby reducing the shock of the wheel during traveling.

Referring toFIG.2H, in an optional solution of the present embodiment, an adjusting through hole (not shown in the drawings) is formed in the adjusting fitting part951. A screw for connecting the second shock absorbing fixed part912and the third shock absorbing fixed part913is plugged in the adjusting through hole. Optionally, the adjusting through hole is a slotted hole, so as to facilitate the movement of the screw in the adjusting through hole. Optionally, when there are a plurality of the shock absorbing adjusting pieces950, there are a plurality of screws for connecting the second shock absorbing fixed part912and the third shock absorbing fixed part913. The screws for connecting the second shock absorbing fixed part912and the third shock absorbing fixed part913are in one-to-one correspondence with the shock absorbing adjusting pieces950.

Referring toFIG.2H, in an optional solution of the present embodiment, an adjusting fitting protrusion part954is formed at one end, far away from the adjusting threaded part952, of the adjusting fitting part951;the adjusting fitting protrusion part954is protruded from the wedge-shaped surface of the adjusting fitting part951;the wedge-shaped surface of the adjusting fitting part951is connected to the second shock absorbing fixed part912. The adjusting fitting protrusion part954is adjusted to ensure that the shock absorbing adjusting piece950is located between the second shock absorbing fixed part912and the third shock absorbing fixed part913to prevent the shock absorbing adjusting piece950from falling off.

Referring toFIG.2C to2G, in an optional solution of the present embodiment, the shock absorbing fixed bracket910includes a shock absorbing mounting piece940;the shock absorbing mounting piece940, the first shock absorbing fixed part911, and the second shock absorbing fixed part912are arranged on the shock absorbing fixed shaft at intervals in sequence.equipment is fixedly connected between the shock absorbing mounting piece940and the first shock absorbing fixed part911. Corresponding connecting parts of the equipment are clamped by the shock absorbing mounting piece940and the first shock absorbing fixed part911, so as to improve the connection firmness of the shock absorbing device and the equipment.

A wheel structure with a shock absorbing device provided by the present embodiment includes a wheel and the shock absorbing device; the wheel is connected to the shock absorbing device.

Optionally, the number of the shock absorbing device is one; the shock absorbing device is arranged on one side of the wheel, and the shock absorbing moving bracket of the shock absorbing device is fixedly connected a connecting shaft of the wheel;or, the number of the shock absorbing devices is two. The wheel is arranged between the two shock absorbing devices, and the shock absorbing moving brackets of both shock absorbing devices are fixedly connected to a connecting shaft of the wheel. That is to say, the connecting shaft of the wheel penetrates through the wheel, so that two ends of the connecting shaft of the wheel are respectively connected to the shock absorbing devices9. The shock absorbing devices are respectively arranged on the two sides of the wheel to improve the shock reducing performance of the wheel, so as to further reduce the shock of the traveling equipment mounted with the wheel.

Optionally, the wheel is the mecanum wheel.

The present embodiment provides a mecanum wheel with a shock absorbing device. The mecanum wheel with a shock absorbing device includes the mecanum wheel. The technical features of the mecanum wheel disclosed above are also suitable for the mecanum wheel with a shock absorbing device.

Referring toFIG.2A to2H,FIG.2Ais a schematic structural diagram of a mecanum wheel with a shock absorbing device provided by the present embodiment.FIG.2Bis an exploded view of the mecanum wheel with a shock absorbing device as shown inFIG.2A.FIG.2Cis a schematic structural diagram of a shock absorbing device provided by the present embodiment.FIG.2Dis an exploded view of the shock absorbing device as shown inFIG.2C.FIG.2Eis another schematic structural diagram of the shock absorbing device provided by the present embodiment.FIG.2Gis a main view of the shock absorbing device as shown inFIG.2E.FIG.2His an exploded view of the shock absorbing device as shown in theFIG.2E.FIG.2Iis a schematic structural diagram of a shock absorbing adjusting piece provided by the present embodiment.FIG.2Jis a third schematic structural diagram of the shock absorbing device provided by the present embodiment.FIG.2Kis an exploded view of the shock absorbing device as shown inFIG.2J.

Referring toFIG.2AtoFIG.2K, the mecanum wheel with a shock absorbing device includes a mecanum wheel body3, and further includes a shock absorbing device9. The mecanum wheel body3is connected to the shock absorbing device9. The shock transferred to the equipment by the mecanum wheel3may be retarded by the shock absorbing device9, so that the shock of the overall equipment when traveling on a road surface may be effectively retarded, thereby ensuring the stability and the horizontality of the equipment in a moving process.

In an optional solution of the present embodiment, the number of the shock absorbing device may be one or more.

For example, the number of the shock absorbing device9is one. The shock absorbing device9is arranged on one side of the mecanum wheel3, and the shock absorbing device is fixedly connected to a connecting shaft321of a drive device320of the mecanum wheel3, as shown inFIG.2AtoFIG.2D.

For another example, the number of the shock absorbing device9is two. The mecanum wheel is arranged between the two shock absorbing devices, and both shock absorbing devices are fixedly connected to a connecting shaft321of a drive device320of the mecanum wheel3. That is to say, the connecting shaft of the driving device of the mecanum wheel penetrates through the mecanum wheel, so that two ends of the connecting shaft321of the drive device320are respectively connected to the shock absorbing devices9. The shock absorbing devices are respectively arranged on two sides of the mecanum wheel to improve the shock reducing performance of the mecanum wheel with a shock absorbing device, thereby further reducing the shock of the equipment, such as an assistant robot, mounted with the mecanum wheel with a shock absorbing device.

