WO2019237715A1 - 麦克纳姆轮、底盘和帮扶机器人 - Google Patents

麦克纳姆轮、底盘和帮扶机器人 Download PDF

Info

Publication number
WO2019237715A1
WO2019237715A1 PCT/CN2018/124019 CN2018124019W WO2019237715A1 WO 2019237715 A1 WO2019237715 A1 WO 2019237715A1 CN 2018124019 W CN2018124019 W CN 2018124019W WO 2019237715 A1 WO2019237715 A1 WO 2019237715A1
Authority
WO
WIPO (PCT)
Prior art keywords
shock
absorbing
fixed
shaft
mecanum
Prior art date
Application number
PCT/CN2018/124019
Other languages
English (en)
French (fr)
Inventor
王天
Original Assignee
杭州程天科技发展有限公司
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 杭州程天科技发展有限公司 filed Critical 杭州程天科技发展有限公司
Priority to US17/251,567 priority Critical patent/US20210252910A1/en
Publication of WO2019237715A1 publication Critical patent/WO2019237715A1/zh

Links

Images

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
    • B60B19/003—Multidirectional 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F7/00—Vibration-dampers; Shock-absorbers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/046—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type at least three driven wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/127—Rests specially adapted therefor, e.g. for the head or the feet for lower legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013—Lifting of patients by
    • A61G7/1019—Vertical extending columns or mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A61G7/1046—Mobile bases, e.g. having wheels
    • A61G7/1048—Mobile bases, e.g. having wheels having auxiliary drive means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1086—Upper body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1096—Knee, upper or lower leg
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1098—Ankle or foot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F3/00—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic
    • F16F3/08—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of a material having high internal friction, e.g. rubber
    • F16F3/087—Units comprising several springs made of plastics or the like material
    • F16F3/0873—Units comprising several springs made of plastics or the like material of the same material or the material not being specified
    • F16F3/0876—Units comprising several springs made of plastics or the like material of the same material or the material not being specified and of the same shape
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1078—Parts, details or accessories with shock absorbers or other suspension arrangements between wheels and frame
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2900/00—Purpose of invention
    • B60B2900/10—Reduction of
    • B60B2900/131—Vibrations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F7/00—Vibration-dampers; Shock-absorbers
    • F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
    • F16F7/104—Vibration-dampers; Shock-absorbers using inertia effect the inertia member being resiliently mounted

