WO2017215267A1 - 车轮及具有该车轮的车辆 - Google Patents
车轮及具有该车轮的车辆 Download PDFInfo
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- WO2017215267A1 WO2017215267A1 PCT/CN2017/071451 CN2017071451W WO2017215267A1 WO 2017215267 A1 WO2017215267 A1 WO 2017215267A1 CN 2017071451 W CN2017071451 W CN 2017071451W WO 2017215267 A1 WO2017215267 A1 WO 2017215267A1
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- wheel
- transmission
- frame
- pulley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Definitions
- the present invention relates to the field of wheel technology, and in particular to a wheel and a vehicle having the same.
- Vehicles with Mecanum wheels can take advantage of the characteristics of the Mecanum wheel to achieve omnidirectional movement, such as moving forward, traverse, skew, rotate, and combinations thereof.
- a vehicle having a Mecanum wheel is too high in terrain flatness to fit an uneven terrain, such as a stepped terrain, and there is room for improvement.
- the present invention aims to solve at least one of the technical problems in the related art to some extent. To this end, it is an object of the present invention to provide a wheel that can accommodate uneven terrain.
- Another object of the invention is to propose a vehicle having the wheel.
- a wheel according to a first aspect of the present invention includes: a wheel carrier rotatable about a wheel frame rotation axis, the wheel carrier including three sub-frames, three of the sub-frames being spaced apart in a circumferential direction of the wheel Three Mecanum wheels, three of which are rotatably disposed on the three sub-brackets about their respective axes of rotation, and the axes of rotation of the three Mecanum wheels
- the projection on a plane perpendicular to the axis of rotation of the wheel carrier is the three vertices of an equilateral triangle whose projection on the plane is the center of the equilateral triangle.
- the wheel of the present invention omnidirectional movement and the ability to cross obstacles can be achieved, and the turning is flexible It can adapt well to uneven terrain, can span stairs and high slopes, and has a wide range of applications.
- the wheel further includes: an input shaft, a center axis of the input shaft coincides with the wheel frame rotation axis, the wheel frame rotatably supported on the input shaft; three output shafts, three of the outputs 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 components, three The transmission assembly is in one-to-one correspondence with the three output shafts, and each of the transmission assemblies is coupled between the input shaft and a corresponding one of the output shafts.
- Each of the transmission components is a primary transmission component or a multi-stage transmission component, and any one of the primary transmission components or the multi-stage transmission components is a belt drive or a chain drive or a primary gear drive.
- Each of the transmission assemblies is a secondary transmission assembly and includes a first stage transmission set and a second stage drive set;
- the first stage drive set includes an intermediate drive shaft, intermeshing first gears and second gears, each The intermediate transmission shaft is rotatably supported on the corresponding sub-bracket, the first gear sleeve is fixed on the input shaft, and the second gear sleeve is fixed on the intermediate transmission shaft And the three first stage transmission groups share a first gear;
- the second stage transmission set includes a first pulley, a second pulley, and the first pulley and the second pulley
- the transmission belt is disposed, 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 set further includes a tension adjustment device that is fixed to the sub-bracket and that is used to adjust the tension of the transmission belt.
- the first pulley and the second pulley each have a meshing tooth
- the drive belt has a tooth groove
- the meshing tooth is adapted to engage the tooth groove
- Each of the sub-brackets includes a first support plate and a second support plate disposed opposite to each other, and 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 are respectively supported on the first support plate and the second support plate, and the transmission component is located at the first support plate and the second Between the support plates, the Mecanum wheel is located on a side of the first support plate remote from the second support plate.
- the axis of rotation of each of the Mecanum wheels is parallel to the axis of rotation of the wheel carrier.
- a vehicle includes: a frame and the wheel of the first aspect, the wheel being rotatably disposed on the frame about a wheel frame rotation axis of the wheel.
- the vehicle according to the present invention has a simple structure, can realize omnidirectional movement and has the ability to overcome obstacles, has flexible turning and can well adapt to uneven terrain, can span stairs and high slopes, and has wide application range.
- the wheel is movably disposed on the frame along the front and rear direction of the frame and can be fixed at any position within the range of movement, so that the versatility of the vehicle is better.
- FIG. 1 is a schematic diagram showing the results of a viewing angle of a wheel according to an embodiment of the present invention
- FIG. 2 is a schematic diagram showing the result of another perspective of a wheel according to an embodiment of the present invention.
- FIG 3 is a schematic structural view of a vehicle according to an embodiment of the present invention.
- Vehicle 1000 wheel 100, wheel carrier 1, sub-bracket 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
- a wheel 100 according to an embodiment of the present invention includes a wheel carrier 1 and three mecanum wheels 2.
- the wheel carrier 1 is rotatable about a wheel frame rotation axis L1.
- the wheel carrier 1 includes three sub-frames 11 which are arranged along the circumferential direction of the wheel 100, that is, three sub-frames 11 are wound around the wheel.
- the frame rotation axis L1 is spaced apart.
- the three Mecanum wheels 2 are rotatably disposed on the three sub-frames 11 about their respective axes of rotation L2, that is, each of the Mecanum wheels 2 has a rotation axis L2 corresponding to the Mecanum wheel 2
- the three Mecanum wheels 2 are in one-to-one correspondence with the three sub-frames 11, and a Mecanum wheel 2 is rotatably disposed on the corresponding one of the sub-frames 11 about the axis of rotation 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 carriage is three vertices of an equilateral triangle, and the projection of the rotation axis L1 of the carriage on the plane is the equilateral triangle center.
- the projection of the three Mecanum wheels 2 on the plane is an equilateral triangle centered on the projection of the wheel frame rotation axis L1 on the plane. Vertices. Thereby, the wheel 100 as a whole rotates with the wheel frame rotation axis L1, and the rotation is smooth, and the structure balance of the wheel 100 is good.
