CN205818794U - Wheel and there is the vehicle of this wheel - Google Patents

Abstract

The utility model discloses a wheel and a vehicle with the wheel. The wheel comprises: a wheel frame, the wheel frame is rotatable around the rotation axis of the wheel frame, the wheel frame includes three sub-supports, and the three sub-supports arranged at intervals along the circumference of the wheel; three mecanum wheels, the three mecanum wheels are rotatably arranged on the three sub-brackets around their respective rotation axes one by one, and the three The projection of the rotation axis of the Mecanum wheel on a plane perpendicular to the rotation axis of the wheel frame is the three vertices of an equilateral triangle, and the projection of the rotation axis of the wheel frame on the plane is the equilateral triangle. The center of the side triangle. The vehicle according to the embodiment of the utility model can adapt to uneven terrain and realize omnidirectional movement, flexible turning and simple structure.

Description

Wheels and vehicles with such wheels

technical field

The utility model relates to the technical field of wheels, in particular to a wheel and a vehicle with the wheel.

Background technique

Vehicles with mecanum wheels can make full use of the characteristics of mecanum wheels to realize omnidirectional movement, such as moving forward, moving laterally, obliquely, rotating and combinations thereof. In the related art, vehicles with mecanum wheels have too high requirements on the smoothness of the terrain, and cannot adapt to uneven terrain, such as terrain with steps, and there is room for improvement.

Utility model content

The utility model aims to solve one of the technical problems in the related art at least to a certain extent. For this reason, an object of the present invention is to propose a wheel that can adapt to uneven terrain.

Another object of the present utility model is to propose a vehicle with the wheel.

The wheel according to the first aspect of the present invention includes: a wheel frame, the wheel frame is rotatable around the rotation axis of the wheel frame, and the wheel frame includes three sub-supports, and the three sub-supports are spaced along the circumference of the wheel Setting; three Mecanum wheels, the three Mecanum wheels are rotatably arranged on the three sub-supports around their respective rotation axes one by one, and the rotation of the three Mecanum wheels The projection of the axis on a plane perpendicular to the rotation axis of the wheel frame is the three vertices of an equilateral triangle, and the projection of the rotation axis of the wheel frame on the plane is the center of the equilateral triangle.

According to the wheel of the utility model, the wheel can realize omnidirectional movement, has the ability to cross obstacles, can turn flexibly, can well adapt to uneven terrain, can cross stairs and high slopes, and has a wide range of applications.

The wheel also includes: an input shaft, the central axis of which coincides with the rotation axis of the wheel frame, and the wheel frame is rotatably supported on the input shaft; three output shafts, three output shafts The central axis of the shaft coincides with the rotation axes of the three mecanum wheels in one-to-one correspondence, and the three mecanum wheels are connected to the three output shafts in one-to-one correspondence; three transmission assemblies, three The transmission assembly corresponds to the three output shafts one by one, and each transmission assembly is connected between the input shaft and the corresponding output shaft.

Each of the transmission assemblies is a one-stage transmission assembly or a multi-stage transmission assembly, and any one of the one-stage transmission assembly or the multi-stage transmission assembly is a belt transmission or a chain transmission or a one-stage gear transmission.

Each of the transmission assemblies is a two-stage transmission assembly and includes a first-stage transmission set and a second-stage transmission set; the first-stage transmission set includes an intermediate transmission shaft, a first gear and a second gear that mesh with each other, and each The two intermediate transmission shafts are rotatably supported on the corresponding sub-supports, the first gear is sleeved and fixed on the input shaft, and the second gear is sleeved and fixed on the intermediate transmission shaft , and the three first transmission assemblies share one first gear; the second-stage transmission set includes a first pulley, a second pulley, and a pulley connected between the first pulley and the second pulley The transmission belt in between, the first pulley is sleeved and fixed on the intermediate transmission shaft, and the second pulley is sleeved and fixed on the output shaft.

The second-stage transmission group also includes a tension adjustment device, which is fixed on the sub-frame and used to adjust the tension of the transmission belt.

Both the first pulley and the second pulley have meshing teeth, the transmission belt has tooth grooves, and the meshing teeth are adapted to mesh with the tooth grooves.

Each of the sub-supports includes a first support plate and a second support plate oppositely arranged, and the two ends of the input shaft are respectively supported on the first support plate and the second support plate, and the output shaft The two ends of the support plate are respectively supported on the first support plate and the second support plate, the transmission assembly is located between the first support plate and the second support plate, and the Mecanum wheel is located on the The side of the first support plate away from the second support plate.