Definitions

  • the present disclosure relates to the technical field of assistive machinery accessories, and in particular, to a Mecanum wheel, a chassis, and an assisting robot.
  • Mecanum wheels are all-round moving wheels; they can achieve forward, traverse, oblique, rotation, and combinations of motion.
  • the omnidirectional movement method is based on the principle of a central wheel having a plurality of rollers located on the periphery of the wheel axle, and converting part of the wheel steering force of the angled peripheral wheel axle to the normal force of the wheel.
  • Mecanum wheels rely on the direction and speed of their respective rollers to synthesize to produce a resultant force vector in any desired direction to ensure that they can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself.
  • the current Mecanum wheels and their drive motors are designed separately, and their structural size is large, which affects the structure size of the Mecanum wheel installation equipment; especially the assisted robots with larger Mecanum wheels Its driving motor affects the compactness of the assisting robot.
  • the present disclosure provides a new Mecanum wheel, a chassis, and a helper robot to solve the above problems, so as to reduce the structural size of the Mecanum wheel and its driving motor.
  • the purpose of the present disclosure includes, for example, providing a Mecanum wheel to solve the technical problem that the Mecanum wheel and its driving motor have a large size in the prior art.
  • the purpose of the present disclosure also includes providing a Mecanum wheel with a shock absorbing device to solve the technical problem that the Mecanum wheel and its driving motor have a large structure size in the prior art.
  • the purpose of the present disclosure also includes providing a chassis and an assisting robot to solve the technical problem of large size of Mecanum wheels and their driving motors existing in the prior art.
  • An embodiment of the present disclosure provides a Mecanum wheel including a Mecanum body and a driving device;
  • the Mecanum wheel body is provided with an axle hole; part or all of the driving device is disposed in the axle hole;
  • the axis of the connecting shaft of the driving device is collinear with the rotation axis of the Mecanum wheel body; and the Mecanum wheel body rotates with the casing of the driving device.
  • the Mecanum wheel body includes a first end cap, a second end cap, and a plurality of Mecanum rollers;
  • a plurality of Mecanum rollers are connected between the first end cover and the second end cover;
  • a plurality of mecanum rollers forming the axle hole
  • a connecting shaft of the driving device protrudes from the first end cover, and a housing of the driving device is detachably connected to the first end cover.
  • first end cover and / or the second end cover are provided with end cover hole grooves corresponding to the number of Mecanum rollers;
  • the roller of the Mecanum roller is cooperatively connected with the slot of the end cover;
  • the end cap hole groove is opened at the edge of the first end cap or the second end cap and forms an edge notch, so that The roller of the Mecanum roller can enter the end cover hole groove from the edge slot.
  • a size of the edge notch is greater than or equal to a maximum size of a roller of the Mecanum roller.
  • a cross section of the end cap hole groove is triangular, rectangular, or semicircular;
  • a cross section of the Mecanum roller matching the end cover hole groove has a shape corresponding to a cross section of the end cover hole groove.
  • a roller of the Mecanum roller has a roller assembly platform
  • the roller assembly platform is provided with screws screwed to the first end cover or the second end cover.
  • the housing of the driving device and the first end cover are detachably connected by screws;
  • the housing of the driving device and the second end cover are detachably connected by screws.
  • the first end cover is provided with a first end cover fitting groove
  • the housing of the driving device is provided with a first drive matching structure corresponding to the first end cover fitting groove
  • An end cover mating groove extends along an axial direction of a connecting shaft of the driving device
  • the first end cap is provided with a first end cap mating protrusion
  • the housing of the driving device is provided with a first driving mating groove corresponding to the first end cap mating protrusion;
  • the end cap fitting protrusion extends along the axial direction of the connecting shaft of the driving device.
  • the second end cover is provided with a second end cover fitting groove
  • the housing of the driving device is provided with a second driving fitting structure corresponding to the second end cover fitting groove;
  • the two end cover mating grooves extend along the axial direction of the connecting shaft of the driving device;
  • the second end cap is provided with a second end cap mating protrusion
  • the housing of the driving device is provided with a second driving mating groove corresponding to the second end cap mating protrusion; the second The end cap fitting protrusion extends along the axial direction of the connecting shaft of the driving device.
  • the driving device includes an in-wheel motor; a connecting shaft of the driving device is a connecting shaft of the in-wheel motor; the in-wheel motor is disposed in the shaft hole; and the Mecanum wheel body follows the The housing of the in-wheel motor rotates;
  • the driving device includes a hub motor and a speed reducer; the hub motor is drivingly connected to the speed reducer; a connection shaft of the driving device is a connection shaft of the speed reducer; and the hub motor is provided in the wheel shaft hole Inside; part or all of the reducer is arranged in the wheel shaft hole; the mecanum wheel body rotates with the housing of the hub motor.
  • the in-wheel motor includes an inner stator connecting shaft and an outer rotor housing;
  • first end cover and / or the second end cover are screw-connected to both ends of the outer rotor housing, respectively;
  • the inner stator connecting shaft protrudes from the first end cover, and the axis of the inner stator connecting shaft is collinear with the rotation axis of the Mecanum wheel body;
  • the first end cover and the second end cover rotate with the outer rotor housing around the inner stator connection shaft.
  • An embodiment of the present disclosure provides a shock absorbing device including a shock absorbing fixed bracket and a shock absorbing moving bracket; the shock absorbing moving bracket is configured to be fixedly connected to a connecting shaft of a wheel;
  • the shock-absorbing fixed bracket includes at least one shock-absorbing fixed shaft; the shock-absorbing moving bracket is sheathed on the shock-absorbing fixed shaft and can reciprocate in the axial direction of the shock-absorbing fixed shaft;
  • the shock-absorbing fixed shaft jacket has two elastic elements; the shock-absorbing moving bracket is connected between the two elastic elements;
  • the axial direction of the shock-absorbing fixed shaft and the axial direction of the connecting shaft of the wheel are arranged at an included angle.
  • the shock absorption fixing bracket includes a first shock absorption fixing portion, a second shock absorption fixing portion, and a third shock absorption fixing portion;
  • the third damping fixing portion is fixedly connected to the first damping fixing portion and the second damping fixing portion.
  • the second damping fixing portion and the third damping fixing portion are detachably fixedly connected, and the second damping fixing portion and the third damping fixing portion are provided between them.
  • the shock-absorbing adjustment member includes a wedge-shaped structure
  • the vibration-damping adjusting member can move to change a distance between the second vibration-damping fixing portion and the third vibration-damping fixing portion.
  • the shock-absorbing adjustment member includes an adjustment fitting portion and an adjustment screw portion fixedly connected to the adjustment fitting portion; the adjustment fitting portion is a wedge-shaped structure;
  • the adjusting and fitting portion is provided between the second shock-absorbing fixing portion and the third shock-absorbing fixing portion;
  • An adjustment nut is screwed to the adjustment thread part; the adjustment nut abuts a side of the second shock-absorbing fixing part away from the shock-absorbing moving bracket;
  • the shock-absorbing adjustment member can move to change a distance between the second shock-absorbing fixing portion and the third shock-absorbing fixing portion.
  • the adjustment and matching portion is provided with an adjustment through hole
  • a screw connecting the second damping fixing portion and the third damping fixing portion is inserted into the adjusting through hole.
  • an end of the adjustment fitting portion remote from the adjustment screw portion is provided with an adjustment fitting protrusion
  • the adjusting-fitting protruding portion protrudes from a wedge-shaped surface of the adjusting-fitting portion
  • the wedge-shaped surface of the adjusting and mating portion is connected to the second vibration-damping fixing portion.
  • the shock-absorbing fixing bracket includes a shock-absorbing mounting member
  • the shock absorbing mounting member, the first shock absorbing fixing portion and the second shock absorbing fixing portion are sequentially arranged on the shock absorbing fixed shaft at intervals;
  • a connection device is fixed between the shock-absorbing mounting member and the first shock-absorbing fixing portion.
  • the shock absorbing device includes a shock absorbing fixed bracket and a shock absorbing moving bracket; the shock absorbing moving bracket is fixedly connected to a connection shaft of a driving device of the Mecanum wheel;
  • the shock-absorbing fixed bracket includes at least one shock-absorbing fixed shaft; the shock-absorbing moving bracket is sheathed on the shock-absorbing fixed shaft and can reciprocate in the axial direction of the shock-absorbing fixed shaft;
  • the outer casing of the shock-absorbing fixed shaft is provided with an elastic element abutting the shock-absorbing moving bracket, and the elastic element is in a compressed state;
  • An axial direction of the shock-absorbing fixed shaft and an axial direction of the connecting shaft of the driving device are arranged at an angle.
  • the shock-absorbing fixed bracket includes a shock-absorbing fixed leveling mounting member and a shock-absorbing fixed leveling shaft connector;
  • the shock-absorbing fixed leveling mount is configured as a fixed connection device
  • the shock absorbing fixed leveling shaft connector is detachably fixed to the shock absorbing fixed shaft; an end of the shock absorbing fixed shaft far from the shock absorbing fixed leveling shaft connector has a shock absorbing fixed shaft stop
  • the elastic element and the shock-absorbing moving bracket are disposed between the shock-absorbing fixed shaft stop portion and the shock-absorbing fixed leveling shaft connector;
  • the shock-absorbing fixed leveling mounting member is hinged with the shock-absorbing fixed leveling shaft connector, and the shock-absorbing fixed leveling installation member and the shock-absorbing fixed leveling shaft connector are connected with a leveling connector;
  • the leveling connector can adjust an angle between the shock-absorbing fixed leveling mounting member and the shock-absorbing fixed leveling shaft connector.
  • the leveling connection member is screwed with the shock-absorbing fixed leveling mounting member, and the leveling connector can pass through the shock-absorbing fixed leveling mounting member and the shock-absorbing fixed leveling
  • the shaft connector abuts.
  • shock-absorbing fixed leveling mounting member and the shock-absorbing fixed leveling shaft connector are connected by at least one leveling connection screw;
  • the shock-absorbing fixed leveling mounting member is provided with a circular hole, a strip-shaped hole or an oblong hole for inserting the leveling connection screw;
  • the shock-absorbing fixed leveling shaft connector is provided with a threaded hole screwed with the leveling connection screw, or the side of the shock-absorbing fixed leveling shaft connector away from the shock-absorbing fixed leveling mounting member is connected. A nut screwed with the leveling connection screw.
  • the elastic element is a spring
  • the shock absorbing fixed shaft is provided with an energy absorbing element, and the energy absorbing element can be elastically deformed;
  • the shock-absorbing moving bracket is disposed between the energy absorbing element and the elastic element.
  • the damping fixed shaft is covered with a gasket
  • the energy absorbing element includes a polyurethane structure, a rubber ring or a silicone ring;
  • the damping fixed shaft stop, the washer, the energy absorbing element, the damping moving bracket, the elastic element, and the damping fixed leveling shaft connector are along the damping fixed shaft.
  • the axial direction is set in order.
  • the elastic element is disposed between the shock-absorbing moving bracket and the shock-absorbing fixed leveling shaft connector; the shock-absorbing moving bracket and / or the shock-absorbing fixed leveling shaft connector, A counterbore is provided which is cooperatively connected with the elastic element.
  • an end of the shock-absorbing fixed leveling shaft connector which is far from the stop portion of the shock-absorbing fixed shaft is provided with a threaded portion of the shock-absorbing fixed shaft, and the shock-absorbing and leveling shaft connector is provided with the threaded portion. Threaded holes where the threaded portion of the shock-absorbing fixed shaft is screwed;
  • a bearing is provided between the shock-absorbing moving bracket and the shock-absorbing fixed shaft.
  • the shock-absorbing mobile bracket includes a shock-absorbing mobile bracket connection portion and at least two shock-absorbing mobile bracket sleeve portions; the connecting shaft of the wheel passes through the shock-absorbing mobile bracket connection portion and is connected to the shock-absorbing The seismic moving bracket connecting portion is fixedly connected; the shock absorbing mobile bracket sleeve portion is sheathed on the shock absorbing fixed shaft, and the number of the shock absorbing moving bracket sleeve portion corresponds to the number of the shock absorbing fixed shaft. ;
  • Adjacent shock-absorbing moving bracket sleeves are fixedly connected through the shock-absorbing moving bracket connecting portion;
  • connection portion of the shock-absorbing moving bracket protrudes from a surface formed adjacent to the socket portion of the shock-absorbing moving bracket.
  • the number of the fixed vibration-damping shafts is two;
  • the shock-absorbing moving bracket is a symmetrical structure.
  • the axial direction of the shock-absorbing fixed shaft is configured to be disposed at a right angle to the axial direction of the connecting shaft of the wheel.
  • the elastic element includes a spring, a polyurethane structure, a rubber ring, or a silicone ring.
  • a wheel structure with a shock absorbing device provided by the present disclosure includes a wheel and the above-mentioned shock absorbing device; the wheel is connected to the shock absorbing device.
  • the number of the shock absorbing devices is one; the shock absorbing devices are arranged on one side of the wheels, and the shock absorbing support of the shock absorbing devices is fixedly connected to the connecting shaft of the wheels;
  • the number of the shock absorbing devices is two; the wheels are arranged between the two shock absorbing devices, and the shock absorbing moving brackets of the two shock absorbing devices are fixed to the connecting shafts of the wheels. connection.
  • An embodiment of the present disclosure also provides a Mecanum wheel having a shock absorbing device, which includes the Mecanum wheel described above and further includes a shock absorbing device; the Mecanum wheel is connected to the shock absorbing device.
  • the shock absorbing device includes a shock absorbing fixed bracket and a shock absorbing moving bracket; the shock absorbing moving bracket is fixedly connected to a connection shaft of a driving device of the Mecanum wheel;
  • the shock-absorbing fixed bracket includes at least one shock-absorbing fixed shaft; the shock-absorbing moving bracket is sheathed on the shock-absorbing fixed shaft and can reciprocate in the axial direction of the shock-absorbing fixed shaft;
  • the shock-absorbing fixed shaft jacket has two elastic elements; the shock-absorbing moving bracket is connected between the two elastic elements;
  • An axial direction of the shock-absorbing fixed shaft and an axial direction of the connecting shaft of the driving device are arranged at an angle.
  • the shock absorption fixing bracket includes a first shock absorption fixing portion, a second shock absorption fixing portion, and a third shock absorption fixing portion;
  • the third damping fixing portion is fixedly connected to the first damping fixing portion and the second damping fixing portion.
  • the second damping fixing portion and the third damping fixing portion are detachably fixedly connected, and the second damping fixing portion and the third damping fixing portion are provided between them.
  • the shock-absorbing adjustment member includes a wedge-shaped structure
  • the vibration-damping adjusting member can move to change a distance between the second vibration-damping fixing portion and the third vibration-damping fixing portion.
  • the shock-absorbing adjustment member includes an adjustment fitting portion and an adjustment screw portion fixedly connected to the adjustment fitting portion; the adjustment fitting portion is a wedge-shaped structure;
  • the adjusting and fitting portion is provided between the second shock-absorbing fixing portion and the third shock-absorbing fixing portion;
  • An adjustment nut is screwed to the adjustment thread part; the adjustment nut abuts a side of the second shock-absorbing fixing part away from the shock-absorbing moving bracket;
  • the shock-absorbing adjustment member can move to change a distance between the second shock-absorbing fixing portion and the third shock-absorbing fixing portion.
  • the adjustment and matching portion is provided with an adjustment through hole
  • a screw connecting the second damping fixing portion and the third damping fixing portion is inserted into the adjusting through hole.
  • an end of the adjustment fitting portion remote from the adjustment screw portion is provided with an adjustment fitting protrusion
  • the adjusting-fitting protruding portion protrudes from a wedge-shaped surface of the adjusting-fitting portion
  • the wedge-shaped surface of the adjusting and mating portion is connected to the second vibration-damping fixing portion.
  • the shock-absorbing fixing bracket includes a shock-absorbing mounting member
  • the shock absorbing mounting member, the first shock absorbing fixing portion and the second shock absorbing fixing portion are sequentially arranged on the shock absorbing fixed shaft at intervals;
  • a connection device is fixed between the shock-absorbing mounting member and the first shock-absorbing fixing portion.
  • the shock-absorbing mobile bracket includes a shock-absorbing mobile bracket connection portion and at least two shock-absorbing mobile bracket sleeve portions; the connection shaft of the driving device passes through the shock-absorbing mobile bracket connection portion and is connected to the shock-absorbing mobile bracket connection portion.
  • the connection portion of the shock absorbing mobile bracket is fixedly connected; the socket portion of the shock absorbing mobile bracket is sheathed on the shock absorbing fixed shaft, and the number of the socket portion of the shock absorbing mobile bracket is equal to the number of the shock fixing fixed shaft.
  • Adjacent shock-absorbing moving bracket sleeves are fixedly connected through the shock-absorbing moving bracket connecting portion;
  • connection portion of the shock-absorbing moving bracket protrudes from a surface formed adjacent to the socket portion of the shock-absorbing moving bracket.
  • the number of the fixed vibration-damping shafts is two;
  • the shock-absorbing moving bracket is a symmetrical structure.
  • an axial direction of the shock-absorbing fixed shaft and an axial direction of the connecting shaft of the driving device are disposed at a right angle.
  • the elastic element includes a spring, a polyurethane structure, a rubber ring, or a silicone ring.
  • the number of the shock absorbing device is one; the shock absorbing device is disposed on one side of the Mecanum wheel, and a connecting shaft of the shock absorbing device and a driving device of the Mecanum wheel Fixed connection
  • the number of the shock absorbing devices is two; the mecanum wheels are arranged between the two shock absorbing devices, and both the shock absorbing devices and the driving device of the mecanum wheels
  • the connecting shaft is fixedly connected.
  • An embodiment of the present disclosure also provides a chassis including at least one pair of the above-mentioned Mecanum wheels having a shock absorbing device.
  • the chassis includes a chassis beam and two fixed beams; the chassis beam is fixedly connected to the two fixed beams;
  • the extension direction of the fixed beam is the walking direction of the chassis; the fixed beam is connected to the shock absorbing device of the Mecanum wheel with the shock absorbing device;
  • the Mecanum wheels with shock absorbing devices arranged in pairs are disposed at the same end of the fixed beam, and each of the fixed beams connects at least one Mecanum wheel with shock absorbing devices.
  • the Mecanum wheels provided with the shock absorbing device arranged in pairs are connected through a chassis wheel axle.
  • two ends of each of the fixed beams are respectively connected to the shock absorbing device of the Mecanum wheel having the shock absorbing device.
  • one end of the fixed beam is connected to the Mecanum wheel with a shock absorbing device, and the other end is connected to the roller through a second shock absorbing device;
  • the second shock absorbing device includes a support rod and a second shock absorber; an end portion of the support rod is hinged with the second shock absorber;
  • the support rod is hinged to the fixed beam, the second shock absorber is hinged to the fixed beam, and the roller of the roller is fixedly connected to the support rod.
  • the roller is a Mecanum wheel; a connecting shaft of a driving device of the Mecanum wheel is fixedly connected to the support rod;
  • the second shock absorber is a hydraulic shock absorber or a spring shock absorber.
  • An embodiment of the present disclosure also provides a help robot including the above-mentioned chassis.
  • the assisting robot includes a hip support band, a waist support band, and a body, and the body is provided with the chassis and a lifting support mechanism;
  • the chassis is disposed at the bottom of the body
  • the lifting support mechanism includes a top chest plate, a lower end surface of the top chest plate is provided with a first connector, and a side wall is provided with a second connector;
  • the hip support band is provided with a third connection member matching and docking with the first connection member, and the waist support band is provided with a fourth connection member matching and docking with the second connection member.
  • the lifting support mechanism includes a support rod, one end of the support rod is hinged to the body, and the other end is provided with a console, and the console is connected with a handle and the top chest plate;
  • a driving component is further connected between the support rod and the body, and the driving component is configured to place the support rod in a first state or a second state, and can be in the first state and the second state. Switch between.
  • the height of the assisting robot is lower than 0.8 meters.
  • the support rod includes: a main rod and a sub-rod passing through the main rod, the sub-rod is connected to the main rod through a movable member, and the sub-rod can be connected to the main rod.
  • the inner telescopic movement is fixed by the movable member.
  • the console is provided with a power switch and at least two speed regulating switches;
  • a groove is provided on the console, and the groove can be configured to place a remote controller and charge the remote controller.
  • a control component is provided in the body, and the control component is connected to the driving component and configured to control the support rod to rise and fall;
  • the remote controller is connected to the control component through a wireless connection, and the remote controller can remotely control the assisted robot to move.
  • the assisting robot when the power switch is turned on, the assisting robot is in a braking state by default;
  • the remote controller is provided with a control switch, and when the control switch and the power switch are both on, the remote controller can remotely control the movement of the assisting robot, or control the assisting robot to perform attitude transformation, Move horizontally or rotate.
  • the top breast plate includes: an EVA filling layer, and a leather layer covering the outside of the EVA filling layer;
  • the two sides of the lower end of the top chest plate are arc-shaped structures stowed upward.
  • the body includes a vehicle body; the chassis connected to a bottom end region of the vehicle body; the lifting support mechanism is connected to the vehicle body, and a foot support plate is further provided on the chassis;
  • the vehicle body is connected with a top knee mechanism
  • the top knee mechanism includes a vertical beam, one end of which is connected to the vehicle body, and the other end is connected with a cross beam, and two cross knees are movably connected on the cross beam.
  • the vertical beam includes a main beam and a sub beam, one end of the main beam is connected to the vehicle body, one end of the sub beam is penetrated in the main beam, and the other end is connected to the roof. Kneeboard
  • the auxiliary beam can drive the top knee plate to move and be fixed relative to the main beam in a direction away from or close to the vehicle body.
  • the cross beam is provided with a connection hole, and the top knee plate is longitudinally provided with a strip groove;
  • the top knee plates are located at different heights
  • the top knee plate includes: an intermediate plate connected to the beam, and an inner plate and an outer plate connected to both sides of the intermediate plate, respectively;
  • the size of the outer plate is larger than the size of the inner plate.
  • an illumination lamp is provided on a front side of the vehicle body, and an indicator light is provided on the vehicle body;
  • the indicator light includes any one or more of a charging standby state, a charging state at a startup, a normal starting state, a standby state, and an alarm state;
  • the assisting robot includes a sound prompting device; the sound prompting device is configured to prompt the status of the assisting robot or perform a danger alarm.
  • the beneficial effects of the present disclosure include, for example:
  • the Mecanum wheel provided in the embodiment of the present disclosure includes a Mecanum wheel body and a driving device, and a part or all of the drive device is disposed in an axle hole of the Mecanum wheel body to reduce the size of the Mecanum wheel and its driving motor.
  • the structure size is to form a Mecanum wheel in which the driving device is integrated with the Mecanum body; the structure of a device such as a help robot using the Mecanum wheel can be made more compact.
  • the Mecanum wheels, chassis and assisting robot provided with the embodiments of the present disclosure have the advantages of compact Mecanum wheels and the like.
  • FIG. 1-1 is a schematic structural diagram of a Mecanum wheel provided by an embodiment of the present disclosure
  • FIG. 1-2 is another schematic structural diagram of a Mecanum wheel provided by an embodiment of the present disclosure
  • Figure 1-3 is an exploded view of the Mecanum wheel shown in Figure 1-2;
  • FIG. 1-4 is another schematic structural diagram of a Mecanum wheel provided by an embodiment of the present disclosure
  • Figure 1-5 is an enlarged view of the area A of the Mecanum wheel shown in Figure 1-4;
  • Figure 1-6 is an exploded view of the Mecanum wheel shown in Figure 1-4;
  • FIG. 2-1 is a schematic structural diagram of a Mecanum wheel with a shock absorbing device according to an embodiment of the present disclosure
  • FIG. 2-2 is an exploded view of a Mecanum wheel with a shock absorbing device shown in FIG. 2-1;
  • FIG. 2-3 is a schematic structural diagram of a shock absorbing device according to an embodiment of the present disclosure.
  • Figure 2-4 is an exploded view of the vibration damping device shown in Figure 2-3;
  • FIG. 2-5 is another schematic structural diagram of a shock absorbing device according to an embodiment of the present disclosure.
  • Figure 2-6 is a front view of the shock absorbing device shown in Figure 2-5;
  • Figure 2-7 is an exploded view of the vibration damping device shown in Figure 2-5;
  • 2-8 is a schematic structural diagram of a damping adjustment member according to an embodiment of the present disclosure.
  • FIG. 2-9 is another schematic structural diagram of a shock absorbing device according to an embodiment of the present disclosure.
  • Figure 2-10 is an exploded view of the vibration damping device shown in Figure 2-9;
  • FIG. 3-1 is a schematic structural diagram of a chassis provided by an embodiment of the present disclosure.
  • 3-2 is another schematic structural diagram of a chassis provided by an embodiment of the present disclosure.
  • FIG. 4-1 is a schematic diagram of a three-dimensional structure of an assisting robot according to an embodiment of the present disclosure
  • FIG. 4-2 is a schematic structural diagram of the assisting robot according to another embodiment of the present disclosure from another perspective;
  • FIG. 4-2 is a schematic structural diagram of the assisting robot according to another embodiment of the present disclosure from another perspective;
  • FIG. 4-3 is a schematic structural diagram of a hip support band provided by an embodiment of the present disclosure.
  • FIG. 4-4 is a schematic structural diagram of a waist support strap provided by an embodiment of the present disclosure.
  • Icon 1- hip support strap; 2- waist support strap; 3- mecanum wheel; 4- body; 5-foot support plate; 6-lifting support mechanism; 7- remote control; 8- top knee mechanism; 9- shock absorption device;
  • 21-fourth connecting piece 22- waist support body; 23- waist adjustment belt;
  • 310-Mecanum wheel body 311-first end cap; 312-second end cap; 313-Mecanum roller; 3131-roller assembly platform; 314-end cap hole groove; 320-drive device; 330 -Flanges;
  • 910- shock absorption fixing bracket 911- first shock absorption fixing portion; 912- second shock absorption fixing portion; 913- third shock absorption fixing portion; 914- shock absorption fixing leveling mount; 915- shock absorption fixing adjustment Flat shaft connector; 916-pin shaft; 917-leveling connector; 9171-threaded hole; 918-leveling connection screw; 9181-oblong hole; 9182-threaded hole; 920-vibration damping mobile bracket; 921-vibration Mobile bracket connection; 922- shock-absorbing mobile bracket sleeve; 930- shock-absorbing fixed shaft; 931- elastic element; 932- shock-absorbing fixed shaft stop; 933- energy-absorbing element; 934- gasket; 940- Shock-absorbing mounting parts; 950- shock-absorbing adjustment parts; 951-adjustment mating part; 952-adjustment thread part; 953-adjustment nut; 954-adjustment protrusion.
  • FIGS. 1-1 to 1-3 a Mecanum wheel is provided in this embodiment;
  • FIGS. 1-1 and 1-2 are schematic diagrams of two structures of the Mecanum wheel provided in this embodiment;
  • Figure 1-3 is an exploded view of the Mecanum wheel shown in Figure 1-2.
  • FIG. 1-4 is a third schematic structural diagram of a Mecanum wheel provided in this embodiment;
  • FIG. 1-5 is a Mecanum wheel shown in FIG. 1-4 The enlarged view of area A;
  • Figure 1-6 is an exploded view of the Mecanum wheel shown in Figure 1-4;
  • the mecanum wheels provided in this embodiment are suitable for AGV (short for Automated Guided Vehicle) transport vehicles, assisting robots, transport platforms, forklifts, and other instruments and equipment that need to move in all directions. They are also suitable for compact structures and sports Instruments and equipment that are flexible, have limited transfer space, and have narrow working channels.
  • AGV Automated Guided Vehicle
  • the Mecanum wheel includes a Mecanum body 310 and a driving device 320;
  • the Mecanum wheel body 310 is provided with an axle hole (shown in the figure); part or all of the driving device 320 is disposed in the axle hole;
  • the axis of the connecting shaft of the driving device 320 is collinear with the rotation axis of the Mecanum wheel body 310; and the Mecanum wheel body 310 rotates with the casing of the driving device 320.
  • the connection shaft of the driving device 320 is configured to connect a device, such as a base of the connection device, to mount the Mecanum wheel on the device.
  • the axis of the connecting shaft of the driving device 320 is collinear with the rotation axis of the Mecanum wheel body 310, so that the Mecanum wheel body 310 rotates more stably with the casing of the driving device 320, and the equipment using the Mecanum wheel is reduced. Vibration while walking.
  • the connecting shaft of the driving device 320 is relatively fixed, and the housing of the driving device 320 rotates around the connecting shaft of the driving device 320 so that the Mecanum wheel body 310 rotates with the housing of the driving device 320.
  • the Mecanum wheel described in this embodiment includes a Mecanum wheel body 310 and a driving device 320. Part or all of the Mecanum wheel body 310 is disposed in the axle hole of the Mecanum wheel body 310 to reduce the Mecanum wheel.
  • the structure size of the driving device 320 and the Mecanum wheel body 310 are integrated to form the Mecanum wheel.
  • the mecanum wheel and the like can be used to make the structure of the assisting robot and the like more compact.