- one end of the three sub-frames 11 intersect at one point, and the other end is a free end, and the Mecanum wheel 2 is rotatably disposed at the free end of the corresponding sub-frame 11, and further, The three sub-mounts 11 are evenly spaced along the circumferential direction of the wheel 100.
- the wheel carrier 1 has a simple structure, high structural strength, easy manufacture, smoother rotation, and better balance performance.
- any two adjacent sub-frames 11 are spaced apart, and each of the Mecanum wheels 2 is rotatably disposed on the corresponding sub-frame 11, so that any two adjacent microphones There is also a gap between the NAMM wheels 2.
- the wheel 100 of the embodiment of the present invention by providing three sub-frames 11 spaced apart in the circumferential direction of the wheel 100, the wheel 100 can be moved on uneven terrain, for example, stairs, steps, etc. can be climbed, and in three sub- The Mecanum wheel 2 is arranged on the bracket 11, thereby utilizing the omnidirectional movement characteristic of the Mecanum wheel 2 to achieve omnidirectional movement, so that the wheel 100 combines the ability of the wheel frame 1 to climb stairs, steps, and overcome uneven terrain. And the Mecanum wheel 2 can maintain the vehicle 1000's own attitude and maintain the ability to move in multiple directions, and the turning is flexible, which solves the defect that the Mecanum wheel 2 requires too much terrain flatness and the wheel carrier 1 is not easy to turn.
- the problem is that the vehicle 1000 having the wheel 100 can freely travel in a narrow terrain and has a certain ability to overcome obstacles (for example, across steps, high slopes, etc.), and has good adaptability to different terrains, so that the vehicle 100 has The vehicle 1000 of the wheel 100 is more widely used.
- the wheel 100 can be used in a vehicle 1000 that performs functions such as inspection and detonation at a station, an airport, or the like.
- a wheel 100 in accordance with an embodiment of the present invention includes a wheel carrier 1, three Mecanum wheels 2, an input shaft 3, three output shafts 4, and three transmission assemblies 5.
- the wheel carrier 1 is rotatable about the wheel frame rotation axis L1, and the center axis of the input shaft 3 coincides with the wheel frame rotation axis L1, and the wheel carrier 1 is rotatably supported on the input shaft 3, that is, the wheel The frame 1 is rotatable about the input shaft 3 to achieve obstacle overstepping.
- the wheel carrier 1 includes three sub-frames 11 which are circumferentially spaced around the input shaft 3. Specifically, as shown in FIGS. 1 and 2, the wheel carrier 1 is supported on the input shaft 3 via an input shaft bearing 62. Alternatively, the input shaft bearing 62 is a flange bearing, thereby facilitating installation.
- the three Mecanum wheels 2 are rotatably disposed on the three sub-frames 11 about their respective axes of rotation L2, and the central axes of the three output shafts 4 are aligned with the axes of rotation L2 of the three Mecanum wheels 2.
- the central axis of each output shaft 4 coincides with the rotation axis L2 of the corresponding Mecanum wheel 2
- the three Mecanum wheels 2 are connected one by one to the three output shafts 4, each of which The wheel 2 rotates with the corresponding output shaft 4.
- each of the Mecanum wheels 2 is connected to the corresponding output shaft 4 through the coupling 61, thereby achieving stable connection, good cushioning performance, simple structure and convenient installation.
- the three transmission components 5 are in one-to-one correspondence with the three output shafts 4.
- One transmission assembly 5 corresponds to one output shaft 4, and each transmission assembly 5 is connected between the input shaft 3 and the corresponding output shaft 4.
- the transmission assembly 5 is used for The power on the input shaft 3 is transmitted to the output shaft 4, thereby causing the Mecanum wheel 2 connected to the output shaft 4 to rotate.
- the input shaft 3 can be rotated by a motor drive, for example, the input shaft 3 can be coupled to a motor output shaft.
- each of the sub-frames 11 includes a first support plate 111 and a second support plate 112 which are oppositely disposed.
- the two ends of the input shaft 3 are respectively supported by the first support plate 111 and the second support plate
- 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 by the first support plate 111 and
- 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 at the first support plate 111 and the second support plate
- the wheel 100 is compact in structure and small in size, and is convenient for use in a narrow place.
- 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 wheel 100 is more convenient to install and disassemble, and it is more convenient to repair and replace the Mecanum wheel 2, and further improve the ability of the wheel 100 to overcome obstacles, so that the structure of the wheel 100 is simpler.
- 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 Mecanum wheel 2 connected thereto to rotate, thereby achieving omnidirectional movement of the wheel 100, and since the wheel carrier 1 is adopted
- the three spaced apart sub-frames 11 allow the wheel 100 to also span uneven terrain, such as climbing stairs, steps, high slopes, and the like.
- the wheel 100 is provided with the input shaft 3, the output shaft 4, and the transmission assembly 5, wherein the output shaft 4 is disposed on the sub-mount 11, and the transmission assembly 5 is disposed on the input shaft 3 and the output shaft 4. Therefore, the omnidirectional movement of the wheel 100 and the ability to pass the uneven terrain are achieved by a simple structure.
- each of the transmission assemblies 5 can be a primary 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 primary transmission assembly, and the power of the input shaft 3 It can also be transmitted to the output shaft 4 via a multi-stage transmission assembly.
- any one of the primary drive assembly or the multi-stage drive assembly is a belt drive or a chain drive or a primary gear drive.
- each of the transmission assemblies 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, and 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 three
- the transmission assembly 5 shares a first gear 52 such that the three transmission assemblies 5 form a planetary gear train, a common 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.
- the transmission assembly 5 has the advantages of compact structure, small volume, small mass, large carrying capacity, large transmission power range and large transmission range, small running noise, high efficiency and long service life.