The rotation axis of each of the mecanum wheels is parallel to the rotation axis of the wheel frame.

The vehicle according to the second aspect of the present utility model includes: a vehicle frame and the wheel according to the first aspect, and the wheel is rotatably arranged on the vehicle frame around the rotation axis of the wheel frame of the wheel.

According to the vehicle of the utility model, the vehicle has a simple structure, can realize omnidirectional movement, has the ability to cross obstacles, can turn flexibly, can well adapt to uneven terrain, can cross stairs and high slopes, and has a wide range of applications.

The wheels are movably arranged on the vehicle frame along the front-rear direction of the vehicle frame and can be fixed at any position within the moving range, so that the versatility of the vehicle is better.

Description of drawings

Fig. 1 is a schematic diagram of the results of a viewing angle of a wheel according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of the result of another viewing angle of the wheel according to the embodiment of the present invention;

Fig. 3 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.

Reference signs:

Vehicle 1000, wheel 100, wheel frame 1, sub-support 11, first support plate 111, second support plate 112, connecting plate 113, mecanum wheel 2, input shaft 3, output shaft 4, transmission assembly 5, intermediate transmission Shaft 51, first gear 52, second gear 53, transmission belt 56, tension adjustment device 57, coupling 61, input shaft bearing 62, vehicle frame 7, first connecting piece 81, second connecting piece 82, first The guide rail 83 , the second guide rail 84 , the first buffer structure 91 , the second buffer structure 92 , the spring damper 910 , the rotation axis L1 of the wheel frame, and the rotation axis L2 of the mecanum wheel.

detailed description

Embodiments of the invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

A wheel 100 according to an embodiment of the present invention will be described below with reference to FIGS. 1-3 . As shown in FIGS. 1-3 , a wheel 100 according to an embodiment of the present invention includes a wheel frame 1 and three mecanum wheels 2 .

As shown in Figures 1 and 2, the wheel frame 1 is rotatable around the wheel frame rotation axis L1, the wheel frame 1 includes three sub-supports 11, and the three sub-supports 11 are arranged at intervals along the circumference of the wheel 100, that is, the three sub-supports 11 surround the wheel The rack rotation axes L1 are spaced apart.

The three mecanum wheels 2 are rotatably arranged on the three sub-supports 11 around their respective rotation axes L2 in one-to-one correspondence, that is, each mecanum wheel 2 has a rotation axis L2 corresponding to the mecanum wheel 2 , the three mecanum wheels 2 correspond to the three sub-supports 11 one by one, and one mecanum wheel 2 is rotatably arranged on the corresponding sub-support 11 around the rotation axis L2 of the mecanum wheel 2 .

The projection of the rotation axis L2 of the three Mecanum wheels 2 on a plane perpendicular to the rotation axis L1 of the wheel frame is the three vertices of an equilateral triangle, and the projection of the rotation axis L1 of the wheel frame on the plane is the projection of the equilateral triangle center.

That is to say, on a plane perpendicular to the rotation axis L1 of the wheel frame, the projections of the three Mecanum wheels 2 on this plane are three triangles of an equilateral triangle centered on the projection of the rotation axis L1 of the wheel frame on this plane. vertices. Thus, the wheel 100 as a whole rotates about the wheel frame rotation axis L1, and the rotation is stable, and the structural balance of the wheel 100 is good.

Preferably, as shown in Figures 1 and 2, one end of the three sub-supports 11 intersects at one point, and the other end is a free end, and the Mecanum wheel 2 is rotatably arranged at the free end of the corresponding sub-support 11, further, The three sub-supports 11 are evenly spaced along the circumference of the wheel 100 . Therefore, the wheel frame 1 has simple structure, high structural strength, easy manufacture, more stable rotation and better balance performance.

As shown in Figures 1 and 2, there is an interval between any two adjacent sub-supports 11, and each mecanum wheel 2 is rotatably set on the corresponding sub-support 11, so that any two adjacent microphones There is also a space between the nam wheels 2 .