In an optional solution of the present embodiment, the shock absorbing device9includes a shock absorbing fixed bracket910and a shock absorbing moving bracket920. The shock absorbing moving bracket920is fixedly connected to a connecting shaft321of a drive device320of the mecanum wheel3;the shock absorbing fixed bracket910includes at least one shock absorbing fixed shaft930; the shock absorbing moving bracket920is arranged outside the shock absorbing fixed shaft930in a sleeving manner and may move reciprocally in the longitudinal direction935of the shock absorbing fixed shaft930, so that the mecanum wheel3may move reciprocally in the longitudinal direction935of the shock absorbing fixed shaft930along with the shock absorbing moving bracket920; optionally, the number of the shock absorbing fixed shaft930is one, two, four, five, or the like. Optionally, the shock absorbing fixed shafts930are arranged pairwise.

Two elastic elements931are arranged outside the shock absorbing fixed shaft930in a sleeving manner. The shock absorbing moving bracket920is connected between the two elastic elements931. The elastic elements931are in a compressed state or the elastic elements931are in a non-stressed state. The elastic elements931have the tendency to make the shock absorbing moving bracket920return to an original position.

The longitudinal direction935of the shock absorbing fixed shaft930and the axial direction322of the connecting shaft321of the drive device320are arranged at an included angle. Optionally, the longitudinal direction935of the shock absorbing fixed shaft930and the axial direction322of the connecting shaft321of the drive device320are arranged at a right angle or an approximate right angle. Therefore, the two elastic elements931on the shock absorbing fixed shaft930can well reduce the shock on the equipment, such as an assistant robot, when the mecanum wheel3travels.

According to the mecanum wheel with a shock absorbing device of the present embodiment, the shock generated when the mecanum wheel3travels may be absorbed by the elastic elements931through the shock absorbing fixed bracket910, the shock absorbing moving bracket920, and the elastic elements931. The shock absorbing device9is simple and compact in structure and relatively low in cost, facilitates production and processing, can reduce the shock on the equipment, such as an assistant robot, when the mecanum wheel3travels very well, and can also make the structures of the equipment, such as the assistant robot, more compact.

Referring toFIG.2CandFIG.2D, in an optional solution of the present embodiment, the shock absorbing fixed bracket910includes a first shock absorbing fixed part911, a second shock absorbing fixed part912, and a third shock absorbing fixed part913. Optionally, the first shock absorbing fixed part911includes two first shock absorbing fixed subparts, and corresponding connecting parts of the equipment are clamped by the two first shock absorbing fixed subparts, so as to improve the connection firmness of the shock absorbing device and the equipment.

The first shock absorbing fixed part911is fixedly connected to the second first shock absorbing fixed part912through the shock absorbing fixed shaft930. The first shock absorbing fixed part911is configured to be fixedly connected to the equipment, such as an assistant robot.

The third shock absorbing fixed part913fixedly connected to the first shock absorbing fixed part911and the second shock absorbing fixed part912. The structure of the shock absorbing fixed bracket910is strengthened by the first shock absorbing fixed part911, the second shock absorbing fixed part912, and the third shock absorbing fixed part913. A supporting force of the mecanum wheel3is transferred to the shock absorbing device9through the shock absorbing fixed shaft930, and then is transferred to supporting equipment. Through the fit of the third shock absorbing fixed part913and the shock absorbing fixed shaft930, the supporting bearing capacity of the shock absorbing device9is improved, the service life of the shock absorbing fixed shaft930is prolonged, and the service life of the shock absorbing device9is also prolonged.

In an optional solution of the present embodiment, a shock absorbing moving bracket920includes a shock absorbing moving bracket connecting part and at least two shock absorbing moving bracket sleeving parts922. A connecting shaft321of a drive device320penetrates through the shock absorbing moving bracket connecting part921and is fixedly connected to the shock absorbing moving bracket connecting part921. Optionally, the connecting shaft321of the drive device320is fixedly connected to the shock absorbing moving bracket920by nuts.

The shock absorbing moving bracket sleeving parts922are arranged outside the shock absorbing fixed shaft930in a sleeving manner. The number of the shock absorbing moving bracket sleeving parts922is corresponding to that of the shock absorbing fixed shafts930. That is to say, the number of the shock absorbing moving bracket sleeving parts922is the same as that of the shock absorbing fixed shafts930.

Adjacent shock absorbing moving bracket sleeving parts922are fixedly connected through the shock absorbing moving bracket connecting part921;the shock absorbing moving bracket connecting part921is protruded from a surface formed by the adjacent shock absorbing moving bracket sleeving parts922, so that the shock absorbing moving bracket920forms an arc-shaped or an arc-like structure, thereby improving the elastic deformation capacity of the shock absorbing moving bracket920, and better transferring the supporting force of the mecanum wheel3to the equipment through the shock absorbing device9.

Optionally, the number of the shock absorbing fixed shafts930is two, and the number of the shock absorbing moving bracket sleeving parts922is also two.

Optionally, the shock absorbing moving bracket920is of a symmetrical structure. Optionally, the connecting shaft321of the drive device320penetrates through the center of the shock absorbing moving bracket920and is fixedly connected to the shock absorbing moving bracket connecting part921.

Optionally, the shock absorbing moving bracket connecting part921is parallel or approximately parallel to the third shock absorbing fixed part913. Optionally, a third shock absorbing fixing through hole corresponding to the position of the connecting shaft321of the drive device320is formed in the third shock absorbing fixed part913. The hole diameter of the third shock absorbing fixing through hole is greater than the shaft diameter of the connecting shaft321of the drive device320, which facilitates the connection between the mecanum wheel3and the shock absorbing moving bracket connecting part921.