- each of the transmission assemblies 5 is a primary transmission assembly
- the primary transmission assembly includes a first pulley, a second pulley, and a first pulley and a second pulley Drive belt between 56, the first pulley is fixed on the input shaft 3 to rotate synchronously with the input shaft 3, and the second pulley is sleeved and fixed on the output shaft 4 to rotate synchronously with the output shaft 4, thereby buffer damping of the transmission assembly 5.
- the effect is good, the structure is simple, and the cost is low.
- the belt transmission is a synchronous belt transmission, so that the transmission assembly 5 can ensure an accurate transmission ratio, and is suitable for a higher rotation speed, a large transmission ratio, and a high transmission efficiency.
- the transmission noise is small, the wear resistance is good and oil lubrication is not required, and the service life is long.
- each of the transmission assemblies 5 is a primary transmission assembly
- the primary transmission assembly includes a first sprocket, a second sprocket, and a first sprocket and a second sprocket
- a chain between the first sprocket is fixed on the input shaft 3 to rotate synchronously with the input shaft 3
- the second sprocket is sleeved and fixed on the output shaft 4 to rotate synchronously with the output shaft 4, thereby manufacturing and installing Low precision requirements and simple transmission structure.
- the secondary transmission component may 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.
- chain drive or primary gear transmission that is to say, the first-stage transmission group can adopt one of the belt transmission, the chain transmission or the first-stage gear transmission, and the second-stage transmission group can also adopt the belt transmission and the chain transmission.
- one of the transmission modes of the primary gear transmission so that the secondary transmission assembly has six groups and transmission forms.
- the transmission ratio is accurate, stable, high in efficiency, high in operational reliability, and long in service life;
- the first-stage transmission group and the second-stage transmission group When the belt drive is adopted, the buffer 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 are all driven by the chain, the manufacturing and installation precision requirements are low, and the transmission structure is simple;
- the stage drive set and the second stage drive set adopt different transmission forms, the advantages of the two transmission forms are taken into consideration.
- each of the transmission components 5 is an N-stage transmission component, and an embodiment of N>2 can be used. It is understood by reference to the description of the embodiment in which each of the transmission components 5 is a secondary transmission component, and will not be described in detail again.
- the selection of the number of stages of the transmission component 5 can be determined according to the actual required speed ratio and the specific form of the terrain to be climbed.
- each transmission assembly 5 being a secondary transmission assembly, and the secondary transmission assembly each including a first stage transmission set and Second stage drive train.
- the first stage transmission group includes an intermediate transmission shaft 51, a first gear 52 and a second gear 53 that mesh with each other, and each of the intermediate transmission shafts 51 is rotatably supported by the corresponding sub-frame 11
- 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
- the second gear 53 is sleeved and fixed on the intermediate transmission shaft 51 so that the second gear 53 follows
- 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 constitute one planetary gear train, and one first gear 52 is shared as a sun gear, and three second The gears 53 are all planetary wheels.
- the second stage transmission set 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 the intermediate transmission shaft 51, the second pulley is sleeved and fixed on the output shaft 4, and the first pulley and the second gear 53 are sequentially disposed on the intermediate transmission shaft 51 in the axial direction of the intermediate transmission shaft 51.
- the input shaft 3 and each intermediate transmission shaft 51 are geared, and the three first-stage transmission groups constitute a planetary gear train, and the intermediate transmission shaft 51 and the corresponding output shaft 4 are driven by a belt, thereby inputting the shaft 3
- the transmission efficiency between the intermediate transmission shaft 51 and the intermediate transmission shaft 51 is high, the structure is simple, more stable and the reliability is high.
- the transmission between the intermediate transmission shaft 51 and the corresponding output shaft 4 is good, the structure is simple, and the cost is low.
- the above-mentioned secondary transmission assembly combines the advantages of gear transmission and belt transmission, and is convenient to install.
- the second stage transmission group may further include a tension adjustment device 57, and the tension adjustment device 57 may be fixed on the sub-mount 11 for adjusting the tension of the transmission belt 56, thereby further ensuring stable transmission of the transmission assembly 5. Sex. Specifically, the tension adjusting device 57 can be fixed on the sub-mount 11 by a threaded fastener.
- the wheel frame 1 further includes a connecting plate 113. The connecting plate 113 is connected to both the first supporting plate 111 and the second supporting plate 112, and is tensioned.
- the adjusting device 57 is fixed to the connecting plate 113, whereby the connecting plate 113 can not only strengthen the connection strength of the sub-mount 11, but also serve as a mounting carrier for the tension adjusting device 57, so that the structure of the wheel frame 1 is more compact.
- the first stage drive train is geared
- the second stage drive train is belt drive
- the second stage drive train is located
- the outer side of the primary drive train makes adjustment and installation of the tensioning adjustment device 57 more convenient.
- the first pulley and the second pulley each have a meshing tooth
- the transmission belt 56 has a tooth groove
- the meshing tooth is adapted to mesh with the tooth groove
- the tooth The engagement of the slot with the meshing teeth of the second pulley transmits the motion and power, that is, the second stage transmission is driven by the timing belt, so that there is no relative sliding between the belt 56 and the first pulley and between the belt 56 and the second pulley It can ensure accurate transmission ratio, and is suitable for higher speed, large transmission ratio, high transmission efficiency, low transmission noise, good wear resistance and no oil lubrication, and long service life.
- the axis of rotation L2 of each of the Mecanum wheels 2 is parallel to the wheel axis of rotation L1, whereby the wheel 100 is more structurally balanced and structurally more reliable.
- a wheel 100 passes through a wheel carrier 1 including three support plates that are spaced apart, and three McNane wheels 2 that are respectively disposed on the three sub-frames 11 in a one-to-one correspondence, It takes into consideration the advantages of crossing uneven terrain and omnidirectional movement, and has a simple structure and a small size, and can be applied to a narrow occasion, and has a wide application range.