According to the wheel 100 of the embodiment of the present invention, by arranging three sub-supports 11 spaced apart along the circumference of the wheel 100, the wheel 100 can move on uneven terrain, such as climbing stairs, steps, etc. The mecanum wheel 2 is set on the sub-support 11, thereby utilizing the omnidirectional movement characteristics of the mecanum wheel 2 to realize omnidirectional movement, so that the wheel 100 combines the wheel frame 1 to climb stairs, steps, and cross uneven terrain. The ability and the mecanum wheel 2 can keep the posture of the vehicle 1000 unchanged and the ability to move in multiple directions, and it can turn flexibly, which solves the defect that the mecanum wheel 2 has too high requirements on the flatness of the terrain and the wheel frame 1 is not easy to turn problem, so that the vehicle 1000 with the wheel 100 can travel freely in places with narrow terrain and has a certain ability to overcome obstacles (such as crossing steps, high slopes, etc.), and has good adaptability to different terrains, so that the vehicle with the wheel 100 and The vehicle 1000 with the wheel 100 is more widely used, for example, the wheel 100 can be used on the vehicle 1000 for patrolling and detonation in stations, airports and other places.

Some specific embodiments of the wheel 100 according to the embodiment of the present utility model will be described in detail below with reference to FIGS. 1-3 . As shown in FIGS. 1 and 2 , a wheel 100 according to an embodiment of the present invention includes a wheel frame 1 , three mecanum wheels 2 , an input shaft 3 , three output shafts 4 and three transmission assemblies 5 .

As shown in Figures 1 and 2, the wheel frame 1 is rotatable around the wheel frame rotation axis L1, the central axis of the input shaft 3 coincides with the wheel frame rotation axis L1, and the wheel frame 1 is rotatably supported on the input shaft 3, that is, the wheel The frame 1 is rotatable around the input shaft 3, so as to realize obstacle climbing.

As shown in FIGS. 1 and 2 , the wheel frame 1 includes three sub-supports 11 , and the three sub-supports 11 are arranged at intervals around the circumference of the input shaft 3 . Specifically, as shown in FIG. 1 and FIG. 2 , the wheel frame 1 is supported on the input shaft 3 through the input shaft bearing 62 , and optionally, the input shaft bearing 62 is a flange bearing, so that the installation is convenient.

The three mecanum wheels 2 are rotatably arranged on the three sub-supports 11 one by one around their respective rotation axes L2, and the central axes of the three output shafts 4 and the rotation axes L2 of the three mecanum wheels 2 are one by one Corresponding coincidence, that is, the central axis of each output shaft 4 coincides with the rotation axis L2 of the corresponding mecanum wheel 2, and the three mecanum wheels 2 are connected with the three output shafts 4 in one-to-one correspondence. The thumb wheel 2 all rotates with the corresponding output shaft 4.

As shown in FIG. 1 and FIG. 2 , each mecanum wheel 2 is connected to the corresponding output shaft 4 through a coupling 61 , so that the connection is stable, the cushioning performance is good, the structure is simple, and the installation is convenient.

The three transmission assemblies 5 correspond to the three output shafts 4 one by one, one transmission assembly 5 corresponds to one output shaft 4, each transmission assembly 5 is connected between the input shaft 3 and the corresponding output shaft 4, and the transmission assembly 5 is used for The power on the input shaft 3 is transmitted to the output shaft 4, thereby driving the mecanum wheel 2 connected with the output shaft 4 to rotate.

Specifically, the input shaft 3 can be driven to rotate by a motor, for example, the input shaft 3 can be connected with the output shaft of the motor.

Further, as shown in FIG. 1 and FIG. 2, each sub-support 11 includes a first support plate 111 and a second support plate 112 oppositely arranged, and the two ends of the input shaft 3 are respectively supported on the first support plate 111 and the second support plate. On the support plate 112, that is, one end of the input shaft 3 is supported on the first support plate 111, and the other end of the input shaft 3 is supported on the second support plate 112; the two ends of the output shaft 4 are respectively supported on the first support plate 111 and On the second support plate 112, that is, one end of the output shaft 4 is supported on the first support plate 111, and the other end of the output shaft 4 is supported on the second support plate 112; the transmission assembly 5 is located between the first support plate 111 and the second support plate. Between the plates 112, the structure of the wheel 100 is compact and small, which is convenient for use in narrow places. The mecanum wheel 2 is located on the side of the first support plate 111 away from the second support plate 112, that is, the mecanum wheel 2 It is located on one side of the wheel frame 1, so that the installation and disassembly of the wheel 100 is more convenient, and the maintenance and replacement of the mecanum wheel 2 is more convenient, and at the same time, the ability of the wheel 100 to cross obstacles is further improved, and the structure of the wheel 100 is simpler.

