WO2018218505A1 - 麦克纳姆轮及具有该麦克纳姆轮的机器人 - Google Patents

麦克纳姆轮及具有该麦克纳姆轮的机器人 Download PDF

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Publication number
WO2018218505A1
WO2018218505A1 PCT/CN2017/086601 CN2017086601W WO2018218505A1 WO 2018218505 A1 WO2018218505 A1 WO 2018218505A1 CN 2017086601 W CN2017086601 W CN 2017086601W WO 2018218505 A1 WO2018218505 A1 WO 2018218505A1
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WO
WIPO (PCT)
Prior art keywords
hub
spoke
support member
mecanum wheel
reinforcing portion
Prior art date
Application number
PCT/CN2017/086601
Other languages
English (en)
French (fr)
Inventor
王振旭
陈逸奇
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780005007.4A priority Critical patent/CN108521771B/zh
Priority to PCT/CN2017/086601 priority patent/WO2018218505A1/zh
Publication of WO2018218505A1 publication Critical patent/WO2018218505A1/zh
Priority to US16/681,247 priority patent/US20200079146A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/12—Roller-type wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/003—Multidirectional wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/12—Roller-type wheels
    • B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • 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

Definitions

  • the invention relates to the field of omnidirectional moving wheels, in particular to a Mecanum wheel and a robot having the same.
  • the Mecanum wheel is a widely used omni-directional wheel, which is widely used in the field of omnidirectional intelligent mobile equipment (for example, robots) due to its flexibility and diversity.
  • the power unit (eg, motor) of the Mecanum wheel currently on the market is externally placed on the hub and requires additional fasteners to secure the power unit to the hub.
  • the external arrangement of the power unit causes a waste of space in the hub, and the entire product cannot be compactly designed, resulting in a problem of a large product volume.
  • the external power unit may cause problems such as large product quality, inconvenient installation, high cost, and difficult design.
  • the present invention provides a Mecanum wheel and a robot having the same.
  • a Mecanum wheel comprising a first spoke, a second spoke opposite the first spoke, and a roller disposed between the first spoke and the second spoke,
  • the first spoke is provided with a first hub
  • the second spoke is provided with a second hub
  • the second hub is recessed toward the first hub to form a receiving space to make the first hub and the second
  • the hubs are all located on the same side of the intermediate plane equidistant from the first spoke and the second spoke, and the receiving space is for receiving the motor.
  • a robot includes a body, a power motor, and a Mecanum wheel coupled to the body, the Mecanum wheel including a first spoke, and a a second spoke opposite the first spoke and a roller disposed between the first spoke and the second spoke, the first spoke is provided with a first hub, and the second spoke is provided with a second hub, The second hub is recessed toward the first hub to form a receiving space such that the first hub and the second hub are both located on the same side of the intermediate plane equidistant from the first spoke and the second spoke.
  • the accommodating space is for housing the motor.
  • the present invention moves one of the hubs on both sides of the intermediate plane (the intermediate plane equidistant from the first spoke and the second spoke) toward the other one, Or, one of the hubs on the two sides of the intermediate plane in the prior art is recessed toward the other one, so that the two hubs are located on the same side of the intermediate plane to form a receiving space for accommodating the motor, so that the structure is more compact, the product More miniaturized.
  • FIG. 1 is a perspective view of a Mecanum wheel in an embodiment of the present invention
  • FIG. 2 is a schematic view showing the splitting of a Mecanum wheel in an embodiment of the present invention
  • FIG. 3 is a perspective view showing the Mecanum wheel in another direction according to an embodiment of the present invention.
  • FIG. 4 is a perspective view showing a Mecanum wheel in another direction according to an embodiment of the present invention.
  • Figure 5 is a perspective view showing the Mecanum wheel in a further direction in an embodiment of the present invention.
  • Figure 6 is a perspective view of a Mecanum wheel in another embodiment of the present invention.
  • Figure 7 is a perspective view of a robot in an embodiment of the present invention.
  • 100 fuselage; 200: mecanum wheel; 300: motor; 400: suspension; 500: imaging device;
  • first hub 31: first through hole; 32: first inner hub; 33: first outer hub; 34: first rib;
  • an embodiment of the present invention provides a Mecanum wheel 200 including a first spoke 1, a second spoke 2 opposite the first spoke 1 and a first spoke 2 disposed thereon.
  • the first spoke 1 is provided with a first hub 3
  • the second spoke 2 is provided with a second hub 4, the first hub 3 and the second hub 4 forming an integral pair of the first spoke 1 and the second spoke 2 Support.
  • the second hub 4 is recessed toward the first hub 3 to form a receiving space 6 such that the first hub 3 and the second hub 4 are located at a distance from the first spoke 1 and the second spoke 2, etc.
  • the receiving space 6 is for receiving the motor 300 on the same side of the intermediate plane of the distance.
  • the recess of the second hub 4 in the direction of the first hub 3 means that the second hub 4 forms a groove in the direction of the first hub 3, which is the receiving space 6.
  • the groove is located in the middle of the second hub 4.
  • the depression of the second hub 4 in the direction toward the first hub 3 means that the second hub 4 is integrally moved toward the first hub 3 to form the receiving space 6.
  • the accommodating space 6 is formed without changing the structure of the second hub 4, which is relatively simple.
  • the first hub 3 in order to increase the size of the receiving space 6, can be designed to be in the same plane as the first spoke 1 and the second hub 4 as a whole is moved toward the first hub 3, thereby making the first The two hubs 4 are approached as far as possible toward the first spoke 1 to enlarge the receiving space 6.
  • the first hub 3 and the second hub 4 are interchangeable, that is, the first hub 3 is recessed toward the second hub 4 to form the receiving space 6 to make the first hub 3 and the The second hubs 4 are each located on the same side of the intermediate plane equidistant from the first spoke 1 and the second spoke 2.
  • one of the hubs on both sides of the intermediate plane (the intermediate plane equidistant from the first spoke 1 and the second spoke 2) is moved toward the other one, or in the prior art.
  • One of the hubs located on both sides of the intermediate plane faces the other recess such that both hubs are located on the same side of the intermediate plane (ie, the two hubs are offset set) to Forming a receiving space for accommodating the motor, making the structure more compact and miniaturizing the product
  • the following embodiment will further illustrate the structure of the Mecanum wheel 200 of the embodiment of the present invention by taking the second hub 4 recessed toward the first hub 3.