  • the mecanum wheel described in this embodiment integrates the existing mecanum wheel and driving device, to a certain extent, reducing the mounting parts of the mecanum wheel and its driving motor, and simplifying the adoption of the mecanum wheel.
  • the structure of equipment such as a wheel-assisting robot. To a certain extent, it also simplifies the installation process and requirements of equipment such as assisting robots using the Mecanum wheel, reduces its structural weight and manufacturing and maintenance costs, and can also improve the reliability of equipment walking to a certain extent.
  • the Mecanum wheel body 310 is composed of Mecanum roller brackets and Mecanum rollers.
  • Mecanum rollers are arranged on the Mecanum roller brackets.
  • Mecanum rollers The bracket is connected to a housing of the driving device 320. The two ends of the Mecanum roller are connected to the Mecanum roller support, or the middle of the Mecanum roller is connected to the Mecanum roller support.
  • the Mecanum wheel body 310 includes a first end cap 311, a second end cap 312, and a plurality of Mecanum rollers 313; the first end cap 311 A plurality of Mecanum rollers 313 are connected with the second end cover 312; a plurality of Mecanum rollers 313 form an axle hole;
  • the connecting shaft of the driving device 320 protrudes from the first end cover 311, and the first end cover 311 can rotate relative to the connecting shaft of the driving device 320.
  • a flange 330 is connected to the connecting shaft of the driving device 320, so that the connecting shaft of the driving device 320 is connected to the device through the flange 330.
  • the first end cover 311 and / or the second end cover 312 are provided with end cover hole grooves 314 corresponding to the number of Mecanum rollers 313; that is, That is, the first end cover 311 is provided with end cover hole grooves 314 corresponding to the number of Mecanum rollers 313, or the second end cover 312 is provided with end cover hole grooves 314 corresponding to the number of Mecanum rollers 313, or The first end cover 311 and the second end cover 312 are provided with end cover hole grooves 314 corresponding to the number of Mecanum rollers 313.
  • the roller of the Mecanum roller 313 cooperates with the end cap hole groove 314; optionally, the end cap hole groove 314 extends along the axial direction of the Mecanum roller 313, so that the roller of the Mecanum roller 313 It is inserted into the end cover hole groove 314, so that the Mecanum roller 313 can be easily connected with the first end cover 311 or the second end cover 312.
  • the end cap hole groove 314 is opened at the edge of the first end cap 311 or the second end cap 312 and forms an edge notch, so that the Mecanum roller 313
  • the roller can enter the end cap hole slot 314 from the edge slot.
  • the roller of Mecanum roller 313 can enter the end cap hole groove 314 from the edge slot of the end cap hole groove 314, which improves the assembly of the Mecanum roller 313 with the first end cap 311 or the second end cap 312.
  • the convenience of the Mecanum wheel is further improved. When some Mecanum rollers are faulty, the number of Mecanum rollers can be easily or quickly replaced or repaired, which improves Mecanum. Ease of maintenance
  • the first or second end cover needs to be disassembled from the entire number of Mecanum rollers.
  • the Mecanum wheels Simply replacing the faulty Mecanum rollers greatly improves the ease of maintenance.
  • the size of the edge notch is greater than or equal to the maximum size of the roller of Mecanum roller 313, so that The roller of the Mecanum roller 313 is more easily connected with the end cover hole groove 314, so that the Mecanum roller 313 is more easily connected with the first end cover 311 or the second end cover 312.
  • the cross section of the end cap hole groove 314 is triangular, rectangular, or semicircular, or other shapes;
  • the cross section of the roller of the Mecanum roller 313 and the end cap hole groove 314 is in a shape corresponding to the cross section of the end cap hole groove 314.
  • the roller of the Mecanum roller 313 has a roller assembly platform 3131;
  • the roller assembly platform 3131 is provided with screws screwed to the first end cover 311 or the second end cover 312.
  • the roller assembly platform 3131 facilitates the assembly of the first end cover 311 or the second end cover 312 and the roller of the Mecanum roller 313, thereby facilitating the rolling of the first end cover 311 or the second end cover 312 and the Mecanum.
  • the roller assembly platform 3131 may be a part of the shape of the roller of Mecanum roller 313.
  • the roller assembly platform 3131 is one of the surfaces of the end cover hole groove 314 with a triangular or rectangular cross section; roller assembly The platform 3131 may also be a platform cut by the rollers of the Mecanum roller 313.
  • the housing of the driving device 320 is detachably connected to the first end cover 311, so that the first end cover 311 rotates with the housing of the driving device 320, that is, the Mecanum wheel body 310 follows the driving device 320.
  • the housing turns.
  • the housing of the driving device 320 is detachably connected to the second end cover 312; the first end cover 311 and the second end cover 312 are fixedly connected to the housing of the driving device 320 at the same time, so that the Mecanum wheel The connection between the main body 310 and the housing of the driving device 320 is stronger.
  • the housing of the driving device 320 and the first end cover 311 are detachably connected by screws; optionally, the number of screws between the housing of the driving device 320 and the first end cover 311 is 4, 6 , 8 or 9 and so on.
  • the housing of the driving device 320 and the second end cover 312 are detachably connected by screws; optionally, the number of screws between the housing of the driving device 320 and the second end cover 312 is 4, 6 , 8 or 9 and so on.
  • the first end cover 311 is provided with a first end cover fitting groove
  • the housing of the driving device 320 is provided with a first driving fitting structure corresponding to the first end cover fitting groove;
  • the end cover mating groove extends along the axial direction of the connecting shaft of the driving device 320; the first end cover mating groove and the first driving mating structure cooperate to connect the first end cover 311 with the housing of the driving device 320.
  • the connection between them is firmer, so as to better transmit the steering force of the housing of the driving device 320 to the first end cover 311, so that the Mecanum wheel body 310 rotates with the housing of the driving device 320;
  • the shear force experienced by the screws between the first end cover 311 and the housing of the driving device 320 when the first end cover 311 rotates with the housing of the driving device 320 is described.
  • the first driving mating structure may be a mating protrusion corresponding to the mating groove of the first end cover provided for the housing of the driving device 320, or a mating groove of the shell of the driving device 320 with the first end cover.
  • the cross section of the first end cover mating groove is rectangular, and the cross section of the housing of the driving device 320 and the first end cover mating groove is also rectangular;
  • the cross section is a regular polygon, and the cross section of the housing of the driving device 320 and the matching groove of the first end cover is also a regular polygon.
  • the first end cover 311 is provided with a first end cover mating protrusion
  • the housing of the driving device 320 is provided with a first driving mating groove corresponding to the first end cap mating protrusion;
  • the mating protrusion of the end cap extends along the axial direction of the connecting shaft of the driving device 320.
  • the connection between the first end cover 311 and the housing of the driving device 320 is stronger, so as to better connect the shell of the driving device 320
  • the body steering force is transmitted to the first end cover 311, so that the Mecanum wheel body 310 rotates with the housing of the driving device 320; the degree of the first end cover 311 rotating with the housing of the driving device 320 is also reduced to a certain extent. Shear force received by the screw between the end cover 311 and the housing of the driving device 320.
  • the second end cover 312 is provided with a second end cover fitting groove
  • the housing of the driving device 320 is provided with a second driving fitting structure corresponding to the second end cover fitting groove;
  • the second The end cover mating groove extends along the axial direction of the connecting shaft of the driving device 320; the second end cover mating groove and the second driving mating structure cooperate to connect the second end cover 312 with the housing of the driving device 320.
  • the second driving mating structure may be, for example, a mating protrusion corresponding to the mating groove of the second end cover provided in the housing of the driving device 320, or a mating groove corresponding to the second end cover in the housing of the driving device 320.
  • the cross section of the second end cover mating groove is rectangular, and the cross section of the housing of the driving device 320 and the second end cover mating groove is also rectangular;
  • the cross section is a regular polygon, and the cross section of the housing of the driving device 320 and the matching groove of the second end cover is also a regular polygon.
  • the second end cap 312 is provided with a second end cap mating protrusion
  • the housing of the driving device 320 is provided with a second driving mating groove corresponding to the second end cap mating protrusion;
  • the mating protrusions of the two end caps extend along the axial direction of the connecting shaft of the driving device 320.
  • connection between the second end cover mating protrusion and the second driving mating groove is stronger, so as to better connect the shell of the driving device 320
  • the body steering force is transmitted to the second end cover 312, so that the Mecanum wheel body 310 rotates with the housing of the driving device 320; the degree of the second end cover 312 rotating with the housing of the driving device 320 is also reduced to a certain extent. Shear force received by the screws between the two end caps 312 and the housing of the driving device 320.
  • the Mecanum wheel described in this embodiment is provided with a matching structure provided between the first end cover 311 and the housing of the driving device 320 and between the second end cover 312 and the housing of the driving device 320, so that The connection between the wheel body 310 and the housing of the driving device 320 is stronger, so as to better transmit the steering force of the housing of the driving device 320 to the mecanum wheel body 310, and at the same time, the mecham is reduced to a certain extent.
  • the driving device 320 includes a hub motor; a connecting shaft of the driving device 320 is a connecting shaft of the hub motor; the hub motor is disposed in the shaft hole; and the Mecanum wheel body 310 is wound around the housing of the hub motor.
  • the connecting shaft of the in-wheel motor rotates.
  • the device is connected through the connecting shaft of the in-wheel motor, such as the base of the device, so that the Mecanum wheel body 310 rotates with the casing of the in-wheel motor.
  • the driving device 320 includes a hub motor and a reducer; the hub motor drives and connects the reducer; the connecting shaft of the driving device 320 is the connecting shaft of the reducer; the hub motor is disposed in the wheel shaft hole; Part or all of it is arranged in the axle hole; the Mecanum wheel body 310 rotates around the connecting shaft of the reducer with the housing of the hub motor.
  • the device such as the base of the device, is connected via the connecting shaft of the reducer, so that the Mecanum wheel body 310 rotates with the housing of the hub motor.
  • the in-wheel motor includes an inner stator connecting shaft and an outer rotor housing;
  • first end cover 311 and / or the second end cover 312 are respectively screw-connected to both ends of the outer rotor housing;
  • the inner stator connecting shaft protrudes from the first end cover 311, and the axis of the inner stator connecting shaft is in line with the rotation axis of the Mecanum wheel body 310;
  • the first end cover 311 and the second end cover 312 rotate with the outer rotor housing; optionally, when the in-wheel motor is working, the first end cover 311 and the second end cover 312 are fixed with the outer rotor housing.
  • the child connecting shaft rotates.
  • This embodiment provides a shock absorbing device.
  • FIG. 2-3 and FIG. 2-5 are schematic diagrams of two structures of the shock absorbing device provided in this embodiment; among them, FIG. 2-4 is shown in FIG. 2-3
  • Figure 2-6 is a front view of the shock absorbing device shown in Figure 2-5
  • Figure 2-7 is an exploded view of the shock absorbing device shown in Figure 2-5
  • Figure 2-8 This is a schematic diagram of the structure of the shock absorbing adjustment member provided in this embodiment
  • FIG. 2-9 is a third structural diagram of the shock absorbing device provided in this embodiment
  • FIG. 2-10 is a schematic diagram of the shock absorbing device shown in FIG. 2-9 Explosion illustration.
  • the shock absorbing device provided in this embodiment includes a shock absorbing fixed bracket 910 and a shock absorbing moving bracket 920; the shock absorbing moving bracket 920 is fixedly connected to a connecting shaft of a wheel;
  • the shock-absorbing fixed bracket 910 includes at least one shock-absorbing fixed shaft 930; the shock-absorbing moving bracket 920 is sheathed on the shock-absorbing fixed shaft 930 and can reciprocate in the axial direction of the shock-absorbing fixed shaft 930, so that the wheel moves with the shock-absorbing moving bracket 920 It can reciprocate along the axial direction of the shock-absorbing fixed shaft 930; optionally, the number of shock-absorbing fixed shafts 930 is 1, 2, 4, 5, and so on. Optionally, the number of the shock-absorbing fixed shafts 930 is set in pairs.
  • the outer sleeve of the shock-absorbing fixed shaft 930 has two elastic elements 931; the two elastic elements 931 are connected with a shock-absorbing moving bracket 920; the elastic element 931 is in a compressed state or the elastic element 931 is in a non-stressed state; The movement of the mobile stand 920 returns to the original position state.
  • the axial direction of the shock-absorbing fixed shaft 930 and the axial direction of the connecting shaft of the wheel are arranged at an included angle.
  • the axial direction of the shock-absorbing fixed shaft 930 and the axial direction of the connecting shaft of the wheel are disposed at a right angle or approximately right angle.
  • the shock absorbing device in this embodiment uses a shock absorbing fixed bracket 910, a shock absorbing moving bracket 920, and an elastic element 931, so that the vibration generated by the wheel when walking can be absorbed by the elastic element 931; the shock absorbing device 9 has a simple and compact structure It is relatively cheap and convenient for production and processing. It can not only reduce the vibration of the assisting robot and other equipment when the wheel is walking, but also make the structure of the assisting robot and walking equipment more compact.
  • the shock-absorbing fixing bracket 910 includes a first shock-absorbing fixing portion 911, a second shock-absorbing fixing portion 912, and a third shock-absorbing fixing portion. 913; optionally, the first shock-absorbing fixing part 911 includes two first shock-absorbing fixing parts, and the corresponding connecting parts of the equipment are clamped by the two first shock-absorbing fixing parts to improve the connection between the shock-absorbing device and the equipment Of firmness.
  • the first shock-absorbing fixing part 911 and the second shock-absorbing fixing part 912 are fixedly connected through a shock-absorbing fixing shaft 930; the first shock-absorbing fixing part 911 is configured to be fixedly connected to equipment such as an assisting robot, a walking apparatus and the like.
  • the third damping fixing portion 913 is fixedly connected to the first damping fixing portion 911 and the second damping fixing portion 912.
  • the structure of the shock-absorbing fixing bracket 910 is strengthened by the first shock-absorbing fixing portion 911, the second shock-absorbing fixing portion 912, and the third shock-absorbing fixing portion 913; and the support force of the wheel is transmitted to the shock-absorbing by the shock-absorbing fixing shaft 930.
  • the shock-absorbing device 9 is further transmitted to the supporting equipment; through the cooperation of the third shock-absorbing fixing portion 913 and the shock-absorbing fixed shaft 930, both the supporting bearing capacity of the shock-absorbing device 9 and the life of the shock-absorbing fixed shaft 930 are improved. That is, the life of the shock absorbing device 9 is improved.
  • the shock-absorbing moving bracket 920 includes a shock-absorbing moving bracket connecting portion 921 and at least two shock-absorbing moving bracket socket portions 922; the connecting shaft of the wheel passes through the shock-absorbing moving bracket connecting portion 921 and communicates with The shock-absorbing moving bracket connecting portion 921 is fixedly connected; optionally, the connecting shaft of the wheel is fixedly connected to the shock-absorbing moving bracket 920 through a nut.
  • the number of the shock-absorbing moving bracket sleeves 922 is sheathed on the shock-absorbing fixed shaft 930, and the number of the shock-absorbing moving bracket sleeves 922 corresponds to the number of the shock-absorbing fixed shafts 930; The number is the same as the number of the shock-absorbing fixed shafts 930.
  • Adjacent shock-absorbing moving bracket sleeve portions 922 are fixedly connected through the shock-absorbing moving bracket connecting portion 921;
  • the shock-absorbing moving bracket connecting portion 921 protrudes from the surface formed by the adjacent shock-absorbing moving bracket sleeve portion 922, so that the shock-absorbing moving bracket 920 forms an arc-like or arc-like structure, so as to improve the Elastic deformation ability to better transmit the supporting force of the wheel to the walking equipment through the shock absorbing device 9.
  • the number of the shock-absorbing fixed shafts 930 is two; the number of the shock-absorbing moving bracket sleeve portions 922 is also two.
  • the shock-absorbing moving bracket 920 is a symmetrical structure.
  • the connecting shaft of the wheel passes through the center of the shock-absorbing moving bracket 920 and is fixedly connected with the shock-absorbing moving bracket connecting portion 921.
  • the shock-absorbing moving bracket connecting portion 921 is parallel or approximately parallel to the third shock-absorbing fixing portion 913; optionally, the third shock-absorbing fixing portion 913 is provided with a third shock-absorbing fixing corresponding to the position of the connecting shaft of the wheel A through hole; the hole diameter of the third shock-absorbing fixed through hole is larger than the shaft diameter of the connecting shaft of the wheel, so as to connect the wheel and the shock-absorbing moving bracket connecting portion 921.
  • the elastic element 931 includes a spring, a polyurethane structure, a rubber ring or a silicone ring, or other elastic elements.
  • the polyurethane structural member may be a polyurethane ring, a polyurethane ring, or a polyurethane block.
  • the second shock-absorbing fixing portion 912 and the third shock-absorbing fixing portion 913 are detachably fixed and the second shock-absorbing is fixed.
  • At least one shock absorbing adjustment member 950 is provided between the fixing portion 912 and the third shock absorbing fixing portion 913; optionally, a shock absorbing adjustment member is provided between the second shock absorbing fixing portion 912 and the third shock absorbing fixing portion 913.
  • the number of 950 is one or more, such as 1, 2, 3, 5 and so on.
  • the shock-absorbing adjustment member 950 includes a wedge-shaped structure; optionally, along the extending direction of the shock-absorbing adjustment member 950, a surface connecting the shock-absorbing adjustment member 950 and the second shock-absorbing fixing portion 912 is a wedge-shaped surface, and / or, along the shock absorption In the extending direction of the adjusting member 950, a surface of the shock absorbing adjusting member 950 and the third shock absorbing fixing portion 913 is a wedge-shaped surface.
  • the wedge-shaped surface is an inclined surface in a wedge-shaped structure. It can also be understood that the wedge-shaped surface is an inclined surface in the wedge-shaped structure that has an acute angle or an obtuse angle with the extending direction of the wedge-shaped structure.
  • the vibration-damping adjusting member 950 can be moved to change the distance between the second vibration-damping fixing portion 912 and the third vibration-damping fixing portion 913;
  • the angle between the shock-moving bracket 920 and the third shock-absorbing fixing portion 913, and then the angle between the connecting shaft of the wheel and the third shock-absorbing fixing portion 913, that is, adjusting the verticality of the wheel to reduce the wheel when walking The vibration of the device reduces the vibration of the equipment using the wheel; in addition, the service life of the wheel can be extended.
  • the shock absorbing adjustment member 950 includes an adjustment mating portion 951 and an adjustment thread portion 952 fixedly connected to the adjustment mating portion 951; the adjustment mating portion 951 is a wedge-shaped structure;
  • the surface of the adjustment mating portion 951 connected to the second shock absorbing fixing portion 912 is a wedge-shaped surface, and / or, along the extending direction of the shock absorbing adjustment member 950, the mating portion 951 is adjusted
  • a surface connected to the third vibration-damping fixing portion 913 is a wedge-shaped surface.
  • the surface connecting the adjustment fitting portion 951 and the second shock-absorbing fixing portion 912 is a wedge-shaped surface, and the surface connecting the adjustment fitting portion 951 and the third shock-absorbing fixing portion 913 is parallel to The extending direction of the shock absorbing adjustment member 950.
  • the adjustment cooperation portion 951 is disposed between the second shock-absorbing fixing portion 912 and the third shock-absorbing fixing portion 913;
  • the adjusting screw portion 952 is screwed with an adjusting nut 953; the adjusting nut 953 abuts a side of the second shock-absorbing fixing portion 912 away from the shock-absorbing moving bracket;
  • the damping adjustment member 950 can move to change the distance between the second damping fixing portion 912 and the third damping fixing portion 913.
  • the outer cover is finely adjusted.
  • the angle between the shock-absorbing moving bracket 920 on the shock-absorbing fixed shaft 930 and the third shock-absorbing fixed portion 913, and then the angle between the wheel connecting shaft and the third shock-absorbing fixed portion 913 is fine-tuned, that is, the verticality of the wheel is fine-tuned To reduce wheel vibration when walking.
  • the adjusting and matching portion 951 is provided with an adjusting through hole (not shown in the figure); the adjusting through hole is inserted to connect the second shock-absorbing fixing portion 912 with the first Three screws between the shock-absorbing fixing portions 913.
  • the adjusting through hole is an oblong hole, so that the screw can move within the adjusting through hole.
  • the number of the damping adjustment members 950 is multiple
  • the number of screws connecting the second damping fixing portion 912 and the third damping fixing portion 913 is also multiple, and the second damping fixing portion is connected.
  • the screws between 912 and the third vibration-damping fixing portion 913 correspond to the vibration-damping adjusting members 950 one by one.
  • an end of the adjusting and matching portion 951 away from the adjusting threaded portion 952 is provided with an adjusting and engaging protrusion 954;
  • the adjusting-fitting protruding portion 954 protrudes from the wedge-shaped surface of the adjusting-fitting portion 951;
  • the wedge-shaped surface of the adjustment fitting portion 951 is connected to the second vibration-damping fixing portion 912.
  • the mating protrusion 954 is adjusted to ensure that the damping adjustment member 950 is located between the second damping fixing portion 912 and the third damping fixing portion 913 to prevent the damping adjustment member 950 from falling.
  • the shock-absorbing fixing bracket 910 includes a shock-absorbing mounting member 940;
  • the shock-absorbing mounting member 940, the first shock-absorbing fixing portion 911, and the second shock-absorbing fixing portion 912 are sequentially arranged on the shock-absorbing fixed shaft at intervals;
  • the shock absorbing mount 940 and the first shock absorbing fixing portion 911 are configured as fixed connection devices. A corresponding connection portion of the device is clamped by the shock-absorbing mounting member 940 and the first shock-absorbing fixing portion 911 to improve the firmness of the connection between the shock-absorbing device and the device.
  • the wheel structure with a shock absorbing device provided in this embodiment includes a wheel and the above-mentioned shock absorbing device; the wheel is connected to the shock absorbing device.
  • the number of the shock absorbing devices is one; the shock absorbing devices are arranged on one side of the wheels, and the shock absorbing moving brackets of the shock absorbing devices are fixedly connected with the connecting shafts of the wheels;
  • the number of the shock absorbing devices is two; wheels are provided between the two shock absorbing devices, and the shock absorbing moving brackets of the two shock absorbing devices are fixedly connected to the connecting shafts of the wheels. That is, the connecting shaft of the wheel penetrates the wheel, so that two ends of the connecting shaft of the wheel are respectively connected to the shock absorbing device 9. Vibration damping devices are respectively arranged on both sides of the wheel to improve the shock-absorbing performance of the wheel and further reduce the vibration of the walking equipment on which the wheel is installed.
  • the wheel is the aforementioned Mecanum wheel.
  • This embodiment provides a Mecanum wheel having a shock absorbing device; the Mecanum wheel having a shock absorbing device includes the Mecanum wheel described above, and the technical characteristics of the disclosed Mecanum wheel are also applicable to Mecanum wheels with shock absorbers.
  • FIG. 2-1 is a schematic structural diagram of a Mecanum wheel with a shock absorbing device provided in this embodiment;
  • FIG. 2-3 is a schematic structural diagram of the shock absorbing device provided in this embodiment;
  • FIG. 2-4 is an exploded view of the shock absorbing device shown in FIG. 2-3.
  • Fig. 2-5 is another schematic structural diagram of the shock absorbing device provided in this embodiment;
  • Fig. 2-6 is a front view of the shock absorbing device shown in Fig. 2-5;
  • Fig. 2-7 is a view shown in Fig. 2-5 Exploded view of the shock absorbing device;
  • FIG. 2-8 is a schematic structural diagram of the shock absorbing adjustment member provided in this embodiment.
  • FIG. 2-9 is a third structural schematic diagram of the shock absorbing device provided in this embodiment;
  • FIG. 2-10 is an exploded view of the shock absorbing device shown in FIG. 2-9.
  • the Mecanum wheel with a damping device includes a Mecanum wheel 3 and further includes a damping device 9; the Mecanum wheel 3 is connected to the damping device 9.
  • the vibration damping device 9 can reduce the vibration transmitted from the Mecanum wheel 3 to the equipment, thereby effectively slowing down the vibration of the entire equipment on the road, and ensuring the stability and levelness of the equipment during the movement.
  • the number of the shock absorbing devices may be one or more.
  • the number of the shock absorbing device 9 is one; the shock absorbing device 9 is disposed on one side of the Mecanum wheel 3, and the shock absorbing device is fixedly connected to the connecting shaft of the driving device 320 of the Mecanum wheel 3; as shown in Figure 2- 1 to 2-4.
  • the number of the shock absorbing devices 9 is two; Mecanum wheels are provided between the two shock absorbing devices, and both of the shock absorbing devices are fixedly connected to the connecting shaft of the driving device 320 of the Mecanum wheel 3. That is, the connecting shaft of the driving device of the Mecanum wheel penetrates the Mecanum wheel, so that the two ends of the connecting shaft of the driving device 320 are respectively connected to the shock absorbing device 9.
  • the shock absorbing device is provided on both sides of the Mecanum wheel to improve the shock absorption performance of the Mecanum wheel having the shock absorbing device, so as to further reduce the assisting robot equipped with the Mecanum wheel having the shock absorbing device. Wait for the vibration of the device.
  • the shock absorbing device 9 includes a shock absorbing fixed bracket 910 and a shock absorbing moving bracket 920; the shock absorbing moving bracket 920 is fixedly connected to the connection shaft of the driving device 320 of the Mecanum wheel 3;
  • the shock absorbing fixed bracket 910 includes at least one shock absorbing fixed shaft 930; the shock absorbing moving bracket 920 is sheathed on the shock absorbing fixed shaft 930 and can reciprocate in the axial direction of the shock absorbing fixed shaft 930, so that the Mecanum wheel 3 decreases with
  • the shock-moving bracket 920 can reciprocate along the axial direction of the shock-absorbing fixed shaft 930; optionally, the number of shock-absorbing fixed shafts 930 is 1, 2, 4, 5, and so on. Optionally, the number of the shock-absorbing fixed shafts 930 is set in pairs.
  • the outer sleeve of the shock-absorbing fixed shaft 930 has two elastic elements 931; the two elastic elements 931 are connected with a shock-absorbing moving bracket 920; the elastic element 931 is in a compressed state or the elastic element 931 is in a non-stressed state; The movement of the mobile stand 920 returns to the original position state.
  • the axial direction of the shock-absorbing fixed shaft 930 and the axial direction of the connecting shaft of the driving device 320 are arranged at an angle.
  • an axial direction of the vibration-damping fixed shaft 930 and an axial direction of the connecting shaft of the driving device 320 are disposed at a right angle or approximately right angle.
  • the vibration of the Mecanum wheel 3 to the assistance robot and other equipment can be reduced well.
  • the Mecanum wheel with the shock absorbing device described in this embodiment uses the shock absorbing fixed bracket 910, the shock absorbing moving bracket 920, and the elastic element 931, so that the vibration generated by the Mecanum wheel 3 while walking can be used by the elastic element 931.
  • the vibration damping device 9 has a simple and compact structure, is relatively cheap, and is convenient for production and processing. It can not only reduce the vibration of the Mecanum wheel 3 on the assisting robot and other equipment, but also enable the assisting robot and other equipment. The structure is more compact.
  • the shock-absorbing fixing bracket 910 includes a first shock-absorbing fixing portion 911, a second shock-absorbing fixing portion 912, and a third shock-absorbing fixing portion. 913; optionally, the first shock-absorbing fixing part 911 includes two first shock-absorbing fixing parts, and the corresponding connecting parts of the equipment are clamped by the two first shock-absorbing fixing parts to improve the connection between the shock-absorbing device and the equipment Of firmness.
  • the first shock-absorbing fixing portion 911 and the second shock-absorbing fixing portion 912 are fixedly connected through a shock-absorbing fixing shaft 930; the first shock-absorbing fixing portion 911 is configured to be fixedly connected to a device such as an assisting robot.
  • the third damping fixing portion 913 is fixedly connected to the first damping fixing portion 911 and the second damping fixing portion 912.
  • the structure of the shock-absorbing fixing bracket 910 is reinforced by the first shock-absorbing fixing portion 911, the second shock-absorbing fixing portion 912, and the third shock-absorbing fixing portion 913; and the mecanum wheel 3 is supported by the shock-absorbing fixing shaft 930.
  • the force is transmitted to the shock absorbing device 9 and then to the supporting equipment; through the cooperation of the third shock absorbing fixing portion 913 and the shock absorbing fixed shaft 930, both the supporting bearing capacity of the shock absorbing device 9 and the shock absorbing fixed shaft are improved.
  • the life of 930 that is, the life of the shock absorbing device 9 is increased.
  • the shock-absorbing mobile bracket 920 includes a shock-absorbing mobile bracket connection portion 921 and at least two shock-absorbing mobile bracket socket portions 922; the connection shaft of the driving device 320 passes through the shock-absorbing mobile bracket connection portion 921. And is fixedly connected to the shock-absorbing moving bracket connection portion 921; optionally, the connection shaft of the driving device 320 is fixedly connected to the shock-absorbing moving bracket 920 through a nut.
  • the number of the shock-absorbing moving bracket sleeves 922 is sheathed on the shock-absorbing fixed shaft 930, and the number of the shock-absorbing moving bracket sleeves 922 corresponds to the number of the shock-absorbing fixed shafts 930; The number is the same as the number of the shock-absorbing fixed shafts 930.
  • Adjacent shock-absorbing moving bracket sleeve portions 922 are fixedly connected through the shock-absorbing moving bracket connecting portion 921;
  • the shock-absorbing moving bracket connecting portion 921 protrudes from the surface formed by the adjacent shock-absorbing moving bracket sleeve portion 922, so that the shock-absorbing moving bracket 920 forms an arc-like or arc-like structure, so as to improve the Elastic deformation ability to better transmit the support force of the Mecanum wheel 3 to the equipment through the shock absorbing device 9.