When the wheel 100 is working, the rotation of the input shaft 3 is transmitted to the output shaft 4 through the transmission assembly 5, and the output shaft 4 drives the connected Mecanum wheel 2 to rotate, thereby realizing the omnidirectional movement of the wheel 100, and because the wheel frame 1 adopts With three spaced apart sub-supports 11, the wheel 100 can also span uneven terrain, such as climbing stairs, steps, high slopes and other terrains.

Thus, according to the wheel 100 of the embodiment of the present utility model, by setting the input shaft 3, the output shaft 4 and the transmission assembly 5, wherein the output shaft 4 is arranged on the sub-support 11, and the transmission assembly 5 is arranged on the input shaft 3 and the output shaft 4 Thereby, the omnidirectional movement of the wheel 100 and the ability to pass through uneven terrain are realized through a simple structure.

In some optional embodiments, each transmission assembly 5 can be a one-stage transmission assembly or a multi-stage transmission assembly, that is, the power of the input shaft 3 can be transmitted to the output shaft 4 through the one-stage transmission assembly, and the power of the input shaft 3 It can also be transmitted to the output shaft 4 through a multi-stage transmission assembly.

Optionally, any one stage of the one-stage transmission assembly or the multi-stage transmission assembly is a belt transmission or a chain transmission or a one-stage gear transmission. For example, in some optional embodiments, each transmission assembly 5 is a primary transmission assembly, and the primary transmission assembly includes a first gear 52 and a second gear 53 that mesh with each other, and the first gear 52 can be sleeved Fixed on the input shaft 3, so that the first gear 52 rotates synchronously with the input shaft 3, the second gear 53 can be sleeved and fixed on the output shaft 4, so that the second gear 53 rotates synchronously with the output shaft 4, and the three The transmission assembly 5 shares a first gear 52, so that the three transmission assemblies 5 form a planetary gear train, the shared first gear 52 becomes the sun gear of the planetary gear train, and the three second gears 53 are planets of the planetary gear train wheel. Such a transmission assembly 5 has the advantages of compact structure, small volume, small mass, large carrying capacity, large transmission power range and transmission range, low running noise, high efficiency and long life.

In other optional embodiments, each transmission assembly 5 is a primary transmission assembly, and the primary transmission assembly includes a first pulley, a second pulley, and a pulley connected to the first pulley and the second pulley. Between the drive belt 56, the first pulley is set and fixed on the input shaft 3 to rotate synchronously with the input shaft 3, and the second pulley is set and fixed on the output shaft 4 to rotate synchronously with the output shaft 4, thus the transmission assembly 5 has good buffering and shock absorption effect, simple structure and low cost.

Preferably, in the embodiment where the primary transmission component is belt transmission, the belt transmission is a synchronous belt transmission, so that the transmission component 5 can ensure an accurate transmission ratio, and is suitable for higher speed, large transmission ratio, and high transmission efficiency , Low transmission noise, good wear resistance and no oil lubrication, long service life.

In still some optional embodiments, each transmission assembly 5 is a primary transmission assembly, and the primary transmission assembly includes a first sprocket, a second sprocket, and Between the chain, the first sprocket is set and fixed on the input shaft 3 to rotate synchronously with the input shaft 3, and the second sprocket is set and fixed on the output shaft 4 to rotate synchronously with the output shaft 4, thus manufacturing and installing The precision requirement is low, and the transmission structure is simple.

Taking each transmission assembly 5 as an example, the two-stage transmission assembly can include a first-stage transmission group and a second-stage transmission group, and any one of the first-stage transmission group and the second-stage transmission group is a belt transmission Or chain drive or one-stage gear drive, that is to say, the first-stage transmission group can adopt one of the transmission forms of belt drive, chain drive or one-stage gear drive, and the second-stage transmission group can also use belt drive or chain drive. Or a transmission form in the primary gear transmission, so that the secondary transmission assembly has six groups and transmission forms.

When the first-stage transmission group and the second-stage transmission group both adopt one-stage gear transmission, the transmission ratio is accurate, stable, high in efficiency, high in working reliability, and long in service life; when the first-stage transmission group and the second-stage transmission group When belt transmission is used, the buffering and vibration absorption effect is good, the structure is simple, and the cost is low; when the first-stage transmission group and the second-stage transmission group both use chain transmission, the requirements for manufacturing and installation accuracy are low, and the transmission structure is simple; when the first When the first-stage transmission group and the second-stage transmission group adopt different transmission forms, the advantages of the two transmission forms are taken into account.