In an optional solution of the present embodiment, the elastic element931includes a spring, a polyurethane structural part, a rubber loop, a silicone loop, or other elastic elements. The polyurethane structural part may be a polyurethane loop, a polyurethane ring, a polyurethane block, or the like.

Referring toFIG.2EandFIG.2H, in an optional solution of the present embodiment, the second shock absorbing fixed part912is detachably and fixedly connected to the third shock absorbing fixed part913, and at least one shock absorbing adjusting piece950is arranged between the second shock absorbing fixed part912and the third shock absorbing fixed part913. Optionally, the number of the shock absorbing adjusting piece950arranged between the second shock absorbing fixed part912and the third shock absorbing fixed part913is one or more, for example, one, two, three, five, or the like.

The shock absorbing adjusting piece950includes a wedge-shaped structure. Optionally, in the extension direction of the shock absorbing adjusting piece950, the surface, connected to the second shock absorbing fixed part912, of the shock absorbing adjusting piece950is a wedge-shaped surface, and/or, in the extension direction of the shock absorbing adjusting piece950, the surface, connected to the third shock absorbing fixed part913, of the shock absorbing adjusting piece950is a wedge-shaped surface. The wedge-shape surface is an inclined surface of the wedge-shaped structure, and it may also be interpreted as that the wedge-shaped surface is an inclined surface, with an acute angle or an obtuse angle in the extension direction of the wedge-shaped structure, of the wedge-shaped structure.

In the longitudinal direction935of the shock absorbing fixed shaft, the shock absorbing adjusting piece950may be moved to change the distance between the second shock absorbing fixed part912and the third shock absorbing fixed part913, so as to adjust the angle between the shock absorbing moving bracket920that is externally arranged on the shock absorbing fixed shaft930in a sleeving manner and the third shock absorbing fixed part913, and then adjust the angle between the connecting shaft of the wheel and the third shock absorbing fixed part913, that is, adjust the perpendicularity of the wheel, thereby reducing the shock of the mecanum wheel during traveling.

Referring toFIG.2H, in an optional solution of the present embodiment, the shock absorbing adjusting piece950includes an adjusting fitting part951and an adjusting threaded part952that is fixedly connected to the adjusting fitting part951. The adjusting fitting part951is of a wedge-shaped structure. Optionally, in the extension direction of the shock absorbing adjusting piece950, the surface, connected to second shock absorbing fixed part912, of the adjusting fitting part951is a wedge-shaped surface, and/or, in the extension direction of the shock absorbing adjusting piece950, the surface, connected to the third shock absorbing fixed part913, of the adjusting fitting part951is a wedge-shaped surface. Optionally, in the extension direction of the shock absorbing adjusting piece950, in the extension direction of the shock absorbing adjusting piece950, the surface, connected to second shock absorbing fixed part912, of the adjusting fitting part951is a wedge-shaped surface. The surface, connected to the third shock absorbing fixed part913, of the adjusting fitting part951is parallel to the extension direction of the shock absorbing adjusting piece950.

The adjusting fitting part951is arranged between the second shock absorbing fixed part912and the third shock absorbing fixed part913;

optionally, the adjusting threaded part952is in threaded connection with an adjusting nut953. The adjusting nut953is pressed against one surface, far away from the shock absorbing moving bracket, the second shock absorbing fixed part912;when the adjusting nut953is rotated, the shock absorbing adjusting piece950may be moved to change the distance between the second shock absorbing fixed part912and the third shock absorbing fixed part913. The adjusting nut953fits the shock absorbing moving bracket952to finely adjust the angle between the shock absorbing moving bracket920that is arranged outside the shock absorbing fixed shaft930in a sleeving manner and the third shock absorbing fixed part913, and then finely adjust the angle between the connecting shaft of the wheel and the third shock absorbing fixed part913, that is, finely adjust the perpendicularity of the wheel, thereby reducing the shock of the wheel during traveling.

Referring toFIG.2H, in an optional solution of the present embodiment, an adjusting through hole (not shown in the drawings) is formed in the adjusting fitting part951. A screw for connecting the second shock absorbing fixed part912and the third shock absorbing fixed part913is plugged in the adjusting through hole. Optionally, the adjusting through hole is a slotted hole, so as to facilitate the movement of the screw in the adjusting through hole. Optionally, when there are a plurality of shock absorbing adjusting pieces950, there are a plurality of screws for connecting the second shock absorbing fixed part912and the third shock absorbing fixed part913. The screws for connecting the second shock absorbing fixed part912and the third shock absorbing fixed part913are in one-to-one correspondence with the shock absorbing adjusting pieces950.

Referring toFIG.2H, in an optional solution of the present embodiment, an adjusting fitting protrusion part954is formed at one end, far away from the adjusting threaded part952, of the adjusting fitting part951;the adjusting fitting protrusion part954is protruded from the wedge-shaped surface of the adjusting fitting part951;the wedge-shaped surface of the adjusting fitting part951is connected to the second shock absorbing fixed part912. The adjusting fitting protrusion part954is adjusted to ensure that the shock absorbing adjusting piece950is located between the second shock absorbing fixed part912and the third shock absorbing fixed part913to prevent the shock absorbing adjusting piece950from falling off.

Referring toFIG.2CtoFIG.2G, in an optional solution of the present embodiment, the shock absorbing fixed bracket910includes a shock absorbing mounting piece940;the shock absorbing mounting piece940, the first shock absorbing fixed part911, and the second shock absorbing fixed part912are arranged on the shock absorbing fixed shaft at intervals in sequence;equipment is fixedly connected between the shock absorbing mounting piece940and the first shock absorbing fixed part911. Corresponding connecting parts of the equipment are clamped by the shock absorbing mounting piece940and the first shock absorbing fixed part911, so as to improve the connection firmness of the shock absorbing device and the equipment.