  • the structures of the first spoke 1 and the second spoke 2 are identical, and the first spoke 1 and the second spoke 2 are connected to form a ring structure.
  • the roller 5 is disposed on the outer annular surface of the annular structure, and the first hub 3 and the second hub 4 are coupled to the inner annular surface of the annular structure to support the first spoke 1 and the second spoke 2.
  • the first hub 3 and the first spoke 1 are disposed on the same plane, and the second hub 4 and the first hub 3 are attached.
  • the plane in which the first hub 3 and the first spoke 1 are disposed is a plane parallel to the intermediate planes of the first spoke 1 and the second spoke 2.
  • the connection area between the first hub 3 and the first spoke 1 is ensured to be large enough to ensure that the first hub 3 can provide the maximum support force.
  • the first hub 3 is placed as far as possible away from the intermediate plane, thereby increasing the movable distance of the second hub 4.
  • the second hub 4 and the first hub 3 are attached such that the receiving space 6 is large to accommodate different types of motors 300.
  • the first hub 3 is provided with a first through hole 31
  • the second hub 4 is provided with a second through hole 41 , a first through hole 31 and a second through hole.
  • 41 is coaxially disposed to mount the motor 300 to fix the motor 300 and transfer the power of the motor 300 to the first hub 3 and the second hub 4. Specifically, an output shaft of the motor 300 is inserted into the first through hole 31 and the second through hole 41.
  • the first hub 3 includes a first inner hub 32, a first outer hub 33, and a plurality of first ribs 34 to reduce the weight of the first hub 3.
  • a plurality of first ribs 34 are disposed between the first inner hub 32 and the first outer hub 33, one end of each first rib 34 is connected to the first inner hub 32, and the other end is connected to the a first outer hub 33, thereby the first An inner hub 32 and the second outer hub 43 are coupled to form a support structure.
  • the second hub 4 includes a second inner hub 42, a second outer hub 43, and a plurality of second ribs 44 to reduce the weight of the second hub 4.
  • each end of each second rib 44 is connected to the second inner hub 42 and the other end is connected to the The second outer hub 43, thereby joining the second inner hub 42 and the second outer hub 43 to form a support structure.
  • first outer hub 33 and the second outer hub 43 are coupled to the inner annular surface of the annular structure to support the first spoke 1 and the second spoke 2.
  • the connection manner between the first outer hub 33 and the second outer hub 43 and the inner annular surface of the annular structure can be set as needed.
  • the first outer hub 33 and the second outer hub 43 are snap-fitted to the inner annular surface of the annular structure.
  • the first outer hub 33 and the second outer hub 43 are plugged and connected to the inner annular surface of the annular structure.
  • the second outer hub 43 of the first outer hub 33 and the inner annular surface of the annular structure are respectively connected, which is not specifically limited in the embodiment of the present invention.
  • the width of both ends of each of the first ribs 34 is greater than the width of the middle portion, thereby increasing the first rib 34 and the first inner hub 32, the first rib 34, and the first outer hub 33, respectively.
  • the connection area between them is to increase the strength of the first hub 3.
  • the width of both ends of each of the second ribs 44 is greater than the width of the middle portion, thereby increasing the second rib 44 and the second inner hub 42, the second rib 44, and the second by respectively.
  • the connection area between the outer hubs 43 increases the strength of the second hub 4.
  • the plurality of first ribs 34 of the first hub 3 are arranged in pairs to form a plurality of first rib groups, and the plurality of The first set of ribs are evenly distributed along the radial direction of the first hub.
  • the plurality of second ribs 44 of the second hub 4 are disposed in pairs to form a plurality of second rib groups, and the plurality of the second rib groups are along The second hub 4 is evenly distributed in the radial direction.
  • the present embodiment allows the first hub 3 and the second hub 4 to meet different strength requirements by arranging the arrangement of the plurality of first ribs 34 and the plurality of second ribs 44.
  • the first of the first rib groups The number of ribs 34 may also be more than two, and the number of second ribs 44 in the second rib group may also be more than two, thereby designing the first hub 3 and the second hub 4 of different strengths.
  • the number of the first ribs 34 can be selected according to the strength requirements, weight requirements and the like of the first hub 3, and the number of the second ribs 44 can be selected according to the strength requirements, weight requirements and the like of the second hub 4.
  • both the first rib 34 and the second rib 44 are ten, taking into account the requirements of both the strength and the weight.
  • the ten first ribs 34 are arranged in pairs to form five first rib groups, and the five first rib groups are evenly distributed along the center of the first inner hub 32.
  • the ten second ribs 44 are arranged in pairs to form five second rib groups, and the five second rib groups are evenly distributed along the center of the second inner hub 42.
  • the present embodiment allows the first hub 3 and the second hub 4 to meet different strength requirements by the arrangement of the first ribs 34 and the second ribs 44.
  • the arrangement of the first ribs 34 may also be selected according to the strength requirements, weight requirements, and the like of the first hub 3, and the arrangement of the second ribs 44 may also be based on the strength of the second hub 4. Requirements such as requirements and weight requirements.
  • the first hub 3 and the second hub 4 are both solid structures, improving the strength of the first hub 3 and the second hub 4, and improving the first hub 3 and the second hub 4.
  • the support capacity makes the Mecanum wheel 200 better suited to the harsher sports environment.
  • first hub 3 and the second hub 4 are integrally formed to make the structure simpler. In other examples, the first hub 3 and the second hub 4 are two separate components.
  • the outer edge of the first spoke 1 is provided with a first support member 11
  • the outer edge of the second spoke 2 is provided with a second support member 21, and one end of the roller 5 is connected to the
  • the first support member 11 is connected to the second support member 21 at the other end to fix the first spoke 1 and the second spoke 2 together.
  • the first support member 11 is integrally formed with the first spoke 1 and the second support member 21 is integrally formed with the second spoke 2 .
  • the first support member 11 includes a first connecting portion 111 and a first reinforcing portion 112, and the second supporting member 21 includes a second connecting portion 211 and a second reinforcing portion 212.
  • the first connecting portion 111 and the first reinforcing portion 112 are connected, and the second connecting portion 211 and the second reinforcing portion 212 are connected.
  • the first connecting portion 111 and the second connecting portion 211 are matched one by one, and the two ends of the roller 5 are respectively mounted to fix the roller 5 on the outer ring surface of the ring structure.
