CN117124769A - Low-cost omni-wheel and mobile tool using same - Google Patents
Low-cost omni-wheel and mobile tool using same Download PDFInfo
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- CN117124769A CN117124769A CN202310850942.8A CN202310850942A CN117124769A CN 117124769 A CN117124769 A CN 117124769A CN 202310850942 A CN202310850942 A CN 202310850942A CN 117124769 A CN117124769 A CN 117124769A
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- 238000000429 assembly Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 17
- 238000004512 die casting Methods 0.000 claims description 16
- 239000004677 Nylon Substances 0.000 claims description 11
- 239000003365 glass fiber Substances 0.000 claims description 11
- 229920001778 nylon Polymers 0.000 claims description 11
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- 238000004663 powder metallurgy Methods 0.000 claims description 4
- 125000006850 spacer group Chemical group 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 63
- 238000005457 optimization Methods 0.000 abstract description 4
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Classifications
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2200/00—Type of product being used or applied
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2200/00—Type of product being used or applied
- B60B2200/40—Articles of daily use
- B60B2200/43—Carts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/86—Optimisation of rolling resistance, e.g. weight reduction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Rolling Contact Bearings (AREA)
Abstract
The invention discloses a low-cost omni-wheel and a mobile tool using the omni-wheel, and belongs to the field of omni-wheels. The low-cost omni-wheel comprises a rolling body assembly and a hub assembly, wherein the rolling body assembly comprises a rolling body and a bearing bracket; the periphery of the hub component is circumferentially provided with a plurality of rolling body components, and rolling bodies of adjacent rolling body components are connected end to end, so that outer contour buses m of all the rolling bodies are positioned on the same enveloping circle O; the ratio coefficient of the rolling body of the low-cost omnidirectional wheel is 0.035-0.06. According to the invention, through reasonable optimization design of the proportioning coefficient of the omni-wheel rolling bodies, the number of the omni-wheel rolling bodies and the size of the rolling bodies are considered, so that the number of the omni-wheel rolling bodies is reasonably reduced under the condition that the overall thickness and the size of the omni-wheel are moderate, the manufacturing cost of the omni-wheel is reduced, the repeated assembly procedures of the rolling bodies are reduced, and the assembly manufacturing efficiency of the omni-wheel is improved; and the obstacle crossing trafficability of the omnidirectional wheel during lateral rolling is improved.
Description
Technical Field
The present invention relates to an omni-wheel, and more particularly, to a low-cost omni-wheel and a mobile tool using the same.
Background
The omnidirectional wheel is a wheel capable of moving in different directions, can axially roll like a normal wheel, can also laterally move by using a rolling body on the wheel, realizes movement with two degrees of freedom of axial rotation and lateral movement, has the advantages of flexible movement, small steering radius and the like, and is widely applied to robots, carts, small vehicles, electric wheelchairs and the like, and the small-radius steering is realized.
Common omni-wheels mainly comprise a Mecanum wheel, a double-row omni-wheel and a single-row omni-wheel. The Mecanum wheel is a large wheel formed by small wheels with a certain angle, and the main disadvantage of the Mecanum wheel is that the small wheels (rolling bodies) are distributed at intervals in an inclined way, so that vibration is easy to generate in the axial rotation process; the double-row omni-wheel is characterized in that two rows of staggered rollers (rolling bodies) are arranged on the wheel hub, the fitted excircle of the two rows of rollers is also of a polygonal structure, jolt exists during movement, the structure is relatively complex, the thickness is thicker, and the occupied space is larger; the single-row omni-wheel is enveloped into a complete circle by utilizing the small wheel (rolling body) at the periphery of the wheel hub, the structure is compact, the vibration of axial rotary motion is small, the lateral movement is more flexible, and the single-row omni-wheel is more applied to occasions with high requirements on comfort and steering flexibility, such as electric wheelchairs.
One disadvantage of the existing single-row omni wheel is high manufacturing cost, and in order to form a complete round wheel body by enveloping a small wheel (rolling body) on a wheel hub, a large number of small wheel assemblies are needed, which not only causes complicated assembly operation, but also greatly increases the manufacturing cost of the omni wheel. For example, a novel omni wheel structure disclosed in chinese patent application No. 201210202379.5 solves the problems that a roller gap of a general omni wheel is too large and vibration is obvious in a rolling process, the omni wheel is provided with 16 supporting seats, and two adjacent supporting seats are provided with driven wheels (rolling bodies), namely, the omni wheel is composed of 16 rolling bodies, so that assembly operation is complicated and manufacturing cost is high. As disclosed in chinese patent application No. 201910239351.0, the omni-wheel has 15 bearing brackets, and two adjacent bearing brackets are provided with a rolling body, i.e. the omni-wheel is composed of 15 rolling bodies, which also has the problems of complicated assembly operation and high manufacturing cost. The main reason for the large number of rolling bodies in the existing single-row omni wheel is that each rolling body adopts a two-end supporting structure, which leads to the fact that the included angle between the rotation axis of each rolling body and the tangent line of the whole omni wheel needs to be designed as small as possible (the included angle alpha between the axes of two adjacent rolling bodies is small), and the number of the rolling bodies is equal to 360 degrees divided by the included angle alpha, so that the number of the rolling bodies of the omni wheel cannot be reduced due to the structure of the rolling bodies, and further, the assembly complexity and the manufacturing cost of the omni wheel are difficult to reduce by reducing the number of the rolling bodies. In addition, as the number of the rolling bodies of the omnidirectional wheel is large and is limited by the design of the profile curve of the rolling bodies, the maximum diameter of the rolling bodies is generally smaller, and the lateral rolling obstacle crossing passing performance of the omnidirectional wheel is poorer; the rolling bodies adopt two-end supporting structures, repeated positioning is needed during assembly, the requirement on machining precision is high, and the manufacturing cost is increased.