According to the shock absorbing device and the mecanum wheel with a shock absorbing device provided by the present embodiment, the shock absorbing device may be of other structures. Other features disclosed by the shock absorbing device and the mecanum wheel with a shock absorbing device are also suitable for the shock absorbing device, which will not be described in detail herein.

Referring toFIG.2ItoFIG.2J, optionally, the shock absorbing device9includes a shock absorbing fixed bracket910and a shock absorbing moving bracket920. The shock absorbing moving bracket920is fixedly connected to a connecting shaft of a wheel. For example, the shock absorbing moving bracket920is fixedly connected to the connecting shaft of the drive wheel320of the mecanum wheel3.

The shock absorbing fixed bracket910includes at least one shock absorbing fixed shaft930. The shock absorbing moving bracket920is arranged outside the shock absorbing fixed shaft930in a sleeving manner and may move reciprocally in the longitudinal direction935of the shock absorbing fixed shaft930, so that wheels, such as the mecanum wheel3, may move reciprocally in the longitudinal direction935of the shock absorbing fixed shaft930along with the shock absorbing moving bracket920. Optionally, the number of the shock absorbing fixed shaft930is one, two, four, five, or the like. Optionally, the shock absorbing fixed shafts930are arranged pairwise.

Optionally, elastic elements931that are pressed against the shock absorbing moving bracket920are arranged outside the shock absorbing fixed shaft930in a sleeving manner. The elastic elements931are in a compressed state, so as to reduce the axial reciprocating movement of the shock absorbing moving bracket920in the longitudinal direction935of the shock absorbing fixed shafts930.

Optionally, the longitudinal direction935of the shock absorbing fixed shaft930and the axial direction of a connecting shaft of a wheel are arranged at an included angle. For example, the longitudinal direction935of the shock absorbing fixed shaft930and the axial direction322of the connecting shaft321of the drive device320are arranged at an included angle. Optionally, the longitudinal direction935of the shock absorbing fixed shaft930and the axial direction of a connecting shaft of a wheel are arranged at a right angle or an approximate right angle. For example, the longitudinal direction935of the shock absorbing fixed shaft930and the axial direction322of the connecting shaft321of the drive device320are arranged at a right angle or an approximate right angle. Therefore, the two elastic elements931on the shock absorbing fixed shaft930can well reduce the shock on the equipment, such as an assistant robot, when wheels, such as the mecanum wheel3, travel.

According to the shock absorbing device, the shock generated when the wheels, such as the mecanum wheel3, travel may be absorbed by the elastic elements931through the shock absorbing fixed bracket910, the shock absorbing moving bracket920, and the elastic elements931. The shock absorbing device9is simple and compact in structure and relatively low in cost, facilitates production and processing, can well reduce the shock on the equipment, such as an assistant robot, when the mecanum wheel3travels, and can also make the structures of the equipment, such as the assistant robot, more compact.

Referring toFIG.2ItoFIG.2J, optionally, the shock absorbing fixed bracket910includes a shock absorbing fixing leveling mounting piece914and a shock absorbing fixed mounting piece915;

the shock absorbing fixing leveling mounting piece914is configured to be fixedly connected to the equipment. The shock absorbing fixing leveling mounting piece914is fixedly connected to the equipment to connect the shock absorbing device9to the equipment, and then the mecanum wheel with a shock absorbing device is connected to the equipment. The equipment, for example, may be an assistant robot and a vehicle.

The shock absorbing fixing leveling shafting piece915is detachably and fixedly connected to the shock absorbing fixed shaft930. A shock absorbing fixed shaft stop part932is formed at one end, far away from the shock absorbing fixing leveling shafting piece915, of the shock absorbing fixed shaft930. The elastic elements931and the shock absorbing moving bracket920are arranged between the shock absorbing fixed shaft stop part932and the shock absorbing fixing leveling shafting piece915. Optionally, the shock absorbing fixed shaft stop part932, the elastic elements931, the shock absorbing moving bracket920, and the shock absorbing fixing leveling shafting piece915are arranged in sequence in the longitudinal direction935of the shock absorbing fixed shaft930. Optionally, the shock absorbing fixed shaft stop part932, the shock absorbing moving bracket920, the elastic elements931, and the shock absorbing fixing leveling shafting piece915are arranged in sequence in the longitudinal direction935of the shock absorbing fixed shaft930.

The shock absorbing fixing leveling mounting piece914is hinged to the shock absorbing fixing leveling shafting piece915, and the shock absorbing fixing leveling mounting piece914and the shock absorbing fixing leveling shafting piece915are connected to leveling connecting piece917. The leveling connecting piece917may adjust the angle between the shock absorbing fixing leveling mounting piece914and the shock absorbing fixing leveling shafting piece915. The angle between the shock absorbing fixing leveling mounting piece914and the shock absorbing fixing leveling shafting piece915is finely adjusted by the leveling connecting piece917to finely adjust the angle between the equipment that is fixedly connected to the shock absorbing fixing leveling mounting piece914and the shock absorbing fixed shaft930that is fixedly connected to the shock absorbing fixing leveling shafting piece915, so as to finely adjust the angle between the equipment and a connecting shaft of wheels, such as a mecanum wheel, that is, finely adjust the perpendicularity of the wheels, such as the mecanum wheel, thereby reducing the shock of the wheels, such as the mecanum wheel, during traveling.

Referring toFIG.2J, optionally, the shock absorbing fixing leveling mounting piece914is hinged to the shock absorbing fixing leveling shafting piece915through a pin shaft916.