  • the first reinforcing portion 112 is disposed between the first connecting portion 111 and the inner annular surface of the annular structure, and the second reinforcing portion 212 is disposed at the second connecting portion 211 and the circle. Between the inner annulus of the ring structure.
  • the structure of the first support member 11 needs to be designed such that the strength of the first support member 11 satisfies the roller 5 .
  • the first reinforcement portion 112 protrudes from the outer surface of the first spoke 1 and is connected to the outer surface of the first spoke 1.
  • the reinforcing portion of the first support member 11 includes a first side (not shown) and a second side opposite to the first side (not shown), and the first side connection corresponds to The first connecting portion 111.
  • the width of the first reinforcing portion 112 gradually decreases from the first side toward the first side. In an embodiment, to increase the strength of the first reinforcing portion 112, the height of the first reinforcing portion 112 gradually decreases from the third side toward the first side.
  • the first connecting portion 111 protrudes from the first spoke 1.
  • one end of the first connecting portion 111 is connected to the corresponding first reinforcing portion 112, and the other end is connected to the roller 5.
  • the width and/or height of the first connecting portion 111 from one end of the connecting roller 5 to the end of the corresponding first reinforcing portion 112 is gradually decreased.
  • the structure of the second support member 21 needs to be designed so that the first The strength of the two support members 21 satisfies the requirements of the movement of the roller 5.
  • the second reinforcement portion 212 protrudes from the outer surface of the second spoke 2 and is connected to the outer surface of the second spoke 2.
  • the second reinforcing portion 212 includes a third side (not shown) and a fourth side (not shown) opposite to the third side, and the third side is connected to the corresponding second Connection portion 211.
  • the width of the second reinforcing portion 212 gradually decreases from the third side to the fourth side. In an embodiment, to increase the strength of the second reinforcing portion 212, the height of the second reinforcing portion 212 gradually decreases from the third side to the fourth side.
  • the second connecting portion 211 protrudes from the second spoke 2.
  • the second connecting portion 211 is connected to the corresponding second reinforcing portion 212 at one end and the roller 5 at the other end.
  • the width and/or height of the second connecting portion 211 from one end of the connecting roller 5 to the end of the corresponding second reinforcing portion 212 is gradually decreased.
  • first connecting portion 111 and the first reinforcing portion 112 are integrally formed, the structure is relatively simple, and the strength of the first supporting member 11 is improved.
  • second connecting portion 211 and the second reinforcing portion 212 are integrally formed, the structure is relatively simple, and the strength of the second supporting member 21 is improved.
  • first connecting portion 111 and the corresponding first reinforcing portion 112 are integrally formed
  • second connecting portion 211 and the corresponding second reinforcing portion 212 are integrally formed to combine the first supporting member 11 and the first
  • the force characteristics of the two support members 21 optimize the strength and design of the first support member 11 and the second support member 21, so that the first support member 11 and the second support member 21 are stronger and more beautiful.
  • first support member 11 and the second support member 21 are staggered by a predetermined angle along the circumferential direction of the Mecanum wheel 200 such that the first support member 11 and the second support member are disposed.
  • the roller 5 between the two is tilted to increase the flexibility and diversity of the movement of the roller 5.
  • the preset angle is 15°, 30°, 45°, and the like.
  • the first support member 11 and the second support member 21 are disposed in pairs, and the first support member 11 and the second support member 21 disposed in pairs are respectively connected at two ends of the same roller 5 to fix the Roller 5.
  • the number of the first support member 11 and the second support member 21 disposed in pairs can be set according to the needs of the movement, thereby connecting the corresponding number of rollers 5, achieving flexibility and diversity of movement.
  • the materials of the first spoke 1, the second spoke 2, the first hub 3, and the second hub 4 can be considered from factors such as manufacturing process, price, strength, and weight.
  • the materials of the first spoke 1, the second spoke 2, the first hub 3, and the second hub 4 may be made of steel, alloy, or carbon fiber.
  • the materials of the first spoke 1, the second spoke 2, the first hub 3 and the second hub 4 may also be selected as other materials, and the first spoke 1, the second spoke 2, and the first hub 3 are not in the embodiment of the present invention.
  • the material of the second hub 4 is specifically limited.
  • the materials of the first support member 11 and the second support member 21 can also be considered from factors such as manufacturing process, price, strength, and weight.
  • the material of the first support member 11 and the second support member 21 may be steel, alloy or carbon fiber or other materials.
  • the second hub 4 and the second support 21 The mechanical strength, while mitigating the weight of the Mecanum wheel 200, reduces noise during operation of the Mecanum wheel 200.
  • a carbon fiber plate is molded into the first spoke 1 and the first hub 3 and the second spoke 2 and the second hub 4; then, the outer edge of the first spoke 1 is cut.
  • the first connecting portion 111 of the first support member 11 and the first reinforcing portion 112 are separated, and the second connecting portion 121 of the second supporting member 12 and the first reinforcing portion are cut at the outer edges of the second spoke 2 and the second hub 4 Part 122.
  • the Mecanum wheel 200 further includes a fastener 7.
  • the fastener 7 penetrates the first connecting portion 111 and the second connecting portion 211 to fix and fix the two sides of the roller 5 .
  • the first connecting portion 111 and the second connecting portion 211 are respectively provided with through holes, There are two fasteners 7, each of which is connected to the roller 5 through a corresponding through hole, thereby fixing the roller 5 more stably between the first support member 11 and the second support member 21.
  • the embodiment is fixed by using the fasteners 7 at both ends of the roller 5 to replace the existing bolt-through roller, so that the fixing method is simpler and the stability is stronger.
  • the fastener 7 is a screw, nut or other type of fastener 7, such as a pin or the like.
  • the Mecanum wheel 200 further includes a lubrication ring 8 correspondingly engaged with the fastener 7, and the fastener 7 is sleeved with the corresponding lubrication hole 8 and connected to the roller 5.
  • the corresponding fasteners 7 are fastened by providing a lubrication ring 8 to prevent the fasteners 7 from loosening when the rollers 5 are moved.
  • the lubricating ring 8 it is also possible to seal the joint of the corresponding fastener 7 and the roller 5, preventing external dust or other obstacles from entering the inside of the corresponding roller 5, hindering the movement of the corresponding roller 5.