Chinese patent application No. 201710630644.2 discloses an "omnidirectional moving wheel", in which the rolling bodies are not supported by two end supporting structures, but the rolling wheels (rolling bodies) are divided into a first wheel portion and a second wheel portion, and the first wheel portion and the second wheel portion are respectively supported at two ends of a central supporting shaft of a set of supporting members, which is equivalent to supporting the middle of the rolling wheels by using the supporting members. The omni wheel is seemingly capable of overcoming the problem of large number of rollers caused by supporting at two ends of the rollers, reducing the number of roller assemblies (12 roller assembly embodiments are given), but basically dividing each roller into two independently rotatable rolling bodies, reducing the number of the roller assemblies (or supporting members) in the omni wheel, increasing the number of the rolling bodies (the number of the rolling bodies is twice that of the roller assemblies) on the omni wheel, and respectively manufacturing and assembling at least two rolling bodies, thereby increasing the assembly complexity and the manufacturing cost of the omni wheel; in addition, as the two wheel parts of the roller independently rotate and have different sizes, the axial width of the larger wheel part is smaller although the diameter of the larger wheel part can be designed to be larger, and the lateral rolling obstacle crossing trafficability is not substantially improved.
In addition, for a single-row omni wheel, if the number of rolling bodies distributed circumferentially is too small, the maximum outer diameter of the rolling bodies is too large due to the limitation of the design of the profile curve of the rolling bodies and the integrity of the enveloping circle of the omni wheel, and the overall thickness dimension of the omni wheel is too large, so that the manufacturing cost of the hub, the bearing bracket and the single rolling body is increased, and the manufacturing cost of the omni wheel is not reduced and increased. Therefore, how to reasonably control the number of the rolling bodies of the omni-wheel to reduce the manufacturing cost and the assembly difficulty of the omni-wheel and simultaneously consider the bearing capacity, obstacle surmounting capacity and other performances of the omni-wheel becomes a design difficulty to be solved urgently in the field.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention aims to overcome the defects of high manufacturing cost and the like of the traditional omni-wheel, and provides a low-cost omni-wheel and a moving tool using the omni-wheel, by adopting the technical scheme of the invention, the number of the omni-wheel rolling bodies and the size of the rolling bodies are considered through reasonably optimizing the proportioning coefficient of the omni-wheel rolling bodies, the number of the omni-wheel rolling bodies is reasonably reduced under the condition that the whole thickness and the size of the omni-wheel are ensured to be moderate, the manufacturing cost of the omni-wheel is reduced, the repeated assembly procedures of the rolling bodies are reduced, and the assembly and manufacturing efficiency of the omni-wheel is improved; compared with the existing omnidirectional wheel, the maximum diameter of the rolling body is larger, so that obstacle crossing trafficability when the omnidirectional wheel laterally rolls is improved, and meanwhile, the bearing capacity of the omnidirectional wheel is considered;
The invention further simplifies the manufacturing and assembling process flow of the omni-wheel through the optimized design of the structures, materials and manufacturing and assembling processes of the rolling body component and the hub component, further reduces the manufacturing cost and the manufacturing difficulty of the omni-wheel, and greatly improves the market competitiveness of the omni-wheel.
2. Technical proposal
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
the invention provides a low-cost omni-wheel, comprising:
the rolling body assembly comprises rolling bodies and a bearing bracket, and the rolling bodies are rotatably arranged on one side of the bearing bracket;
the outer periphery of the hub assembly is provided with a plurality of rolling body assemblies in a circumferential distribution manner, bearing brackets of the rolling body assemblies are arranged on the hub assembly, and rolling bodies of adjacent rolling body assemblies are connected end to end, so that outer contour buses m of the rolling bodies are all positioned on the same enveloping circle O;
the ratio coefficient of the rolling bodies of the low-cost omnidirectional wheel is 0.035-0.06, the ratio coefficient of the rolling bodies is the ratio of the number of the rolling bodies arranged in the omnidirectional wheel to the diameter of the enveloping circle O, wherein the diameter unit of the enveloping circle O is millimeter.
Further, the included angle alpha between the axes of adjacent rolling bodies is 24-40 degrees.
Further, when the diameter of the enveloping circle O is 8 inches, the number of the rolling bodies arranged in the omnidirectional wheel is 9-10;
when the diameter of the enveloping circle O is 9 inches, the number of rolling bodies arranged in the omnidirectional wheel is 9-12;
when the diameter of the enveloping circle O is 10 inches, the number of rolling bodies arranged in the omnidirectional wheel is 10-13;
when the diameter of the enveloping circle O is 12 inches, the number of rolling bodies arranged in the omnidirectional wheel is 11-14;
when the diameter of the enveloping circle O is 13 inches, the number of rolling bodies arranged in the omnidirectional wheel is 12-15.