Referring toFIG.2ItoFIG.2J, optionally, the leveling connecting piece917is in threaded connection with the shock absorbing fixing leveling mounting piece914, and the leveling connecting piece917may penetrate through the shock absorbing fixing leveling mounting piece914to press against the shock absorbing fixing leveling shafting piece915. That is to say, a threaded hole9171that is in threaded connection with the leveling connecting piece917is formed in the shock absorbing fixing leveling mounting piece914. The leveling connecting piece917is in threaded connection with the shock absorbing fixing leveling mounting piece914, and the leveling connecting piece917is pressed against the shock absorbing fixing leveling shafting piece915, so that the distance between the shock absorbing fixing leveling mounting piece914and the shock absorbing fixing leveling shafting piece915is finely adjusted, thereby finely adjusting the angle between the shock absorbing fixing leveling mounting piece914and the shock absorbing fixing leveling shafting piece915.

Referring to FIG.FIG.2ItoFIG.2J, optionally, the shock absorbing fixing leveling mounting piece914is connected to the shock absorbing fixing leveling shafting piece915through at least one leveling connecting screw918, so that the angle between the shock absorbing fixing leveling mounting piece914and the shock absorbing fixing leveling shafting piece915is fixed by the leveling connecting screw918after being finely adjusted by the leveling connecting piece917. Optionally, the number of the leveling connecting screw918is one, two, three, five or the like. As shown inFIG.2ItoFIG.2J, the number of the leveling connecting screws918is two, and the leveling connecting piece917is connected between the two leveling connecting screws918.

Optionally, circular holes, strip-shaped holes, or slotted holes for plugging the leveling connecting screws918are formed in the shock absorbing fixing leveling mounting piece914. As shown inFIG.2J, slotted holes9181for plugging the leveling connecting screws918are formed in the shock absorbing fixing leveling mounting piece914.

As shown inFIG.2J, optionally, threaded holes9182that are threaded with the leveling connecting screws918are formed in the shock absorbing fixing leveling shafting piece915, or one surface, far away from the shock absorbing fixing leveling mounting piece914, of the shock absorbing fixing leveling shafting piece915is connected to the nuts that are in threaded connection with the leveling connecting screws918.

As shown inFIG.2ItoFIG.2J, optionally, the elastic elements931are springs. An energy absorbing element933is arranged outside the shock absorbing fixed shaft930in a sleeving manner. The energy absorbing element933may deform elastically;

the shock absorbing moving bracket920is arranged between the energy absorbing element933and the elastic element931. The spring can be prevented from being directly and rigidly connected to the shock absorbing fixed shaft stop part932through the energy absorbing element933, so as to reduce or absorb the shock generated by the spring.

Optionally, the energy absorbing element933includes a polyurethane structural part, a rubber loop, a silicone loop, or other elastic elements. The polyurethane structural part may be a polyurethane loop, a polyurethane ring, a polyurethane block, or the like.

Referring toFIG.2J, optionally, a gasket934is arranged outside the shock absorbing fixed shaft930in a sleeving manner;

the shock absorbing fixed shaft stop part932, the gasket934, the energy absorbing element933, the shock absorbing moving bracket920, the elastic elements931, and the shock absorbing fixing leveling shafting piece915are arranged in sequence in the longitudinal direction935of the shock absorbing fixed shaft930; the energy absorbing element933with elastic deformation is prevented from being in direct contact with the shock absorbing fixed shaft stop part932through the gasket934, so as to prolong the service life of the energy absorbing element933.

Referring toFIG.2ItoFIG.2J, optionally, the elastic elements931are arranged between the shock absorbing moving bracket920and the shock absorbing fixing leveling shafting piece30)915. Counterbores that are in fit connection with the elastic elements931are formed in the shock absorbing moving bracket920and/or the shock absorbing fixing leveling shafting piece915. The fit degree between the elastic element931and the shock absorbing moving bracket920or the shock absorbing fixing leveling shafting piece915is improved through the counterbores.

Referring toFIG.2ItoFIG.2J, optionally, a shock absorbing fixed shaft threaded part is arranged at one end, far away from the shock absorbing fixed shaft stop part932, of the shock absorbing fixing leveling shafting piece915. A threaded hole that is in threaded connection with the shock absorbing fixed shaft threaded part is formed in the shock absorbing fixing leveling shafting piece915. The compressed sizes of the elastic elements931may be adjusted by the threaded connection between the shock absorbing fixed shaft threaded part and the shock absorbing fixing leveling shafting piece915, so as to finely adjust the elastic force of the elastic element931.

Optionally, a bearing is arranged between the shock absorbing moving bracket920and the shock absorbing fixed shaft930. The mounting between the shock absorbing fixed shaft930and the shock absorbing moving bracket920is facilitated through the bearing, meanwhile, the mounting accuracy between the shock absorbing fixed shaft930and the shock absorbing moving bracket920can also be improved, and the noise produced by the shock absorbing moving bracket920and the shock absorbing fixed shaft930can also be reduced.

The present embodiment provides a chassis. The chassis includes the mecanum wheel with a shock absorbing device. The technical features of the mecanum wheel and the mecanum wheel with a shock absorbing device disclosed above are also suitable for the chassis.

FIG.3AandFIG.3Bare two schematic structural diagrams of a chassis provided by the present embodiment.

Referring toFIG.3AandFIG.3B, the chassis includes at least one pair of mecanum wheels with shock absorbing devices. The shock transferred to the chassis by the mecanum wheel3can be retarded by the mecanum wheel with a shock absorbing device, so that the shock of the overall chassis when traveling on a road surface may be effectively retarded, thereby ensuring the stability and the horizontality of the equipment with the chassis in a moving process. By using the mecanum wheel with a shock absorbing device, the structure of the chassis may also be simplified, and the cost of the chassis may also be reduced.