It can be understood that each transmission assembly 5 is an N-stage transmission assembly, and the embodiment when N>2 can be understood with reference to the description of the embodiment in which each transmission assembly 5 is a two-stage transmission assembly, and will not be described in detail here. Wherein, the selection of the number of stages of the transmission assembly 5 can be determined according to the actual required speed ratio and the specific form of the terrain to be climbed.

A preferred embodiment of the transmission assembly 5 according to the embodiment of the present invention will be described in detail below with reference to FIGS. and the second stage transmission group.

As shown in Figures 1 and 2, the first-stage transmission group includes an intermediate transmission shaft 51, a first gear 52 and a second gear 53 meshing with each other, and each intermediate transmission shaft 51 is rotatably supported on the corresponding sub-support 11 Above, the first gear 52 is sleeved and fixed on the input shaft 3, so that the first gear 52 can rotate synchronously with the input shaft 3, and the second gear 53 is sleeved and fixed on the intermediate transmission shaft 51, so that the second gear 53 can rotate with the input shaft 3 The intermediate transmission shaft 51 rotates synchronously, and the three first-stage transmission groups share a first gear 52, so that the three first-stage transmission groups form a planetary gear train, share a first gear 52 to become a sun gear, and three second-stage transmission groups The gears 53 are all planetary gears.

As shown in Figures 1 and 2, the second-stage transmission group includes a first pulley, a second pulley and a transmission belt 56 connected between the first pulley and the second pulley, and the first pulley is sleeved and fixed on On the intermediate transmission shaft 51 , the second pulley is sheathed and fixed on the output shaft 4 , and the first pulley and the second gear 53 are sequentially arranged on the intermediate transmission shaft 51 along the axial direction of the intermediate transmission shaft 51 .

That is to say, the input shaft 3 and each intermediate transmission shaft 51 adopt gear transmission, and three first-stage transmission groups form a planetary gear train, and the intermediate transmission shaft 51 and the corresponding output shaft 4 adopt belt transmission, so that the input shaft The transmission efficiency between 3 and the intermediate transmission shaft 51 is high, the structure is simple, more stable and high in reliability, the transmission between the intermediate transmission shaft 51 and the corresponding output shaft 4, the effect of buffering and vibration absorption is good, the structure is simple, and the cost is low. By adopting the above-mentioned two-stage transmission assembly, the advantages of gear transmission and belt transmission are combined, and the installation is convenient.

Further, the second-stage transmission group can also include a tension adjustment device 57, which can be fixed on the sub-support 11 for adjusting the tension of the transmission belt 56, thereby further ensuring the transmission stability of the transmission assembly 5 sex. Specifically, the tension adjustment device 57 can be fixed on the sub-bracket 11 by a threaded fastener, and the wheel frame 1 also includes a connecting plate 113, and the connecting plate 113 is connected with the first support plate 111 and the second support plate 112, and the tension The adjusting device 57 is fixed on the connecting plate 113, so that the connecting plate 113 can not only strengthen the connection strength of the sub-support 11, but also serve as an installation carrier of the tension adjusting device 57, so that the structure of the wheel frame 1 is more compact.

In the specific embodiment shown in Figure 1 and Figure 2, the first-stage transmission set adopts gear transmission, the second-stage transmission set adopts belt transmission, and in the radial direction of the input shaft 3, the second-stage transmission set is located at the first The outer side of the first-stage transmission group, so that the adjustment and installation of the tension adjustment device 57 are more convenient.

Preferably, both the first pulley and the second pulley have meshing teeth, the transmission belt 56 has tooth grooves, and the meshing teeth are suitable for meshing with the tooth grooves, through the meshing of the tooth grooves of the transmission belt 56 with the meshing teeth of the first pulley and the teeth The engagement of the groove and the meshing teeth of the second pulley transmits motion and power, that is, the second-stage transmission group is driven by a synchronous belt, so that there is no relative slippage between the transmission belt 56 and the first pulley and between the transmission belt 56 and the second pulley , can ensure accurate transmission ratio, and is suitable for high speed, large transmission ratio, high transmission efficiency, low transmission noise, good wear resistance, no oil lubrication, and long service life.