  • the number of the shock-absorbing fixed shafts 930 is two; the number of the shock-absorbing moving bracket sleeve portions 922 is also two.
  • the shock-absorbing moving bracket 920 is a symmetrical structure.
  • the connecting shaft of the driving device 320 passes through the center of the shock-absorbing moving bracket 920 and is fixedly connected with the shock-absorbing moving bracket connecting portion 921.
  • the shock absorbing moving bracket connection portion 921 is parallel or approximately parallel to the third shock absorbing fixing portion 913; optionally, the third shock absorbing fixing portion 913 is provided with a third shock absorbing corresponding to the position of the connecting shaft of the driving device 320
  • the through hole of the shock-fixing through hole is larger than the diameter of the connecting shaft of the driving device 320 in order to connect the Mecanum wheel 3 and the shock-absorbing moving bracket connecting portion 921.
  • the elastic element 931 includes a spring, a polyurethane structure, a rubber ring or a silicone ring, or other elastic elements.
  • the polyurethane structural member may be a polyurethane ring, a polyurethane ring, or a polyurethane block.
  • the second shock-absorbing fixing portion 912 and the third shock-absorbing fixing portion 913 are detachably fixed and the second shock-absorbing is fixed.
  • At least one shock absorbing adjustment member 950 is provided between the fixing portion 912 and the third shock absorbing fixing portion 913; optionally, a shock absorbing adjustment member is provided between the second shock absorbing fixing portion 912 and the third shock absorbing fixing portion 913.
  • the number of 950 is one or more, such as 1, 2, 3, 5 and so on.
  • the shock-absorbing adjustment member 950 includes a wedge-shaped structure; optionally, along the extending direction of the shock-absorbing adjustment member 950, a surface connecting the shock-absorbing adjustment member 950 and the second shock-absorbing fixing portion 912 is a wedge-shaped surface, and / or, along the shock absorption In the extending direction of the adjusting member 950, a surface of the shock absorbing adjusting member 950 and the third shock absorbing fixing portion 913 is a wedge-shaped surface.
  • the wedge-shaped surface is an inclined surface in a wedge-shaped structure. It can also be understood that the wedge-shaped surface is an inclined surface in the wedge-shaped structure that has an acute angle or an obtuse angle with the extending direction of the wedge-shaped structure.
  • the vibration-damping adjusting member 950 can be moved to change the distance between the second vibration-damping fixing portion 912 and the third vibration-damping fixing portion 913;
  • the shock absorbing adjustment member 950 includes an adjustment mating portion 951 and an adjustment thread portion 952 fixedly connected to the adjustment mating portion 951; the adjustment mating portion 951 is a wedge-shaped structure;
  • the surface of the adjustment mating portion 951 connected to the second shock absorbing fixing portion 912 is a wedge-shaped surface, and / or, along the extending direction of the shock absorbing adjustment member 950, the mating portion 951 is adjusted
  • a surface connected to the third vibration-damping fixing portion 913 is a wedge-shaped surface.
  • the surface connecting the adjustment fitting portion 951 and the second shock-absorbing fixing portion 912 is a wedge-shaped surface, and the surface connecting the adjustment fitting portion 951 and the third shock-absorbing fixing portion 913 is parallel to The extending direction of the shock absorbing adjustment member 950.
  • the adjustment cooperation portion 951 is disposed between the second shock-absorbing fixing portion 912 and the third shock-absorbing fixing portion 913;
  • the adjusting screw portion 952 is screwed with an adjusting nut 953; the adjusting nut 953 abuts a side of the second shock-absorbing fixing portion 912 away from the shock-absorbing moving bracket;
  • the damping adjustment member 950 can move to change the distance between the second damping fixing portion 912 and the third damping fixing portion 913.
  • the outer cover is finely adjusted.
  • the angle between the shock-absorbing moving bracket 920 on the shock-absorbing fixed shaft 930 and the third shock-absorbing fixed portion 913, and then the angle between the Mecanum wheel connecting shaft and the third shock-absorbing fixed portion 913 is fine-tuned, that is, the microphone is fine-tuned
  • the adjusting and matching portion 951 is provided with an adjusting through hole (not shown in the figure); the adjusting through hole is inserted to connect the second shock-absorbing fixing portion 912 with the first Three screws between the shock-absorbing fixing portions 913.
  • the adjusting through hole is an oblong hole, so that the screw can move within the adjusting through hole.
  • the number of the damping adjustment members 950 is multiple
  • the number of screws connecting the second damping fixing portion 912 and the third damping fixing portion 913 is also multiple, and the second damping fixing portion is connected.
  • the screws between 912 and the third vibration-damping fixing portion 913 correspond to the vibration-damping adjusting members 950 one by one.
  • an end of the adjusting and matching portion 951 away from the adjusting threaded portion 952 is provided with an adjusting and engaging protrusion 954;
  • the adjusting-fitting protruding portion 954 protrudes from the wedge-shaped surface of the adjusting-fitting portion 951;
  • the wedge-shaped surface of the adjustment fitting portion 951 is connected to the second vibration-damping fixing portion 912.
  • the mating protrusion 954 is adjusted to ensure that the damping adjustment member 950 is located between the second damping fixing portion 912 and the third damping fixing portion 913 to prevent the damping adjustment member 950 from falling.
  • the shock-absorbing fixing bracket 910 includes a shock-absorbing mounting member 940;
  • the shock-absorbing mounting member 940, the first shock-absorbing fixing portion 911, and the second shock-absorbing fixing portion 912 are sequentially arranged on the shock-absorbing fixed shaft at intervals;
  • the shock absorbing mount 940 and the first shock absorbing fixing portion 911 are configured as fixed connection devices. A corresponding connection portion of the device is clamped by the shock-absorbing mounting member 940 and the first shock-absorbing fixing portion 911 to improve the firmness of the connection between the shock-absorbing device and the device.
  • the shock absorbing device and the Mecanum wheel having the shock absorbing device provided in this embodiment may have other structures. Other characteristics disclosed by the shock absorbing device and the Mecanum wheel having the shock absorbing device are also applicable to the shock absorbing device, and details are not described herein.
  • the shock absorbing device 9 includes a shock absorbing fixed bracket 910 and a shock absorbing moving bracket 920; the shock absorbing moving bracket 920 is fixedly connected to a connecting shaft of a wheel; The seismic moving bracket 920 is fixedly connected to the connecting shaft of the driving device 320 of the Mecanum wheel 3
  • the shock-absorbing fixed bracket 910 includes at least one shock-absorbing fixed shaft 930; the shock-absorbing moving bracket 920 is sheathed on the shock-absorbing fixed shaft 930 and can reciprocate in the axial direction of the shock-absorbing fixed shaft 930; The bracket 920 can be reciprocated along the axial direction of the vibration-damping fixed shaft 930; optionally, the number of the vibration-damping fixed shafts 930 is 1, 2, 4, 5, and so on. Optionally, the number of the shock-absorbing fixed shafts 930 is set in pairs.
  • the outer sleeve of the shock-absorbing fixed shaft 930 is provided with an elastic element 931 abutting the shock-absorbing moving bracket 920, and the elastic element 931 is in a compressed state to reduce or prevent the shock-absorbing moving bracket 920 from reciprocating in the axial direction of the shock-absorbing fixed shaft 930 .
  • the axial direction of the shock-absorbing fixed shaft 930 and the axial direction of the connecting shaft of the wheel are set at an angle; for example, the axial direction of the shock-absorbing fixed shaft 930 and the axial direction of the connecting shaft of the driving device 320 are set at an angle.
  • the axial direction of the vibration-damping fixed shaft 930 and the axial direction of the connecting shaft of the wheel are disposed at a right angle or approximately right angle; for example, the axial direction of the vibration-absorbing fixed shaft 930 is perpendicular to the axial direction of the connecting shaft of the driving device 320 Set or approximate right-angle setting.
  • the shock absorbing device uses a shock absorbing fixed bracket 910, a shock absorbing moving bracket 920, and an elastic element 931, so that vibrations generated by the wheels such as the Mecanum wheel 3 can be absorbed by the elastic element 931.
  • the shock absorbing device 9 has a simple structure It is compact, relatively cheap, and convenient for production and processing. It can not only reduce the vibration of the Mecanum Wheel 3 to the assisting robot and other equipment, but also make the structure of the assisting robot and other equipment more compact.
  • the shock-absorbing fixing bracket 910 includes a shock-absorbing fixed leveling mounting member 914 and a shock-absorbing fixed leveling shaft connector 915;
  • the shock-absorbing fixed leveling mount 914 is configured to be fixedly connected to the equipment; the shock-absorbing fixed leveling mount 914 is fixedly connected to the equipment to connect the shock-absorbing device 9 to the equipment, and then the Mecanum wheel with the shock-absorbing device Connected to the device.
  • the device may be, for example, an assisting robot or a vehicle.
  • the shock-absorbing fixed leveling shaft connector 915 is detachably fixed to the shock-absorbing fixed shaft 930; one end of the shock-absorbing fixed shaft 930 away from the shock-absorbing fixed leveling shaft connector 915 has a shock-absorbing fixed shaft stop 932; an elastic element 931 and the shock-absorbing moving bracket 920 are disposed between the shock-absorbing fixed shaft stop portion 932 and the shock-absorbing fixed leveling shaft connector 915.
  • the shock absorbing fixed shaft stop 932, the elastic element 931, the shock absorbing moving bracket 920, and the shock absorbing fixed leveling shaft connector 915 are sequentially arranged along the axial direction of the shock absorbing fixed shaft 930; optionally, the shock absorbing The fixed shaft stop portion 932, the shock-absorbing moving bracket 920, the elastic element 931, and the shock-absorbing fixed leveling shaft connector 915 are sequentially arranged along the axial direction of the shock-absorbing fixed shaft 930.
  • shock-absorbing fixed leveling mounting member 914 and the shock-absorbing fixed leveling shaft connector 915 are hinged, and the shock-absorbing fixed leveling installation member 914 and the shock-absorbing fixed leveling shaft connector 915 are connected with a leveling connector 917; the leveling connection The piece 917 can adjust the angle between the shock-absorbing fixed leveling mounting member 914 and the shock-absorbing fixed leveling shaft connector 915.
  • shock-absorbing fixed leveling mounting member 914 and the shock-absorbing fixed leveling shaft connector 915 are hinged through a pin 916.
  • the leveling connection piece 917 is screwed with the shock-absorbing fixed leveling mounting member 914, and the leveling connection member 917 can pass through the shock-absorbing fixed leveling mounting member.
  • 914 is in contact with the shock-absorbing fixed leveling shaft connector 915. That is, the shock-absorbing fixed leveling mounting member 914 is provided with a threaded hole 9171 screwed with the leveling connection member 917.
  • the leveling connection piece 917 is screwed with the shock-absorbing fixed leveling mounting piece 914, and the leveling connection piece 917 is in abutment with the shock-absorbing fixed leveling shaft connector 915 to fine-tune the shock-absorbing fixed leveling installation piece 914 and the shock absorption
  • the distance between the fixed leveling shaft connector 915 is fixed, and the angle between the vibration-damping fixed leveling mounting member 914 and the vibration-damping fixed leveling shaft connector 915 is fine-tuned.
  • the shock-absorbing fixed leveling mounting member 914 and the shock-absorbing fixed leveling shaft connector 915 are connected by at least one leveling connection screw 918; After the flat connector 917 fine-tunes the angle between the shock-absorbing fixed leveling mount 914 and the shock-absorbing fixed leveling shaft connector 915, fix the shock-absorbing fixed leveling mount 914 and the shock-absorbing fixed leveling through the leveling connection screw 918 The angle between the shaft connectors 915.
  • the number of the leveling connection screws 918 is 1, 2, 3, 5 or the like. As shown in FIGS. 2-9 to 2-10, the number of leveling connection screws 918 is two, and a leveling connection member 917 is provided between the two leveling connection screws 918.
  • the shock-absorbing fixed leveling mounting member 914 is provided with a round hole, a bar-shaped hole or an oblong hole for inserting a leveling connection screw 918; as shown in FIG. 2-10, the shock-absorbing fixed leveling mounting member 914 is provided with Plug the long round hole 9181 of the leveling connection screw 918.
  • the shock-absorbing fixed leveling shaft connector 915 is provided with a screw hole 9182 screwed with the leveling connection screw 918, or the shock-absorbing fixed leveling shaft connector 915 is away from the shock-absorbing fixing
  • One side of the leveling mounting member 914 is connected with a nut screwed to the leveling connection screw 918.
  • the elastic element 931 is a spring; the outer shell of the shock-absorbing fixed shaft 930 is provided with an energy absorbing element 933, and the energy absorbing element 933 can be elastically deformed;
  • the shock-absorbing moving bracket 920 is disposed between the energy absorbing element 933 and the elastic element 931.
  • the energy-absorbing element 933 prevents the spring from being rigidly connected directly to the shock-absorbing fixed shaft stop portion 932 to reduce or absorb the vibration generated by the spring.
  • the energy absorbing element 933 includes a polyurethane structure, a rubber ring or a silicone ring, or other elastic elements.
  • the polyurethane structural member may be a polyurethane ring, a polyurethane ring, or a polyurethane block.
  • the outer shell of the shock-absorbing fixed shaft 930 is provided with a gasket 934;
  • the damping fixed shaft stop portion 932, the washer 934, the energy absorbing element 933, the damping moving bracket 920, the elastic element 931, and the damping fixed leveling shaft connector 915 are sequentially arranged along the axial direction of the damping fixed shaft 930.
  • the spacer 934 prevents the energy-absorbing element 933 having elastic deformation from directly contacting the shock-absorbing fixed shaft stop portion 932 to improve the service life of the energy-absorbing element 933.
  • the elastic element 931 is disposed between the shock-absorbing moving bracket 920 and the shock-absorbing fixed leveling shaft connector 915; the shock-absorbing moving bracket 920 and / or shock-absorbing A fixed leveling shaft connector 915 is provided with a counterbore that is cooperatively connected with the elastic element 931. Through the counterbore, the cooperation between the elastic element 931 and the shock-absorbing moving bracket 920 or the shock-absorbing fixed leveling shaft connector 915 is improved.
  • one end of the shock-absorbing fixed leveling shaft connector 915 away from the shock-absorbing fixed shaft stop portion 932 is provided with a threaded portion of the shock-absorbing fixed shaft, and the shock-absorbing fixed adjustment
  • the flat shaft connector 915 is provided with a screw hole screwed with the threaded portion of the shock-absorbing fixed shaft; the screw portion of the shock-fixed shaft is threaded with the shock-absorbing fixed leveling shaft connector 915 to adjust the compressed size of the elastic element 931 To fine-tune the elastic force of the elastic element 931.
  • a bearing is provided between the shock-absorbing moving bracket 920 and the shock-absorbing fixed shaft 930.
  • the installation between the shock-absorbing fixed shaft 930 and the shock-absorbing mobile bracket 920 can be facilitated, and the installation precision between the shock-absorbing fixed shaft 930 and the shock-absorbing mobile bracket 920 can be improved, and the shock-absorbing mobile bracket 920 and the shock-absorbing can be reduced.
  • This embodiment provides a chassis; the chassis includes the aforementioned Mecanum wheel with a shock absorbing device, and the technical features of the disclosed Mecanum wheel and a Mecanum wheel with a shock absorbing device are also applicable to the chassis .
  • FIGS 3-1 and 3-2 are schematic diagrams of two structures of the chassis provided in this embodiment.
  • the chassis includes at least one pair of Mecanum wheels with shock absorption devices.
  • a Mecanum wheel with a shock absorbing device By adopting a Mecanum wheel with a shock absorbing device, the vibration transmitted from the Mecanum wheel 3 to the chassis can be reduced, thereby effectively reducing the vibration of the entire chassis when the road is running, and ensuring that the equipment with the chassis is in the moving process. Smoothness and levelness.
  • the structure of the chassis can also be simplified, and the cost of the chassis can be reduced.
  • the chassis includes a chassis beam 424 and two fixed beams 421; the chassis beam 424 is fixedly connected to the two fixed beams 421;
  • the extension direction of the fixed beam 421 is the traveling direction of the chassis; the fixed beam 421 is connected to the shock absorbing device 9 of the Mecanum wheel having the shock absorbing device;
  • the Mecanum wheels with shock-absorbing devices arranged in pairs are arranged at the same end of the fixed beam 421, and each fixed beam 421 is connected to at least one Mecanum wheel with shock-absorbing devices to lower the Mecanum wheel 3 pairs of chassis The vibration generated to improve the stability and levelness of the chassis during the movement.
  • each fixed beam 421 is respectively connected to a shock absorbing device 9 of a Mecanum wheel having a shock absorbing device. That is, the number of Mecanum wheels provided with a shock absorbing device on the chassis is four. By setting the Mecanum wheels with damping devices at the four corners of the chassis, the vibration of the Mecanum wheels 3 to the chassis is further reduced, so as to improve the stability and levelness of the chassis during the movement.
  • a pair of Mecanum wheels with shock-absorbing devices may be provided at both ends of the chassis, or a pair of Mecanum wheels with shock-absorbing devices may be provided at one end thereof and the other end may be provided.
  • one end of the fixed beam 421 is connected to a Mecanum wheel with a shock absorbing device, and the other end is connected to the roller through a second shock absorbing device 9;
  • the second shock absorbing device 9 includes a support rod and a second shock absorber; The end of the support rod is hinged to the second shock absorber; the support rod is hinged to the fixed beam 421, the second shock absorber is hinged to the fixed beam 421, and the roller of the roller is fixedly connected to the support rod.
  • the roller is a Mecanum wheel 3; the connection shaft of the driving device 320 of the Mecanum wheel 3 is fixedly connected to the support rod.
  • the second shock absorber is a hydraulic shock absorber or a spring shock absorber.
  • the fixed beam 421 is fixedly connected with a shock absorbing cover 425 that is covered on the shock absorbing device 9; the shock absorbing device 9 is protected by the shock absorbing cover 425.
  • the Mecanum wheels provided with pairs of shock-absorbing devices are connected through a chassis wheel shaft 426; and the Mecanum wheels provided with pairs of shock-absorbing devices are connected via a chassis wheel shaft 426,
  • the vibration of the chassis can be reduced to a certain extent.
  • This embodiment provides an assisting robot; the assisting robot includes the above-mentioned chassis, and the technical features of the disclosed Mecanum wheels, Mecanum wheels with shock absorption devices, and chassis are also applicable to the aid robot .
  • FIG. 4-1 to FIG. 4-4 are schematic diagrams of the three-dimensional structure of the assisting robot provided in this embodiment;
  • FIG. 4-3 is provided in this embodiment A schematic structural diagram of a hip support band;
  • FIG. 4-4 is a schematic structural diagram of a waist support band provided by this embodiment.
  • the assisting robot includes a chassis 42; it also includes a hip support strap 1, a waist support strap 2, and a body 4, which is provided with a chassis 42 and a lifting support.
  • the third connecting member 11 is abutted, and the waistband 2 is provided with a fourth connecting member 21 matched with the second connecting member 63.
  • the chassis 42 is disposed at the bottom of the body.
  • a footrest 5 is provided on the chassis 42.
  • the assisting robot described in this embodiment has the following advantages:
  • the hip support band 1 is laid flat first, the user moves to sit down, and then the third connecting member 11 on the hip support band 1 and the first A connecting member 62 is connected, and then the waistband 2 is placed on the back waist of the user, and the fourth connecting member 21 on the waistband 2 is connected to the second connecting member 63 on the assisting robot, and finally tightened
  • the hip support band 1 and the waist support band 2 are closely fitted to the hips and the waist of the user, and the assisting robot can be controlled to perform posture change, horizontal movement or rotational movement. From this analysis, it can be known that the assisting robot provided in this embodiment can not only ensure that the user has a standing and sitting posture, but also effectively reduce the weight of the entire machine, simplify the structure of the assisting robot, and effectively improve its flexibility.
  • the first connecting member 62 may adopt a ring buckle
  • the second connecting member 63 may adopt an aviation lock buckle
  • the above-mentioned third connecting member 11 may use an ISOFIX interface
  • the fourth connecting member 21 may use an aviation insert.
  • the hip support band 1 may include a hip support body 12 and a hip support adjustment belt 13 provided on the hip support body 12, and a free end of the hip support adjustment belt 13 may be provided.
  • the above-mentioned ISOFIX interface can be connected with the ring buckle through the ISOFIX interface to achieve the fixation of the buttocks support band 1.
  • the waist support band 2 may include a waist support body 22, and the waist support body may be provided on the waist support body.
  • the waist-adjusting belt 23 on 22, the free end of the waist-adjusting belt 23 can be provided with the above-mentioned aviation insert, so that the aviation insert can be docked with the aviation lock to realize the fixing of the waist-supporting strap 2.
  • ISOFIX International Standards Organization Fix
  • the hip support body 12 and the waist support body 22 may include: an outer leather layer, a middle sponge filling layer, and an inner non-slip cloth layer; and the leather layer and the non-slip cloth layer correspond to each other One side edge of the can be connected by a zipper or a snap to make the sponge filling layer a detachable structure, so that the sponge filling layer can be put in during winter use and can be taken out in summer.
  • the aforesaid non-slip cloth layer may have a grid-like breathable mesh, thereby effectively improving the breathability of the buttock-supporting body through the grid-like breathable mesh, and thereby effectively preventing the butt-supporting band from causing significant sweating to the user.
  • the grid-shaped ventilating mesh evenly distributed on the non-slip cloth layer may also be glued, so that the anti-slip effect is further effectively improved by the setting of the glue.
  • the thickness of the sponge filling layer may be 3 cm.
  • the hip support band 13 and the waist support band 23 may be provided with an adjustment buckle, so that the adjustment buckle can effectively
  • the lengths of the hip support adjustment belt 13 and the waist support adjustment belt 23 are adjusted, so that the hip support belt 1 and the waist support belt 2 can be well adapted to users of different bodies.
  • the above-mentioned body 4 may include a vehicle body 41 and a chassis 42 connected to the bottom end region of the vehicle body 41.
  • the lifting support mechanism 6 may be connected to the vehicle body 41 and the soles of the feet
  • the pallet 5 is provided on the chassis 42.
  • the lifting support mechanism 6 may include a support rod 64, one end of the support rod 64 is hinged to the body 4, and the other end is provided with a console. 65, the console 65 may be connected with a handle 66 and a top breast plate 61; a driving component 67 is also connected between the support rod 64 and the body 4, so that the driving component 67 can make the support rod 64 in the first state or the second state, and It is possible to switch between the first state and the second state.
  • the first state may correspond to a sitting posture state
  • the second state may correspond to a standing posture state.
  • the driving component 67 may be an electric push rod. When the electric push rod is extended, the support rod 64 is in a vertical state, corresponding to the above-mentioned second state (standing posture state). When the electric push rod is retracted, the support rod 64 is in a horizontal state. , Corresponding to the above-mentioned first state (sitting posture state).
  • the driving component 67 may also be a hydraulic push rod or a pneumatic push rod, which is not limited herein.
  • the handle 66 is integrated with the top breast plate 61 and the support rod 64, which is beneficial to the user to be more stable and safe when changing the posture.
  • the height of the assisting robot is lower than 0.8 meters, so that it can enter the table to ensure that the user completes the desk work or daily dining .
  • the user can release the hip support strap 1 and lower the lifting support mechanism 6 so that the hip can contact the toilet to complete the preparation work for the toilet.
  • the lifting support mechanism 6 is raised and supported by the back.
  • the waistband 2 can lift up the user and can complete the rising from above the toilet.
  • the support rod 64 may include: a main rod 641 and a sub-rod 642 passing through the main rod 641.
  • the sub-rod 642 and the main rod 641 may be connected by a movable member 643.
  • the auxiliary rod 642 can be telescopically moved in the main rod 641 and fixed by the movable member 643, so as to adjust the height of the support rod 64 to adapt to users of different heights (for example: 150cm-190cm).
  • the console 65 may be provided with a power switch and at least two speed regulating switches; and, the console 65 is provided with a groove, which can be configured to place the remote controller 7 and perform the operation for the remote controller 7 Charging.
  • a control component is provided in the above-mentioned body 4, and the control component is connected to the driving component 67 and is configured to control the lifting and lowering of the support rod 64; and the remote controller may be connected to the control component through a wireless connection so that the remote controller can Remote control assists the robot to move.
  • the assisting robot is in a braking state by default when the power switch is turned on; and, when the remote control 7 is provided with a control switch, when the control switch and the power switch are both on,
  • the remote controller 7 can remotely control the assisted robot to move, or control the assisted robot to perform attitude transformation, horizontal movement, or rotational movement.
  • the remote control 7 is provided with a raise button, a drop button, a direction rocker, a clockwise rotation button and a counterclockwise rotation button; the lift height can be adjusted by pressing the raise button or the down button to achieve standing and sitting.
  • the remote control 7 can also be provided with an on-light key and SOS help key; by pressing the on-light key, the light on the robot host can be turned on or off remotely; by pressing the SOS help key, an alarm call for help can be realized immediately.
  • the robot host will call for help at the same time (when the SOS help button is pressed again, the call for help will stop).
  • the top chest plate 61 may include: an EVA filling layer and a leather layer covering the outside of the EVA filling layer; and both sides of the lower end of the top chest plate 61 may be curved structures that are folded up, so that After the chest plate 61 is lowered, the space between the chest plate 61 and the legs is effectively increased to improve comfort.
  • EVA refers to "ethylene-vinyl acetate copolymer" and its rubber-plastic foamed material.
  • the above-mentioned chassis 42 may include a fixed beam 421 and a movable beam 423 connected to the fixed beam 421 through a fixing member 422.
  • the Mecanum wheel 3 is connected to the fixed beam 421
  • the footrest 5 is connected to the movable beam 423, so that the movable beam 423 can drive the footrest 5 to move away from or close to the body 41 with respect to the fixed beam 421, and It is fixed by the fixing member 422, so as to better adapt to users of different heights and shapes.
  • the assisting robot provided in this embodiment may further include: a top knee mechanism 8 connected to the vehicle body 41; the top knee mechanism 8 may include: a vertical beam 81, One end is connected with the vehicle body 41 and the other end is connected with a cross beam 82. Two cross knees 83 are movably connected on the cross beam 82.
  • the vertical beam 81 may include: a main beam 811 and a sub beam 812, one end of the main beam 811 is connected to the vehicle body 41, and one end of the sub beam 812 passes through the main beam 811, A top knee plate 83 is connected to the other end, so that the auxiliary beam 812 can drive the top knee plate 83 to move away from or close to the main body 811 and be fixed relative to the main beam 811, thereby better adapting to users of different body sizes.
  • the cross beam 82 is provided with a connection hole
  • the top knee plate 83 is provided with a strip groove in the longitudinal direction, so that when the connection hole corresponds to different positions of the strip groove and fixed by bolts, the top knee plate 83 can be located at different heights. To better suit users of different heights and sizes.
  • the top knee plate 83 may include: an intermediate plate 833 connected to the beam 82, and an inner plate 834 and an outer plate 835 connected to both sides of the intermediate plate 833, respectively; and
  • the size of the outer plate 835 is preferably larger than the size of the inner plate 834.
  • the side of the top knee plate 83 in contact with the user is provided with a soft bag material structure, so that the comfort can be effectively improved.
  • an illumination lamp 411 may be provided on the front side of the body 41, and an indicator light may be provided on the body 41.
  • the indicator light may include: a charging standby state (for example, steady green), a power-on charging state (for example: green blinking), a normal power-on state (for example: blue blinking), and a standby state (for example: steady blue) Any one or more of the alarm states (for example: flashing red).
  • the assisting robot provided in this embodiment may further include a sound prompting device, which can be configured to prompt the status of the assisting robot or perform a danger alarm.
  • the square metal tube fixed in front of the vehicle body 41 may be an anti-collision beam.
  • This embodiment also provides a control method of an assisting robot.
  • the assisting robot is provided with a power switch and the remote control is provided with a control switch.
  • the power switch When the power switch is turned on, the assisting robot is in a braking state by default; both the control switch and the power switch are on.
  • the remote control can remotely control the assisted robot to move, or control the assisted robot to perform attitude transformation, horizontal movement or rotational movement.
  • the assisting robot and its control method provided in this embodiment can not only ensure that the user has a standing posture and a sitting posture, but also can effectively reduce the weight of the entire machine, simplify the structure of the assisting robot, and thereby effectively improve its flexibility.
  • the control method of the assisting robot provided in this embodiment, since the assisting robot is in a braking state by default when the power switch is turned on, the safety of the user can be effectively improved; since both the control switch and the power switch are in the on state
  • the remote control can remotely control the assisted robot to move, or control it to perform attitude transformation, horizontal movement or rotary movement, so it is more convenient and convenient to use.
  • the assisting robot provided in this embodiment adopts an ergonomic design for the contact portion between the assisting robot and the human body.
  • the textile is firm and comfortable, and is easy for users to wear by themselves.
  • the remote controller can remotely control the assisting robot to perform various plane movements, and it can also be mounted on the robot base to be used.
  • the robot can be powered by the robot body and the prompt. All movements of the robot are controlled by the remote control, and it can also switch lights, call for help, remotely control the robot to turn on and off.
  • Adaptable users can include the following categories, for example: 1. Users who are paraplegic due to illness or trauma, can control their own hands; 2. People who cannot walk normally due to disease or aging, and whose legs are weak; People, such as crutches.
  • the present disclosure provides a Mecanum wheel, a chassis, and an assisting robot.
  • the Mecanum wheel has a compact structure and can form a Mecanum wheel with a driving device integrated with the Mecanum body.