- a vehicle 1000 according to an embodiment of the present invention which includes a frame 7 and In the wheel 100 of the above embodiment, the wheel 100 is rotatably disposed on the frame 7 around the wheel frame rotation axis L1 of the wheel 100, thereby driving the vehicle 1000 to move, so that the vehicle 1000 has the ability to cross obstacles and can realize omnidirectional movement.
- the scope of application of the vehicle 1000 is made wider.
- the wheel 100 may also be movably disposed on the frame 7 in the front-rear direction of the frame 7, and the frame 7 may be fixed at any position within the range of movement, that is, before and after the frame 7. In the 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 general performance of the vehicle 1000 is better.
- the wheel 100 is movably disposed on the frame 7 by rails, thereby being simple in structure, high in precision, and easy to control.
- the vehicle 1000 includes a frame 7, two front wheels 100, two rear wheels 100, a first connecting member 81 and a second connecting member 82, and a first buffer structure 91.
- the second buffer structure 92 the first connecting member 81 is connected to the frame 7, the two front wheels 100 can be respectively mounted on the left and right sides of the first connecting member 81, and the second connecting member 82 is connected to the frame 7, two The rear wheel 100 can be respectively mounted on the left and right sides of the second connecting member 82.
- the first connecting member 81 and the second connecting member 82 are spaced apart in the front-rear direction of the vehicle 1000, and the first buffering 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 for absorbing and buffering the transmission of the two rear wheels 100. The vibration that comes. Thereby, the damping effect of the vehicle 1000 is good.
- first buffer structure 91 and the second buffer structure 92 may each be a spring damper 910, thereby having a good vibration damping effect, a simple structure, and a low manufacturing cost.
- the frame 7 can be a frame structure, welded by a steel profile, and has a simple structure and convenient assembly.
- the first connecting member 81 can be movably disposed on the frame 7 in the front-rear direction of the frame 7, and the second connecting member 82 can be movably disposed on the frame 7 in the front-rear direction of the frame 7, as shown in FIG. Show, first The connecting member 81 can be movably disposed on the frame 7 through the first guide rail 83, and the second connecting member 82 can be movably disposed on the frame 7 through the second guide rail 84, thereby passing through the first connecting member 81 and the second The movement of the connecting member 82 drives the two wheels 100 and the two rear wheels 100 to move in the front-rear direction with respect to the frame 7 to adapt to different terrains.
- the vehicle 1000 has good versatility and is convenient to use.