In an optional solution of the present embodiment, the chassis includes a chassis cross beam424and two fixed beams421. The chassis cross beam is424is fixedly connected to the two fixed beams421;the extension direction of the fixed beam421is the traveling direction of the chassis. The fixed beam421is connected to the shock absorbing device9of the mecanum wheel with a shock absorbing device;the pairwise arranged mecanum wheels with the shock absorbing devices are arranged on the same ends of the fixed beams421, and each of the fixed beams421is at least connected to one mecanum wheel with a shock absorbing device so as to reduce the shock generated on the chassis by the mecanum wheel3, thereby improving the stability and the horizontality of the chassis in a moving process.

In an optional solution of the present embodiment, the two ends of each of the fixed beams421are respectively connected to the shock absorbing devices9of the mecanum wheels with shock absorbing devices. That is to say, the chassis is provided with four mecanum wheels with the shock absorbing devices. The mecanum wheels with shock absorbing devices are arranged in the four corners of the chassis to further reduce the shock generated on the chassis by the mecanum wheels3, so as to improve the stability and the horizontality of the chassis in a moving process.

In the present embodiment, in the traveling direction of the chassis, a pair of the mecanum wheels3with shock absorbing devices may be arranged at two ends of the chassis, or a pair of the mecanum wheels3with shock absorbing devices may be arranged at one end of the chassis, and ordinary rollers or rollers with a shock absorbing function are arranged at the other end of the chassis.

Optionally, for example, one end of the fixed beam421is connected to a mecanum wheel with a shock absorbing device, and the other end of the fixed beam is connected to a roller through a second shock absorbing device9. The second shock absorbing device9includes a strut and a second shock absorber. An end part of the strut is hinged to the second shock absorber. The strut is hinged to the fixed beam421. The second shock absorber is hinged to the fixed beam421. A roller shaft of a roller is fixedly connected to the strut.

Optionally, the roller is the mecanum wheel3, a connecting shaft321of the drive device320of the mecanum wheel3is fixedly connected to the strut.

Optionally, the second shock absorber is a hydraulic shock absorber or a spring shock absorber.

Optionally, the fixed beam421is fixedly connected to a shock absorbing cover425which covers the shock absorbing device9. The shock absorbing device9is protected by the shock absorbing cover425.

Referring toFIG.3B, optionally, the pairwise arranged mecanum wheels with shock absorbing devices are connected through a chassis wheel axle426. The chassis wheel axle426is connected to the pairwise arranged mecanum wheels with shock absorbing devices to improve the connecting rigidity between the pairwise arranged mecanum wheels with shock absorbing devices, so that the shock of the chassis may be reduced to a certain extent.

The present embodiment provides an assistant robot. The assistant robot includes the chassis. The technical features of the mecanum wheel, the mecanum wheel with the shock absorbing device, and the chassis disclosed above are also suitable for the assistant robot.

Referring toFIG.4AtoFIG.4D,FIG.4AandFIG.4Bare perspective schematic structural diagrams of an assistant robot provided by the present embodiment from two angles.FIG.4Cis a schematic structural diagram of a hip supporting strap provided by the present embodiment.FIG.4Dis a schematic structural diagram of a waist holding strap provided by the present embodiment.

Referring toFIG.4AtoFIG.4D, the assistant robot includes a chassis42, and further includes a hip supporting strap1, a waist holding strap2, and a robot body4. The chassis42and a lifting support mechanism6are arranged on the robot body4. The lifting support mechanism6includes a chest pressing plate61. First connecting pieces62is arranged on a lower end surface of the chest pressing plate61, and second connecting pieces63are arranged on a side wall of the chest pressing plate. The hip supporting strap1is provided with third connecting pieces11that are matched and butted with the first connecting pieces62. The waist holding strap2is provided with fourth connecting pieces21that are matched and butted with the second connecting pieces63. Optionally, the chassis42is arranged at the bottom of the robot body. Optionally, a footrest supporting plate5is arranged on the chassis42.

Compared with the prior art, the assistant robot of the present embodiment has the following advantages:

According to the assistant robot provided by the present embodiment, the assistant robot may be controlled to perform posture transformation, horizontal movement, or rotation movement by laying the hip supporting strap1, enabling a user to move here and sit down, then connecting the third connecting pieces11on the hip supporting strap1to the first connecting pieces62on the assistant robot, placing the waist holding strap2on the back wait of the user, connecting the fourth connecting pieces21on the waist holding strap2to the second connecting pieces63on the assistant robot, and finally, tightening the hip supporting strap1and the waist holding strap2to make the hip supporting strap1and the waist holding strap2be in tight fit with the hip and the waist of the user. It can be known from the analysis that the assistant robot provided by the present embodiment can ensure that the user has a standing posture and a sitting posture, and can also effectively lighten the weight of the overall robot, so as to simplify the structure of the assistant robot, thereby effectively improving the flexibility thereof.

To effectively improve the connecting firmness of the hip supporting strap1and the waist holding strap2, as shown inFIG.4A, the first connecting pieces62may useannular buckles, and the second connecting pieces may use aviation lock catches. Correspondingly, the third connecting pieces11may use ISOFIX connectors, and the fourth connecting pieces21may use aviation insertion pieces.