Furthermore, adjacent rolling bodies are embedded into clearance fit from head to tail, and the axes of the rolling bodies are all positioned in the plane where the envelope circle O is positioned; the bus m of the rolling body is an arc line, the outer diameter of the rolling body gradually increases from one end to the other end along the axial direction, the large-diameter end of the rolling body is provided with an accommodating groove which is concave inwards, and the bearing bracket is provided with a shaft mounting part which is accommodated in the accommodating groove of the rolling body; and one side of the bearing bracket, which is far away from the shaft mounting part, is also provided with an avoidance groove for accommodating the small-diameter end of the adjacent rolling body.
Furthermore, the bearing support is an injection molding piece or a die casting piece, the cantilever shaft is integrally connected to the shaft mounting part of the bearing support through an injection molding or die casting process, and the shaft hole part of the rolling body is mounted on the cantilever shaft through a cantilever end.
Furthermore, the shaft hole part of the rolling body is in rotary fit with the cantilever shaft through a shaft sleeve, the rolling body and the cantilever shaft are axially limited through an end face wear-resistant gasket sleeved on the cantilever shaft, and the cantilever shaft is also provided with an elastic gasket for pressing the end face wear-resistant gasket.
Further, the shaft sleeve and the rolling bodies are sleeved on the cantilever shaft from the cantilever end of the cantilever shaft in sequence and are locked and fixed through an axial fastener; the end face wear-resistant gasket comprises a first wear-resistant gasket and a second wear-resistant gasket, the first wear-resistant gasket and the second wear-resistant gasket are arranged between the axial fastener and one end face of the shaft hole, and the elastic gasket is arranged between the first wear-resistant gasket and the second wear-resistant gasket.
Further, the elastic washer is a wave washer, and the shaft sleeve is a powder metallurgy oil-containing shaft sleeve; the side of the rolling bodies near the cantilever end of the cantilever shaft is provided with a countersunk hole for accommodating an axial fastener.
Furthermore, the bearing bracket is formed by injection molding of glass fiber reinforced nylon material or by die casting of aluminum alloy material, and a plurality of material reduction grooves are formed in the position of the shaft installation part on the bearing bracket.
Still further, the rolling element includes inner core and tread, the tread cladding is on the inner core, the inner core is formed by glass fiber reinforcement nylon material moulding plastics, the tread is by the preparation of elasticity wear-resisting material, still is equipped with a plurality of annular on the outer wall of tread.
Still further, the wheel hub subassembly includes wheel hub installation cover and locates the flange board at wheel hub installation cover both ends, the one end or both ends of wheel hub installation cover adopts the shaft hole to cup joint location cooperation with the flange board of corresponding end, the periphery of flange board passes through first fastener fixed connection with the bearing bracket of corresponding rolling element subassembly.
Further, after the middle part of the flange plate is axially positioned on the hub mounting sleeve, a distance delta H is arranged between the periphery of the flange plate and the contact surface of the bearing bracket, so that the middle part of the flange plate locked with the bearing bracket through the first fastener is slightly arched outwards; or,
the distance H between the two ends of the hub mounting sleeve and the axial positioning surface in the middle of the flange plate 1 The distance H between the positioning contact surfaces of the two sides of the bearing bracket and the periphery of the flange plate 2 And the flange plate is of a planar plate structure, and the middle part of the flange plate locked with the bearing bracket through the first fastener slightly arches outwards.
Furthermore, a positioning ring table is arranged at the end part of the hub mounting sleeve, a ring table positioning surface is arranged on the inner side of the positioning ring table, a central hole in clearance fit with the positioning ring table is formed in the middle of the flange plate, and the central hole of the flange plate is sleeved on the positioning ring table at the corresponding side and is axially positioned in the middle of the flange plate through the positioning of the ring table;
The periphery of flange board has a plurality of linking arms that are circumference radial distribution, bear the both sides of support be equipped with respectively with above-mentioned linking arm matched with constant head tank, the inboard of constant head tank has the butt face with linking arm location contact, be equipped with the connecting hole on the butt face of constant head tank, the correspondence is equipped with the through-hole on the linking arm, first fastener passes the through-hole and revolves to twist and realize linking arm and the connection that bears the support in the connecting hole that corresponds, first fastener is self-tapping screw.
Furthermore, when the omni-wheel is used as a driven wheel, a pair of bearings are arranged in the hub mounting sleeve, and a spacer bush is adopted between the two bearings for positioning; when the omni-wheel is used as a driving wheel, the center of the hub mounting sleeve is provided with a transmission shaft hole, and the hub mounting sleeve is connected with the flange plate at the corresponding end through a second fastening piece.
The invention provides a mobile tool, which comprises the low-cost omnidirectional wheel.