- the first rail 83 and the second rail 84 each include a fixed portion and a moving portion, the moving portion is movable relative to the fixed portion, and the fixed portion is fixedly coupled to the frame 7, the moving portion and the corresponding first portion
- the connecting member 81 or the second connecting member 82 is connected, and the first buffering structure 91 may include two sets of spring dampers 910 symmetrically disposed, each of which includes two spring dampers 910 spaced apart in the front-rear direction, each of which The spring dampers 100 each extend downward from the middle portion (the middle portion in the left-right direction) of the frame 7 toward both sides. Therefore, the structure of the vehicle 1000 is simple, the versatility is good, the adjustment is convenient, and the vibration damping effect is good.
- the number of the wheels 100 of the vehicle 1000 is not limited to four, and may be determined according to the specific use environment of the vehicle 1000. For example, some vehicles 1000 may include only two wheels 100.
- the vehicle 1000 achieves a combination of obstacle capability and omnidirectional movement capability by providing the above-described wheel 100, and has a simple structure, low cost, and wide application range.
- first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
- first is defined
- second feature may include at least one of the features, either explicitly or implicitly.
- the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
- the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. Or in one piece; it may be a mechanical connection, or it may be an electrical connection or a communication with each other; it may be directly connected or indirectly connected through an intermediate medium, and may be an internal connection of two elements or an interaction relationship between two elements. Unless otherwise expressly defined. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
- the first feature "on” or “under” the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact.
- the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
- the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.
Abstract
一种车轮（100）及具有该车轮（100）的车辆（1000），车轮（100）包括轮架（1）和三个麦克纳姆轮（2），轮架（1）绕轮架转动轴线（L1）可转动，轮架（1）包括三个子支架（11），三个子支架（11）沿车轮（100）的周向间隔设置，三个麦克纳姆轮（2）一一对应地绕各自的转动轴线（L2）可转动地设在三个子支架（11）上，且三个麦克纳姆轮（2）的转动轴线（L2）在垂直于轮架转动轴线（L1）的平面上的投影为等边三角形的三个顶点，轮架转动轴线（L1）在平面上的投影为该等边三角形的中心。
Description
本发明涉及车轮技术领域，具体而言涉及一种车轮及具有该车轮的车辆。
具有麦克纳姆轮的车辆可以充分利用麦克纳姆轮的特性，实现全向移动，例如实现前行、横移、斜行、旋转及其组合等移动方式。相关技术中，具有麦克纳姆轮的车辆，对地形平整性要求过高，不能适应不平整地形，例如具有阶梯的地形，存在改进空间。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本发明的一个目的在于提出一种可适应不平整地形的车轮。
本发明的另一个目的在于提出一种具有该车轮的车辆。
根据本发明的第一方面的车轮包括：轮架，所述轮架绕轮架转动轴线可转动，所述轮架包括三个子支架，三个所述子支架沿所述车轮的周向间隔设置；三个麦克纳姆轮，三个所述麦克纳姆轮一一对应地绕各自的转动轴线可转动地设在三个所述子支架上，且三个所述麦克纳姆轮的转动轴线在垂直于所述轮架转动轴线的平面上的投影为等边三角形的三个顶点，所述轮架转动轴线在所述平面上的投影为该所述等边三角形的中心。
根据本发明的车轮，可实现全向移动且具有跨越障碍的能力，转弯灵活且
能够很好地适应不平整地形，可以跨越楼梯和高坡，适用范围广。