Specifically, as shown inFIG.4C, the hip supporting strap1may include a hip supporting body12, and a hip supporting adjusting belt13arranged on the hip supporting body12. The ISOFIX connector may be arranged at a free end of the hip supporting adjusting belt13, so that the fixation of the hip supporting strap1may be realized by butting the ISOFIX connector and the annular buckle. As shown inFIG.4D, the waist holding strap2may include a waist holding body22and a waist holding adjusting belt23arranged on the waist holding body22. The aviation insertion piece may be arranged on at a free end of the waist holding adjusting belt23, so that the fixation of the waist holding strap2may be realized by butting the aviation insertion piece and the aviation lock catch.

The full name of the ISOFIX is “International Standards Organisation FIX”, and its Chinese meaning is international standards organisation fixing device.

It should be added that the hip supporting body12and the waist holding body22may respectively include: an outer leather layer, an intermediate sponge filling layer, and an inner anti-skid cloth layer, and the edges of the corresponding sides of the leather layer and the anti-skid cloth layer may be movably connected through a zipper or a snap button, so that the sponge filling layer is a detachable structural part. Therefore, the sponge filling layer may be placed in when the assistant robot is used in winter, and may be taken out when the assistant robot is used in summer. In addition, the anti-skid cloth layer may be provided with a latticed ventilation mesh, so that the air permeability of the hip supporting body is effectively improved through the latticed ventilation mesh, thereby effectively avoiding an obvious sweating phenomenon of the user caused by the hip supporting strap. Optionally, the latticed ventilation mesh which is uniformly distributed on the anti-skid cloth may also be dispensed adhesive, so that an anti-skid effect is further effectively improved through the arrangement of the dispensed adhesive.

Further, in order to effectively ensure the comfort level of the hip supporting strap1and the waist holding strap2, the thickness of the sponge filling layer may be 3 cm.

In order to make the hip supporting strap1and the waist holding strap2be capable of adapting to users of different figures well, adjustment buckles may be arranged on the hip supporting strap1and the waist holding strap2in a penetrating manner, so that the lengths of the hip supporting strap1and the waist holding strap2may be effectively adjusted by the adjustment buckles; therefore, the hip supporting strap1and the waist holding strap2may be adapted to the users of different figures well.

Optionally, as shown inFIG.4A, the robot body4may include a vehicle body41, and a chassis42connected to a bottom end area of the vehicle body41. In actual assembling, the lifting support mechanism6may be connected to the vehicle body41, and the footrest supporting plate5is arranged on the chassis42.

In an optional solution of the present embodiment, referring toFIG.4AandFIG.4B, the lifting support mechanism6may include a support rod64. One end of the support rod64is hinged to the robot body4. A console65is arranged at the other end of the support rod. The console65may be connected to handles66and a chest pressing plate61. A drive assembly67is further connected between the support rod64and the robot body4, so that the drive assembly67may make the support rod64in a first state or a second state, and be capable of switching between the first state and the second state.

It should be added that the first state may correspond to a sitting posture, and the second state may correspond to a standing posture. The drive assembly67may be an electric push rod. When the electric push rod extends out, the support rod64is in a vertical state and corresponds to the second state (standing posture). When the electric push rod retracts, the support rod64is in a horizontal state and corresponds to the first state (sitting posture). Of course, the drive assembly67may also be a hydraulic push rod, a pneumatic push rod, or the like, which is not limited here.

In addition, the handles66, the chest pressing plate61, and the support rod64are arranged integrally, which is beneficial to the stability and safety when the user changes his posture.

Optionally, as shown inFIG.4B, when the support rod64is in the first state (sitting posture), the assistant robot has the height lower than 0.8 meter, so it may move under the table to ensure that the user completes work at a desk or daily dining.

It should be added that the user may be in contact with a closestool by his hips to complete preparation of defecation by releasing the hip supporting strap1and descending the lifting support mechanism6, and may be driven, by ascending the lifting support mechanism6, to stand up from the closestool through the waist holding strap2fixed to the back.

Optionally, as shown inFIG.4B, the support rod64may include: a primary rod641and a secondary rod642that is arranged in the primary rod641in a penetrating manner. The secondary rod642may be connected to the primary rod641through a movable piece643, and the secondary rod642may be moved in the primary rod641telescopically and fixed through the movable piece643, so that the height of the support rod64is adjusted to adapt to the users of different heights (for example 150 cm to 190 cm).

Optionally, a power switch and at least two gears of speed regulating switches may be arranged on the console65; in addition, a groove is formed in the console65. The groove may be configured to hold a remote control7and charge the remote control7.

Optionally, a control assembly is arranged in the robot body4. The control assembly is connected to the drive assembly67, and is configured to control the support rod64to ascend and descend. In addition, the remote control may be connected to the control assembly in a wireless connection manner, so that the remote control may remotely control the assistant robot to move.

Optionally, to effectively improve the safety of the assistant robot, when the power switch is turned on, the assistant robot is in a braking state by default. In addition, a control switch is arranged on the remote control7, and when both the control switch and the power switch are in an on-state, the remote control7may remotely control the assistant robot to move, or control the assistant robot to perform posture transformation, horizontal movement, or rotation movement.

It should be added that an ascending key, a descending key, a direction rocker, a clockwise rotating key, and a counterclockwise rotating key are arranged on the remote control7. The ascending and descending height is adjusted to realize the functions of standing and sitting by pressing the ascending key and the descending key. The horizontal movement in four directions of forward, backward, leftward, and rightward may be realized by rocking the direction rocker with a hand. Rotating movement of the robot is realized by pressing the clockwise rotating key and the counterclockwise rotating key.

In addition, a lighting lamp on-off key and an SOS key may further be arranged on the remote control7. A lighting lamp on a host of the robot is remotely controlled to be turned on or turned off by pressing the lighting lamp on-off key. An alarm for calling for help may be realized immediately by pressing the SOS key. When the host of the robot is in an activated state, the host of the robot gives an alarm for calling for help simultaneously (the alarm for calling for help is stopped by pressing the SOS key again).