  • the roller 5 includes an axle 51 and a wheel body 52 rotatably sleeved on the axle 51. To facilitate the fixing of the roller 5, both ends of the axle 51 are exposed from the wheel body 52, and the fasteners 7 are coupled to both ends of the axle 51.
  • the wheel body 52 has an integrally formed structure and is substantially drum-shaped.
  • the wheel body 52 is axially opened with a through hole for the axle 51 to pass through.
  • the outer surface of the wheel body 52 can be configured as a smooth surface.
  • the outer surface of the wheel body 52 may be provided with a tread to increase the friction of the roller 5 to contact the ground.
  • the tread may be a protrusion, and/or a depression of a line, a dot or various patterns.
  • the material of the axle 51 and the wheel body 52 can be set as needed. In the present embodiment, in order to better support the wheel body 52, the strength of the axle 51 is greater than the strength of the wheel body 52.
  • the wheel body 52 is made of rubber or other materials such as plastic.
  • the material of the axle 51 is made of a material such as steel or alloy.
  • Mecanum wheel 200 of the embodiment of the present invention can be applied to a robot or On other devices.
  • the above-described Mecanum wheel 200 is applied to the robot as an example for further explanation.
  • a robot provided by the embodiment of the present invention includes a body 100, a motor 300 for supplying power, and the above-mentioned Mecanum wheel 200.
  • the Mecanum wheel 200 is coupled to the body 100 to provide power for the movement of the body 100.
  • the motor 300 is housed in the accommodating space 6 in the Mecanum wheel 200, so that the structure of the robot is more compact and the robot is further miniaturized.
  • the motor 300 of the embodiment of the present invention can also be replaced with other power devices.
  • the robot further includes a suspension 400 connected to the body 100 through the suspension 400, and the suspension 400 is housed in the receiving space 6, thereby further making the robot
  • the structure is more compact and the robot is more compact.
  • the robot further includes a control device (not shown) mounted to the body 100, and the control device controls the Mecanum wheel 200 to move according to the control instruction, so that the body 100 Move according to the specified trajectory.
  • the control device is communicatively coupled to a remote controller that moves the remote robot, the control device generating the control command based on a user command sent by the remote controller and transmitting the control command to the motor 300 to control movement of the Mecanum wheel 200.
  • the robot may be a shooting robot, and the shooting robot further includes an imaging device 500 disposed on the body 100 to implement a photographing function.