所述车轮还包括：输入轴，所述输入轴的中心轴线与所述轮架转动轴线重合，所述轮架可转动地支承在所述输入轴上；三个输出轴，三个所述输出轴的中心轴线与三个所述麦克纳姆轮的转动轴线一一对应地重合，三个所述麦克纳姆轮一一对应地与三个所述输出轴相连；三个传动组件，三个所述传动组件与三个所述输出轴一一对应，每个所述传动组件均连接在所述输入轴与对应的所述输出轴之间。
每个所述传动组件均为一级传动组件或多级传动组件，一级传动组件或多级传动组件中的任意一级为带传动或者链传动或者一级齿轮传动。
每个所述传动组件均为二级传动组件且包括第一级传动组和第二级传动组；所述第一级传动组包括中间传动轴、相互啮合的第一齿轮和第二齿轮，每个所述中间传动轴均可转动地支承在对应的所述子支架上，所述第一齿轮套设固定在所述输入轴上，所述第二齿轮套设固定在所述中间传动轴上，且三个所述第一级传动组共用一个第一齿轮；所述第二级传动组包括第一带轮、第二带轮和连接在所述第一带轮和所述第二带轮之间的传动带，所述第一带轮套设固定在所述中间传动轴上，所述第二带轮套设固定在所述输出轴上。
所述第二级传动组还包括张紧调节装置，所述张紧调节装置固定在所述子支架上且用于调节所述传动带的张紧度。
所述第一带轮和所述第二带轮均具有啮合齿，所述传动带具有齿槽，所述啮合齿适于与所述齿槽啮合。
每个所述子支架均包括相对设置的第一支板和第二支板，所述输入轴的两端分别支承在所述第一支板和所述第二支板上，所述输出轴的两端分别支承在所述第一支板和所述第二支板上，所述传动组件位于所述第一支板与所述第二
支板之间，所述麦克纳姆轮位于所述第一支板的远离所述第二支板的一侧。
每个所述麦克纳姆轮的转动轴线均与所述轮架转动轴线平行。
根据本发明第二方面的车辆包括：车架和第一方面所述的车轮，所述车轮绕所述车轮的轮架转动轴线可转动地设在所述车架上。
根据本发明的车辆，结构简单、可实现全向移动且具有跨越障碍的能力，转弯灵活且能够很好地适应不平整地形，可以跨越楼梯和高坡，适用范围广。
所述车轮沿所述车架的前后方向可移动地设在所述车架上且可固定在移动范围内的任意位置处，从而车辆的通用性更好。
图1是根据本发明实施例的车轮的一个视角的结果示意图；
图2是根据本发明实施例的车轮的另一个视角的结果示意图；
图3是根据本发明实施例的车辆的结构示意图。
附图标记：
车辆1000、车轮100、轮架1、子支架11、第一支板111、第二支板112、连接板113、麦克纳姆轮2、输入轴3、输出轴4、传动组件5、中间传动轴51、第一齿轮52、第二齿轮53、传动带56、张紧调节装置57、联轴器61、输入轴轴承62、车架7、第一连接件81、第二连接件82、第一导轨83、第二导轨84、第一缓冲结构91、第二缓冲结构92、弹簧减振器910、轮架转动轴线L1、麦克纳姆轮的转动轴线L2。
下面详细描述本发明的实施例，所述实施例的示例在附图中示出。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
下面参照图1-图3描述根据本发明实施例的车轮100。如图1-图3所示，根据本发明实施例的车轮100包括轮架1和三个麦克纳姆轮2。
如图1和图2所示，轮架1绕轮架转动轴线L1可转动，轮架1包括三个子支架11，三个子支架11沿车轮100的周向间隔设置，即三个子支架11绕轮架转动轴线L1间隔开设置。
三个麦克纳姆轮2一一对应地绕各自的转动轴线L2可转动地设在三个子支架11上，即每个麦克纳姆轮2均具有与该麦克纳姆轮2对应的转动轴线L2，三个麦克纳姆轮2与三个子支架11一一对应，一个麦克纳姆轮2绕该麦克纳姆轮2的转动轴线L2可转动地设在对应的一个子支架11上。
三个麦克纳姆轮2的转动轴线L2在垂直于轮架转动轴线L1的平面上的投影为等边三角形的三个顶点，轮架转动轴线L1在该平面上的投影为该等边三角形的中心。
也就是说，在垂直于轮架转动轴线L1的平面上，三个麦克纳姆轮2在该平面上的投影为以轮架转动轴线L1在该平面上的投影为中心的等边三角形的三个顶点。由此，车轮100整体以轮架转动轴线L1转动，且转动平稳，车轮100的结构平衡性好。
优选地，如图1和图2所示，三个子支架11的一端相交于一点，另一端为自由端，麦克纳姆轮2可转动地设在对应的子支架11的自由端，进一步地，三个子支架11沿车轮100的周向均匀间隔布置。由此轮架1的结构简单、结构强度高、制造容易且旋转时更平稳、平衡性能更好。
如图1和图2所示，任意相邻两个子支架11之间均具有间隔，且每个麦克纳姆轮2都可转动地设在对应的子支架11上，从而任意相邻两个麦克纳姆轮2之间也具有间隔。
根据本发明实施例的车轮100，通过设置沿车轮100的周向间隔开的三个子支架11，使得该车轮100可以在不平整地形上移动，例如可以攀爬楼梯、台阶等，且在三个子支架11上设置了麦克纳姆轮2，从而利用麦克纳姆轮2的全向移动特点实现全向移动，从而该车轮100结合了轮架1可以翻爬楼梯、台阶、越过不平整地形的能力和麦克纳姆轮2可保持车辆1000自身姿态不变而进行多方向移动的能力，且转弯灵活，解决了麦克纳姆轮2对地形平整性要求过高的缺陷和轮架1不容易拐弯的问题，使得具有该车轮100的车辆1000可以在地形狭窄的地方自由行进且具有一定的越障能力(例如跨越台阶、高坡等)，且对不同地形适应能力好，使得具有该车轮100以及具有该车轮100的车辆1000使用场合更加广泛，例如该车轮100可以用在车站、机场等地进行巡查和排爆等功能的车辆1000上。
下面参照图1-图3详细描述根据本发明实施例的车轮100的一些具体的实施例。如图1和图2所示，根据本发明实施例的车轮100包括轮架1、三个麦克纳姆轮2、输入轴3、三个输出轴4和三个传动组件5。
如图1和图2所示，轮架1绕轮架转动轴线L1可转动，输入轴3的中心轴线与轮架转动轴线L1重合，轮架1可转动地支承在输入轴3上，即轮架1绕输入轴3可转动，从而实现障碍翻越。
如图1和图2所示，轮架1包括三个子支架11，三个子支架11绕输入轴3的周向间隔设置。具体地，如图1和图2所示，轮架1通过输入轴轴承62支承在输入轴3上，可选地，该输入轴轴承62为法兰轴承，从而安装便利。
三个麦克纳姆轮2一一对应地绕各自的转动轴线L2可转动地设在三个子支架11上，三个输出轴4的中心轴线与三个麦克纳姆轮2的转动轴线L2一一对应地重合，即每个输出轴4的中心轴线与对应的麦克纳姆轮2的转动轴线L2重合，三个麦克纳姆轮2一一对应地与三个输出轴4相连，每个麦克纳姆轮2均随对应的输出轴4转动。
如图1和图2所示，每个麦克纳姆轮2均通过联轴器61与对应的输出轴4相连，由此连接稳定、缓冲性能好、结构简单且安装方便。
三个传动组件5与三个输出轴4一一对应，一个传动组件5对应一个输出轴4，每个传动组件5均连接在输入轴3与对应的输出轴4之间，传动组件5用于将输入轴3上的动力传递给输出轴4，从而带动与输出轴4相连的麦克纳姆轮2转动。
具体地，输入轴3可以通过电机驱动旋转，例如，输入轴3可以与电机输出轴相连。