Further, the moving means is an electric wheelchair, a small vehicle, a carrying cart or a walking robot.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:
(1) The low-cost omnidirectional wheel comprises the rolling body component and the hub component, wherein the proportioning coefficient of the rolling bodies is 0.035-0.06, the number of the rolling bodies of the omnidirectional wheel and the size of the rolling bodies are considered through reasonable optimization design of the proportioning coefficient of the rolling bodies of the omnidirectional wheel, the number of the rolling bodies of the omnidirectional wheel is reasonably reduced under the condition that the whole thickness and the size of the omnidirectional wheel are moderate, the manufacturing cost of the omnidirectional wheel is reduced, the repeated assembly procedures of the rolling bodies are reduced, and the assembly and manufacturing efficiency of the omnidirectional wheel is improved; compared with the existing omnidirectional wheel, the maximum diameter of the rolling body is larger, so that obstacle crossing trafficability when the omnidirectional wheel laterally rolls is improved, and meanwhile, the bearing capacity of the omnidirectional wheel is considered;
(2) According to the low-cost omnidirectional wheel, the included angle alpha between the axes of adjacent rolling bodies is designed to be 24-40 degrees, and the bearing capacity of a bearing bracket on the rolling bodies can be ensured under the condition of reasonably reducing the number of the rolling bodies of the omnidirectional wheel; in addition, the number of the rolling bodies is reasonably increased along with the increase of the wheel diameter of the omnidirectional wheel, and the thickness dimension rationality of the omnidirectional wheel and the performances of bearing, obstacle surmounting and the like of the omnidirectional wheel are considered under the condition of effectively controlling the manufacturing cost of the omnidirectional wheel;
(3) According to the low-cost omni-wheel, adjacent rolling bodies are embedded into clearance fit from head to tail, and the axes of the rolling bodies are all positioned in a plane where an envelope circle O is positioned; the bus m of the rolling body is an arc line, the outer diameter of the rolling body gradually increases from one end to the other end along the axial direction, the large-diameter end of the rolling body is provided with an accommodating groove which is concave inwards, and the bearing bracket is provided with a shaft mounting part which is accommodated in the accommodating groove of the rolling body; one side of the bearing bracket away from the shaft mounting part is also provided with an avoidance groove for accommodating the small-diameter end of the adjacent rolling body; by adopting the design, the periphery of the formed omnidirectional wheel is complete and the rolling is stable;
(4) According to the low-cost omnidirectional wheel, the bearing support is an injection molding piece or a die casting piece, the cantilever shaft is integrally connected to the shaft mounting part of the bearing support through an injection molding or die casting process, the shaft hole part of the rolling body is mounted on the cantilever shaft through the cantilever end, the cantilever shaft and the bearing support are connected in a simple, firm and reliable structure, the requirements on the position and the dimensional precision of the cantilever shaft and the bearing support are easily met, the manufacturing process flow can be reduced, and the manufacturing cost is reduced;
(5) According to the low-cost omnidirectional wheel, the shaft hole part of the rolling body is in rotary fit with the cantilever shaft through the shaft sleeve, the rolling body and the cantilever shaft are axially limited through the end face wear-resistant gasket sleeved on the cantilever shaft, and the cantilever shaft is also provided with the elastic gasket for pressing the end face wear-resistant gasket; the elastic washers can enable the two end surfaces of the rolling bodies to be in a close fit state, so that the effect of eliminating axial gaps is achieved, noise or abnormal sound caused by axial movement during rolling of the rolling bodies is avoided, the sealing effect can be achieved, and abrasion and damage caused by invasion of dust and moisture into the internal rolling sliding surface are reduced;
(6) According to the low-cost omnidirectional wheel, the shaft sleeve and the rolling bodies are sleeved on the rotating shaft sequentially from the cantilever end of the rotating shaft and locked and fixed through the axial fastener, and the wear-resistant gasket and the elastic gasket are also arranged at the cantilever end of the rotating shaft, so that the rolling bodies and the rotating shaft are assembled simply and conveniently, and the rolling bodies rotate stably and reliably;
(7) According to the low-cost omni-wheel, the shaft sleeve is the powder metallurgy oil-containing shaft sleeve, the self-lubricating effect of the shaft sleeve is good, the rotation noise of the rolling body is effectively reduced, and the manufacturing cost is reduced; the counter sunk hole for accommodating the axial fastener is formed on one side of the rolling body, which is close to the cantilever end of the cantilever shaft, so that the structural compactness of the rolling body assembly is ensured, and the assembly is convenient to form an omnidirectional wheel;
(8) The low-cost omnidirectional wheel has the advantages that the bearing bracket is formed by injection molding of glass fiber reinforced nylon materials or by die casting of aluminum alloy materials, the structural strength of the manufactured rolling body assembly is high, the weight is light, the bearing bracket is simple and convenient to mold, and the manufacturing cost is low; the bearing bracket is provided with a plurality of material reducing grooves at the position of the shaft mounting part, the material reducing grooves not only can reduce the use of materials, but also can ensure that the wall thickness of the bearing bracket is uniform, the defect of injection molding or die casting molding is reduced, and the manufacturing precision of parts is improved;
(9) The low-cost omnidirectional wheel comprises an inner core and a tread, wherein the inner core is formed by injection molding glass fiber reinforced nylon material, the tread is made of elastic wear-resistant material, and a plurality of annular grooves are formed in the outer wall of the tread; the annular groove on the tread can play a role in skid resistance and material reduction, and can change the homogenization of the periodic vibration frequency of the gap between the joint of two adjacent rolling bodies during circumferential rolling, change the vibration and noise frequency and improve the sense comfort of a human body;