Abstract

一种麦克纳姆轮，包括麦克纳姆轮本体（310）和驱动装置（320），麦克纳姆轮本体设置有轮轴孔，驱动装置的部分或者全部设置在轮轴孔内，驱动装置的连接轴的轴线与麦克纳姆轮本体的回转轴共线，且麦克纳姆轮本体随驱动装置的壳体转动。一种具有减震装置的麦克纳姆轮、一种包括至少一对麦克纳姆轮的底盘、一种包括底盘的帮扶机器人也被公开。

Description

麦克纳姆轮、底盘和帮扶机器人
相关申请的交叉引用
本公开要求于2018年06月12日提交中国专利局的申请号为2018106195571、名称为“麦克纳姆轮、底盘和帮扶机器人”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及助人机械配件技术领域，尤其涉及一种麦克纳姆轮、底盘和帮扶机器人。
背景技术
目前大部分行动不便的老年人、残疾人、瘫痪患者日常生活中一般需要专门人员进行看护，无法自理正常的生活起居，市面上常见的助行设备一般有轮椅与电动轮椅，虽然很大程度上帮助了出行，但是长期坐轮椅会导致血液不通畅，引发压疮、骨质疏松等并发症，对健康造成极大的影响，并且坐轮椅在入便、狭小的空间移动等日常生活中带来不便之处。因此，帮扶机器人的出现极大方便了行动不便的老年人、残疾人、瘫痪患者等的生活。
麦克纳姆轮是一种全方位移动车轮；可以实现前行、横移、斜行、旋转及其组合等运动方式。该全方位移动方式是基于一个有许多滚子位于机轮周边轮轴的中心轮，并将成角度的周边轮轴的一部分的机轮转向力转化到机轮法向力上的原理。麦克纳姆轮依靠各自滚子的方向和速度，合成在任何要求的方向上产生一个合力矢量从而保证了在最终的合力矢量的方向上能自由地移动，而不改变机轮自身的方向。
然而，目前的麦克纳姆轮与其驱动电机为分别独立设计，其结构尺寸较大，从而影响了安装麦克纳姆轮设备的结构尺寸；尤其是帮扶机器人，结构尺寸较大的麦克纳姆轮与其驱动电机影响了帮扶机器人的结构紧凑性能。
因此，本公开针对上述问题提供一种新的麦克纳姆轮、底盘和帮扶机器人，以缩小麦克纳姆轮与其驱动电机的结构尺寸。
发明内容
本公开的目的包括，例如，提供了一种麦克纳姆轮，以解决现有技术中存在的麦克纳姆轮与其驱动电机结构尺寸较大的技术问题。
本公开的目的还包括，提供了一种具有减震装置的麦克纳姆轮，以解决现有技术中存在的麦克纳姆轮与其驱动电机结构尺寸较大的技术问题。
本公开的目的还包括，提供了一种底盘和帮扶机器人，以解决现有技术中存在的麦克纳姆轮与其驱动电机结构尺寸较大的技术问题。
本公开的实施例是这样实现的：
本公开的实施例提供了一种麦克纳姆轮，其包括麦克纳姆轮本体和驱动装置；
所述麦克纳姆轮本体设置有轮轴孔；所述驱动装置的部分或者全部设置在所述轮轴孔内；
所述驱动装置的连接轴的轴线与所述麦克纳姆轮本体的回转轴共线；且所述麦克纳姆轮本体随所述驱动装置的壳体转动。
可选地，所述麦克纳姆轮本体包括第一端盖、第二端盖和多个麦克纳姆滚子；
所述第一端盖与所述第二端盖之间连接有多个所述麦克纳姆滚子；
多个所述麦克纳姆滚子形成所述轮轴孔；
所述驱动装置的连接轴伸出所述第一端盖，且所述驱动装置的壳体与所述第一端盖可拆装连接。
可选地，所述第一端盖和/或所述第二端盖设置有与所述麦克纳姆滚子数量对应的端盖孔槽；
所述麦克纳姆滚子的滚轴与所述端盖孔槽配合连接；
沿所述第一端盖或所述第二端盖的径向，所述端盖孔槽在所述第一端盖或所述第二端盖的边缘开口并形成边缘槽口，以使所述麦克纳姆滚子的滚轴能够从所述边缘槽口进入所述端盖孔槽内。
可选地，沿所述麦克纳姆滚子的径向，所述边缘槽口的尺寸大于等于所述麦克纳姆滚子的滚轴的最大尺寸。
可选地，沿所述麦克纳姆滚子的径向，所述端盖孔槽的截面呈三角形、矩形或半圆形；
所述麦克纳姆滚子的滚轴与所述端盖孔槽配合的截面，为与所述端盖孔槽截面相应的形状。
可选地，沿所述麦克纳姆滚子的径向，所述麦克纳姆滚子的滚轴具有滚轴装配平台；
所述滚轴装配平台设置有与所述第一端盖或所述第二端盖螺接的螺钉。
可选地，所述驱动装置的壳体与所述第一端盖通过螺钉可拆装连接；
所述驱动装置的壳体与所述第二端盖通过螺钉可拆装连接。
可选地，所述第一端盖设置有第一端盖配合凹槽，所述驱动装置的壳体设置有与所述第一端盖配合凹槽相应的第一驱动配合结构；所述第一端盖配合凹槽沿所述驱动装置的连接轴的轴向延伸；
或者，所述第一端盖设置有第一端盖配合凸起，所述驱动装置的壳体设置有与所述第一端盖配合凸起相应的第一驱动配合凹槽；所述第一端盖配合凸起沿所述驱动装置的连接轴的轴向延伸。
可选地，所述第二端盖设置有第二端盖配合凹槽，所述驱动装置的壳体设置有与所述第二端盖配合凹槽相应的第二驱动配合结构；所述第二端盖配合凹槽沿所述驱动装置的连接轴的轴向延伸；
或者，所述第二端盖设置有第二端盖配合凸起，所述驱动装置的壳体设置有与所述第二端盖配合凸起相应的第二驱动配合凹槽；所述第二端盖配合凸起沿所述驱动装置的连接轴的轴向延伸。
可选地，所述驱动装置包括轮毂电机；所述驱动装置的连接轴为所述轮毂电机的连接轴；所述轮毂电机设置在所述轮轴孔内；所述麦克纳姆轮本体随所述轮毂电机的壳体转动；
或者，所述驱动装置包括轮毂电机和减速器；所述轮毂电机驱动连接所述减速器；所述驱动装置的连接轴为所述减速器的连接轴；所述轮毂电机设置在所述轮轴孔内；所述减速器的部分或者全部设置在所述轮轴孔内；所述麦克纳姆轮本体随所述轮毂电机的壳体转动。
可选地，所述轮毂电机包括内定子连接轴和外转子壳体；
沿所述内定子连接轴的轴向，所述第一端盖和/或所述第二端盖分别与所述外转子壳体的两端螺钉连接；
所述内定子连接轴伸出所述第一端盖，且所述内定子连接轴的轴线与所述麦克纳姆轮本体的回转轴共线；
所述轮毂电机工作时，所述第一端盖和所述第二端盖随所述外转子壳体绕所述内定子连接轴转动。
本公开的实施例提供了一种减震装置，其包括减震固定支架和减震移动支架；所述减震移动支架配置成与轮子的连接轴固定连接；
所述减震固定支架包括至少一个减震固定轴；所述减震移动支架外套在所述减震固定轴上并能沿所述减震固定轴的轴向往复移动；
所述减震固定轴外套有两个弹性元件；两个所述弹性元件之间连接所述减震移动支架；
所述减震固定轴的轴向与所述轮子的连接轴的轴向呈夹角设置。
可选地，所述减震固定支架包括第一减震固定部、第二减震固定部和第三减震固定部；
所述第一减震固定部与所述第二减震固定部之间通过所述减震固定轴固定连接；
所述第三减震固定部固定连接所述第一减震固定部与所述第二减震固定部。
可选地，所述第二减震固定部与所述第三减震固定部之间可拆装固定连接，且所述第二减震固定部与所述第三减震固定部之间设置有至少一个减震调整件；
所述减震调整件包括楔形结构；
沿所述减震固定轴的轴向，所述减震调整件能够移动以改变所述第二减震固定部与所述第三减震固定部之间的距离。
可选地，所述减震调整件包括调整配合部和与所述调整配合部固定连接的调整螺纹部；所述调整配合部为楔形结构；
所述调整配合部设置在所述第二减震固定部与所述第三减震固定部之间；
所述调整螺纹部螺接有调整螺母；所述调整螺母抵接所述第二减震固定部远离所述减震移动支架的一面；
旋转所述调整螺母时所述减震调整件能够移动，以改变所述第二减震固定部与所述第三减震固定部之间的距离。
可选地，所述调整配合部设置有调整通孔；
所述调整通孔插接有连接所述第二减震固定部与所述第三减震固定部之间的螺钉。
可选地，所述调整配合部远离所述调整螺纹部的一端设置有调整配合凸出部；
所述调整配合凸出部凸出于所述调整配合部的楔形面；
所述调整配合部的楔形面与所述第二减震固定部连接。
可选地，所述减震固定支架包括减震安装件；
所述减震安装件、所述第一减震固定部和所述第二减震固定部依次间隔设置在所述减震固定轴上；
所述减震安装件与所述第一减震固定部之间配置成固定连接设备。
可选地，所述减震装置包括减震固定支架和减震移动支架；所述减震移动支架与所述麦克纳姆轮的驱动装置的连接轴固定连接；
所述减震固定支架包括至少一个减震固定轴；所述减震移动支架外套在所述减震固定轴上并能沿所述减震固定轴的轴向往复移动；
所述减震固定轴外套有抵接所述减震移动支架的弹性元件，所述弹性元件呈压缩状态；
所述减震固定轴的轴向与所述驱动装置的连接轴的轴向呈夹角设置。
可选地，所述减震固定支架包括减震固定调平安装件和减震固定调平轴接件；
所述减震固定调平安装件配置成固定连接设备；
所述减震固定调平轴接件与所述减震固定轴可拆装固定连接；所述减震固定轴远离所述减震固定调平轴接件的一端具有减震固定轴止挡部；所述弹性元件和所述减震移动支架设置在所述减震固定轴止挡部与所述减震固定调平轴接件之间；
所述减震固定调平安装件与所述减震固定调平轴接件铰接，且所述减震固定调平安装件与所述减震固定调平轴接件连接有调平连接件；所述调平连接件能够调整所述减震固定调平安装件与所述减震固定调平轴接件之间的角度。
可选地，所述调平连接件与所述减震固定调平安装件螺接，且所述调平连接件能够穿过所述减震固定调平安装件与所述减震固定调平轴接件抵接。
可选地，所述减震固定调平安装件与所述减震固定调平轴接件之间通过至少一个调平连接螺钉连接；
所述减震固定调平安装件设置有插接所述调平连接螺钉的圆孔、条形孔或者长圆孔；
所述减震固定调平轴接件设置有与所述调平连接螺钉螺接的螺纹孔，或者所述减震固定调平轴接件远离所述减震固定调平安装件的一面连接有与所述调平连接螺钉螺接的螺母。
可选地，所述弹性元件为弹簧；
所述减震固定轴外套有吸能元件，所述吸能元件能够弹性形变；
所述减震移动支架设置在所述吸能元件与所述弹性元件之间。
可选地，所述减震固定轴外套有垫片；
所述吸能元件包括聚氨酯结构件、橡胶圈或者硅胶圈；
所述减震固定轴止挡部、所述垫片、所述吸能元件、所述减震移动支架、所述弹性元件和所述减震固定调平轴接件沿所述减震固定轴的轴向依次设置。
可选地，所述弹性元件设置在所述减震移动支架与所述减震固定调平轴接件之间；所述减震移动支架和/或所述减震固定调平轴接件，设置有与所述弹性元件配合连接的沉孔。
可选地，所述减震固定调平轴接件远离所述减震固定轴止挡部的一端设置有减震固定轴螺纹部，所述减震固定调平轴接件设置有与所述减震固定轴螺纹部螺接的螺纹孔；
和/或，所述减震移动支架与所述减震固定轴之间设置有轴承。
可选地，所述减震移动支架包括减震移动支架连接部和至少两个减震移动支架套接部；所述轮子的连接轴穿过所述减震移动支架连接部并与所述减震移动支架连接部固定连接；所述减震移动支架套接部外套在所述减震固定轴上，且所述减震移动支架套接部的数量与所述减震固定轴的数量相对应；
相邻所述减震移动支架套接部之间通过所述减震移动支架连接部固定连接；
所述减震移动支架连接部凸出于相邻所述减震移动支架套接部形成的表面。
可选地，所述减震固定轴的数量为两个；
所述减震移动支架为对称结构。
可选地，所述减震固定轴的轴向配置成与所述轮子的连接轴的轴向呈直角设置。
可选地，所述弹性元件包括弹簧、聚氨酯结构件、橡胶圈或者硅胶圈。
本公开提供的具有减震装置的轮子结构包括轮子和上述减震装置；所述轮子与所述减震装置连接。
可选地，所述减震装置的数量为一个；所述减震装置设置在所述轮子的一侧，且所述减震装置的减震移动支架与所述轮子的连接轴固定连接；
或者，所述减震装置的数量为两个；两个所述减震装置之间设置有所述轮子，且两个所述减震装置的减震移动支架均与所述轮子的连接轴固定连接。
本公开的实施例还提供了一种具有减震装置的麦克纳姆轮，其包括上述的麦克纳姆轮，还包括减震装置；所述麦克纳姆轮与所述减震装置连接。
可选地，所述减震装置包括减震固定支架和减震移动支架；所述减震移动支架与所述麦克纳姆轮的驱动装置的连接轴固定连接；
所述减震固定支架包括至少一个减震固定轴；所述减震移动支架外套在所述减震固定轴上并能沿所述减震固定轴的轴向往复移动；
所述减震固定轴外套有两个弹性元件；两个所述弹性元件之间连接所述减震移动支架；
所述减震固定轴的轴向与所述驱动装置的连接轴的轴向呈夹角设置。
可选地，所述减震固定支架包括第一减震固定部、第二减震固定部和第三减震固定部；
所述第一减震固定部与所述第二减震固定部之间通过所述减震固定轴固定连接；
所述第三减震固定部固定连接所述第一减震固定部与所述第二减震固定部。
可选地，所述第二减震固定部与所述第三减震固定部之间可拆装固定连接，且所述第二减震固定部与所述第三减震固定部之间设置有至少一个减震调整件；
所述减震调整件包括楔形结构；
沿所述减震固定轴的轴向，所述减震调整件能够移动以改变所述第二减震固定部与所述第三减震固定部之间的距离。
可选地，所述减震调整件包括调整配合部和与所述调整配合部固定连接的调整螺纹部；所述调整配合部为楔形结构；
所述调整配合部设置在所述第二减震固定部与所述第三减震固定部之间；
所述调整螺纹部螺接有调整螺母；所述调整螺母抵接所述第二减震固定部远离所述减震移动支架的一面；
旋转所述调整螺母时所述减震调整件能够移动，以改变所述第二减震固定部与所述第三减震固定部之间的距离。
可选地，所述调整配合部设置有调整通孔；
所述调整通孔插接有连接所述第二减震固定部与所述第三减震固定部之间的螺钉。
可选地，所述调整配合部远离所述调整螺纹部的一端设置有调整配合凸出部；
所述调整配合凸出部凸出于所述调整配合部的楔形面；
所述调整配合部的楔形面与所述第二减震固定部连接。
可选地，所述减震固定支架包括减震安装件；
所述减震安装件、所述第一减震固定部和所述第二减震固定部依次间隔设置在所述减震固定轴上；
所述减震安装件与所述第一减震固定部之间配置成固定连接设备。
可选地，所述减震移动支架包括减震移动支架连接部和至少两个减震移动支架套接部；所述驱动装置的连接轴穿过所述减震移动支架连接部并与所述减震移动支架连接部固定连接；所述减震移动支架套接部外套在所述减震固定轴上，且所述减震移动支架套接部的数量与所述减震固定轴的数量相对应；
相邻所述减震移动支架套接部之间通过所述减震移动支架连接部固定连接；
所述减震移动支架连接部凸出于相邻所述减震移动支架套接部形成的表面。
可选地，所述减震固定轴的数量为两个；
所述减震移动支架为对称结构。
可选地，所述减震固定轴的轴向与所述驱动装置的连接轴的轴向呈直角设置。
可选地，所述弹性元件包括弹簧、聚氨酯结构件、橡胶圈或者硅胶圈。
可选地，所述减震装置的数量为一个；所述减震装置设置在所述麦克纳姆轮的一侧，且所述减震装置与所述麦克纳姆轮的驱动装置的连接轴固定连接；
或者，所述减震装置的数量为两个；两个所述减震装置之间设置有所述麦克纳姆轮，且两个所述减震装置均与所述麦克纳姆轮的驱动装置的连接轴固定连接。
本公开的实施例还提供了一种底盘，其包括至少一对上述的具有减震装置的麦克纳姆轮。
可选地，所述的底盘包括底盘横梁和两个固定梁；所述底盘横梁固定连接两个所述固定梁；
所述固定梁的延伸方向为所述底盘的行走方向；所述固定梁连接所述具有减震装置的麦克纳姆轮的减震装置；
成对设置的所述具有减震装置的麦克纳姆轮设置在所述固定梁的同一端，且每个所述固定梁至少连接一个所述具有减震装置的麦克纳姆轮。
可选地，成对设置的所述具有减震装置的麦克纳姆轮通过底盘轮轴连接。
可选地，每个所述固定梁的两端分别连接所述具有减震装置的麦克纳姆轮的减震装置。
可选地，所述固定梁的一端连接所述具有减震装置的麦克纳姆轮，另一端通过第二减震装置连接滚轮；
所述第二减震装置包括支杆和第二减震器；所述支杆的端部与所述第二减震器铰接；
所述支杆与所述固定梁铰接，所述第二减震器与所述固定梁铰接，所述滚轮的滚轴与所述支杆固定连接。
可选地，所述滚轮为麦克纳姆轮；所述麦克纳姆轮的驱动装置的连接轴与所述支杆固定连接；
所述第二减震器为液压减震器或弹簧减震器。
本公开的实施例还提供了一种帮扶机器人，其包括上述的底盘。
可选地，所述的帮扶机器人包括托臀绑带、扶腰绑带和机体，所述机体上设有所述底盘和升降支撑机构；
所述底盘设置在所述机体的底部；
所述升降支撑机构包括顶胸板，所述顶胸板的下端面设有第一连接件、侧壁设有第二连接件；
所述托臀绑带设有与所述第一连接件匹配对接的第三连接件，所述扶腰绑带设有与所述第二连接件匹配对接的第四连接件。
可选地，所述升降支撑机构包括：支撑杆，所述支撑杆的一端与所述机体铰接、另一端设置有控制台，所述控制台连接有手柄和所述顶胸板；
所述支撑杆与所述机体之间还连接有驱动组件，所述驱动组件配置成使所述支撑杆处于第一状态或第二状态，并能够在所述第一状态与所述第二状态之间进行切换。
可选地，所述支撑杆处于所述第一状态时，所述帮扶机器人的高度低于0.8米。
可选地，所述支撑杆包括：主杆和穿设在所述主杆内的副杆，所述副杆与所述主杆通过活动件连接，且所述副杆能够在所述主杆内伸缩移动并通过所述活动件固定。
可选地，所述控制台上设有电源开关和至少两档调速开关；
所述控制台上设有凹槽，所述凹槽能够配置成放置遥控器，并为所述遥控器进行充电。
可选地，所述机体内设有控制组件，所述控制组件与所述驱动组件连接，配置成控制所述支撑杆升降；
所述遥控器通过无线连接方式与所述控制组件连接，且所述遥控器能够远程控制所述帮扶机器人进行移动。
可选地，所述电源开关开启时，所述帮扶机器人默认处于刹车状态；
所述遥控器上设有控制开关，所述控制开关和所述电源开关均处于开启状态时，所述遥控器能够远程控制所述帮扶机器人移动，或控制所述帮扶机器人进行姿态变换、水平移动或旋转移动。
可选地，所述顶胸板包括：EVA填充层，以及包覆在所述EVA填充层外侧的皮革层；
所述顶胸板的下端两侧为向上收起的弧形结构。
可选地，所述机体包括车身；所述车身的底端区域连接的所述底盘；所述升降支撑机构与所述车身连接，所述底盘上还设置有脚底托板；
所述车身连接有顶膝机构；
所述顶膝机构包括：竖梁，所述竖梁的一端与所述车身连接、另一端连接有横梁，所述横梁上对称 设置有两个活动连接的顶膝板。
可选地，所述竖梁包括：主梁和副梁，所述主梁的一端与所述车身连接，所述副梁的一端穿设在所述主梁内、另一端连接有所述顶膝板；
所述副梁能够带动所述顶膝板相对所述主梁沿远离或靠近所述车身的方向移动并固定。
可选地，所述横梁上设有连接孔，所述顶膝板上纵向设有条状槽；
所述连接孔对应所述条状槽的不同位置并通过螺栓固定时，所述顶膝板位于不同的高度；
所述顶膝板包括：与所述横梁连接的中间板，以及分别与所述中间板的两侧连接的内侧板和外侧板；
所述外侧板的尺寸大于所述内侧板的尺寸。
可选地，所述车身的前侧设有照明灯，所述车身上设有指示灯；
所述指示灯包括：充电待机状态、开机充电状态、正常开机状态、待机状态、报警状态中的任意一种或多种；
所述帮扶机器人包括声音提示装置；所述声音提示装置配置成提示所述帮扶机器人的状态，或进行危险报警。
与现有的技术相比，本公开的有益效果包括，例如：
本公开实施例提供的麦克纳姆轮，包括麦克纳姆轮本体和驱动装置，通过驱动装置的部分或者全部设置在麦克纳姆轮本体的轮轴孔内，以缩小麦克纳姆轮与其驱动电机的结构尺寸，以形成驱动装置与麦克纳姆轮本体一体化的麦克纳姆轮；可以使采用所述麦克纳姆轮的帮扶机器人等设备的结构更加紧凑。
本公开实施例提供的具有减震装置的麦克纳姆轮、底盘和帮扶机器人，具有上述麦克纳姆轮结构紧凑等优点。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本公开的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1-1为本公开实施例提供的麦克纳姆轮的结构示意图；
图1-2为本公开实施例提供的麦克纳姆轮的另一结构示意图；
图1-3为图1-2所示的麦克纳姆轮的爆炸图；
图1-4为本公开实施例提供的麦克纳姆轮的再一结构示意图；
图1-5为图1-4所示的麦克纳姆轮的A区放大图；
图1-6为图1-4所示的麦克纳姆轮的爆炸图；
图2-1为本公开实施例提供的具有减震装置的麦克纳姆轮的结构示意图；
图2-2为图2-1所示的具有减震装置的麦克纳姆轮的爆炸图；
图2-3为本公开实施例提供的减震装置的结构示意图；
图2-4为图2-3所示的减震装置的爆炸图；
图2-5为本公开实施例提供的减震装置的另一结构示意图；
图2-6为图2-5所示的减震装置的主视图；
图2-7为图2-5所示的减震装置的爆炸图；
图2-8为本公开实施例提供的减震调整件的结构示意图；
图2-9为本公开实施例提供的减震装置的再一结构示意图；
图2-10为图2-9所示的减震装置的爆炸图；
图3-1为本公开实施例提供的底盘的结构示意图；
图3-2为本公开实施例提供的底盘的另一结构示意图；
图4-1为本公开实施例提供的帮扶机器人的立体结构示意图；
图4-2为本公开实施例提供的帮扶机器人的另一视角结构示意图；
图4-3为本公开实施例提供的托臀绑带的结构示意图；
图4-4为本公开实施例提供的扶腰绑带的结构示意图。
图标：1-托臀绑带；2-扶腰绑带；3-麦克纳姆轮；4-机体；5-脚底托板；6-升降支撑机构；7-遥控 器；8-顶膝机构；9-减震装置；
11-第三连接件；12-托臀本体；13-托臀调节带；
21-第四连接件；22-扶腰本体；23-扶腰调节带；
310-麦克纳姆轮本体；311-第一端盖；312-第二端盖；313-麦克纳姆滚子；3131-滚轴装配平台；314-端盖孔槽；320-驱动装置；330-法兰盘；
41-车身；411-照明灯；42-底盘；421-固定梁；422-固定件；423-活动梁；424-底盘横梁；425-减震外罩；426-底盘轮轴；
61-顶胸板；62-第一连接件；63-第二连接件；64-支撑杆；65-控制台；66-手柄；67-驱动组件；641-主杆；642-副杆；643-活动件；
81-竖梁；82-横梁；83-顶膝板；811-主梁；812-副梁；833-中间板；834-内侧板；835-外侧板；
910-减震固定支架；911-第一减震固定部；912-第二减震固定部；913-第三减震固定部；914-减震固定调平安装件；915-减震固定调平轴接件；916-销轴；917-调平连接件；9171-螺纹孔；918-调平连接螺钉；9181-长圆孔；9182-螺纹孔；920-减震移动支架；921-减震移动支架连接部；922-减震移动支架套接部；930-减震固定轴；931-弹性元件；932-减震固定轴止挡部；933-吸能元件；934-垫片；940-减震安装件；950-减震调整件；951-调整配合部；952-调整螺纹部；953-调整螺母；954-调整配合凸出部。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本公开实施例的组件可以以各种不同的配置来布置和设计。
因此，以下对在附图中提供的本公开的实施例的详细描述并非旨在限制要求保护的本公开的范围，而是仅仅表示本公开的选定实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
在本公开的描述中，需要说明的是，若出现术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”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，或者是该发明产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本公开和简化描述，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公开的限制。
此外，若出现术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
此外，若出现术语“水平”、“竖直”、“悬垂”等并不表示要求部件绝对水平或悬垂，而是可以稍微倾斜。如“水平”仅仅是指其方向相对“竖直”而言更加水平，并不是表示该结构一定要完全水平，而是可以稍微倾斜。
在本公开的描述中，还需要说明的是，除非另有明确的规定和限定，若出现术语“设置”、“安装”、“相连”、“连接”等应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；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。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开中的具体含义。
需要说明的是，在不冲突的情况下，本公开的实施例中的特征可以相互结合。
参见图1-1至图1-3所示，本实施例提供了一种麦克纳姆轮；图1-1和图1-2为本实施例提供的麦克纳姆轮的两种结构示意图；图1-3为图1-2所示的麦克纳姆轮的爆炸图。参见图1-4至图1-6所示，图1-4为本实施例提供的麦克纳姆轮的第三种结构示意图；图1-5为图1-4所示的麦克纳姆轮的A区放大图；图1-6为图1-4所示的麦克纳姆轮的爆炸图；