进一步地，如图1和图2所示，每个子支架11均包括相对设置的第一支板111和第二支板112，输入轴3的两端分别支承在第一支板111和第二支板112上，即输入轴3的一端支承在第一支板111上，输入轴3的另一端支承在第二支板112上；输出轴4的两端分别支承在第一支板111和第二支板112上，即输出轴4的一端支承在第一支板111上，输出轴4的另一端支承在第二支板112上；传动组件5位于第一支板111与第二支板112之间，由此车轮100的结构紧凑，体积小，便于在狭窄地方使用，麦克纳姆轮2位于第一支板111的远离第二支板112的一侧，即麦克纳姆轮2位于轮架1的一侧，这样，车轮100的安装拆卸更方便，且维修更换麦克纳姆轮2更方便，同时进一步提升车轮100的跨越障碍能力，使车轮100的结构更加简单。
车轮100工作时，输入轴3的转动通过传动组件5传递给输出轴4，输出轴4带动与之相连的麦克纳姆轮2转动，从而实现车轮100的全向移动，且由于轮架1采用三个间隔开的子支架11，从而车轮100还可以跨越不平整地形，例如攀爬楼梯、台阶、高坡等地形。
由此，根据本发明实施例的车轮100，通过设置输入轴3、输出轴4以及传动组件5，其中输出轴4设在子支架11上，传动组件5设置在输入轴3与输出轴4之间，从而通过简单的结构实现了车轮100的全向运动以及通过不平整地形的能力。
在一些可选的实施例中，每个传动组件5均可以为一级传动组件或多级传动组件，即输入轴3的动力可以通过一级传动组件传递给输出轴4，输入轴3的动力也可以通过多级传动组件传递给输出轴4。
可选地，一级传动组件或多级传动组件中的任意一级为带传动或者链传动或者一级齿轮传动。例如，在一些可选的实施例中，每个传动组件5均为一级传动组件，且该一级传动组件包括相互啮合的第一齿轮52和第二齿轮53，第一齿轮52可以套设固定在输入轴3上，以使第一齿轮52随输入轴3同步转动，第二齿轮53可以套设固定在输出轴4上，以使第二齿轮53随输出轴4同步转动，且三个传动组件5共用一个第一齿轮52，从而三个传动组件5构成一个行星轮系，共用的一个第一齿轮52成为行星轮系的太阳轮，三个第二齿轮53均为行星轮系的行星轮。这样的传动组件5具有结构紧凑、体积小、质量小、承载能力大、传递功率范围及传动范围大、运行噪声小、效率高及寿命长等优点。
在另一些可选的实施例中，每个传动组件5均为一级传动组件，且该一级传动组件包括第一带轮、第二带轮和连接在第一带轮与第二带轮之间的传动带
56，第一带轮套设固定在输入轴3上以随输入轴3同步转动，第二带轮套设固定在输出轴4上以随输出轴4同步转动，由此传动组件5的缓冲吸振效果好、结构简单、成本低廉。
优选地，在该一级传动组件选用带传动的实施例中，该带传动为同步带传动，从而该传动组件5能够保证准确的传动比，且适用较高转速、传动比大、传动效率高、传动噪声小、耐磨性好且不需油润滑，适用寿命长。
在又一些可选的实施例中，每个传动组件5均为一级传动组件，且该一级传动组件包括第一链轮、第二链轮和连接在第一链轮和第二链轮之间的链条，第一链轮套设固定在输入轴3上以随输入轴3同步转动，第二链轮套设固定在输出轴4上以随输出轴4同步转动，由此制造和安装精度要求较低、传动结构简单。
以每个传动组件5为二级传动组件为例，二级传动组件可以包括第一级传动组和第二级传动组，第一级传动组和第二级传动组中的任一个为带传动或者链传动或者一级齿轮传动，也就是说，第一级传动组可以采用带传动、链传动或一级齿轮传动中的一种传动形式，第二级传动组也可以采用带传动、链传动或一级齿轮传动中的一种传动形式，从而二级传动组件有六种组和传动形式。
当第一级传动组和第二级传动组均采用一级齿轮传动时，传动比准确、稳定、效率高、工作可靠性高、使用寿命长；当第一级传动组和第二级传动组均采用带传动时，缓冲吸振效果好、结构简单、成本低廉；当第一级传动组和第二级传动组均采用链传动时，制造和安装精度要求较低、传动结构简单；当第一级传动组和第二级传动组采用不同的传动形式时，兼顾两种传动形式的优点。
可以理解的是，每个传动组件5为N级传动组件，N＞2时的实施例，可
以参照每个传动组件5为二级传动组件的实施例的描述理解，再此不再详细叙述。其中，传动组件5的级数选择，可以根据实际需要速比、待攀爬地形的具体形式决定。
下面参照图1-图3详细描述根据本发明实施例的传动组件5的一个优选的实施例，每个传动组件5为二级传动组件，且该二级传动组件均包括第一级传动组和第二级传动组。
如图1和图2所示，第一级传动组包括中间传动轴51、相互啮合的第一齿轮52和第二齿轮53，每个中间传动轴51均可转动地支承在对应的子支架11上，第一齿轮52套设固定在输入轴3上，以使第一齿轮52可以随输入轴3同步转动，第二齿轮53套设固定在中间传动轴51上，以使第二齿轮53随中间传动轴51同步转动，且三个第一级传动组共用一个第一齿轮52，从而三个第一级传动组构成一个行星轮系，共用一个第一齿轮52成为太阳轮，三个第二齿轮53均为行星轮。
如图1和图2所示，第二级传动组包括第一带轮、第二带轮和连接在第一带轮和第二带轮之间的传动带56，第一带轮套设固定在中间传动轴51上，第二带轮套设固定在输出轴4上，第一带轮与第二齿轮53在中间传动轴51上沿中间传动轴51的轴向依次设置。
也就是说，输入轴3与每个中间传动轴51采用齿轮传动，且三个第一级传动组构成一个行星轮系，中间传动轴51与对应的输出轴4采用带传动，由此输入轴3与中间传动轴51之间的传动效率高，结构简单、更稳定性且可靠性高，中间传动轴51与对应的输出轴4之间的传动、缓冲吸振效果好、结构简单、成本低廉，采用上述二级传动组件，结合了齿轮传动和带传动的优点，且安装便利。
进一步地，第二级传动组还可以包括张紧调节装置57，张紧调节装置57可以固定在子支架11上用于调节传动带56的张紧度，由此进一步确保了传动组件5的传动稳定性。具体地，张紧调节装置57可以通过螺纹紧固件固定在子支架11上，轮架1还包括连接板113，连接板113与第一支板111和第二支板112均连接，张紧调节装置57固定在连接板113上，由此连接板113不仅可以加强子支架11的连接强度，还可以作为张紧调节装置57的安装载体，使轮架1的结构更紧凑。
在如图1和图2所示的具体的实施例中，第一级传动组采用齿轮传动，第二级传动组采用带传动，且在输入轴3的径向上，第二级传动组位于第一级传动组的外侧，从而张紧调节装置57的调节和安装更加方便。
优选地，第一带轮和第二带轮均具有啮合齿，传动带56具有齿槽，啮合齿适于与齿槽啮合，通过传动带56的齿槽与第一带轮的啮合齿的啮合以及齿槽与第二带轮的啮合齿的啮合传递运动和动力，即第二级传动组为同步带传动，从而传动带56与第一带轮之间以及传动带56与第二带轮之间无相对滑动，能够保证准确的传动比，且适用较高转速、传动比大、传动效率高、传动噪声小、耐磨性好且不需油润滑，适用寿命长。
在本发明的一个优选的实施例中，每个麦克纳姆轮2的转动轴线L2均与轮架转动轴线L1平行，由此车轮100的结构平衡性更好、结构可靠性更高。
简言之，根据本发明实施例的车轮100，通过包括间隔开设置的三个支板的轮架1，以及设置分别一一对应地在三个子支架11上的三个麦克纳姆轮2，兼顾了跨越不平整地形以及全向移动的优点，结构简单、尺寸小，特别是可以应用于狭窄场合，适用范围广。