(10) The low-cost omni-wheel comprises a hub mounting sleeve and flange plates arranged at two ends of the hub mounting sleeve, wherein one end or two ends of the hub mounting sleeve are sleeved and positioned with the flange plates at the corresponding ends by adopting shaft holes, the periphery of the flange plates are fixedly connected with bearing supports of corresponding rolling body assemblies through first fasteners, the flange plates are utilized to realize the assembly of each rolling body assembly, and the flange plates are axially positioned and supported by utilizing the hub mounting sleeve, so that the hub mounting sleeve, the flange plates at the two ends and each group of rolling body assemblies can be simply and quickly assembled together to form an omni-wheel integral structure, the assembly process is simple and convenient, and the manufacturing cost of the omni-wheel can be effectively reduced;
(11) According to the low-cost omnidirectional wheel, after the middle part of the flange plate is axially positioned on the hub mounting sleeve, the interval delta H is arranged between the periphery of the flange plate and the contact surface of the bearing bracket, so that the middle part of the flange plate locked with the bearing bracket through the first fastener is slightly arched outwards; or the distance H between the two ends of the hub mounting sleeve and the axial positioning surface in the middle of the flange plate 1 The distance H between the positioning contact surfaces of the two sides of the bearing bracket and the periphery of the flange plate 2 The flange plate is of a planar plate structure, and the middle part of the flange plate locked with the bearing bracket through the first fastener slightly arches outwards; therefore, the middle part of the flange plate after installation slightly arches outwards to deform, so that the locking is firm and reliable, and the flange plate and the hub can be ensured to be installedThe sleeve is stable and firm in combination, and the pressure resistance of the flange plate can be improved, and the overall bearing capacity of the omni wheel is improved;
(12) The end part of the hub mounting sleeve is provided with the positioning ring table, the inner side of the positioning ring table is provided with the ring table positioning surface, the middle part of the flange plate is provided with the central hole in clearance fit with the positioning ring table, the central hole of the flange plate is sleeved on the positioning ring table at the corresponding side and axially positions the middle part of the flange plate through the ring table positioning surface, and the hub mounting sleeve and the flange plate are simple in assembly structure and convenient to process and manufacture;
(13) According to the low-cost omnidirectional wheel, the periphery of the flange plate is provided with the plurality of connecting arms distributed in the shape of a circumference spoke, the two sides of the bearing support are respectively provided with the positioning grooves matched with the connecting arms, the inner sides of the positioning grooves are provided with the abutting surfaces in positioning contact with the connecting arms, the connecting arms are fixedly connected with the bearing support through the tapping screws, the combination stability of the connecting arms is improved by utilizing the positioning grooves, the positioning and assembly with the corresponding bearing support can be facilitated, the transmission of the stress of the rolling body assembly to the flange plate is facilitated, and the shearing action on the tapping screws is reduced; the tapping screws are adopted for connection, the connection operation is simple and convenient, and the processing and manufacturing cost is lower;
(14) The low-cost omni-wheel can be used as a driving wheel and also can be used as a driving wheel, and has wide application scene, strong practicability and good economy;
(15) The mobile tool provided by the invention is provided with the low-cost omnidirectional wheel, so that the mobile tool is flexible and convenient to turn, the cost of the mobile tool is further reduced, and the market competitiveness of the mobile tool using the omnidirectional wheel can be greatly improved.
Drawings
Fig. 1 is a schematic perspective view of a low-cost omni-wheel according to the present invention;
Fig. 2 is a schematic perspective view of a low-cost omni-wheel with a part of rolling element assembly omitted;
fig. 3 is a schematic view of a partial cross-sectional structure of a low cost omni-wheel according to the present invention;
FIG. 4 is a schematic illustration of the layout of the carrier and cantilever axle on the hub assembly in accordance with the present invention;
FIG. 5 is a schematic view of an angular perspective view of a rolling element assembly according to the present invention;
FIG. 6 is a schematic view of another angular perspective of a rolling element assembly according to the present invention;
FIG. 7 is a schematic cross-sectional view of a rolling element assembly of the present invention;
FIG. 8 is a schematic view of the structure of a bearing bracket in a rolling element assembly according to the present invention;
FIG. 9 is a schematic view showing a disassembled structure of a rolling element assembly according to the present invention;
fig. 10 is a schematic view of a hub assembly of a low cost omni-wheel according to the present invention;
fig. 11 is a schematic front view of a low cost omni-wheel according to the present invention;
FIG. 12 is an enlarged view of a portion of FIG. 11 in partial cross section;
FIG. 13 is a schematic view of a low cost omni-wheel hub assembly of the present invention in a disassembled state;
FIG. 14 is a schematic view of a combined state of a hub assembly in a low cost omni-wheel according to the present invention;
FIG. 15 is a schematic sectional view of a combined state of a hub assembly in a low cost omni-wheel according to the present invention;
Fig. 16 is a schematic perspective view of another embodiment of a low cost omni wheel according to the present invention;
fig. 17 is a schematic view showing a hub disassembled state in another embodiment of a low-cost omni-wheel according to the present invention.