本实施例提供的麦克纳姆轮，适用于AGV(是Automated Guided Vehicle的缩写)运输车、帮扶机器人、运输平台、叉车等需要实现全方位移动的器械、设备，还适用于结构紧凑、运动灵活、转运空间 有限、作业通道狭窄的器械、设备。
参见图1-1至图1-6所示，所述麦克纳姆轮包括麦克纳姆轮本体310和驱动装置320；
麦克纳姆轮本体310设置有轮轴孔(图中为示出)；驱动装置320的部分或者全部设置在轮轴孔内；
驱动装置320的连接轴的轴线与麦克纳姆轮本体310的回转轴共线；且麦克纳姆轮本体310随驱动装置320的壳体转动。可选地，驱动装置320的连接轴配置成连接设备，例如连接设备的底座，以将所述麦克纳姆轮安装在设备上。通过驱动装置320的连接轴的轴线与麦克纳姆轮本体310的回转轴共线，以使麦克纳姆轮本体310随驱动装置320的壳体转动更加稳定，降低采用该麦克纳姆轮的设备在行走时的震动。可选地，驱动装置320工作时，驱动装置320的连接轴相对固定，驱动装置320的壳体绕驱动装置320的连接轴转动，以使麦克纳姆轮本体310随驱动装置320的壳体转动。
本实施例中所述麦克纳姆轮，包括麦克纳姆轮本体310和驱动装置320，通过驱动装置320的部分或者全部设置在麦克纳姆轮本体310的轮轴孔内，以缩小麦克纳姆轮与其驱动电机的结构尺寸，以形成驱动装置320与麦克纳姆轮本体310一体化的麦克纳姆轮；可以使采用所述麦克纳姆轮的帮扶机器人等设备的结构更加紧凑。
此外，本实施例中所述麦克纳姆轮集成了现有麦克纳姆轮和驱动装置，在一定程度上减少了麦克纳姆轮与其驱动电机的安装零部件，简化了采用所述麦克纳姆轮的帮扶机器人等设备的结构。在一定程度上也简化了采用所述麦克纳姆轮的帮扶机器人等设备的安装过程和要求，降低其结构重量和制造维护成本，还在一定程度上可以提高设备行走的可靠性。
本实施例的可选方案中，麦克纳姆轮本体310由麦克纳姆滚子支架和麦克纳姆滚子组成，麦克纳姆滚子设在麦克纳姆滚子支架上，麦克纳姆滚子支架与驱动装置320的壳体连接。其中，麦克纳姆滚子的两端与麦克纳姆滚子支架连接，或者麦克纳姆滚子的中间与麦克纳姆滚子支架连接。
参见图1-1至图1-6所示，可选地，麦克纳姆轮本体310包括第一端盖311、第二端盖312和多个麦克纳姆滚子313；第一端盖311与第二端盖312之间连接有多个麦克纳姆滚子313；多个麦克纳姆滚子313形成轮轴孔；
驱动装置320的连接轴伸出第一端盖311，第一端盖311能够相对驱动装置320的连接轴转动。
可选地，驱动装置320的连接轴连接有法兰盘330；以使驱动装置320的连接轴通过法兰盘330连接设备。
参见图1-4至图1-6所示，可选地，第一端盖311和/或第二端盖312设置有与麦克纳姆滚子313数量对应的端盖孔槽314；也就是说，第一端盖311设置有与麦克纳姆滚子313数量对应的端盖孔槽314，或者第二端盖312设置有与麦克纳姆滚子313数量对应的端盖孔槽314，或者第一端盖311和第二端盖312设置有与麦克纳姆滚子313数量对应的端盖孔槽314。
麦克纳姆滚子313的滚轴与端盖孔槽314配合连接；可选地，端盖孔槽314沿麦克纳姆滚子313的轴向延伸，以使麦克纳姆滚子313的滚轴与端盖孔槽314插接，以使麦克纳姆滚子313更加容易的与第一端盖311或第二端盖312配合连接。
沿第一端盖311或第二端盖312的径向，端盖孔槽314在第一端盖311或第二端盖312的边缘开口并形成边缘槽口，以使麦克纳姆滚子313的滚轴能够从边缘槽口进入端盖孔槽314内。通过麦克纳姆滚子313的滚轴能够从端盖孔槽314的边缘槽口进入端盖孔槽314内，提高了麦克纳姆滚子313与第一端盖311或第二端盖312装配的便捷度，进而提高了麦克纳姆轮装配的便捷度；在部分数量的麦克纳姆滚子出现故障时，可以方便、快捷的更换或维修部分数量的麦克纳姆滚子，提高了麦克纳姆轮维修的便捷度。
相对于现有麦克纳姆轮，在更换或维修部分数量的麦克纳姆滚子时需要将第一端盖或第二端盖与全部数量的麦克纳姆滚子拆开，该麦克纳姆轮只需更换出现故障的麦克纳姆滚子，极大提高了维修的便捷度。
参见图1-4至图1-6所示，可选地，沿麦克纳姆滚子313的径向，边缘槽口的尺寸大于等于麦克纳姆滚子313的滚轴的最大尺寸，以使麦克纳姆滚子313的滚轴更加容易的与端盖孔槽314配合连接，以使麦克纳姆滚子313更加容易的与第一端盖311或第二端盖312配合连接。
可选地，沿麦克纳姆滚子313的径向，端盖孔槽314的截面呈三角形、矩形或半圆形，或者其他形状；
麦克纳姆滚子313的滚轴与端盖孔槽314配合的截面，为与端盖孔槽314截面相应的形状。
可选地，沿麦克纳姆滚子313的径向，麦克纳姆滚子313的滚轴具有滚轴装配平台3131；
滚轴装配平台3131设置有与第一端盖311或第二端盖312螺接的螺钉。通过滚轴装配平台3131，便于第一端盖311或第二端盖312与麦克纳姆滚子313的滚轴的装配，进而便于第一端盖311或第二端盖312与麦克纳姆滚子313的装配。其中，滚轴装配平台3131可以为麦克纳姆滚子313的滚轴本身的形状的一部分，例如滚轴装配平台3131为截面呈三角形或矩形的端盖孔槽314的其中一个表面；滚轴装配平台3131也可以为麦克纳姆滚子313的滚轴切割成的平台。
可选地，驱动装置320的壳体与第一端盖311可拆装连接，以使第一端盖311随驱动装置320的壳体转动，也即麦克纳姆轮本体310随驱动装置320的壳体转动。
可选地，驱动装置320的壳体与第二端盖312可拆装连接；通过第一端盖311和第二端盖312同时与驱动装置320的壳体固定连接，以使麦克纳姆轮本体310与驱动装置320的壳体的连接更加牢固。
可选地，驱动装置320的壳体与第一端盖311通过螺钉可拆装连接；可选地，驱动装置320的壳体与第一端盖311之间的螺钉数量为4个、6个、8个或9个等等。可选地，驱动装置320的壳体与第二端盖312通过螺钉可拆装连接；可选地，驱动装置320的壳体与第二端盖312之间的螺钉数量为4个、6个、8个或9个等等。
本实施例的可选方案中，第一端盖311设置有第一端盖配合凹槽，驱动装置320的壳体设置有与第一端盖配合凹槽相应的第一驱动配合结构；第一端盖配合凹槽沿驱动装置320的连接轴的轴向延伸；通过第一端盖配合凹槽和第一驱动配合结构的配合连接，以使第一端盖311与驱动装置320的壳体之间的连接更加牢固，以更好地将驱动装置320的壳体转向力传递给第一端盖311，以使麦克纳姆轮本体310随驱动装置320的壳体转动；也在一定程度上降低了第一端盖311随驱动装置320的壳体转动时第一端盖311与驱动装置320的壳体之间的螺钉所承受的剪切力。其中，第一驱动配合结构例如可以为驱动装置320的壳体设置的与第一端盖配合凹槽相应的配合凸起，还可以为驱动装置320的壳体为与第一端盖配合凹槽相应的形状；例如，第一端盖配合凹槽的截面呈矩形，驱动装置320的壳体与第一端盖配合凹槽配合的截面也呈矩形；又如，第一端盖配合凹槽的截面呈正多边形，驱动装置320的壳体与第一端盖配合凹槽配合的截面也正多边矩形。
本实施例的可选方案中，第一端盖311设置有第一端盖配合凸起，驱动装置320的壳体设置有与第一端盖配合凸起相应的第一驱动配合凹槽；第一端盖配合凸起沿驱动装置320的连接轴的轴向延伸。通过第一端盖配合凸起和第一驱动配合凹槽的配合连接，以使第一端盖311与驱动装置320的壳体之间的连接更加牢固，以更好地将驱动装置320的壳体转向力传递给第一端盖311，以使麦克纳姆轮本体310随驱动装置320的壳体转动；也在一定程度上降低了第一端盖311随驱动装置320的壳体转动时第一端盖311与驱动装置320的壳体之间的螺钉所承受的剪切力。
本实施例的可选方案中，第二端盖312设置有第二端盖配合凹槽，驱动装置320的壳体设置有与第二端盖配合凹槽相应的第二驱动配合结构；第二端盖配合凹槽沿驱动装置320的连接轴的轴向延伸；通过第二端盖配合凹槽和第二驱动配合结构的配合连接，以使第二端盖312与驱动装置320的壳体之间的连接更加牢固，以更好地将驱动装置320的壳体转向力传递给第二端盖312，以使麦克纳姆轮本体310随驱动装置320的壳体转动；也在一定程度上降低了第二端盖312随驱动装置320的壳体转动时第二端盖312与驱动装置320的壳体之间的螺钉所承受的剪切力。其中，第二驱动配合结构例如可以为驱动装置320的壳体设置的与第二端盖配合凹槽相应的配合凸起，还可以为驱动装置320的壳体为与第二端盖配合凹槽相应的形状；例如，第二端盖配合凹槽的截面呈矩形，驱动装置320的壳体与第二端盖配合凹槽配合的截面也呈矩形；又如，第二端盖配合凹槽的截面呈正多边形，驱动装置320的壳体与第二端盖配合凹槽配合的截面也正多边矩形。
本实施例的可选方案中，第二端盖312设置有第二端盖配合凸起，驱动装置320的壳体设置有与第二端盖配合凸起相应的第二驱动配合凹槽；第二端盖配合凸起沿驱动装置320的连接轴的轴向延伸。通过第二端盖配合凸起和第二驱动配合凹槽的配合连接，以使第二端盖312与驱动装置320的壳体之间的连接更加牢固，以更好地将驱动装置320的壳体转向力传递给第二端盖312，以使麦克纳姆轮本体310随驱动装置320的壳体转动；也在一定程度上降低了第二端盖312随驱动装置320的壳体转动时第二端盖312与驱动装置320的壳体之间的螺钉所承受的剪切力。
本实施例所述的麦克纳姆轮，通过第一端盖311与驱动装置320的壳体之间、第二端盖312与驱动 装置320的壳体之间设置的配合结构，以使麦克纳姆轮本体310与驱动装置320的壳体之间的连接更加牢固，以更好地将驱动装置320的壳体转向力传递给麦克纳姆轮本体310，同时还在一定程度上降低了麦克纳姆轮本体310随驱动装置320的壳体转动时麦克纳姆轮本体310与驱动装置320的壳体之间的连接螺钉所承受的剪切力。
本实施例的可选方案中，驱动装置320包括轮毂电机；驱动装置320的连接轴为轮毂电机的连接轴；轮毂电机设置在轮轴孔内；麦克纳姆轮本体310随轮毂电机的壳体绕轮毂电机的连接轴转动。通过轮毂电机的连接轴连接设备，例如连接设备的底座，以使麦克纳姆轮本体310随轮毂电机的壳体转动。
本实施例的可选方案中，驱动装置320包括轮毂电机和减速器；轮毂电机驱动连接减速器；驱动装置320的连接轴为减速器的连接轴；轮毂电机设置在轮轴孔内；减速器的部分或者全部设置在轮轴孔内；麦克纳姆轮本体310随轮毂电机的壳体绕减速器的连接轴转动。通过减速器的连接轴连接设备，例如连接设备的底座，以使麦克纳姆轮本体310随轮毂电机的壳体转动。
本实施例的可选方案中，轮毂电机包括内定子连接轴和外转子壳体；
沿内定子连接轴的轴向，第一端盖311和/或第二端盖312分别与外转子壳体的两端螺钉连接；
内定子连接轴伸出第一端盖311，且内定子连接轴的轴线与麦克纳姆轮本体310的回转轴共线；
轮毂电机工作时，第一端盖311和第二端盖312随外转子壳体转动；可选地，轮毂电机工作时，第一端盖311和第二端盖312随外转子壳体绕内定子连接轴转动。
本实施例提供了一种减震装置。
参见图2-3至图2-8所示，图2-3和图2-5为本实施例提供的减震装置的两种结构示意图；其中，图2-4为图2-3所示的减震装置的爆炸图，图2-6为图2-5所示的减震装置的主视图；图2-7为图2-5所示的减震装置的爆炸图；图2-8为本实施例提供的减震调整件的结构示意图；图2-9为本实施例提供的减震装置的第三种结构示意图；图2-10为图2-9所示的减震装置的爆炸图。
参见图2-3至图2-8所示，本实施例提供的减震装置，包括减震固定支架910和减震移动支架920；减震移动支架920与轮子的连接轴固定连接；
减震固定支架910包括至少一个减震固定轴930；减震移动支架920外套在减震固定轴930上并能沿减震固定轴930的轴向往复移动，以使轮子随减震移动支架920可以沿减震固定轴930的轴向往复移动；可选地，减震固定轴930的数量为1个、2个、4个、5个等等。可选地，减震固定轴930的数量成对设置。
减震固定轴930外套有两个弹性元件931；两个弹性元件931之间连接减震移动支架920；弹性元件931处于压缩状态或者弹性元件931处于非受力状态；弹性元件931具有令减震移动支架920回复原始位置状态的趋势。
减震固定轴930的轴向与轮子的连接轴的轴向呈夹角设置。可选地，减震固定轴930的轴向与轮子的连接轴的轴向呈直角设置或者近似直角设置。以便于减震固定轴930上的两个弹性元件931能够很好的降低轮子行走时对帮扶机器人、行走器械等设备的震动。
本实施例所述减震装置，通过减震固定支架910、减震移动支架920和弹性元件931，以使轮子在行走时产生的震动能够被弹性元件931吸收；该减震装置9结构简单紧凑，成本比较便宜，还便于生产加工，既能够很好地降低轮子行走时对帮扶机器人等设备的震动，还可以令帮扶机器人、行走器械等设备的结构更加紧凑。
参见图2-3和图2-4所示，本实施例的可选方案中，减震固定支架910包括第一减震固定部911、第二减震固定部912和第三减震固定部913；可选地，第一减震固定部911包括两个第一减震固定分部，通过两个第一减震固定分部夹持设备的相应连接部，以提高减震装置与设备连接的牢固度。
第一减震固定部911与第二减震固定部912之间通过减震固定轴930固定连接；第一减震固定部911配置成与帮扶机器人、行走器械等设备固定连接。
第三减震固定部913固定连接第一减震固定部911与第二减震固定部912。通过第一减震固定部911、第二减震固定部912和第三减震固定部913，以加强减震固定支架910的结构；通过减震固定轴930以使轮子的支撑力传递给减震装置9，进而传递给支撑设备；通过第三减震固定部913和减震固定轴930的配合，既提高了减震装置9的支撑承载力，又提高了减震固定轴930的寿命，也即提高了减震装置9 的寿命。
本实施例的可选方案中，减震移动支架920包括减震移动支架连接部921和至少两个减震移动支架套接部922；轮子的连接轴穿过减震移动支架连接部921并与减震移动支架连接部921固定连接；可选地，轮子的连接轴通过螺母固定连接在减震移动支架920上。
减震移动支架套接部922外套在减震固定轴930上，且减震移动支架套接部922的数量与减震固定轴930的数量相对应；也即减震移动支架套接部922的数量与减震固定轴930的数量相同。
相邻减震移动支架套接部922之间通过减震移动支架连接部921固定连接；
减震移动支架连接部921凸出于相邻减震移动支架套接部922形成的表面，以使减震移动支架920形成弧形或者类似于弧形的结构，以提高减震移动支架920的弹性形变能力，以更好地将轮子的支撑力通过减震装置9传递给行走设备。
可选地，减震固定轴930的数量为两个；减震移动支架套接部922的数量也为两个。
可选地，减震移动支架920为对称结构。可选地，轮子的连接轴穿过减震移动支架920的中心并与减震移动支架连接部921固定连接。
可选地，减震移动支架连接部921与第三减震固定部913平行或者近似平行；可选地，第三减震固定部913设置有与轮子的连接轴位置相应的第三减震固定通孔；第三减震固定通孔的孔径大于轮子的连接轴的轴径，以便于连接轮子与减震移动支架连接部921。
本实施例的可选方案中，弹性元件931包括弹簧、聚氨酯结构件、橡胶圈或者硅胶圈，或者其他弹性元件。其中，聚氨酯结构件可以为聚氨酯圈、聚氨酯环或者聚氨酯块等。
参见图2-5和图2-8所示，本实施例的可选方案中，第二减震固定部912与第三减震固定部913之间可拆装固定连接，且第二减震固定部912与第三减震固定部913之间设置有至少一个减震调整件950；可选地，第二减震固定部912与第三减震固定部913之间设置的减震调整件950数量为一个或者多个，例如1个、2个、3个或5个等等。
减震调整件950包括楔形结构；可选地，沿减震调整件950的延伸方向，减震调整件950与第二减震固定部912连接的表面为楔形面，和/或，沿减震调整件950的延伸方向，减震调整件950与第三减震固定部913连接的表面为楔形面。其中楔形面为楔形结构中的斜面，也可以理解成楔形面为楔形结构中与楔形结构延伸方向具有锐角或者钝角的斜面。
沿减震固定轴的轴向，减震调整件950能够移动以改变第二减震固定部912与第三减震固定部913之间的距离；以调整外套在减震固定轴930上的减震移动支架920与第三减震固定部913之间的角度，进而调整轮子的连接轴与第三减震固定部913之间的角度，也即调整轮子的垂直度，以减少在行走时轮子的震动，进而减少使用该轮子的设备的震动；此外，还可以延长轮子的使用寿命。
参见图2-8所示，本实施例的可选方案中，减震调整件950包括调整配合部951和与调整配合部951固定连接的调整螺纹部952；调整配合部951为楔形结构；可选地，沿减震调整件950的延伸方向，调整配合部951与第二减震固定部912连接的表面为楔形面，和/或，沿减震调整件950的延伸方向，调整配合部951与第三减震固定部913连接的表面为楔形面。可选地，沿减震调整件950的延伸方向，调整配合部951与第二减震固定部912连接的表面为楔形面，调整配合部951与第三减震固定部913连接的表面平行于减震调整件950的延伸方向。
调整配合部951设置在第二减震固定部912与第三减震固定部913之间；
可选地，调整螺纹部952螺接有调整螺母953；调整螺母953抵接第二减震固定部912远离减震移动支架的一面；
旋转调整螺母953时减震调整件950能够移动，以改变第二减震固定部912与第三减震固定部913之间的距离；通过调整螺母953与调整螺纹部952配合，以微调外套在减震固定轴930上的减震移动支架920与第三减震固定部913之间的角度，进而微调轮子连接轴与第三减震固定部913之间的角度，也即微调轮子的垂直度，以减少在行走时轮子的震动。
参见图2-8所示，本实施例的可选方案中，调整配合部951设置有调整通孔(图中未示出)；调整通孔插接有连接第二减震固定部912与第三减震固定部913之间的螺钉。可选地，调整通孔呈长圆孔，以便于螺钉在调整通孔内移动。可选地，减震调整件950的数量为多个时，连接第二减震固定部912与 第三减震固定部913之间的螺钉的数量也为多个，连接第二减震固定部912与第三减震固定部913之间的螺钉与减震调整件950一一对应。
参见图2-8所示，本实施例的可选方案中，调整配合部951远离调整螺纹部952的一端设置有调整配合凸出部954；
调整配合凸出部954凸出于调整配合部951的楔形面；
调整配合部951的楔形面与第二减震固定部912连接。通过调整配合凸出部954，以确保减震调整件950位于第二减震固定部912与第三减震固定部913之间，避免减震调整件950掉落。
参见图2-3至图2-7所示，本实施例的可选方案中，减震固定支架910包括减震安装件940；
减震安装件940、第一减震固定部911和第二减震固定部912依次间隔设置在减震固定轴上；
减震安装件940与第一减震固定部911之间配置成固定连接设备。通过减震安装件940与第一减震固定部911夹持设备的相应连接部，以提高减震装置与设备连接的牢固度。
本实施例提供的具有减震装置的轮子结构包括轮子和上述减震装置；轮子与减震装置连接。
可选地，减震装置的数量为一个；减震装置设置在轮子的一侧，且减震装置的减震移动支架与轮子的连接轴固定连接；
或者，减震装置的数量为两个；两个减震装置之间设置有轮子，且两个减震装置的减震移动支架均与轮子的连接轴固定连接。也即轮子的连接轴贯穿轮子，以使轮子的连接轴的两端分别连接减震装置9。通过在轮子的两侧分别设置减震装置，以提高轮子的减震性能，以进一步降低安装有该轮子的行走设备的震动。
可选地，所述轮子为上述的麦克纳姆轮。
本实施例提供了一种具有减震装置的麦克纳姆轮；该具有减震装置的麦克纳姆轮包括上述的麦克纳姆轮，上述所公开的麦克纳姆轮的技术特征也适用于具有减震装置的麦克纳姆轮。
参见图2-1至图2-8所示，图2-1为本实施例提供的具有减震装置的麦克纳姆轮的结构示意图；图2-2为图2-1所示的具有减震装置的麦克纳姆轮的爆炸图；图2-3为本实施例提供的减震装置的结构示意图；图2-4为图2-3所示的减震装置的爆炸图。图2-5为本实施例提供的减震装置的另一结构示意图；图2-6为图2-5所示的减震装置的主视图；图2-7为图2-5所示的减震装置的爆炸图；图2-8为本实施例提供的减震调整件的结构示意图。图2-9为本实施例提供的减震装置的第三种结构示意图；图2-10为图2-9所示的减震装置的爆炸图。
参见图2-1至图2-10所示，所述具有减震装置的麦克纳姆轮包括麦克纳姆轮3，还包括减震装置9；麦克纳姆轮3与减震装置9连接。通过减震装置9，以能够减缓麦克纳姆轮3传递给设备上的震动，从而可以有效减缓整个设备在路面行驶时的震动，保证设备移动过程中的平稳性和水平性。
本实施例的可选方案中，减震装置的数量可以为一个或者多个。
例如，减震装置9的数量为一个；减震装置9设置在麦克纳姆轮3的一侧，且减震装置与麦克纳姆轮3的驱动装置320的连接轴固定连接；如图2-1至2-4所示。
又如，减震装置9的数量为两个；两个减震装置之间设置有麦克纳姆轮，且两个减震装置均与麦克纳姆轮3的驱动装置320的连接轴固定连接。也即麦克纳姆轮的驱动装置的连接轴贯穿麦克纳姆轮，以使驱动装置320的连接轴的两端分别连接减震装置9。通过在麦克纳姆轮的两侧分别设置减震装置，以提高具有减震装置的麦克纳姆轮的减震性能，以进一步降低安装有该具有减震装置的麦克纳姆轮的帮扶机器人等设备的震动。
本实施例的可选方案中，减震装置9包括减震固定支架910和减震移动支架920；减震移动支架920与麦克纳姆轮3的驱动装置320的连接轴固定连接；
减震固定支架910包括至少一个减震固定轴930；减震移动支架920外套在减震固定轴930上并能沿减震固定轴930的轴向往复移动，以使麦克纳姆轮3随减震移动支架920可以沿减震固定轴930的轴向往复移动；可选地，减震固定轴930的数量为1个、2个、4个、5个等等。可选地，减震固定轴930的数量成对设置。
减震固定轴930外套有两个弹性元件931；两个弹性元件931之间连接减震移动支架920；弹性元件931处于压缩状态或者弹性元件931处于非受力状态；弹性元件931具有令减震移动支架920回复原 始位置状态的趋势。
减震固定轴930的轴向与驱动装置320的连接轴的轴向呈夹角设置。可选地，减震固定轴930的轴向与驱动装置320的连接轴的轴向呈直角设置或者近似直角设置。以便于减震固定轴930上的两个弹性元件931能够很好的降低麦克纳姆轮3行走时对帮扶机器人等设备的震动。
本实施例所述具有减震装置的麦克纳姆轮，通过减震固定支架910、减震移动支架920和弹性元件931，以使麦克纳姆轮3在行走时产生的震动能够被弹性元件931吸收；该减震装置9结构简单紧凑，成本比较便宜，还便于生产加工，既能够很好地降低麦克纳姆轮3行走时对帮扶机器人等设备的震动，还可以令帮扶机器人等设备的结构更加紧凑。
参见图2-3和图2-4所示，本实施例的可选方案中，减震固定支架910包括第一减震固定部911、第二减震固定部912和第三减震固定部913；可选地，第一减震固定部911包括两个第一减震固定分部，通过两个第一减震固定分部夹持设备的相应连接部，以提高减震装置与设备连接的牢固度。
第一减震固定部911与第二减震固定部912之间通过减震固定轴930固定连接；第一减震固定部911配置成与帮扶机器人等设备固定连接。
第三减震固定部913固定连接第一减震固定部911与第二减震固定部912。通过第一减震固定部911、第二减震固定部912和第三减震固定部913，以加强减震固定支架910的结构；通过减震固定轴930以使麦克纳姆轮3的支撑力传递给减震装置9，进而传递给支撑设备；通过第三减震固定部913和减震固定轴930的配合，既提高了减震装置9的支撑承载力，又提高了减震固定轴930的寿命，也即提高了减震装置9的寿命。
本实施例的可选方案中，减震移动支架920包括减震移动支架连接部921和至少两个减震移动支架套接部922；驱动装置320的连接轴穿过减震移动支架连接部921并与减震移动支架连接部921固定连接；可选地，驱动装置320的连接轴通过螺母固定连接在减震移动支架920上。
减震移动支架套接部922外套在减震固定轴930上，且减震移动支架套接部922的数量与减震固定轴930的数量相对应；也即减震移动支架套接部922的数量与减震固定轴930的数量相同。
相邻减震移动支架套接部922之间通过减震移动支架连接部921固定连接；
减震移动支架连接部921凸出于相邻减震移动支架套接部922形成的表面，以使减震移动支架920形成弧形或者类似于弧形的结构，以提高减震移动支架920的弹性形变能力，以更好地将麦克纳姆轮3的支撑力通过减震装置9传递给设备。