  • the robot can be a sweeping robot.
  • the shape of the body 100 of the present embodiment may be any shape, such as a human shape or a vehicle shape, and may be specifically set according to actual needs.

Abstract

一种麦克纳姆轮及具有该麦克纳姆轮的机器人，麦克纳姆轮（200）包括第一轮辐（1）、与第一轮辐相对的第二轮辐（2）和设置在第一轮辐和第二轮辐之间的滚轮（5），第一轮辐设有第一轮毂（3），第二轮辐设有第二轮毂（4），其中，第二轮毂朝向第一轮毂的方向凹陷形成收容空间（6）以使第一轮毂（3）和第二轮毂（4）均位于距第一轮辐（1）和第二轮辐（2）等距离的中间平面的同一侧，收容空间（6）用以收容电机（300）。通过将现有技术中分别位于中间平面两侧的轮毂偏置设置或者将分别位于中间平面两侧的轮毂中的一个朝向另一个凹陷，以形成用来容纳电机的收容空间，使得结构更加紧凑，产品更加小型化。

Description

麦克纳姆轮及具有该麦克纳姆轮的机器人 技术领域
本发明涉及全方位移动轮领域，尤其涉及一种麦克纳姆轮及具有该麦克纳姆轮的机器人。
背景技术
麦克纳姆轮是目前应用比较广泛的全方位轮，其凭借运动的灵活性和多样性的优势而被广泛应用在全向智能移动装备领域(例如：机器人)。
目前市场上的麦克纳姆轮的动力装置(例如：电机)外置于轮毂的，需要额外增加紧固件，以将动力装置紧固在轮毂上。然而，这种动力装置外置的方式会造成轮毂空间浪费，整个产品无法紧凑设计而导致产品体积较大的问题。另外，动力装置外置还会导致产品质量较大、安装不便、成本较高、外观设计困难等问题。
发明内容
本发明提供一种麦克纳姆轮及具有该麦克纳姆轮的机器人。
根据本发明的第一方面，提供一种麦克纳姆轮，包括第一轮辐、与所述第一轮辐相对的第二轮辐和设置在所述第一轮辐和第二轮辐之间的滚轮，所述第一轮辐设有第一轮毂，所述第二轮辐设有第二轮毂，所述第二轮毂朝向所述第一轮毂的方向凹陷形成收容空间以使所述第一轮毂和所述第二轮毂均位于距所述第一轮辐和第二轮辐等距离的中间平面的同一侧，所述收容空间用以收容电机。
根据本发明的第二方面，提供一种机器人，包括机身、动力电机以及连接在所述机身上的麦克纳姆轮，所述麦克纳姆轮包括第一轮辐、与所 述第一轮辐相对的第二轮辐和设置在所述第一轮辐和第二轮辐之间的滚轮，所述第一轮辐设有第一轮毂，所述第二轮辐设有第二轮毂，所述第二轮毂朝向所述第一轮毂的方向凹陷形成收容空间以使所述第一轮毂和所述第二轮毂均位于距所述第一轮辐和第二轮辐等距离的中间平面的同一侧，所述收容空间用以收容电机。
由以上本发明实施例提供的技术方案可见，本发明通过将现有技术中位于中间平面(与第一轮辐和第二轮辐等距离的中间平面)两侧的轮毂中的一个朝向另外一个移动，或者将现有技术中位于中间平面两侧的轮毂中的一个朝向另外一个凹陷，从而使得两个轮毂均位于中间平面的同一侧，以形成用来容纳电机的收容空间，使得结构更加紧凑，产品更加小型化。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一实施例中麦克纳姆轮的立体示意图；
图2是本发明一实施例中麦克纳姆轮的拆分示意图；
图3是本发明一实施例中麦克纳姆轮在另一方向上的立体示意图；
图4是本发明一实施例中麦克纳姆轮在又一方向上的立体示意图；
图5是本发明一实施例中麦克纳姆轮在还一方向上的立体示意图；
图6是本发明另一实施例中麦克纳姆轮的立体示意图；
图7是本发明一实施例中机器人的立体示意图；
附图标记：
100：机身；200：麦克纳姆轮；300：电机；400：悬架；500：成像装置；
1：第一轮辐；11：第一支撑件；111：第一连接部；112：第一加强部；
2：第二轮辐；21：第二支撑件；211：第二连接部；212：第二加强部；
3：第一轮毂；31：第一贯穿孔；32：第一内轮毂；33：第一外轮毂；34：第一肋条；
4：第二轮毂；41：第二贯穿孔；42：第二内轮毂；43：第二外轮毂；44：第二肋条；
5：滚轮；51：轮轴；52：轮体；
6：收容空间；
7：紧固件；
8：润滑环。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合附图，对本发明的麦克纳姆轮200及具有该麦克纳姆轮200的机器人进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
参见图1，本发明实施例提供一种麦克纳姆轮200，所述麦克纳姆轮200包括第一轮辐1、与所述第一轮辐1相对的第二轮辐2和设置在所述第一轮辐1和第二轮辐2之间的滚轮5。其中，所述第一轮辐1设有第一轮毂3，所述第二轮辐2设有第二轮毂4，第一轮毂3和第二轮毂4形成一个整体对第一轮辐1和第二轮辐2进行支撑。所述第二轮毂4朝向所述第一轮毂3的方向凹陷形成收容空间6以使所述第一轮毂3和所述第二轮毂4均位于距所述第一轮辐1和第二轮辐2等距离的中间平面的同一侧，所述收容空间6用以收容电机300。
在一些例子中，第二轮毂4朝向第一轮毂3的方向凹陷是指第二轮毂4朝向第一轮毂3的方向形成一个凹槽，所述凹槽即为所述收容空间6。可选地，所述凹槽位于所述第二轮毂4的中部。
在一些例子中，第二轮毂4朝向第一轮毂3的方向凹陷是指第二轮毂4整体向第一轮毂3移动，以形成所述收容空间6。本实施例通过改变第二轮毂4的装设位置或形成位置，从而在不改变第二轮毂4的结构的情况下形成收容空间6，实现较为简单。本实施例中，为增加所述收容空间6的大小，可将第一轮毂3设计为与第一轮辐1位于同一平面上，且将第二轮毂4整体朝向第一轮毂3移动，从而使第二轮毂4尽量朝向第一轮辐1的方向靠近，进而扩大收容空间6。
当然，在本发明实施例中，第一轮毂3和第二轮毂4可以互换，即第一轮毂3朝向第二轮毂4的方向凹陷形成收容空间6以使所述第一轮毂3和所述第二轮毂4均位于距所述第一轮辐1和第二轮辐2等距离的中间平面的同一侧。
本发明实施例中，通过将现有技术中位于中间平面(与第一轮辐1和第二轮辐2等距离的中间平面)两侧的轮毂中的一个朝向另外一个移动，或者将现有技术中位于中间平面两侧的轮毂中的一个朝向另外一个凹陷，从而使得两个轮毂均位于中间平面的同一侧(即两个轮毂偏置设置)，以 形成用来容纳电机的收容空间，使得结构更加紧凑，产品更加小型化