Reference numerals in the schematic drawings illustrate:
10. a rolling element assembly; 11. a rolling element; 11a, inner core; 11b, tread; 11-1, a containing groove; 11-2, ring grooves; 11-3, a shaft hole part; 11-4, countersunk holes; 12. a load bearing bracket; 12-1, a shaft mounting portion; 12-2, a connecting part; 12-3, positioning grooves; 12-3a, an abutment surface; 12-4, connecting holes; 12-5, avoiding grooves; 12-6, a material reduction groove; 13. an axial fastener; 14. a cantilever shaft; 14-1, fastening holes; 14-2, embedding grooves; 14-3, a rotation stopping part; 15. a shaft sleeve; 16. a first wear washer; 17. a second wear washer; 18. an elastic washer;
20. a hub assembly; 21. a hub mounting sleeve; 21-1, a positioning ring table; 21-1a, a ring table positioning surface; 21-2, a transmission shaft hole; 22. a flange plate; 22-1, a connecting arm; 22-1a, through holes; 22-2, a central hole; 23. a first fastener; 24. a bearing; 25. a spacer bush; 26. and a second fastener.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples.
Examples (example)
As shown in fig. 1 to 4, a low-cost omni-wheel of the present embodiment includes a rolling element assembly 10 and a hub assembly 20, the rolling element assembly 10 includes a rolling element 11 and a bearing bracket 12, and the rolling element 11 is rotatably mounted at one side of the bearing bracket 12; the periphery of the hub assembly 20 is provided with a plurality of rolling body assemblies 10 in a circumferential distribution manner, the bearing support 12 of each rolling body assembly 10 is arranged on the hub assembly 20, and the rolling bodies 11 of the adjacent rolling body assemblies 10 are connected end to end, so that the outer contour buses m of the rolling bodies 11 are all positioned on the same enveloping circle O. The omni-wheel composed of the plurality of sets of rolling element assemblies 10 can roll around the axial direction of the hub assembly 20 and can also move laterally by using the rolling elements 11. The more the number of the rolling element assemblies 10 or the rolling elements 11 is under the same wheel diameter of the omni wheel, the higher the manufacturing cost of the omni wheel is, and the more complicated the assembly process is; the smaller the number of rolling element assemblies 10 or rolling elements 11, the larger the maximum outer diameter of the rolling elements 11, and the larger the thickness dimension of the omni wheel, the more expensive the manufacturing cost. Therefore, how to reasonably reduce the number of the rolling bodies 11 under the condition of considering all the performances of the omni-wheel is a key for reducing the manufacturing cost of the omni-wheel. The present invention proposes the concept of "rolling element proportioning factor" for the first time, which refers to the ratio of the number of rolling elements 11 provided in an omni wheel to the diameter of an envelope circle O, wherein the diameter unit of the envelope circle O is millimeters (mm). The diameter of the envelope circle O is the wheel diameter of the omni wheel. When designing an omni wheel, the target wheel diameter D of the omni wheel is known, and the number n (n is a positive integer) of the rolling bodies can be obtained by multiplying the target wheel diameter D by the rolling body proportioning coefficient lambda. Through a large number of design verification, the invention considers that the rolling element proportioning coefficient of the omnidirectional wheel is 0.035-0.06 optimally, and the adoption of the rolling element proportioning coefficient can give consideration to the number of the rolling elements of the omnidirectional wheel and the size of the rolling elements, so that the number of the rolling elements of the omnidirectional wheel is reasonably reduced under the condition of ensuring the moderate overall thickness size of the omnidirectional wheel, the manufacturing cost of the omnidirectional wheel is reduced, the repeated assembly working procedures of the rolling elements are reduced, and the assembly manufacturing efficiency of the omnidirectional wheel is improved; compared with the existing omnidirectional wheel, the maximum diameter of the rolling body is larger, obstacle crossing trafficability when the omnidirectional wheel laterally rolls is improved, and meanwhile bearing capacity of the omnidirectional wheel is considered.
As shown in fig. 1 to 4, the angle α between the axes of the adjacent rolling bodies 11 of the low-cost omni-wheel of the present embodiment is 24 ° to 40 °. In general, the angle α between the axes of adjacent rolling elements 11 in an omni-wheel is equal, where the number n of rolling elements is equal to 360 ° divided by the angle α, i.e. the preferred number of rolling elements is 9-15. The specific number of the rolling bodies 11 can be selected by combining the ratio coefficient of the rolling bodies and the design wheel diameter conversion of the omni wheel. In this way, the influence of the overlarge included angle alpha on the bearing capacity of the bearing bracket 12 and the lateral rolling performance of the rolling bodies 11 can be avoided, and the bearing capacity of the bearing bracket 12 to the rolling bodies 11 can be ensured under the condition of reasonably reducing the number of the omni-wheel rolling bodies.
By combining the design principle of the omni-wheel, the manufacturing cost of the omni-wheel can be reduced by reasonably reducing the number of the rolling bodies 11, and the low-cost omni-wheel is obtained. For omni wheels of common dimensions, the number of rolling bodies is preferably designed as follows:
when the diameter of the enveloping circle O is 8 inches (8-inch omni-wheel), the number of the rolling bodies 11 arranged in the omni-wheel is 9-10; when the diameter of the enveloping circle O is 9 inches (9-inch omni-wheel), the number of the rolling bodies 11 arranged in the omni-wheel is 9-12; when the diameter of the enveloping circle O is 10 inches (10-inch omni-wheel), the number of the rolling bodies 11 arranged in the omni-wheel is 10-13; when the diameter of the enveloping circle O is 12 inches (12-inch omni-wheel), the number of the rolling bodies 11 arranged in the omni-wheel is 11-14; when the diameter of the envelope circle O is 13 inches (13-inch omni wheel), the number of rolling elements 11 provided in the omni wheel is 12 to 15. Therefore, the number of the rolling bodies 11 is reasonably increased along with the increase of the wheel diameter of the omni-wheel, so that the thickness dimension rationality of the omni-wheel and the performances of bearing, obstacle crossing and the like of the omni-wheel can be considered under the condition of effectively controlling the manufacturing cost of the omni-wheel.