In a preferred embodiment of the present invention, the rotation axis L2 of each mecanum wheel 2 is parallel to the rotation axis L1 of the wheel frame, so that the structural balance of the wheel 100 is better and the structural reliability is higher.

In short, according to the wheel 100 of the embodiment of the present utility model, a wheel frame 1 including three support plates arranged at intervals, and three mecanum wheels 2 respectively arranged on the three sub-supports 11 in a one-to-one correspondence , taking into account the advantages of crossing uneven terrain and omnidirectional movement, simple structure, small size, especially applicable to narrow occasions, with a wide range of applications.

The following briefly describes the vehicle 1000 according to the embodiment of the present utility model. The vehicle 1000 includes the vehicle frame 7 and the wheel 100 of the above-mentioned embodiment. The wheel 100 is rotatably arranged on the vehicle frame 7 around the wheel frame rotation axis L1 of the wheel 100, so that Drive the vehicle 1000 to move, so that the vehicle 1000 has the ability to cross obstacles, and can realize omnidirectional movement, so that the applicable range of the vehicle 1000 is wider.

Optionally, the wheel 100 can also be movably arranged on the vehicle frame 7 along the front-to-back direction of the vehicle frame 7, and the vehicle frame 7 can be fixed at any position within the range of movement, that is, at the front and rear of the vehicle frame 7 In terms of direction, the position of the wheel 100 relative to the frame 7 is adjustable, so that it can adapt to different terrains, such as different step heights or widths, and the universal performance of the vehicle 1000 is better.

Preferably, the wheels 100 are movably arranged on the vehicle frame 7 through guide rails, so that the structure is simple, the precision is high and the control is easy.

As shown in Figure 3, in a specific embodiment, a vehicle 1000 includes a vehicle frame 7, two front wheels 100, two rear wheels 100, a first connecting member 81 and a second connecting member 82, a first buffer structure 91 and the second buffer structure 92, the first connecting piece 81 is connected with the vehicle frame 7, and the two front wheels 100 can be respectively installed on the left and right sides of the first connecting piece 81, and the second connecting piece 82 is connected with the vehicle frame 7, and the two The rear wheels 100 can be mounted on the left and right sides of the second connecting member 82 respectively. The first connecting member 81 and the second connecting member 82 are spaced apart from each other along the front and rear direction of the vehicle 1000. The first buffer structure 91 is connected to the first connecting member 81. The second buffer structure 92 is connected between the second connecting member 82 and the frame 7 to absorb and buffer the vibration transmitted by the two rear wheels 100. coming vibration. As a result, the cushioning and vibration damping effect of the vehicle 1000 is high.

Optionally, both the first buffer structure 91 and the second buffer structure 92 can be spring dampers 910 , so that the vibration damping effect is good, the structure is simple and the manufacturing cost is low.

The vehicle frame 7 can be a frame structure, which is welded by section steel, has a simple structure and is convenient to assemble.

The first connecting member 81 can be movably arranged on the vehicle frame 7 along the front and rear direction of the vehicle frame 7, and the second connecting member 82 can be movably arranged on the vehicle frame 7 along the front and rear direction of the vehicle frame 7, as shown in FIG. 3 As shown, the first connecting member 81 can be movably arranged on the vehicle frame 7 through the first guide rail 83, and the second connecting member 82 can be movably arranged on the vehicle frame 7 through the second guide rail 84, thereby passing through the first connecting member The movement of 81 and the second connecting member 82 drives the two wheels 100 and the two rear wheels 100 to move forward and backward relative to the frame 7 to adapt to different terrains. The vehicle 1000 has good versatility and is easy to use.

Specifically, as shown in Figure 3, the first guide rail 83 and the second guide rail 84 both include a fixed part and a moving part, the moving part is movable relative to the fixed part, the fixed part is fixedly connected with the vehicle frame 7, and the moving part is connected to the corresponding first The connecting piece 81 or the second connecting piece 82 are connected, and the first buffer structure 91 may include two groups of spring shock absorbers 910 symmetrically arranged left and right, and each group includes two spring shock absorbers 910 spaced apart along the front and rear direction, each The spring dampers 100 each extend downward to both sides from the middle portion (the middle portion in the left-right direction) of the vehicle frame 7 . Therefore, the structure of the vehicle 1000 is simple, the versatility is good, the adjustment is convenient, and the vibration damping effect is good.