以下实施例将以第二轮毂4朝向第一轮毂3凹陷为例进一步阐述本发明实施例麦克纳姆轮200的结构。
参见图2，本实施例中，第一轮辐1和第二轮辐2的结构完全相同，第一轮辐1和第二轮辐2连接形成一圆环结构。其中，滚轮5设置在所述圆环结构的外环面上，第一轮毂3和第二轮毂4与圆环结构的内环面连接，从而对第一轮辐1和第二轮辐2进行支撑。
在一些例子中，为进一步增加所述收容空间6的大小，所述第一轮毂3和所述第一轮辐1设置于同一平面，所述第二轮毂4和所述第一轮毂3贴设。本实施例中，所述第一轮毂3和所述第一轮辐1设置的平面为与第一轮辐1和第二轮辐2的中间平面平行的面。本实施例通过将第一轮毂3与第一轮辐1设置在同一平面，在保证第一轮毂3与第一轮辐1之间的连接面积足够大，以保证第一轮毂3能够提供最大的支撑力的同时，将第一轮毂3尽量向着远离所述中间平面放置，从而增加第二轮毂4的可移动距离。优先地，所述第二轮毂4和所述第一轮毂3贴设，从而使得收容空间6较大，以适合不同型号的电机300。
参见图3、图4和图6，所述第一轮毂3上设有第一贯穿孔31，所述第二轮毂4上设有第二贯穿孔41，第一贯穿孔31和第二贯穿孔41同轴设置，以装设所述电机300，从而对电机300进行固定并传递电机300的动力至第一轮毂3和第二轮毂4。具体地，所述电机300的输出轴插接在所述第一贯穿孔31和第二贯穿孔41内。
又参见图3，第一轮毂3包括第一内轮毂32、第一外轮毂33以及多根第一肋条34，从而减小第一轮毂3的重量。其中，多根第一肋条34设置在所述第一内轮毂32与所述第一外轮毂33之间，每根第一肋条34的一端连接所述第一内轮毂32，另一端连接所述第一外轮毂33，从而将所述第 一内轮毂32和所述第二外轮毂43连接以形成支撑结构。第二轮毂4包括第二内轮毂42、第二外轮毂43以及多根第二肋条44，从而减小第二轮毂4的重量。其中，多根第二肋条44设置在所述第二内轮毂42与所述第二外轮毂43之间，每根第二肋条44的一端连接所述第二内轮毂42，另一端连接所述第二外轮毂43，从而将所述第二内轮毂42和所述第二外轮毂43连接形成支撑结构。
本实施例中，第一外轮毂33和第二外轮毂43连接在圆环结构的内环面上，从而对第一轮辐1和第二轮辐2进行支撑。其中，第一外轮毂33、第二外轮毂43与圆环结构的内环面的连接方式可根据需要设定。可选地，第一外轮毂33和第二外轮毂43卡接连接在圆环结构的内环面上。可选地，第一外轮毂33和第二外轮毂43插接连接在圆环结构的内环面上。当然，也可选择其他连接方式对第一外轮毂33第二外轮毂43与圆环结构的内环面分别进行连接，本发明实施例对此不作具体限定。
为提高第一轮毂3的强度，每根第一肋条34的两端的宽度大于其中部的宽度，从而通过分别增加第一肋条34与第一内轮毂32、第一肋条34与第一外轮毂33之间的连接面积，来提高第一轮毂3的强度。相应地，为提高第二轮毂4的强度，每根第二肋条44的两端的宽度大于其中部的宽度，从而通过分别增加第二肋条44与第二内轮毂42、第二肋条44与第二外轮毂43之间的连接面积，来提高第二轮毂4的强度。
结合图2、图3和图4，为进一步提高第一轮毂3的强度，所述第一轮毂3的多根第一肋条34两两成对设置形成多个第一肋条组，多个所述第一肋条组沿所述第一轮毂的径向均匀分布。相应地，为进一步提高第二轮毂4的强度，所述第二轮毂4的多根第二肋条44两两成对设置形成多个第二肋条组，多个所述第二肋条组沿所述第二轮毂4的径向均匀分布。本实施例通过对多根第一肋条34和多根第二肋条44的排布设计，进而使得第一轮毂3和第二轮毂4满足不同的强度要求。当然，第一肋条组中的第一 肋条34的数量也可以多于两个，第二肋条组中的第二肋条44的数量也可以多于两个，从而设计出不同强度的第一轮毂3和第二轮毂4。
所述第一肋条34的数量可根据第一轮毂3的强度要求、重量要求等因素选择，所述第二肋条44的数量可根据第二轮毂4的强度要求、重量要求等因素选择。结合图3和图4，在一实施例中，兼顾强度和重量这两个因素的要求，所述第一肋条34和所述第二肋条44均为十根。可选地，十根第一肋条34两两成对设置形成五个第一肋条组，五个第一肋条组沿第一内轮毂32的中心均匀分布。十根第二肋条44两两成对设置形成五个第二肋条组，五个第二肋条组沿第二内轮毂42的中心均匀分布。本实施例通过第一肋条34和第二肋条44的排布设计，使得第一轮毂3和第二轮毂4满足不同的强度要求。当然，在其他实施例中，第一肋条34的排布方式也可根据第一轮毂3的强度要求、重量要求等因素选择，第二肋条44的排布方式也可根据第二轮毂4的强度要求、重量要求等因素选择。
参见图6，一些例子中，所述第一轮毂3和所述第二轮毂4均为实心结构，提高第一轮毂3和第二轮毂4的强度，提高第一轮毂3和第二轮毂4的支撑能力，使得麦克纳姆轮200更好地适应较为恶劣的运动环境。
另外，在一些例子中，第一轮毂3和第二轮毂4是一体成型的，使得结构更加简单。在其他一些例子中，第一轮毂3和第二轮毂4为相互独立的两个部件。
结合图1和图2，所述第一轮辐1的外边缘设有第一支撑件11，所述第二轮辐2的外边缘设有第二支撑件21，所述滚轮5的一端连接所述第一支撑件11，另一端连接所述第二支撑件21，从而将第一轮辐1与第二轮辐2固定在一起。
在一些例子中，为提高所述第一支撑件11和所述第二支撑件21的牢固度，所述第一支撑件11与所述第一轮辐1一体成型，所述第二支撑件 21与所述第二轮辐2一体成型。
参见图3，所述第一支撑件11包括第一连接部111和第一加强部112，第二支撑件21包括第二连接部211和第二加强部212。其中，所述第一连接部111和所述第一加强部112连接，所述第二连接部211和所述第二加强部212连接。所述第一连接部111和所述第二连接部211一一对应配合，分别安装所述滚轮5的两端，从而将滚轮5固定在圆环结构的外环面上。本实施例中，所述第一加强部112设于所述第一连接部111和圆环结构的内环面之间，所述第二加强部212设于所述第二连接部211和圆环结构的内环面之间。
由于滚轮5运动时，第一支撑件11上越靠近滚轮5的地方受力越大，越容易损坏，故需要对第一支撑件11的结构进行设计，使得第一支撑件11的强度满足滚轮5运动的要求。在一些例子中，为进一步提高所述第一支撑件11的强度，所述第一加强部112凸出于所述第一轮辐1的外表面并与所述第一轮辐1的外表面相连。其中，所述第一支撑件11的加强部包括第一侧(图中未标出)和与所述第一侧相对的第二侧(图中未标出)，所述第一侧连接对应的第一连接部111。在一实施例中，为提高第一加强部112的强度，所述第一加强部112的宽度自所述第一侧向所述第一侧逐渐减小。在一实施例中，为提高第一加强部112的强度，所述第一加强部112的高度自所述第三侧向所述第一侧逐渐减小。