In order to further reduce the manufacturing cost and the manufacturing difficulty of the omni-wheel and improve the market competitiveness of the omni-wheel, the manufacturing cost is reduced by reasonably arranging the number of the rolling bodies, and the manufacturing and assembling process flow of the omni-wheel is simplified by optimizing the structure, the materials and the manufacturing and assembling processes of the rolling body assembly 10 and the hub assembly 20, so that the manufacturing cost and the manufacturing difficulty of the omni-wheel are reduced. The specific design is as follows:
referring to fig. 1 to 4, and referring to fig. 5 and 6, in the low-cost omni-wheel of the present embodiment, adjacent rolling bodies 11 are embedded in a clearance fit end to end, and the axes of the rolling bodies 11 are all located in a plane where an envelope circle O is located; the generatrix m of the rolling element 11 is an arc line, that is, the outer contour of the rolling element 11 is a revolution surface formed by one revolution of the arc generatrix m around the revolution axis thereof. The outer diameter of the rolling element 11 gradually increases from one end to the other end along the axial direction, the large-diameter end of the rolling element 11 is provided with an accommodating groove 11-1 which is concave inwards, and the bearing bracket 12 is provided with a shaft mounting part 12-1 which is accommodated in the accommodating groove 11-1 of the rolling element 11; the side of the bearing bracket 12 away from the shaft mounting portion 12-1 is also provided with a relief groove 12-5 for accommodating the small diameter end of the adjacent rolling element 11. By adopting the design of the rolling body assembly 10, the periphery of the formed omnidirectional wheel is complete, and each rolling body 11 can freely rotate and roll stably.
Referring to fig. 7 to 9, the bearing bracket 12 is an injection molded part or a die cast part, the cantilever shaft 14 is integrally connected to the shaft mounting portion 12-1 of the bearing bracket 12 through an injection molding or die casting process, and the shaft hole 11-3 of the rolling element 11 is mounted on the cantilever shaft 14 through a cantilever end, so that the rolling element 11 can freely rotate around the cantilever shaft 14. The cantilever shaft 14 can be obtained by independent machining, so that the dimensional accuracy of the cantilever shaft 14 is easy to ensure, the cantilever shaft 14 is directly integrally injection molded or die-cast connected with the bearing support 12 as an insert, the connecting structure of the cantilever shaft 14 and the bearing support 12 is simple, firm and reliable, the requirements on the position and the dimensional accuracy of the cantilever shaft 14 and the bearing support 12 are easy to ensure, the manufacturing process flow can be reduced, and the manufacturing cost is reduced. During specific manufacturing, the embedded groove 14-2 and the rotation stopping portion 14-3 (as shown in fig. 9) can be machined at one end of the cantilever shaft 14, the embedded groove 14-2 can be a plurality of ring grooves, so that the cantilever shaft 14 and the bearing support 12 can be firmly combined in the axial direction, the rotation stopping portion 14-3 can be a plane or a cutting groove positioned on the side face, and the cantilever shaft 14 and the bearing support 12 can be prevented from rotating relatively, after injection molding or die casting molding, the shaft mounting portion 12-1 of the bearing support 12 is tightly wrapped at one end of the cantilever shaft 14 with the embedded groove 14-2 and the rotation stopping portion 14-3, and therefore the cantilever shaft 14 and the rotation stopping portion are of an integrated structure, manufacturing accuracy is high, and manufacturing cost is low.