Of course, it can be understood that the number of wheels 100 of the vehicle 1000 is not limited to four, and may be determined according to the specific usage environment of the vehicle 1000 , for example, some vehicles 1000 may only include two wheels 100 .

In short, the vehicle 1000 according to the embodiment of the present utility model realizes the combination of obstacle-crossing capability and omnidirectional mobility by setting the above-mentioned wheels 100 , and has a simple structure, low cost, and wide application range.

In describing the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "axial" The orientation or positional relationship indicated by , "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying the referred device Or elements must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In this utility model, unless otherwise specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrated; it can be mechanically connected, or electrically connected, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components , unless expressly defined otherwise. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model according to specific situations.

In the present invention, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first feature and the second feature through an intermediary indirect contact. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structures, materials or features are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and should not be construed as limitations of the present invention, and those skilled in the art are within the scope of the present invention. Variations, modifications, substitutions and variations can be made to the above-described embodiments.

Claims (10)

1. A wheel, characterized in that, comprising: A wheel frame, the wheel frame is rotatable around the rotation axis of the wheel frame, the wheel frame includes three sub-supports, and the three sub-supports are arranged at intervals along the circumference of the wheel; Three mecanum wheels, the three mecanum wheels are rotatably arranged on the three sub-supports around their respective rotation axes one by one, and the rotation axes of the three mecanum wheels are at The projection on a plane perpendicular to the rotation axis of the wheel frame is the three vertices of an equilateral triangle, and the projection of the rotation axis of the wheel frame on the plane is the center of the equilateral triangle. 2. The wheel according to claim 1, further comprising: an input shaft, the central axis of the input shaft coincides with the rotation axis of the wheel frame, and the wheel frame is rotatably supported on the input shaft; Three output shafts, the central axes of the three output shafts coincide with the rotation axes of the three mecanum wheels in one-to-one correspondence, and the three mecanum wheels correspond to the three output shafts in one-to-one correspondence Axis connected; There are three transmission assemblies, the three transmission assemblies correspond to the three output shafts, and each transmission assembly is connected between the input shaft and the corresponding output shaft. 3. The wheel according to claim 2, characterized in that, each of the transmission assemblies is a one-stage transmission assembly or a multi-stage transmission assembly, and any one of the one-stage transmission assembly or the multi-stage transmission assembly is a belt transmission Either a chain drive or a gear drive. 4. The wheel according to claim 2, wherein each of the transmission assemblies is a secondary transmission assembly and includes a first-stage transmission set and a second-stage transmission set; The first-stage transmission group includes an intermediate transmission shaft, a first gear and a second gear meshing with each other, each of the intermediate transmission shafts is rotatably supported on the corresponding sub-support, and the first gear sleeve It is fixed on the input shaft, the second gear is sleeved and fixed on the intermediate transmission shaft, and the three first-stage transmission groups share one first gear; The second-stage transmission set includes a first pulley, a second pulley and a transmission belt connected between the first pulley and the second pulley, and the first pulley is sleeved and fixed on the On the intermediate transmission shaft, the second pulley is sheathed and fixed on the output shaft. 5. The wheel according to claim 4, characterized in that, the second-stage transmission group further comprises a tension adjustment device, the tension adjustment device is fixed on the sub-support and is used to adjust the tension of the transmission belt. Tension. 6. The wheel of claim 4, wherein said first pulley and said second pulley each have meshing teeth, said drive belt has tooth grooves, said meshing teeth being adapted to engage said teeth Slot engagement. 7. The wheel according to claim 2, characterized in that, each of the sub-supports includes a first support plate and a second support plate oppositely arranged, and the two ends of the input shaft are respectively supported on the first support plate. The support plate and the second support plate, the two ends of the output shaft are respectively supported on the first support plate and the second support plate, and the transmission assembly is located between the first support plate and the Between the second support plates, the Mecanum wheel is located on a side of the first support plate away from the second support plate. 8. The wheel according to any one of claims 1-7, characterized in that, the rotation axis of each of the mecanum wheels is parallel to the rotation axis of the wheel frame. 9. A vehicle, comprising: frame; A wheel according to any one of claims 1-8, said wheel being rotatably mounted on said frame about a frame rotation axis of said wheel. 10 . The vehicle according to claim 9 , wherein the wheels are movably provided on the vehicle frame along a front-rear direction of the vehicle frame and can be fixed at any position within a moving range. 11 .