在一些例子中，为方便滚轮5的连接，所述第一连接部111凸出于所述第一轮辐1。本实施例中，所述第一连接部111一端连接对应的第一加强部112，另一端连接滚轮5。本实施例中，为提高第一连接部111的强度，所述第一连接部111自其连接滚轮5的一端向连接对应的第一加强部112的一端的宽度和/或高度逐渐减小。
相应地，由于滚轮5运动时，第二支撑件21上越靠近滚轮5的地方受力越大，越容易损坏，故需要对第二支撑件21的结构进行设计，使得第 二支撑件21的强度满足滚轮5运动的要求。在一些例子中，为进一步提高所述第二支撑件21的强度，所述第二加强部212凸出于所述第二轮辐2的外表面且与所述第二轮辐2的外表面相连。其中，所述第二加强部212包括第三侧(图中未标出)和与所述第三侧相对的第四侧(图中未标出)，所述第三侧连接对应的第二连接部211。在一实施例中，为提高第二加强部212的强度，所述第二加强部212的宽度自所述第三侧向所述第四侧逐渐减小。在一实施例中，为提高第二加强部212的强度，所述第二加强部212的高度自所述第三侧向所述第四侧逐渐减小。
在一些例子中，为方便滚轮5的连接，所述第二连接部211凸出于所述第二轮辐2。本实施例中，所述第二连接部211一端连接对应的第二加强部212，另一端连接滚轮5。本实施例中，为提高第一连接部111的强度，所述第二连接部211自其连接滚轮5的一端向连接对应的第二加强部212的一端的宽度和/或高度逐渐减小。
在一些例子中，所述第一连接部111和所述第一加强部112一体成型，结构较为简单，且提高所述第一支撑件11的强度。可选地，所述第二连接部211和所述第二加强部212一体成型，结构较为简单，且提高所述第二支撑件21的强度。
在一些例子中，所述第一连接部111和对应的第一加强部112一体成型，所述第二连接部211和对应的第二加强部212一体成型，从而结合第一支撑件11和第二支撑件21的受力特点对第一支撑件11和第二支撑件21进行强度优化和外观设计，使得第一支撑件11和第二支撑件21的强度更大，且更加美观。
另外，在一些例子中，所述第一支撑件11和所述第二支撑件21沿麦克纳姆轮200的周向错开预设角度，以使得设置在第一支撑件11和第二支撑件21之间的滚轮5倾斜设置，从而增加滚轮5运动的灵活性与多样性。可选地，所述预设角度为15°、30°、45°等。
所述第一支撑件11和所述第二支撑件21是成对设置的，成对设置的第一支撑件11和第二支撑件21分别连接在同一滚轮5的两端，以固定所述滚轮5。其中，成对设置的第一支撑件11和第二支撑件21的数量可根据运动的需要来设定，从而连接相应数量的滚轮5，实现运动的灵活性和多样性。
本发明实施例中，可从制造工艺、价格、强度和重量等因素来考虑第一轮辐1、第二轮辐2、第一轮毂3和第二轮毂4的材质。例如，第一轮辐1、第二轮辐2、第一轮毂3和第二轮毂4的材质可为钢、合金或碳纤维等材质。当然，第一轮辐1、第二轮辐2、第一轮毂3和第二轮毂4的材质也可选择为其它材质，本发明实施例并不对第一轮辐1、第二轮辐2、第一轮毂3和第二轮毂4的材质进行具体限定。另外，第一支撑件11和第二支撑件21的材质也可从制造工艺、价格、强度和重量等因素来考虑。例如，第一支撑件11和第二支撑件21的材质可为钢、合金或碳纤维或者其他材质。
在一具体实现方式中，为保证所述第一轮辐1、第一轮毂3以及第一支撑件11的机械强度，并且保证所述第二轮辐2、第二轮毂4以及第二支撑件21的机械强度，同时减轻所述麦克纳姆轮200的重量，进而在所述麦克纳姆轮200运转时降低噪音。在制作所述麦克纳姆轮200时，首先，采用碳纤维板模压成型成第一轮辐1和第一轮毂3以及第二轮辐2和第二轮毂4；接着，在第一轮辐1的外边缘切割出第一支撑件11的第一连接部111和第一加强部112，并在第二轮辐2和第二轮毂4的外边缘切割出第二支撑件12的第二连接部121和第一加强部122。
又结合图1至图6，所述麦克纳姆轮200还包括紧固件7。所述紧固件7穿设所述第一连接部111、所述第二连接部211，以将滚轮5两侧安装固定。在一些例子中，对于成对设置的第一支撑件11和第二支撑件21中的一对，所述第一连接部111、所述第二连接部211分别设有通孔，所述 紧固件7有两个，每个紧固件7穿设对应的通孔与所述滚轮5相连，从而将滚轮5更稳定地固定在第一支撑件11和第二支撑件21之间。本实施例通过在滚轮5的两端采用紧固件7固定，以取代现有的采用螺栓贯穿滚轮的方式固定，从而使得固定方式更加简单，且稳定性更强。
可选地，所述紧固件7为螺钉、螺母或者其他类型的紧固件7，如销轴等。
参见图3，所述麦克纳姆轮200还包括与紧固件7对应配合的润滑环8，紧固件7套设所述润滑环8后穿设对应的通孔与所述滚轮5相连。通过设置润滑环8对相应的紧固件7进行紧固，防止滚轮5运动时，紧固件7松动。并且，通过设置润滑环8还能够对相应的紧固件7与滚轮5的连接处进行密封，防止外部的灰尘或者其他障碍物进入相应滚轮5的内部，对相应滚轮5的运动造成阻碍。
又参见图3，所述滚轮5包括轮轴51和可转动套设在所述轮轴51上的轮体52。为方便所述滚轮5的固定，所述轮轴51的两端自所述轮体52露出，所述紧固件7连接于所述轮轴51的两端。
本实施方式中，所述轮体52为一体成型结构，大致呈鼓状。所述轮体52轴向开设有通孔，以供所述轮轴51穿过。在一些例子中，所述轮体52外表面可设置成光滑表面。在一些例子中，所述轮体52外表面可设置有胎纹，以增加滚轮5接触地面的摩擦力。其中，所述胎纹可为线状、点状或各种图案的凸起及/或凹陷。
所述轮轴51和所述轮体52的材质可根据需要设定。本实施例中，为更好地支撑轮体52，所述轮轴51的强度大于所述轮体52的强度。可选地，所述轮体52为橡胶材质或者其他材质例如塑料。可选地，所述轮轴51的材质选择钢或合金等材质。
值得一提的是，本发明实施例的麦克纳姆轮200可应用在机器人或 者其他设备上。以下将以上述麦克纳姆轮200应用在机器人上为例进一步说明。
参见图7，本发明实施例提供的一种机器人，所述机器人包括机身100、用以提供动力的电机300和上述麦克纳姆轮200。其中，所述麦克纳姆轮200连接在所述机身100上，从而提供机身100移动的动力。所述电机300收容于所述麦克纳姆轮200中的收容空间6中，从而使得机器人的结构更加紧凑，机器人更加小型化。当然，本发明实施例的电机300也可替换成其他动力装置。