Optionally, the chest pressing plate61may include: an EVA filling layer, and a leather layer that coats outside the EVA filling layer. In addition, two sides of the lower end of the chest pressing plate61may be of arc-shaped structures that are folded upwards, so that a space between the chest pressing plate61and legs is effectively enlarged after the chest pressing plate61is descended, thereby improving the comfort level.

EVA refers to ethylene-vinyl acetate copolymer, and a rubber and plastic foaming material made from the ethylene-vinyl acetate copolymer.

Optionally, as shown inFIG.4A, the chassis42may include: fixed beams421, and movable beams423that are connected to the fixed beams421through fixing pieces422. In specific assembling, the mecanum wheels3are connected to the fixed beams421, and the footrest supporting plate5is connected to the movable beams423, so that the movable beams423may drive the footrest supporting plate5to move in the direction, far away from or close to a vehicle body41, relative to the fixed beams421and be fixed through the fixing pieces422, thereby adapting to the users of different heights and figures better.

Optionally, as shown inFIG.4A, the assistant robot provided by the present embodiment may further include: a knee pressing mechanism8connected to the vehicle body41. The knee pressing mechanism8may include: a horizontal beam81. One end of the horizontal beam81is connected to the vehicle body41. The other end of the horizontal beam81is connected to a cross beam82. Two knee pressing plates83that are movably connected are symmetrically arranged on the cross beam82.

Optionally, as shown inFIG.4A, the horizontal beam81may include: a primary beam811and a secondary beam812. One end of the primary beam811is connected to the vehicle body41. One end of the secondary beam812is arranged in the primary beam811in a penetrating manner, and the other end of the secondary beam is connected to the knee pressing plates83, so that the secondary beam812may drive the knee pressing plates83to move in the direction, far away from or close to the vehicle body41, relative to the primary beam811and be fixed, thereby adapting to the users of different heights and figures better.

Optionally, connecting holes are formed in the cross beam82, and a strip-shaped groove is longitudinally formed in the knee pressing plate83, so when the connecting holes correspond to different positions of the strip-shaped groove and are fixed by bolts, the knee pressing plate83may be located at different heights, thereby adapting to the users of different heights and figures better.

Optionally, as shown inFIG.4A, the knee pressing plate83may include: an intermediate plate833connected to the cross beam82, and an inner side plate834and an outer side plate835that are respectively connected to the two sides of the intermediate plate833. In addition, the size of the outer side plate835is preferably greater than that of the inner side plate834. This design may adapt to the users with different thigh thicknesses, and may also prevent the users from knock knees.

Preferably, a soft package material structural part is arranged on one side, in contact with the user, of the knee pressing plate83, so that the comfort level may be effectively improved.

Optionally, a lighting lamp411may be arranged on the front side of the vehicle body41. An indicating lamp may also be arranged on the vehicle body41. Specifically, the indicating lamp may include: any one or more of a charging standby state (for example, green is normally on), a startup charging state (for example, green is flashing), a normal startup state (for example, blue is flashing), a standby state (the blue is normally on), and an alarm state (red is flashing).

The assistant robot provided by the present embodiment may further include: a sound prompt device. The sound prompt device may be configured to prompt the state of the assistant robot, or give a hazard alarm.

In addition, a square metal tube transversely fixed to the front of the vehicle body41may be an anti-collision beam.

The present embodiment further provides a control method for an assistant robot. The assistant robot is provided with a power switch, and remote control is provided with a control switch. When the power switch is turned on, the assistant robot is in a braking state by default. When both the control switch and the power switch are in an on-state, the remote control may remotely control the assistant robot to move, or control the assistant robot to perform posture transformation, horizontal movement, or rotation movement.

The assistant robot and the control method thereof provided by the present embodiment can ensure that the user has a standing posture and a sitting posture, and can also effectively lighten the weight of the overall robot and simplify the structure of the assistant robot, thereby effectively improving the flexibility thereof.

In addition, in the control method for the assistant robot provided by the present embodiment, when the power switch is turned on, the assistant robot is in the braking state by default, so that the safety of the user may be effectively improved. When both the control switch and the power switch are in an on-state, the remote control can remotely control the assistant robot to move, or control the assistant robot to perform posture transformation, horizontal movement, or rotation movement, so that the assistant robot is more convenient and faster to use.

According to the assistant robot provided by the present embodiment, the parts, in contact with a human body, of the assistant robot all adopt ergonomic designs. Textiles are firm and comfortable, and facilitate wearing of users.

The remote control may remotely control the assistant robot to perform various types of plane movement, may also be carried on a robot matrix for use, and carried on the robot to prompt the electric power that may be provided by the robot body. All movement operations of the robot are controlled by the remote control. The remote control may also operate to turn on or turn off the lamp, call for help, remotely control the robot to start up or shut down, and the like.

Adaptive users, for example, may include the following groups: 1. users with paraplegia due to disease or trauma and capacity of controlling their hands; 2. people whose legs are unable to travel normally due to disease or aging; 3. people who can stand with the help of external facilities, such as crutches.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions disclosed by the present disclosure, not to limit them. Although the present disclosure has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: modifications may still be made to the technical solutions recorded in the above-mentioned embodiments, or equivalent replacements may be made to some or all of the technical features therein. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure.

INDUSTRIAL APPLICABILITY

In conclusion, the present disclosure provides a mecanum wheel, a chassis, and an assistant robot. The mecanum wheel is compact in structure, and may form the mecanum wheel integrated with a drive device and a mecanum wheel body.