Disclosed is a mecanum wheel, including a mecanum wheel body and a drive device. A wheel axle hole is formed in the mecanum wheel body. The drive device is partially or completely arranged in the wheel axle hole. The axis of a connecting shaft of the drive device is collinear with a rotary shaft of the mecanum wheel body, and the mecanum wheel body rotates along with a housing of the drive device. Further disclosed are a mecanum wheel with a shock absorbing device, a chassis including at least one pair of mecanum wheels, and an assistant robot including a chassis.

A rotary drive device includes a pair of drive force transmissions, a pair of decelerators, a pair of carriers, and at least one coupler. Driving rollers are included in the pair of drive force transmissions. Driving rollers transmit drive force to a main wheel. The main wheel includes driven rollers. The pair of drive force transmissions are rotatable about a rotation axis. The pair of carriers accommodate at least a portion of the decelerators. The pair of carriers oppose each other in an axial direction along the rotation axis. The pair of carriers include a first carrier and a second carrier that are directly or indirectly coupled by the at least one coupler.

A rotary drive device in a mobile body includes a main wheel and a pair of drive assemblies opposing each other and each driving the main wheel. The main wheel includes driven rollers. One of the pair of drive assemblies includes a motor, a motor case, a drive force transmission, and driving rollers. The driving rollers are in the drive force transmission along a circumferential direction, and contact at least a portion of the driven rollers from one side of the rotary drive device of the axial direction. The drive force transmission rotates to transmit a drive force of the motor to the main wheel via the driving rollers. At least a portion of the motor case opposes at least a portion of the driving rollers in the axial direction.

Provided is a tool system for including a machine tool configured for machining by the removal of material an object defining a machining surface.

An omnidirectional wheel is provided. The omnidirectional wheel includes a support unit, a major wheel, a first minor wheel and a second minor wheel. The major wheel is annular and is rotatably disposed on the support unit. The first minor wheel is rotatably disposed on the support unit. The first minor wheel is disposed on one side of the major wheel. The second minor wheel is rotatably disposed on the support unit. The second minor wheel is disposed on the other side of the major wheel. The omnidirectional wheel can easily roll over an obstacle when the omnidirectional wheel rolls laterally or forward.

Omni-wheel device to allow machine movement according to selected trajectories and including at least three wheels defining common main axis of rotation and centred with respect to the main axis of rotation. Each wheel includes similar base body centred and rotating relative to the main axis of rotation and defining substantially circumferential perimeter profile. A plurality of similar rolling elements arranged at the perimeter profile to cover most of the perimeter profile and hinged to the base body so they each define its secondary axis of rotation, substantially tangential with respect to the perimeter profile. The rolling elements define similar contact surfaces along the secondary axis of rotation and are equally spaced from each other on the respective base bodies. The wheels are all offset from each other around the main axis of rotation so at least two contact surfaces of rolling elements are always simultaneously in resting position.

In an aspect, a self-balancing two-wheeled vehicle is provided, having a body, and first and second wheels rotatably coupled to the body. The second wheel has at least one lateral roller rotatable about an axis that is one of oblique and orthogonal to a rotation axis of the second wheel. At least one motor is coupled to the second wheel to control rotation of the second wheel and the at least one lateral roller. At least one sensor is coupled to the body to generate orientation data therefor. A control module is coupled to the at least one motor to control operation thereof at least partially based on the orientation data generated by the at least one sensor.

In an aspect, a self-balancing two-wheeled vehicle is provided, having a body, and first and second wheels rotatably coupled to the body. The second wheel has at least one lateral roller rotatable about an axis that is one of oblique and orthogonal to a rotation axis of the second wheel. At least one motor is coupled to the second wheel to control rotation of the second wheel and the at least one lateral roller. At least one sensor is coupled to the body to generate orientation data therefor. A control module is coupled to the at least one motor to control operation thereof at least partially based on the orientation data generated by the at least one sensor.

An omni-directional wheel includes: a center wheel configured to rotate about a first rotation axis extending in a first direction; a plurality of peripheral wheels arranged along a circumference of the center wheel and configured to rotate about a second rotation axis extending in a second direction different from the first direction; and a plurality of variable supports provided on the center wheel and configured to respectively support the plurality of peripheral wheels. At least one of the plurality of variable supports is configured to absorb, when an impact force is applied to at least one of the plurality of peripheral wheels being supported by the at least one of the plurality of variable supports, the impact by changing a distance between the center wheel and the at least one of the plurality of peripheral wheels.

The present disclosure provides a Mecanum wheel. The Mecanum wheel includes a spoke, a hub, and a plurality of rollers disposed on an outer edge of the spoke. The spoke includes a receiving space to house the hub. The Mecanum wheel further includes a cushioning member, one end of the cushioning member being connected to the spoke, and the other end of the cushioning member being connected to the hub. In response to receiving an impact force, the cushioning member deforms to cause a displacement change of the hub relative to the spoke.