可选地，减震固定轴930的数量为两个；减震移动支架套接部922的数量也为两个。
可选地，减震移动支架920为对称结构。可选地，驱动装置320的连接轴穿过减震移动支架920的中心并与减震移动支架连接部921固定连接。
可选地，减震移动支架连接部921与第三减震固定部913平行或者近似平行；可选地，第三减震固定部913设置有与驱动装置320的连接轴位置相应的第三减震固定通孔；第三减震固定通孔的孔径大于驱动装置320的连接轴的轴径，以便于连接麦克纳姆轮3与减震移动支架连接部921。
本实施例的可选方案中，弹性元件931包括弹簧、聚氨酯结构件、橡胶圈或者硅胶圈，或者其他弹性元件。其中，聚氨酯结构件可以为聚氨酯圈、聚氨酯环或者聚氨酯块等。
参见图2-5和图2-8所示，本实施例的可选方案中，第二减震固定部912与第三减震固定部913之间可拆装固定连接，且第二减震固定部912与第三减震固定部913之间设置有至少一个减震调整件950；可选地，第二减震固定部912与第三减震固定部913之间设置的减震调整件950数量为一个或者多个，例如1个、2个、3个或5个等等。
减震调整件950包括楔形结构；可选地，沿减震调整件950的延伸方向，减震调整件950与第二减震固定部912连接的表面为楔形面，和/或，沿减震调整件950的延伸方向，减震调整件950与第三减震固定部913连接的表面为楔形面。其中楔形面为楔形结构中的斜面，也可以理解成楔形面为楔形结构中与楔形结构延伸方向具有锐角或者钝角的斜面。
沿减震固定轴的轴向，减震调整件950能够移动以改变第二减震固定部912与第三减震固定部913之间的距离；以调整外套在减震固定轴930上的减震移动支架920与第三减震固定部913之间的角度，进而调整麦克纳姆轮连接轴与第三减震固定部913之间的角度，也即调整麦克纳姆轮的垂直度，以减少 在行走时麦克纳姆轮的震动。
参见图2-8所示，本实施例的可选方案中，减震调整件950包括调整配合部951和与调整配合部951固定连接的调整螺纹部952；调整配合部951为楔形结构；可选地，沿减震调整件950的延伸方向，调整配合部951与第二减震固定部912连接的表面为楔形面，和/或，沿减震调整件950的延伸方向，调整配合部951与第三减震固定部913连接的表面为楔形面。可选地，沿减震调整件950的延伸方向，调整配合部951与第二减震固定部912连接的表面为楔形面，调整配合部951与第三减震固定部913连接的表面平行于减震调整件950的延伸方向。
调整配合部951设置在第二减震固定部912与第三减震固定部913之间；
可选地，调整螺纹部952螺接有调整螺母953；调整螺母953抵接第二减震固定部912远离减震移动支架的一面；
旋转调整螺母953时减震调整件950能够移动，以改变第二减震固定部912与第三减震固定部913之间的距离；通过调整螺母953与调整螺纹部952配合，以微调外套在减震固定轴930上的减震移动支架920与第三减震固定部913之间的角度，进而微调麦克纳姆轮连接轴与第三减震固定部913之间的角度，也即微调麦克纳姆轮的垂直度，以减少在行走时麦克纳姆轮的震动。
参见图2-8所示，本实施例的可选方案中，调整配合部951设置有调整通孔(图中未示出)；调整通孔插接有连接第二减震固定部912与第三减震固定部913之间的螺钉。可选地，调整通孔呈长圆孔，以便于螺钉在调整通孔内移动。可选地，减震调整件950的数量为多个时，连接第二减震固定部912与第三减震固定部913之间的螺钉的数量也为多个，连接第二减震固定部912与第三减震固定部913之间的螺钉与减震调整件950一一对应。
参见图2-8所示，本实施例的可选方案中，调整配合部951远离调整螺纹部952的一端设置有调整配合凸出部954；
调整配合凸出部954凸出于调整配合部951的楔形面；
调整配合部951的楔形面与第二减震固定部912连接。通过调整配合凸出部954，以确保减震调整件950位于第二减震固定部912与第三减震固定部913之间，避免减震调整件950掉落。
参见图2-3至图2-7所示，本实施例的可选方案中，减震固定支架910包括减震安装件940；
减震安装件940、第一减震固定部911和第二减震固定部912依次间隔设置在减震固定轴上；
减震安装件940与第一减震固定部911之间配置成固定连接设备。通过减震安装件940与第一减震固定部911夹持设备的相应连接部，以提高减震装置与设备连接的牢固度。
本实施例提供的减震装置和具有减震装置的麦克纳姆轮，其减震装置还可以为其他结构。减震装置和具有减震装置的麦克纳姆轮公开的其他特征，也适用于该减震装置，在此不在赘述。
参见图2-9至图2-10所示，可选地，减震装置9包括减震固定支架910和减震移动支架920；减震移动支架920与轮子的连接轴固定连接；例如，减震移动支架920与麦克纳姆轮3的驱动装置320的连接轴固定连接
减震固定支架910包括至少一个减震固定轴930；减震移动支架920外套在减震固定轴930上并能沿减震固定轴930的轴向往复移动；以使麦克纳姆轮3等轮子随减震移动支架920可以沿减震固定轴930的轴向往复移动；可选地，减震固定轴930的数量为1个、2个、4个、5个等等。可选地，减震固定轴930的数量成对设置。
可选地，减震固定轴930外套有抵接减震移动支架920的弹性元件931，弹性元件931呈压缩状态，以降低或者避免减震移动支架920沿减震固定轴930的轴向往复移动。
可选地，减震固定轴930的轴向与轮子的连接轴的轴向呈夹角设置；例如，减震固定轴930的轴向与驱动装置320的连接轴的轴向呈夹角设置。可选地，减震固定轴930的轴向与轮子的连接轴的轴向呈直角设置或者近似直角设置；例如，减震固定轴930的轴向与驱动装置320的连接轴的轴向呈直角设置或者近似直角设置。以便于减震固定轴930上的弹性元件931能够很好的降低麦克纳姆轮3等轮子行走时对帮扶机器人等设备的震动。
该减震装置通过减震固定支架910、减震移动支架920和弹性元件931，以使麦克纳姆轮3等轮子在行走时产生的震动能够被弹性元件931吸收；该减震装置9结构简单紧凑，成本比较便宜，还便于生产加工，既能够很好地降低麦克纳姆轮3行走时对帮扶机器人等设备的震动，还可以令帮扶机器人等设备的结构更加紧凑。
参见图2-9至图2-10所示，可选地，减震固定支架910包括减震固定调平安装件914和减震固定调平轴接件915；
减震固定调平安装件914配置成固定连接设备；通过减震固定调平安装件914与设备固定连接，以将减震装置9连接在设备上，进而将具有减震装置的麦克纳姆轮连接在设备上。其中，设备例如可以为帮扶机器人或车辆等。
减震固定调平轴接件915与减震固定轴930可拆装固定连接；减震固定轴930远离减震固定调平轴接件915的一端具有减震固定轴止挡部932；弹性元件931和减震移动支架920设置在减震固定轴止挡部932与减震固定调平轴接件915之间。可选地，减震固定轴止挡部932、弹性元件931、减震移动支架920和减震固定调平轴接件915沿减震固定轴930的轴向依次设置；可选地，减震固定轴止挡部932、减震移动支架920、弹性元件931和减震固定调平轴接件915沿减震固定轴930的轴向依次设置。
减震固定调平安装件914与减震固定调平轴接件915铰接，且减震固定调平安装件914与减震固定调平轴接件915连接有调平连接件917；调平连接件917能够调整减震固定调平安装件914与减震固定调平轴接件915之间的角度。通过调平连接件917微调减震固定调平安装件914与减震固定调平轴接件915之间的角度，以微调与减震固定调平安装件914固定连接的设备和与减震固定调平轴接件915固定连接的减震固定轴930之间的角度，进而微调设备与麦克纳姆轮等轮子的连接轴之间的角度，也即微调麦克纳姆轮等轮子的垂直度，以减少在行走时麦克纳姆轮等轮子的震动。
参见图2-10所示，可选地，减震固定调平安装件914与减震固定调平轴接件915通过销轴916铰接。
参见图2-9至图2-10所示，可选地，调平连接件917与减震固定调平安装件914螺接，且调平连接件917能够穿过减震固定调平安装件914与减震固定调平轴接件915抵接。也即减震固定调平安装件914设置有与调平连接件917螺接的螺纹孔9171。通过调平连接件917与减震固定调平安装件914螺接，且调平连接件917与减震固定调平轴接件915抵接，以微调减震固定调平安装件914与减震固定调平轴接件915之间的距离，进而微调减震固定调平安装件914与减震固定调平轴接件915之间的角度。
参见图2-9至图2-10所示，可选地，减震固定调平安装件914与减震固定调平轴接件915之间通过至少一个调平连接螺钉918连接；以便在调平连接件917微调减震固定调平安装件914与减震固定调平轴接件915之间的角度之后，通过调平连接螺钉918固定减震固定调平安装件914与减震固定调平轴接件915之间的角度。可选地，调平连接螺钉918的数量为1个、2个、3个或5个等等。如图2-9至图2-10所示，调平连接螺钉918的数量为2个，2个调平连接螺钉918之间设置调平连接件917。
可选地，减震固定调平安装件914设置有插接调平连接螺钉918的圆孔、条形孔或者长圆孔；如图2-10所示，减震固定调平安装件914设置有插接调平连接螺钉918的长圆孔9181。
如图2-10所示，可选地，减震固定调平轴接件915设置有与调平连接螺钉918螺接的螺纹孔9182，或者减震固定调平轴接件915远离减震固定调平安装件914的一面连接有与调平连接螺钉918螺接的螺母。
参见图2-9至图2-10所示，可选地，弹性元件931为弹簧；减震固定轴930外套有吸能元件933，吸能元件933能够弹性形变；
减震移动支架920设置在吸能元件933与弹性元件931之间。通过吸能元件933，防止弹簧直接与减震固定轴止挡部932刚性连接，以减少或者吸收弹簧产生的震动。
可选地，吸能元件933包括聚氨酯结构件、橡胶圈或者硅胶圈，或者其他弹性元件。其中，聚氨酯结构件可以为聚氨酯圈、聚氨酯环或者聚氨酯块等。
参见图2-10所示，可选地，减震固定轴930外套有垫片934；
减震固定轴止挡部932、垫片934、吸能元件933、减震移动支架920、弹性元件931和减震固定调平轴接件915沿减震固定轴930的轴向依次设置。通过垫片934，防止具有弹性形变的吸能元件933直接与减震固定轴止挡部932接触，以提高吸能元件933的使用寿命。
参见图2-9至图2-10所示，可选地，弹性元件931设置在减震移动支架920与减震固定调平轴接件915之间；减震移动支架920和/或减震固定调平轴接件915，设置有与弹性元件931配合连接的沉孔。通过沉孔，以提高弹性元件931与减震移动支架920或减震固定调平轴接件915的配合度。
参见图2-9至图2-10所示，可选地，减震固定调平轴接件915远离减震固定轴止挡部932的一端设置有减震固定轴螺纹部，减震固定调平轴接件915设置有与减震固定轴螺纹部螺接的螺纹孔；通过减震固定轴螺纹部与减震固定调平轴接件915螺接，以能够调整弹性元件931受压缩的尺寸，以微调弹性元件931的弹性力。
可选地，减震移动支架920与减震固定轴930之间设置有轴承。通过轴承，以便于减震固定轴930与减震移动支架920之间的安装，同时还可以提高减震固定轴930与减震移动支架920之间的安装精度， 降低减震移动支架920与减震固定轴930产生的噪音。
本实施例提供了一种底盘；该底盘包括上述的具有减震装置的麦克纳姆轮，上述所公开的麦克纳姆轮和具有减震装置的麦克纳姆轮的技术特征也适用于该底盘。
图3-1和图3-2为本实施例提供的底盘的两种结构示意图。
参见图3-1和图3-2所示，所述底盘包括至少一对具有减震装置的麦克纳姆轮。通过采用具有减震装置的麦克纳姆轮，以能够减缓麦克纳姆轮3传递给底盘上的震动，从而可以有效减缓整个底盘在路面行驶时的震动，保证具有底盘的设备在移动过程中的平稳性和水平性。通过采用具有减震装置的麦克纳姆轮，还可以简化底盘的结构，降低底盘的成本。
本实施例的可选方案中，所述底盘包括底盘横梁424和两个固定梁421；底盘横梁424固定连接两个固定梁421；
固定梁421的延伸方向为底盘的行走方向；固定梁421连接具有减震装置的麦克纳姆轮的减震装置9；
成对设置的具有减震装置的麦克纳姆轮设置在固定梁421的同一端，且每个固定梁421至少连接一个具有减震装置的麦克纳姆轮，以降低麦克纳姆轮3对底盘产生的震动，以提高底盘在移动过程中的平稳性和水平性。
本实施例的可选方案中，每个固定梁421的两端分别连接具有减震装置的麦克纳姆轮的减震装置9。也即底盘设置具有减震装置的麦克纳姆轮的数量为四个。通过在底盘的四个角部设置具有减震装置的麦克纳姆轮，以进一步降低麦克纳姆轮3对底盘产生的震动，以提高底盘在移动过程中的平稳性和水平性。
本实施例中，沿底盘的行走方向，底盘的两端均可以设置有一对具有减震装置的麦克纳姆轮，也可以其中一端设置有一对具有减震装置的麦克纳姆轮，另一端设置普通滚轮或者具有减震的滚轮。
可选地，例如，固定梁421的一端连接具有减震装置的麦克纳姆轮，另一端通过第二减震装置9连接滚轮；第二减震装置9包括支杆和第二减震器；支杆的端部与第二减震器铰接；支杆与固定梁421铰接，第二减震器与固定梁421铰接，滚轮的滚轴与支杆固定连接。
可选地，滚轮为麦克纳姆轮3；麦克纳姆轮3的驱动装置320的连接轴与支杆固定连接。
可选地，第二减震器为液压减震器或弹簧减震器。
可选地，固定梁421固定连接有外罩在减震装置9上的减震外罩425；通过减震外罩425保护减震装置9。
参见图3-2所示，可选地，成对设置的具有减震装置的麦克纳姆轮通过底盘轮轴426连接；通过底盘轮轴426连接成对设置的具有减震装置的麦克纳姆轮，以提高成对设置的具有减震装置的麦克纳姆轮之间的连接刚度，在一定程度上可以降低底盘的震动。
本实施例提供了一种帮扶机器人；该帮扶机器人包括上述的底盘，上述所公开的麦克纳姆轮、具有减震装置的麦克纳姆轮和底盘的技术特征也适用于该帮扶机器人。
参见图4-1至图4-4所示，图4-1和图4-2为本实施例提供的帮扶机器人的两种角度的立体结构示意图；图4-3为本实施例提供的托臀绑带的结构示意图；图4-4为本实施例提供的扶腰绑带的结构示意图。
参见图4-1至图4-4所示，所述帮扶机器人包括底盘42；还包括：托臀绑带1、扶腰绑带2以及机体4，机体4上设有底盘42和升降支撑机构6；升降支撑机构6包括顶胸板61，顶胸板61的下端面设有第一连接件62、侧壁设有第二连接件63；托臀绑带1设有与第一连接件62匹配对接的第三连接件11，扶腰绑带2设有与第二连接件63匹配对接的第四连接件21。可选地，底盘42设置在机体的底部。可选地，底盘42上设置有脚底托板5。
相对于现有技术，本实施例所述的帮扶机器人具有以下优势：
本实施例提供的帮扶机器人中，先将托臀绑带1平置铺好，使用者移动至此坐下，然后将托臀绑带1上的第三连接件11与帮扶机器人上的第一连接件62相连，再将扶腰绑带2放于自身的背后腰部，并将扶腰绑带2上的第四连接件21与帮扶机器人上的第二连接件63相连，最后收紧托臀绑带1和扶腰绑带2使其与使用者的臀部和腰部紧密贴合，便可控制帮扶机器人进行姿态变换、水平移动或旋转移动。由此分析可知，本实施例提供的帮扶机器人，既能够保证使用者具有站姿和坐姿，又能够有效减轻整机 重量，使帮扶机器人结构简化，从而有效提高其的灵活性。
其中，为了有效提高托臀绑带1和扶腰绑带2的连接牢固性，如图4-1所示，上述第一连接件62可以采用环形扣，第二连接件63可以采用航空锁扣；相应地，上述第三连接件11可以采用ISOFIX接口，第四连接件21可以采用航空插片。
具体地，如图4-3所示，托臀绑带1可以包括托臀本体12，以及设置在该托臀本体12上的托臀调节带13，托臀调节带13的自由端可以设有上述ISOFIX接口，从而能够通过ISOFIX接口与环形扣对接，实现托臀绑带1的固定；如图4-4所示，扶腰绑带2可以包括扶腰本体22，以及设置在该扶腰本体22上的扶腰调节带23，扶腰调节带23的自由端可以设有上述航空插片，从而能够通过航空插片与航空锁扣对接，实现扶腰绑带2的固定。
ISOFIX的全称是"International Standards Organisation FIX"，中文意思是：国际标准化组织固定装置。
此处需要补充说明的是，上述托臀本体12和扶腰本体22可以分别包括：外侧的皮革层，中间的海绵填充层，以及内侧的防滑布料层；并且，皮革层和防滑布料层相对应的一侧边沿可以通过拉链或按扣活动连接，从而使海绵填充层为可拆卸结构件，进而在冬季使用时可以将海绵填充层放入、在夏季使用时可以将海绵填充层取出。此外，上述防滑布料层可以具有格状透气网，从而通过该格状透气网有效提高托臀本体的透气性，进而有效避免托臀绑带对使用者造成明显的出汗现象。可选地，防滑布料层上均匀分布的格状透气网也可以是点胶，从而通过点胶的设置进一步有效提高防滑效果。
进一步地，为了有效保证托臀绑带1和扶腰绑带2的舒适度，上述海绵填充层的厚度可以为3cm。
为了使托臀绑带1和扶腰绑带2能够良好地适应不同身材的使用者，上述托臀调节带13和扶腰调节带23上可以穿设有调节扣，从而通过该调节扣能够有效调节托臀调节带13和扶腰调节带23的长度，进而使托臀绑带1和扶腰绑带2能够良好地适应不同身材的使用者。
可选地，如图4-1所示，上述机体4可以包括：车身41，以及与该车身41的底端区域连接的底盘42；实际装配时，升降支撑机构6可以与车身41连接，脚底托板5设置在底盘42上。
本实施例的可选方案中，参见图4-1和图4-2所示，上述升降支撑机构6可以包括：支撑杆64，支撑杆64的一端与机体4铰接、另一端设置有控制台65，该控制台65可以连接有手柄66和顶胸板61；支撑杆64与机体4之间还连接有驱动组件67，从而驱动组件67能够使支撑杆64处于第一状态或第二状态，并能够在该第一状态与第二状态之间进行切换。
此处需要补充说明的是，上述第一状态可以对应坐姿状态，第二状态可以对应站姿状态。驱动组件67可以为电动推杆，当电动推杆伸出时，支撑杆64处于竖直状态，对应上述第二状态(站姿状态)；当电动推杆缩回时，支撑杆64处于水平状态，对应上述第一状态(坐姿状态)。当然，驱动组件67也可以为液压推杆或气动推杆等，在此不做限制。
此外，手柄66与顶胸板61和支撑杆64设置为一体，有利于使用者在变换姿态时，更加稳固、安全。
可选地，如图4-2所示，上述支撑杆64处于第一状态(坐姿状态)时，帮扶机器人的高度低于0.8米，从而能够进入桌子下方保证使用者完成伏案工作或日常餐饮。
此处需要补充说明的是，使用者通过释放托臀绑带1，降下升降支撑机构6，能够使臀部接触马桶，完成如厕的准备工作；升起升降支撑机构6，通过后背固定的扶腰绑带2，带起使用者，能够完成从马桶上方的起立。
可选地，参见图4-2所示，上述支撑杆64可以包括：主杆641和穿设在该主杆641内的副杆642，副杆642与主杆641可以通过活动件643连接，且副杆642能够在主杆641内伸缩移动并通过活动件643固定，从而实现支撑杆64的高度调节，以适应不同身高的使用者(例如：150cm-190cm)。
可选地，上述控制台65上可以设有电源开关和至少两档调速开关；并且，控制台65上设有凹槽，该凹槽能够配置成放置遥控器7，并为遥控器7进行充电。
可选地，，上述机体4内设有控制组件，该控制组件与驱动组件67连接，配置成控制支撑杆64升降；并且，遥控器可以通过无线连接方式与控制组件连接，以使遥控器能够远程控制帮扶机器人进行移动。
可选地，为了有效提高帮扶机器人的安全性，上述电源开关开启时，帮扶机器人默认处于刹车状态；并且，遥控器7上设有控制开关，控制开关和电源开关均处于开启状态时，遥控器7能够远程控制帮扶机器人移动，或控制帮扶机器人进行姿态变换、水平移动或旋转移动。
此处需要补充说明的是，遥控器7上设有升起键、降落键、方向摇杆、顺时针旋转键和逆时针旋转键；通过按压升起键或降落键调整升降高度实现起立、坐下功能；通过手摇动方向遥杆，可实现对机器人前进、后退、左平移和右平移四个方向的水平移动；通过按压顺时针旋转键或逆时针旋转键实现对机器人的旋转移动。
此外，遥控器7上还可以设有照明灯开关键和SOS求救键；通过按压照明灯开关键远程操控机器人主机上的照明灯开启或关闭；通过按压SOS求救键可立即实现警报呼救，如果机器人主机在激活状态下，机器人主机同时进行警报呼救(当再次按压SOS求救键，求救警报停止)。
可选地，上述顶胸板61可以包括：EVA填充层，以及包覆在该EVA填充层外侧的皮革层；并且，顶胸板61的下端两侧可以为向上收起的弧形结构，从而在顶胸板61下降之后，有效加大其与腿部的空间，提高舒适度。
EVA指的是“乙烯-醋酸乙烯共聚物”及其制成的橡塑发泡材料。
可选地，如图4-1所示，上述底盘42可以包括：固定梁421，以及与该固定梁421通过固定件422连接的活动梁423。具体装配时，麦克纳姆轮3与固定梁421连接，脚底托板5与活动梁423连接，从而活动梁423能够带动脚底托板5相对固定梁421沿远离或靠近车身41的方向移动，并通过固定件422进行固定，进而更好地适应不同身高体型的使用者。
可选地，如图4-1所示，本实施例提供的帮扶机器人还可以包括：与车身41连接的顶膝机构8；该顶膝机构8可以包括：竖梁81，竖梁81的一端与车身41连接、另一端连接有横梁82，横梁82上对称设置有两个活动连接的顶膝板83。
可选地，如图4-1所示，上述竖梁81可以包括：主梁811和副梁812，主梁811的一端与车身41连接，副梁812的一端穿设在主梁811内、另一端连接有顶膝板83，从而副梁812能够带动顶膝板83相对主梁811沿远离或靠近车身41的方向移动并固定，进而更好地适应不同身高体型的使用者。
可选地，上述横梁82上设有连接孔，顶膝板83上纵向设有条状槽，从而连接孔对应条状槽的不同位置并通过螺栓固定时，顶膝板83可以位于不同的高度，进而更好地适应不同身高体型的使用者。
可选地，如图4-1所示，上述顶膝板83可以包括：与横梁82连接的中间板833，以及分别与该中间板833的两侧连接的内侧板834和外侧板835；并且，外侧板835的尺寸优选为大于内侧板834的尺寸。此种设计，不仅能够适应不同大腿粗细的使用者，而且能够防止使用者膝盖外翻。
优选地，上述顶膝板83与使用者接触的一面设有软包材质结构件，从而舒适度能够有效提高。
可选地，上述车身41的前侧可以设有照明灯411，车身41上还可以设有指示灯。具体地，指示灯可以包括：充电待机状态(例如：绿色常亮)、开机充电状态(例如：绿色闪烁)、正常开机状态(例如：蓝色闪烁)、待机状态(例如：蓝色常亮)、报警状态(例如：红色闪烁)中的任意一种或多种。
其中，本实施例提供的帮扶机器人还可以包括：声音提示装置，该声音提示装置能够配置成提示帮扶机器人的状态，或进行危险报警。
此外，车身41前方横向固定的金属方管可以为防撞梁。
本实施例还提供一种帮扶机器人的控制方法，帮扶机器人设有电源开关，遥控器设有控制开关；电源开关开启时，帮扶机器人默认处于刹车状态；控制开关和电源开关均处于开启状态时，遥控器能够远程控制帮扶机器人移动，或控制帮扶机器人进行姿态变换、水平移动或旋转移动。
本实施例提供的帮扶机器人及其控制方法，既能够保证使用者具有站姿和坐姿，又能够有效减轻整机重量，使帮扶机器人结构简化，从而有效提高其的灵活性。
此外，本实施例提供的帮扶机器人的控制方法中，由于电源开关开启时，帮扶机器人默认处于刹车状态，因此能够有效提高使用者的安全性；由于控制开关和电源开关均处于开启状态时，遥控器能够远程控制帮扶机器人移动，或控制其进行姿态变换、水平移动或旋转移动，因此使用更加方便、便捷。
本实施例提供的帮扶机器人，帮扶机器人与人体接触部分均采用人体工学设计，纺织物牢固且舒适，并易于用户自行穿戴。
遥控器可远程控制帮扶机器人做各种平面运动，也可搭载于机器人基体上使用，搭载与机器人及提示可由机器人机体提供电力。机器人所有的运动操作均受遥控器控制，还可操作开关灯，呼救，远程遥控机器人开关机等。
可适应用户例如可以包括如下几类：1、因疾病或外伤而截瘫的用户，可以控制自己的双手；2、因疾病或衰老而双腿无力无法正常行走的人群；3、能借助外部设施站立的人，比如拐杖。
最后应说明的是：以上各实施例仅用以说明本公开本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开本公开各实施例技术方案的范围。
工业实用性：
综上所述，本公开提供了一种麦克纳姆轮、底盘和帮扶机器人，其麦克纳姆轮结构紧凑，可以形成驱动装置与麦克纳姆轮本体一体化的麦克纳姆轮。