所述机器人还包括悬架400，所述麦克纳姆轮200通过所述悬架400连接在所述机身100上，所述悬架400容置在所述收容空间6内，从而进一步使得机器人的结构更加紧凑，机器人更加小型化。
本实施例中，所述机器人还包括安装于机身100的控制装置(图中未显示)，所述控制装置控制所述麦克纳姆轮200依照控制指令进行运动，以使得所述机身100按照指定的轨迹运动。所述控制装置与遥控机器人运动的遥控器通信连接，所述控制装置根据所述遥控器发送的用户指令生成所述控制指令并发送至电机300，从而控制所述麦克纳姆轮200的运动。
在一些例子中，所述机器人可为拍摄机器人，所述拍摄机器人还包括成像装置500，所述成像装置500设置于在所述机身100上，从而实现拍摄功能。
在一些例子中，所述机器人可为扫地机器人。
另外，本实施例的机身100的形状可以是任意形状，例如人形形状或者车辆形状，具体可根据实际需要设定。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包 括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的麦克纳姆轮及具有该麦克纳姆轮的机器人进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (25)

  1. 一种麦克纳姆轮，包括第一轮辐、与所述第一轮辐相对的第二轮辐和设置在所述第一轮辐和第二轮辐之间的滚轮，所述第一轮辐设有第一轮毂，所述第二轮辐设有第二轮毂，其特征在于，所述第二轮毂朝向所述第一轮毂的方向凹陷形成收容空间以使所述第一轮毂和所述第二轮毂均位于距所述第一轮辐和第二轮辐等距离的中间平面的同一侧，所述收容空间用以收容电机。
  2. 根据权利要求1所述的麦克纳姆轮，其特征在于，所述第一轮毂和所述第一轮辐设置于同一平面，所述第二轮毂和所述第一轮毂贴设。
  3. 根据权利要求1所述的麦克纳姆轮，其特征在于，所述第一轮毂和第二轮毂上分别设有一贯穿孔，用于装设所述电机，两个所述贯穿孔同轴设置。
  4. 根据权利要求3所述的麦克纳姆轮，其特征在于，所述第一轮毂和第二轮毂一体成型。
  5. 根据权利要求1所述的麦克纳姆轮，其特征在于，所述第一轮毂和所述第二轮毂均包括内轮毂、外轮毂以及设置于所述内轮毂与所述外轮毂之间的多根肋条，
    每根肋条的一端连接对应的内轮毂，另一端连接对应的外轮毂。
  6. 根据权利要求5所述的麦克纳姆轮，其特征在于，每根肋条的两端的宽度大于其中部的宽度。
  7. 根据权利要求1所述的麦克纳姆轮，其特征在于，所述第一轮毂的多根肋条两两成对设置形成多个第一肋条组，多个所述第一肋条组沿所述第一轮毂的径向均匀分布；
    所述第二轮毂的多根肋条两两成对设置形成多个第二肋条组，多个所述第二肋条组沿所述第二轮毂的径向均匀分布。
  8. 根据权利要求1所述的麦克纳姆轮，其特征在于，所述第一轮辐的 外边缘设有第一支撑件，所述第二轮辐的外边缘设有第二支撑件，所述滚轮的一端连接所述第一支撑件，另一端连接所述第二支撑件。
  9. 根据权利要求8所述的麦克纳姆轮，其特征在于，所述第一支撑件和所述第二支撑件沿麦克纳姆轮的周向错开预设角度。
  10. 根据权利要求8所述的麦克纳姆轮，其特征在于，所述第一支撑件与所述第一轮辐一体成型，所述第二支撑件与所述第二轮辐一体成型。
  11. 根据权利要求8所述的麦克纳姆轮，其特征在于，所述第一支撑件和所述第二支撑件均包括用以安装滚轮的连接部以及与所述连接部连接的加强部。
  12. 根据权利要求11所述的麦克纳姆轮，其特征在于，
    所述第一支撑件的加强部连接所述第一轮辐且所述第一支撑件的加强部凸出于所述第一轮辐的外表面；
    所述第二支撑件的加强部连接所述第二轮辐且所述第二支撑件的加强部凸出于所述第二轮辐的外表面。
  13. 根据权利要求12所述的麦克纳姆轮，其特征在于，所述第一支撑件的加强部包括第一侧和与所述第一侧相对的第二侧，所述第一侧连接对应的所述第一支撑件的连接部，所述第一支撑件的加强部的宽度自所述第一侧向所述第二侧逐渐减小；
    所述第二支撑件的加强部包括第三侧和与所述第三侧相对的第四侧，所述第三侧连接对应的所述第二支撑件的连接部，所述第二支撑件的加强部的宽度自所述第三侧向所述第四侧逐渐减小。
  14. 根据权利要求12所述的麦克纳姆轮，其特征在于，所述第一支撑件的加强部包括第一侧和与所述第一侧相对的第二侧，所述第一侧连接对应的所述第一支撑件的连接部，所述第一支撑件的加强部的高度自所述第一侧向所述第二侧逐渐减小；
    所述第二支撑件的加强部包括第三侧和与所述第三侧相对的第四侧，所述第三侧连接对应的所述第二支撑件的连接部，所述第二支撑件的加强 部的高度自所述第三侧向所述第四侧逐渐减小。
  15. 根据权利要求11所述的麦克纳姆轮，其特征在于，所述连接部和加强部一体成型。
  16. 根据权利要求11所述的麦克纳姆轮，其特征在于，所述麦克纳姆轮还包括紧固件，所述紧固件穿设所述第一支撑件的连接部、所述第二支撑件的连接部，以将滚轮两侧安装固定。
  17. 根据权利要求16所述的麦克纳姆轮，其特征在于，所述第一支撑件的连接部、所述第二支撑件的连接部分别设有通孔，所述紧固件有两个，每个所述紧固件穿设对应的通孔与所述滚轮相连。
  18. 根据权利要求16所述的麦克纳姆轮，其特征在于，还包括与紧固件对应配合的润滑环，紧固件套设所述润滑环后穿设对应的通孔与所述滚轮相连。
  19. 根据权利要求16所述的麦克纳姆轮，其特征在于，所述紧固件为螺钉或螺母。
  20. 根据权利要求16所述的麦克纳姆轮，其特征在于，所述滚轮包括轮轴和可转动套设在所述轮轴上的轮体，所述轮轴的两端自所述轮体露出，
    所述紧固件连接于所述轮轴的两端。
  21. 根据权利要求20所述的麦克纳姆轮，其特征在于，所述轮体为橡胶材质。
  22. 一种机器人，包括机身和动力电机，其特征在于，还包括权利要求1至21任一项所述的麦克纳姆轮，
    所述麦克纳姆轮连接在所述机身上，
    所述电机收容于所述麦克纳姆轮中的收容空间中。
  23. 根据权利要求22所述的机器人，其特征在于，还包括悬架，所述麦克纳姆轮通过所述悬架连接在所述机身上，
    所述悬架容置在所述收容空间内。
  24. 如权利要求22所述的机器人，其特征在于，还包括成像装置，所 述成像装置设置于在所述机身上。
  25. 如权利要求22所述的机器人，其特征在于，还包括安装于机身的控制装置，所述控制装置控制所述麦克纳姆轮依照控制指令进行运动。
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