下面简单描述根据本发明实施例的车辆1000，该车辆1000包括车架7和
上述实施例的车轮100，车轮100绕车轮100的轮架转动轴线L1可转动地设在车架7上，从而带动车辆1000移动，使车辆1000具有跨越障碍的能力，且能实现全向移动，使车辆1000的适用范围更广。
可选地，车轮100还可以沿车架7的前后方向可移动地设在车架7上，且车架7可固定在移动范围内的任意位置处，也就是说，在车架7的前后方向上，车轮100相对车架7的位置可调，从而可以适应不同的地形，例如不同的台阶高度或宽度，车辆1000的通用性能更好。
优选地，车轮100通过导轨可移动地设在车架7上，由此结构简单、精度高且易于控制。
如图3所示，在一个具体的实施例中，车辆1000包括车架7、两个前车轮100、两个后车轮100、第一连接件81和第二连接件82、第一缓冲结构91和第二缓冲结构92，第一连接件81与车架7相连，两个前车轮100可以分别安装在第一连接件81的左右两侧，第二连接件82与车架7相连，两个后车轮100可以分别安装在第二连接件82的左右两侧，第一连接件81与第二连接件82沿车辆1000的前后方向间隔开设置，第一缓冲结构91连接在第一连接件81与车架7之间用于吸收和缓冲两个前车轮100传递来的振动，第二缓冲结构92连接在第二连接件82与车架7之间用于吸收和缓冲两个后车轮100传递来的振动。由此车辆1000的缓冲减振效果好。
可选地，第一缓冲结构91和第二缓冲结构92均可以为弹簧减振器910，由此减振效果好，结构简单且制造成本低。
车架7可以为框架结构，通过型钢焊接而成，结构简单、组装便利。
第一连接件81可以沿车架7的前后方向可移动地设在车架7上，第二连接件82可以沿车架7的前后方向可移动地设在车架7上，如图3所示，第一
连接件81可以通过第一导轨83可移动地设在车架7上，第二连接件82可以通过第二导轨84可移动地设在车架7上，从而通过第一连接件81和第二连接件82的移动带动两个车轮100和两个后车轮100相对车架7沿前后方向移动，以适应不同的地形，车辆1000的通用性好，使用便利。
具体地，如图3所示，第一导轨83和第二导轨84均包括固定部分和移动部分，移动部分相对固定部分可移动，固定部分与车架7固定相连，移动部分与对应的第一连接件81或第二连接件82相连，第一缓冲结构91可以包括左右对称设置的两组弹簧减振器910，每组均包括沿前后方向间隔开的两个弹簧减振器910，每个弹簧减震器100均从车架7的中部(左右方向上的中部)向下向两侧延伸。由此车辆1000的结构简单、通用性好，调节方便且减振缓冲效果好。
当然，可以理解的是，车辆1000的车轮100的数量并不限于四个，可以根据具体的车辆1000的使用环境而定，例如有些车辆1000可以仅包括两个车轮100。
简言之，根据本发明实施例的车辆1000，通过设置上述车轮100，实现了跨越障碍能力和全向移动能力的结合，且结构简单、成本低，适用范围广。
在本发明的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“内”、“外”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、
“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接或彼此可通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。
Claims (10)
- 一种车轮，其特征在于，包括：轮架，所述轮架绕轮架转动轴线可转动，所述轮架包括三个子支架，三个所述子支架沿所述车轮的周向间隔设置；三个麦克纳姆轮，三个所述麦克纳姆轮一一对应地绕各自的转动轴线可转动地设在三个所述子支架上，且三个所述麦克纳姆轮的转动轴线在垂直于所述轮架转动轴线的平面上的投影为等边三角形的三个顶点，所述轮架转动轴线在所述平面上的投影为所述等边三角形的中心。
- 根据权利要求1所述的车轮，其特征在于，还包括：输入轴，所述输入轴的中心轴线与所述轮架转动轴线重合，所述轮架可转动地支承在所述输入轴上；三个输出轴，三个所述输出轴的中心轴线与三个所述麦克纳姆轮的转动轴线一一对应地重合，三个所述麦克纳姆轮一一对应地与三个所述输出轴相连；三个传动组件，三个所述传动组件与三个所述输出轴一一对应，每个所述传动组件均连接在所述输入轴与对应的所述输出轴之间。
- 根据权利要求2所述的车轮，其特征在于，每个所述传动组件均为一级传动组件或多级传动组件，一级传动组件或多级传动组件中的任意一级为带传动或者链传动或者一级齿轮传动。
- 根据权利要求2所述的车轮，其特征在于，每个所述传动组件均为二级传动组件且包括第一级传动组和第二级传动组；所述第一级传动组包括中间传动轴、相互啮合的第一齿轮和第二齿轮，每个所述中间传动轴均可转动地支承在对应的所述子支架上，所述第一齿轮套设固定在所述输入轴上，所述第二齿轮套设固定在所述中间传动轴上，且三个所 述第一级传动组共用一个第一齿轮；所述第二级传动组包括第一带轮、第二带轮和连接在所述第一带轮和所述第二带轮之间的传动带，所述第一带轮套设固定在所述中间传动轴上，所述第二带轮套设固定在所述输出轴上。
- 根据权利要求4所述的车轮，其特征在于，所述第二级传动组还包括张紧调节装置，所述张紧调节装置固定在所述子支架上且用于调节所述传动带的张紧度。
- 根据权利要求4所述的车轮，其特征在于，所述第一带轮和所述第二带轮均具有啮合齿，所述传动带具有齿槽，所述啮合齿适于与所述齿槽啮合。
- 根据权利要求2-6中任一项所述的车轮，其特征在于，每个所述子支架均包括相对设置的第一支板和第二支板，所述输入轴的两端分别支承在所述第一支板和所述第二支板上，所述输出轴的两端分别支承在所述第一支板和所述第二支板上，所述传动组件位于所述第一支板与所述第二支板之间，所述麦克纳姆轮位于所述第一支板的远离所述第二支板的一侧。
- 根据权利要求1-7中任一项所述的车轮，其特征在于，每个所述麦克纳姆轮的转动轴线均与所述轮架转动轴线平行。
- 一种车辆，其特征在于，包括：车架；根据权利要求1-8中任一项所述的车轮，所述车轮绕所述车轮的轮架转动轴线可转动地设在所述车架上。
- 根据权利要求9所述的车辆，其特征在于，所述车轮沿所述车架的前后方向可移动地设在所述车架上且可固定在移动范围内的任意位置处。
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| CN109079745A (zh) * | 2018-10-29 | 2018-12-25 | 河北工业大学 | 服务机器人可变形麦轮运动底盘 |
| CN113101587A (zh) * | 2020-12-21 | 2021-07-13 | 明岗 | 一种安防巡检机器人 |
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