Claims (51)

  1. 一种麦克纳姆轮，其特征在于，包括麦克纳姆轮本体和驱动装置；
    所述麦克纳姆轮本体设置有轮轴孔；所述驱动装置的部分或者全部设置在所述轮轴孔内；
    所述驱动装置的连接轴的轴线与所述麦克纳姆轮本体的回转轴共线；且所述麦克纳姆轮本体随所述驱动装置的壳体转动。
  2. 根据权利要求1所述的麦克纳姆轮，其特征在于，所述麦克纳姆轮本体包括第一端盖、第二端盖和多个麦克纳姆滚子；
    所述第一端盖与所述第二端盖之间连接有多个所述麦克纳姆滚子；
    多个所述麦克纳姆滚子形成所述轮轴孔；
    所述驱动装置的连接轴伸出所述第一端盖，且所述驱动装置的壳体与所述第一端盖可拆装连接。
  3. 根据权利要求2所述的麦克纳姆轮，其特征在于，所述第一端盖和/或所述第二端盖设置有与所述麦克纳姆滚子数量对应的端盖孔槽；
    所述麦克纳姆滚子的滚轴与所述端盖孔槽配合连接；
    沿所述第一端盖或所述第二端盖的径向，所述端盖孔槽在所述第一端盖或所述第二端盖的边缘开口并形成边缘槽口，以使所述麦克纳姆滚子的滚轴能够从所述边缘槽口进入所述端盖孔槽内。
  4. 根据权利要求3所述的麦克纳姆轮，其特征在于，沿所述麦克纳姆滚子的径向，所述边缘槽口的尺寸大于等于所述麦克纳姆滚子的滚轴的最大尺寸。
  5. 根据权利要求3所述的麦克纳姆轮，其特征在于，沿所述麦克纳姆滚子的径向，所述端盖孔槽的截面呈三角形、矩形或半圆形；
    所述麦克纳姆滚子的滚轴与所述端盖孔槽配合的截面，为与所述端盖孔槽截面相应的形状。
  6. 根据权利要求3所述的麦克纳姆轮，其特征在于，沿所述麦克纳姆滚子的径向，所述麦克纳姆滚子的滚轴具有滚轴装配平台；
    所述滚轴装配平台设置有与所述第一端盖或所述第二端盖螺接的螺钉。
  7. 根据权利要求2所述的麦克纳姆轮，其特征在于，所述驱动装置的壳体与所述第一端盖通过螺钉可拆装连接；
    所述驱动装置的壳体与所述第二端盖通过螺钉可拆装连接。
  8. 根据权利要求2所述的麦克纳姆轮，其特征在于，所述第一端盖设置有第一端盖配合凹槽，所述驱动装置的壳体设置有与所述第一端盖配合凹槽相应的第一驱动配合结构；所述第一端盖配合凹槽沿所述驱动装置的连接轴的轴向延伸；
    或者，所述第一端盖设置有第一端盖配合凸起，所述驱动装置的壳体设置有与所述第一端盖配合凸起相应的第一驱动配合凹槽；所述第一端盖配合凸起沿所述驱动装置的连接轴的轴向延伸。
  9. 根据权利要求8所述的麦克纳姆轮，其特征在于，所述第二端盖设置有第二端盖配合凹槽，所述驱动装置的壳体设置有与所述第二端盖配合凹槽相应的第二驱动配合结构；所述第二端盖配合凹槽沿所述驱动装置的连接轴的轴向延伸；
    或者，所述第二端盖设置有第二端盖配合凸起，所述驱动装置的壳体设置有与所述第二端盖配合凸起相应的第二驱动配合凹槽；所述第二端盖配合凸起沿所述驱动装置的连接轴的轴向延伸。
  10. 根据权利要求2所述的麦克纳姆轮，其特征在于，所述驱动装置包括轮毂电机；所述驱动装置的连接轴为所述轮毂电机的连接轴；所述轮毂电机设置在所述轮轴孔内；所述麦克纳姆轮本体随所述轮毂电机的壳体转动；
    或者，所述驱动装置包括轮毂电机和减速器；所述轮毂电机驱动连接所述减速器；所述驱动装置的连接轴为所述减速器的连接轴；所述轮毂电机设置在所述轮轴孔内；所述减速器的部分或者全部设置在所述轮轴孔内；所述麦克纳姆轮本体随所述轮毂电机的壳体转动。
  11. 根据权利要求10所述的麦克纳姆轮，其特征在于，所述轮毂电机包括内定子连接轴和外转子壳体；
    沿所述内定子连接轴的轴向，所述第一端盖和/或所述第二端盖分别与所述外转子壳体的两端螺钉连接；
    所述内定子连接轴伸出所述第一端盖，且所述内定子连接轴的轴线与所述麦克纳姆轮本体的回转轴共线；
    所述轮毂电机工作时，所述第一端盖和所述第二端盖随所述外转子壳体绕所述内定子连接轴转动。
  12. 一种具有减震装置的麦克纳姆轮，其特征在于，包括权利要求1-11任一项所述的麦克纳姆轮，还包括减震装置；所述麦克纳姆轮与所述减震装置连接。
  13. 根据权利要求12所述的具有减震装置的麦克纳姆轮，其特征在于，所述减震装置包括减震固定 支架和减震移动支架；所述减震移动支架与所述麦克纳姆轮的驱动装置的连接轴固定连接；
    所述减震固定支架包括至少一个减震固定轴；所述减震移动支架外套在所述减震固定轴上并能沿所述减震固定轴的轴向往复移动；
    所述减震固定轴外套有两个弹性元件；两个所述弹性元件之间连接所述减震移动支架；
    所述减震固定轴的轴向与所述驱动装置的连接轴的轴向呈夹角设置。
  14. 根据权利要求13所述的具有减震装置的麦克纳姆轮，其特征在于，所述减震固定支架包括第一减震固定部、第二减震固定部和第三减震固定部；
    所述第一减震固定部与所述第二减震固定部之间通过所述减震固定轴固定连接；
    所述第三减震固定部固定连接所述第一减震固定部与所述第二减震固定部。
  15. 根据权利要求14所述的具有减震装置的麦克纳姆轮，其特征在于，所述第二减震固定部与所述第三减震固定部之间可拆装固定连接，且所述第二减震固定部与所述第三减震固定部之间设置有至少一个减震调整件；
    所述减震调整件包括楔形结构；
    沿所述减震固定轴的轴向，所述减震调整件能够移动以改变所述第二减震固定部与所述第三减震固定部之间的距离。
  16. 根据权利要求15所述的具有减震装置的麦克纳姆轮，其特征在于，所述减震调整件包括调整配合部和与所述调整配合部固定连接的调整螺纹部；所述调整配合部为楔形结构；
    所述调整配合部设置在所述第二减震固定部与所述第三减震固定部之间；
    所述调整螺纹部螺接有调整螺母；所述调整螺母抵接所述第二减震固定部远离所述减震移动支架的一面；
    旋转所述调整螺母时所述减震调整件能够移动，以改变所述第二减震固定部与所述第三减震固定部之间的距离。
  17. 根据权利要求16所述的具有减震装置的麦克纳姆轮，其特征在于，所述调整配合部设置有调整通孔；
    所述调整通孔插接有连接所述第二减震固定部与所述第三减震固定部之间的螺钉。
  18. 根据权利要求16所述的具有减震装置的麦克纳姆轮，其特征在于，所述调整配合部远离所述调整螺纹部的一端设置有调整配合凸出部；
    所述调整配合凸出部凸出于所述调整配合部的楔形面；
    所述调整配合部的楔形面与所述第二减震固定部连接。
  19. 根据权利要求14所述的具有减震装置的麦克纳姆轮，其特征在于，所述减震固定支架包括减震安装件；
    所述减震安装件、所述第一减震固定部和所述第二减震固定部依次间隔设置在所述减震固定轴上；
    所述减震安装件与所述第一减震固定部之间配置成固定连接设备。
  20. 根据权利要求12所述的具有减震装置的麦克纳姆轮，其特征在于，所述减震装置包括减震固定支架和减震移动支架；所述减震移动支架与所述麦克纳姆轮的驱动装置的连接轴固定连接；
    所述减震固定支架包括至少一个减震固定轴；所述减震移动支架外套在所述减震固定轴上并能沿所述减震固定轴的轴向往复移动；
    所述减震固定轴外套有抵接所述减震移动支架的弹性元件，所述弹性元件呈压缩状态；
    所述减震固定轴的轴向与所述驱动装置的连接轴的轴向呈夹角设置。
  21. 根据权利要求20所述的具有减震装置的麦克纳姆轮，其特征在于，所述减震固定支架包括减震固定调平安装件和减震固定调平轴接件；
    所述减震固定调平安装件配置成固定连接设备；
    所述减震固定调平轴接件与所述减震固定轴可拆装固定连接；所述减震固定轴远离所述减震固定调平轴接件的一端具有减震固定轴止挡部；所述弹性元件和所述减震移动支架设置在所述减震固定轴止挡部与所述减震固定调平轴接件之间；
    所述减震固定调平安装件与所述减震固定调平轴接件铰接，且所述减震固定调平安装件与所述减震固定调平轴接件连接有调平连接件；所述调平连接件能够调整所述减震固定调平安装件与所述减震固定调平轴接件之间的角度。
  22. 根据权利要求21所述的具有减震装置的麦克纳姆轮，其特征在于，所述调平连接件与所述减震固定调平安装件螺接，且所述调平连接件能够穿过所述减震固定调平安装件与所述减震固定调平轴接件抵接。
  23. 根据权利要求22所述的具有减震装置的麦克纳姆轮，其特征在于，所述减震固定调平安装件与 所述减震固定调平轴接件之间通过至少一个调平连接螺钉连接；
    所述减震固定调平安装件设置有插接所述调平连接螺钉的圆孔、条形孔或者长圆孔；
    所述减震固定调平轴接件设置有与所述调平连接螺钉螺接的螺纹孔，或者所述减震固定调平轴接件远离所述减震固定调平安装件的一面连接有与所述调平连接螺钉螺接的螺母。
  24. 根据权利要求21所述的具有减震装置的麦克纳姆轮，其特征在于，所述弹性元件为弹簧；
    所述减震固定轴外套有吸能元件，所述吸能元件能够弹性形变；
    所述减震移动支架设置在所述吸能元件与所述弹性元件之间。
  25. 根据权利要求24所述的具有减震装置的麦克纳姆轮，其特征在于，所述减震固定轴外套有垫片；
    所述吸能元件包括聚氨酯结构件、橡胶圈或者硅胶圈；
    所述减震固定轴止挡部、所述垫片、所述吸能元件、所述减震移动支架、所述弹性元件和所述减震固定调平轴接件沿所述减震固定轴的轴向依次设置。
  26. 根据权利要求21所述的具有减震装置的麦克纳姆轮，其特征在于，所述弹性元件设置在所述减震移动支架与所述减震固定调平轴接件之间；所述减震移动支架和/或所述减震固定调平轴接件，设置有与所述弹性元件配合连接的沉孔。
  27. 根据权利要求21所述的具有减震装置的麦克纳姆轮，其特征在于，所述减震固定调平轴接件远离所述减震固定轴止挡部的一端设置有减震固定轴螺纹部，所述减震固定调平轴接件设置有与所述减震固定轴螺纹部螺接的螺纹孔；
    和/或，所述减震移动支架与所述减震固定轴之间设置有轴承。
  28. 根据权利要求13-27任一项所述的具有减震装置的麦克纳姆轮，其特征在于，所述减震移动支架包括减震移动支架连接部和至少两个减震移动支架套接部；所述驱动装置的连接轴穿过所述减震移动支架连接部并与所述减震移动支架连接部固定连接；所述减震移动支架套接部外套在所述减震固定轴上，且所述减震移动支架套接部的数量与所述减震固定轴的数量相对应；
    相邻所述减震移动支架套接部之间通过所述减震移动支架连接部固定连接；
    所述减震移动支架连接部凸出于相邻所述减震移动支架套接部形成的表面。
  29. 根据权利要求13-27任一项所述的具有减震装置的麦克纳姆轮，其特征在于，所述减震固定轴的数量为两个；
    所述减震移动支架为对称结构。
  30. 根据权利要求13-27任一项所述的具有减震装置的麦克纳姆轮，其特征在于，所述减震固定轴的轴向与所述驱动装置的连接轴的轴向呈直角设置。
  31. 根据权利要求13-27任一项所述的具有减震装置的麦克纳姆轮，其特征在于，所述弹性元件包括弹簧、聚氨酯结构件、橡胶圈或者硅胶圈。
  32. 根据权利要求12-31任一项所述的具有减震装置的麦克纳姆轮，其特征在于，所述减震装置的数量为一个；所述减震装置设置在所述麦克纳姆轮的一侧，且所述减震装置与所述麦克纳姆轮的驱动装置的连接轴固定连接；
    或者，所述减震装置的数量为两个；两个所述减震装置之间设置有所述麦克纳姆轮，且两个所述减震装置均与所述麦克纳姆轮的驱动装置的连接轴固定连接。
  33. 一种底盘，其特征在于，包括至少一对权利要求12-32任一项所述的具有减震装置的麦克纳姆轮。
  34. 根据权利要求33所述的底盘，其特征在于，包括底盘横梁和两个固定梁；所述底盘横梁固定连接两个所述固定梁；
    所述固定梁的延伸方向为所述底盘的行走方向；所述固定梁连接所述具有减震装置的麦克纳姆轮的减震装置；
    成对设置的所述具有减震装置的麦克纳姆轮设置在所述固定梁的同一端，且每个所述固定梁至少连接一个所述具有减震装置的麦克纳姆轮。
  35. 根据权利要求34所述的底盘，其特征在于，成对设置的所述具有减震装置的麦克纳姆轮通过底盘轮轴连接。
  36. 根据权利要求34所述的底盘，其特征在于，每个所述固定梁的两端分别连接所述具有减震装置的麦克纳姆轮的减震装置。
  37. 根据权利要求34所述的底盘，其特征在于，所述固定梁的一端连接所述具有减震装置的麦克纳姆轮，另一端通过第二减震装置连接滚轮；
    所述第二减震装置包括支杆和第二减震器；所述支杆的端部与所述第二减震器铰接；
    所述支杆与所述固定梁铰接，所述第二减震器与所述固定梁铰接，所述滚轮的滚轴与所述支杆固定 连接。
  38. 根据权利要求37所述的底盘，其特征在于，所述滚轮为麦克纳姆轮；所述麦克纳姆轮的驱动装置的连接轴与所述支杆固定连接；所述第二减震器为液压减震器或弹簧减震器。
  39. 一种帮扶机器人，其特征在于，包括权利要求33-38任一项所述的底盘。
  40. 根据权利要求39所述的帮扶机器人，其特征在于，包括托臀绑带、扶腰绑带和机体，所述机体上设有所述底盘和升降支撑机构；
    所述底盘设置在所述机体的底部；
    所述升降支撑机构包括顶胸板，所述顶胸板的下端面设有第一连接件、侧壁设有第二连接件；
    所述托臀绑带设有与所述第一连接件匹配对接的第三连接件，所述扶腰绑带设有与所述第二连接件匹配对接的第四连接件。
  41. 根据权利要求40所述的帮扶机器人，其特征在于，所述升降支撑机构包括：支撑杆，所述支撑杆的一端与所述机体铰接、另一端设置有控制台，所述控制台连接有手柄和所述顶胸板；
    所述支撑杆与所述机体之间还连接有驱动组件，所述驱动组件配置成使所述支撑杆处于第一状态或第二状态，并能够在所述第一状态与所述第二状态之间进行切换。
  42. 根据权利要求41所述的帮扶机器人，其特征在于，所述支撑杆处于所述第一状态时，所述帮扶机器人的高度低于0.8米。
  43. 根据权利要求42所述的帮扶机器人，其特征在于，所述支撑杆包括：主杆和穿设在所述主杆内的副杆，所述副杆与所述主杆通过活动件连接，且所述副杆能够在所述主杆内伸缩移动并通过所述活动件固定。
  44. 根据权利要求41所述的帮扶机器人，其特征在于，所述控制台上设有电源开关和至少两档调速开关；
    所述控制台上设有凹槽，所述凹槽能够配置成放置遥控器，并为所述遥控器进行充电。
  45. 根据权利要求44所述的帮扶机器人，其特征在于，所述机体内设有控制组件，所述控制组件与所述驱动组件连接，配置成控制所述支撑杆升降；
    所述遥控器通过无线连接方式与所述控制组件连接，且所述遥控器能够远程控制所述帮扶机器人进行移动。
  46. 根据权利要求45所述的帮扶机器人，其特征在于，所述电源开关开启时，所述帮扶机器人默认处于刹车状态；
    所述遥控器上设有控制开关，所述控制开关和所述电源开关均处于开启状态时，所述遥控器能够远程控制所述帮扶机器人移动，或控制所述帮扶机器人进行姿态变换、水平移动或旋转移动。
  47. 根据权利要求40所述的帮扶机器人，其特征在于，所述顶胸板包括：EVA填充层，以及包覆在所述EVA填充层外侧的皮革层；
    所述顶胸板的下端两侧为向上收起的弧形结构。
  48. 根据权利要求40所述的帮扶机器人，其特征在于，所述机体包括车身；所述车身的底端区域连接的所述底盘；所述升降支撑机构与所述车身连接，所述底盘上还设置有脚底托板；
    所述车身连接有顶膝机构；
    所述顶膝机构包括：竖梁，所述竖梁的一端与所述车身连接、另一端连接有横梁，所述横梁上对称设置有两个活动连接的顶膝板。
  49. 根据权利要求48所述的帮扶机器人，其特征在于，所述竖梁包括：主梁和副梁，所述主梁的一端与所述车身连接，所述副梁的一端穿设在所述主梁内、另一端连接有所述顶膝板；
    所述副梁能够带动所述顶膝板相对所述主梁沿远离或靠近所述车身的方向移动并固定。
  50. 根据权利要求48所述的帮扶机器人，其特征在于，所述横梁上设有连接孔，所述顶膝板上纵向设有条状槽；
    所述连接孔对应所述条状槽的不同位置并通过螺栓固定时，所述顶膝板位于不同的高度；
    所述顶膝板包括：与所述横梁连接的中间板，以及分别与所述中间板的两侧连接的内侧板和外侧板；
    所述外侧板的尺寸大于所述内侧板的尺寸。
  51. 根据权利要求48所述的帮扶机器人，其特征在于，所述车身的前侧设有照明灯，所述车身上设有指示灯；
    所述指示灯包括：充电待机状态、开机充电状态、正常开机状态、待机状态、报警状态中的任意一种或多种；
    所述帮扶机器人包括声音提示装置；所述声音提示装置配置成提示所述帮扶机器人的状态，或进行危险报警。
PCT/CN2018/124019 2018-06-12 2018-12-26 麦克纳姆轮、底盘和帮扶机器人 WO2019237715A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/251,567 US20210252910A1 (en) 2018-06-12 2018-12-26 Mecanum wheel, chassis, and assistant robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810619557.1 2018-06-12
CN201810619557.1A CN108749482B (zh) 2018-06-12 2018-06-12 麦克纳姆轮、底盘和帮扶机器人

Publications (1)

Publication Number Publication Date
WO2019237715A1 true WO2019237715A1 (zh) 2019-12-19

Family

ID=63978072

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/124019 WO2019237715A1 (zh) 2018-06-12 2018-12-26 麦克纳姆轮、底盘和帮扶机器人

Country Status (3)

Country Link
US (1) US20210252910A1 (zh)
CN (2) CN109681557B (zh)
WO (1) WO2019237715A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111168640A (zh) * 2020-01-16 2020-05-19 宁德师范学院 一种物流机器人
EP3988324A1 (de) * 2020-10-26 2022-04-27 fischertechnik GmbH Allseitenrad
CN114633246A (zh) * 2020-12-15 2022-06-17 谙布尔(北京)科学技术有限公司 机器人移动式底座及移动式机器人
WO2023021021A1 (en) * 2021-08-19 2023-02-23 Wheel.Me As Mecanum wheel with easily replaceable rollers

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109681557B (zh) * 2018-06-12 2023-11-10 杭州程天科技发展有限公司 减震装置及其轮子结构
CN109435575A (zh) * 2018-12-12 2019-03-08 深圳市三宝创新智能有限公司 一种具有刹车功能的麦克纳姆轮
CN109681558B (zh) * 2018-12-26 2024-02-20 杭州程天科技发展有限公司 减震装置及其轮子结构
EP3705309A1 (en) * 2019-03-05 2020-09-09 Ecole Polytechnique Federale De Lausanne (EPFL) EPFL-TTO Motor-wheel for an omni-directional mechanism and vehicle using the same
KR102277252B1 (ko) * 2019-11-29 2021-07-14 주식회사 알파로보틱스 자체감속 기능을 갖는 메카넘 휠
CN111113366A (zh) * 2020-01-10 2020-05-08 杭州程天科技发展有限公司 一种搭载机械手臂的全向移动通用机器人
DE102020100507A1 (de) * 2020-01-13 2021-07-15 Schaeffler Technologies AG & Co. KG Drehschwingungsdämpfer mit Drehmomentbegrenzer
CN112617671B (zh) * 2020-12-14 2022-02-01 北京建筑大学 一种地铁消毒机器人及其控制系统、控制方法
CN113306341A (zh) * 2021-05-25 2021-08-27 上海润璋智能科技股份有限公司 一种基于全向车绕任意点的定轴转动装置
CN113524139B (zh) * 2021-07-23 2022-11-01 北京搜狗科技发展有限公司 一种机器人
CN114312133B (zh) * 2021-11-22 2024-03-22 北京特种机械研究所 一种防窜动麦克纳姆轮
KR102632071B1 (ko) * 2022-01-13 2024-02-01 주식회사 로탈 제작공정의 자동화가 가능한 형상과 구조를 가진 메카넘휠

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106739781A (zh) * 2017-01-23 2017-05-31 嘉兴高维智控有限公司 半嵌入式麦克纳姆轮结构
CN206201833U (zh) * 2016-10-13 2017-05-31 旗瀚科技有限公司 一种由轮毂电机驱动的一体式麦克纳姆轮
CN107031383A (zh) * 2017-04-21 2017-08-11 南京信息职业技术学院 一种基于麦克纳姆轮的轮毂驱动电机
CN206436756U (zh) * 2017-01-04 2017-08-25 沈阳智远弘业机器人有限公司 麦克纳姆轮的悬挂装置
CN206856400U (zh) * 2017-05-31 2018-01-09 深圳市大疆创新科技有限公司 麦克纳姆轮及具有该麦克纳姆轮的机器人
CN108045187A (zh) * 2017-12-15 2018-05-18 西京学院 一种全向移动平台的独立悬挂机构
CN108749482A (zh) * 2018-06-12 2018-11-06 杭州程天科技发展有限公司 麦克纳姆轮、底盘和帮扶机器人

Family Cites Families (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4258815A (en) * 1979-01-29 1981-03-31 The United States Of America As Represented By The Secretary Of The Navy Ambulator drive mechanism
US5489258A (en) * 1993-05-14 1996-02-06 Bissell Inc. Multi-position body support
KR19990024062A (ko) * 1998-11-19 1999-03-25 엄태웅 차체의 높이 조절이 가능한 쇽업소바
KR200324029Y1 (ko) * 2003-05-22 2003-08-19 이종명 쇼크업쇼바장치
CA2433816C (en) * 2003-06-25 2010-07-13 Prodije 9061-7457 Quebec Inc. Dismountable multi-position stander
DE202005012682U1 (de) * 2005-08-09 2006-12-21 Ic Industrial Consulting Gmbh Rad
DE102007060422A1 (de) * 2007-12-14 2009-06-18 Audi Ag Federbeinanordnung für Radaufhängungen von Kraftfahrzeugen
JP2010037906A (ja) * 2008-08-08 2010-02-18 Takenaka Komuten Co Ltd 制震装置、制震ブレース、付帯設備支持構造、及び制震装置を備える建物
WO2011077614A1 (ja) * 2009-12-24 2011-06-30 本田技研工業株式会社 ラック・アンド・ピニオン式ステアリング機構の衝撃緩衝装置
JP5762367B2 (ja) * 2012-07-26 2015-08-12 トヨタ自動車東日本株式会社 搬送車
CN102963454B (zh) * 2012-10-31 2015-05-20 上海交通大学 一种全方位移动式agv的双滑动轴浮动支撑机构
JP6007807B2 (ja) * 2013-01-31 2016-10-12 富士通株式会社 緩衝装置
WO2014178251A1 (ja) * 2013-04-30 2014-11-06 日産自動車株式会社 インホイールモータ駆動車輪用サスペンション装置
KR101494620B1 (ko) * 2013-08-19 2015-02-23 신한시스템즈(주) 기립 및 재활 보조 휠체어 로봇
US20160270988A1 (en) * 2015-03-18 2016-09-22 Challenging Solutions, Inc. Modularized mobility device
CN104786771B (zh) * 2015-04-28 2017-08-25 深圳市大疆创新科技有限公司 车轮减震机构及具有所述车轮减震机构的遥控移动装置
CN104814841B (zh) * 2015-05-11 2018-09-11 许征文 全自动移位机
CN104997600A (zh) * 2015-08-06 2015-10-28 江南大学 全向电动医护床椅
CN105905208B (zh) * 2016-05-25 2019-01-08 江苏仁和医疗器械有限公司 一种残疾人平地代步车
CN205836411U (zh) * 2016-07-26 2016-12-28 河源市勇艺达科技股份有限公司 轮式移动机器人底盘直线悬挂减震装置
CN106218339B (zh) * 2016-08-03 2018-05-25 山东建筑大学 用于全方位移动平台的减震与稳定机构
CN205871664U (zh) * 2016-08-09 2017-01-11 广东富华重工制造有限公司 轻量型整体焊接式空气悬挂系统
CN106427387A (zh) * 2016-10-13 2017-02-22 旗瀚科技有限公司 一种由轮毂电机驱动的一体式麦克纳姆轮
CN206551811U (zh) * 2017-02-22 2017-10-13 河北工业大学 一种应用于双排轮驱动agv车的减震缓冲装置
CN206900511U (zh) * 2017-04-19 2018-01-19 无锡新创力工业设备有限公司 全方位全地形自动引导的搬运机器人
CN107448513B (zh) * 2017-08-18 2018-11-09 江苏大学 轮毂电机环式电磁制动及分离式减震一体化装置
CN207257783U (zh) * 2017-09-11 2018-04-20 上海诺子自动化科技有限公司 一种减震驱动单元及全向移动车
CN107693234A (zh) * 2017-11-09 2018-02-16 杭州程天科技发展有限公司 一种麦克纳姆轮驱动的全向助行车
CN107669450A (zh) * 2017-11-09 2018-02-09 杭州程天科技发展有限公司 一种用于帮扶机器人的底盘
CN107714405A (zh) * 2017-11-09 2018-02-23 杭州程天科技发展有限公司 一种家用帮扶全向移动机器人
CN207388777U (zh) * 2017-11-13 2018-05-22 云科智能制造（沈阳）有限公司 一种用于麦克纳姆轮的减震机构
CN208498131U (zh) * 2018-06-12 2019-02-15 杭州程天科技发展有限公司 麦克纳姆轮、具有减震装置的麦克纳姆轮、底盘和帮扶机器人
JP7211219B2 (ja) * 2019-04-05 2023-01-24 スズキ株式会社 移動体

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN206201833U (zh) * 2016-10-13 2017-05-31 旗瀚科技有限公司 一种由轮毂电机驱动的一体式麦克纳姆轮
CN206436756U (zh) * 2017-01-04 2017-08-25 沈阳智远弘业机器人有限公司 麦克纳姆轮的悬挂装置
CN106739781A (zh) * 2017-01-23 2017-05-31 嘉兴高维智控有限公司 半嵌入式麦克纳姆轮结构
CN107031383A (zh) * 2017-04-21 2017-08-11 南京信息职业技术学院 一种基于麦克纳姆轮的轮毂驱动电机
CN206856400U (zh) * 2017-05-31 2018-01-09 深圳市大疆创新科技有限公司 麦克纳姆轮及具有该麦克纳姆轮的机器人
CN108045187A (zh) * 2017-12-15 2018-05-18 西京学院 一种全向移动平台的独立悬挂机构
CN108749482A (zh) * 2018-06-12 2018-11-06 杭州程天科技发展有限公司 麦克纳姆轮、底盘和帮扶机器人

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111168640A (zh) * 2020-01-16 2020-05-19 宁德师范学院 一种物流机器人
EP3988324A1 (de) * 2020-10-26 2022-04-27 fischertechnik GmbH Allseitenrad
CN114633246A (zh) * 2020-12-15 2022-06-17 谙布尔(北京)科学技术有限公司 机器人移动式底座及移动式机器人
WO2023021021A1 (en) * 2021-08-19 2023-02-23 Wheel.Me As Mecanum wheel with easily replaceable rollers

Also Published As

Publication number Publication date
CN109681557A (zh) 2019-04-26
US20210252910A1 (en) 2021-08-19
CN108749482B (zh) 2024-02-20
CN108749482A (zh) 2018-11-06
CN109681557B (zh) 2023-11-10

Similar Documents

Publication Publication Date Title
WO2019237715A1 (zh) 麦克纳姆轮、底盘和帮扶机器人
US7921953B2 (en) Personal mobility device
JP5911559B2 (ja) 身体障害者のための移動装置
CN106955223B (zh) 平衡训练装置及多功能助行康复训练机器人
US9849048B2 (en) Mobility system including an exoskeleton assembly releasably supported on a wheeled base
US20170071812A1 (en) Devices and Methods for Improving the Utility of an Exoskeleton Mobility Base
KR101047342B1 (ko) 전동 휠체어
CN109124907B (zh) 一种多功能助行装置
US7708093B1 (en) Motorized wheelchair with stand-up capability
CN201510473U (zh) 多功能手扶杖
TWI589287B (zh) Moving car
TWI700081B (zh) 起身輔助裝置
CN108852764B (zh) 无固定座椅的帮扶机器人、帮扶机器人及其控制方法
WO2019191097A1 (en) Elevating walker chair and convertible seat
US20210154065A1 (en) Elevating walker chair and convertible seat
KR101363850B1 (ko) 지능형 근력 및 보행 보조용 로봇
CN111956408A (zh) 一种家用的多功能老年助行椅
CN203138895U (zh) 一种梯陆两栖无障碍智能机器人轮椅
KR101299351B1 (ko) 휠체어 결합형 하지 운동/재활훈련 장치
WO2019091498A1 (zh) 无固定座椅的帮扶机器人、帮扶机器人及其控制方法
CN113509328B (zh) 一种可适应多种复杂路面的多姿态康复四足机器人
CN210872559U (zh) 一种防压疮的轮椅
CN209187430U (zh) 无固定座椅的帮扶机器人、帮扶机器人
CN210673598U (zh) 一种多功能轮椅
TWM566066U (zh) Lifting aid

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18922568

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18922568

Country of ref document: EP

Kind code of ref document: A1