Referring to fig. 7 and 9, the shaft hole 11-3 of the rolling element 11 is rotatably engaged with the cantilever shaft 14 via a boss 15, the shaft hole 11-3 has a shaft hole fitted over the cantilever shaft 14, and the boss 15 is fitted over the cantilever shaft 14 and is positioned between the cantilever shaft 14 and the shaft hole of the shaft hole 11-3. Compared with the existing deep groove ball bearing, the shaft sleeve 15 is adopted as a rolling element, so that the assembly is simple and convenient, and the cost is lower. Further, the rolling bodies 11 and the cantilever shaft 14 are axially limited by an end face wear-resistant gasket sleeved on the cantilever shaft 14, and an elastic gasket 18 for pressing the end face wear-resistant gasket is further arranged on the cantilever shaft 14. The elastic washers 18 can enable the two end surfaces of the rolling bodies 11 to be in a close fit state, so that the effect of eliminating axial gaps is achieved, noise or abnormal sound caused by axial movement during rolling of the rolling bodies 11 is avoided, sealing effect can be achieved, and abrasion and damage caused by invasion of dust and moisture into the internal rolling sliding surface are reduced. In the concrete implementation, the shaft sleeve 15 and the rolling body 11 are sleeved on the cantilever shaft 14 from the cantilever end of the cantilever shaft 14 in sequence and are locked and fixed through the axial fastener 13; the end face wear-resistant washers include a first wear-resistant washer 16 and a second wear-resistant washer 17, the first wear-resistant washer 16 and the second wear-resistant washer 17 are arranged between the axial fastener 13 and one end face of the shaft hole 11-3, and the elastic washer 18 is arranged between the first wear-resistant washer 16 and the second wear-resistant washer 17, so that the first wear-resistant washer 16 and the second wear-resistant washer 17 can be pressed inwards. Each component is installed by the cantilever end of the cantilever shaft 14, so that the rolling body 11 and the cantilever shaft 14 are assembled simply and conveniently, and the rolling body 11 rotates stably and reliably. The elastic washer 18 is a wave washer, preferably a conventional 304 stainless steel wave washer, the cantilever shaft 14 can be machined by 1Cr13 martensitic stainless steel, and the first wear-resistant washer 16 and the second wear-resistant washer 17 are stainless steel washers, so that rust damage to rotating parts inside the rolling elements 11 can be prevented. The axial fastener 13 may be a bolt with a pressing cap, the cantilever end of the cantilever shaft 14 is provided with a fastening hole 14-1, the fastening hole 14-1 is internally provided with internal threads, the axial fastener 13 can be screwed on the cantilever end of the cantilever shaft 14, and the pressing cap is used for limiting the first wear-resistant washer 16. The shaft sleeve 15 is a powder metallurgy oil-containing shaft sleeve, has a good self-lubricating effect, effectively reduces the rotation noise of the rolling bodies, and reduces the manufacturing cost. Preferably, the shaft sleeve 15 has a cylindrical sleeve structure, one end of the shaft sleeve abuts against a step of the shaft hole 11-3, which is close to the outer side, and the other end of the shaft sleeve abuts against a shoulder of the root of the cantilever shaft 14, and axial limitation of the rolling element 11 is achieved by using the axial fastener 13 and the wave washer. The side of the rolling element 11 near the cantilever end of the cantilever shaft 14 is provided with a countersunk hole 11-4 for accommodating the axial fastener 13, so that the structural compactness of the rolling element assembly is ensured, and the assembly is convenient to form the omnidirectional wheel.
The bearing bracket 12 is formed by injection molding of glass fiber reinforced nylon material or by die casting of aluminum alloy material, and in this embodiment, when the bearing bracket 12 is manufactured by injection molding process, the bearing bracket 12 is formed by injection molding of glass fiber reinforced nylon material, for example, 30% glass fiber reinforced nylon material can be used for injection molding; when the bearing bracket 12 is manufactured by adopting a die casting process, the bearing bracket 12 is die-cast by an aluminum alloy material. By adopting the injection molding or die casting process, the structural design is conveniently carried out by utilizing the finite element mechanical analysis so as to ensure the structural strength of the bearing bracket 12, the manufactured bearing bracket 12 has high structural strength and light weight, and the bearing bracket 12 is simple and convenient to form and has low manufacturing cost. In addition, a plurality of material reducing grooves 12-6 are formed in the bearing support 12 at the position of the shaft mounting part 12-1, and the material reducing grooves 12-6 not only can reduce the use of materials, but also can make the wall thickness of the bearing support 12 uniform, reduce the defects of injection molding or die casting molding, and improve the manufacturing precision of parts. As shown in fig. 7, the rolling element 11 in this embodiment includes an inner core 11a and a tread 11b, the tread 11b is coated on the inner core 11a, and the inner core 11a is formed by injection molding of glass fiber reinforced nylon material, for example, 30% glass fiber reinforced nylon material may be used for injection molding; the tread 11b is made of elastic wear-resistant materials, such as rubber, TUP, PU and the like, and a plurality of annular grooves 11-2 are further formed in the outer wall of the tread 11b, so that the annular grooves 11-2 can play a role in skid resistance and material reduction on one hand, and can change the homogenization of the periodic vibration frequency of gaps between the joint parts of two adjacent rolling bodies 11 during circumferential rolling on the other hand, change vibration and noise frequencies and improve the comfort of human senses.
In order to improve the supporting performance of the cantilever shaft 14 on the rolling elements 11, the cantilever end of the cantilever shaft 14 may extend out of the small diameter end of the rolling elements 11, and when the rolling element assembly 10 is assembled to the hub assembly 20 to form an omni wheel, the cantilever end of the cantilever shaft 14 may be mounted on the shaft mounting portion 12-1 of the adjacent bearing bracket 12, so as to improve the supporting strength of the rolling elements 11 and improve the bearing capacity of the omni wheel. This design in which the cantilever end of the cantilever shaft 14 is supported on the shaft mounting portion 12-1 of the adjacent carrier bracket 12 is more suitable for the case where the angle α between the axes of the adjacent rolling elements 11 is small.
With continued reference to fig. 10 to 15, the low-cost omni-wheel according to the present embodiment includes a hub assembly 20 including a hub mounting sleeve 21 and flange plates 22 disposed at two ends of the hub mounting sleeve 21, wherein one or both ends of the hub mounting sleeve 21 are in socket-joint positioning fit with the flange plates 22 at the corresponding ends by shaft holes, and the outer periphery of the flange plates 22 is fixedly connected with the bearing bracket 12 of the corresponding rolling element assembly 10 by a first fastener 23. When one flange plate 22 is sleeved and positioned with the hub mounting sleeve 21 by adopting the shaft hole, the other flange plate 22 and the hub mounting sleeve 21 can be fixed together by adopting the modes of welding, riveting, bolting and the like. In this embodiment, the two flange plates 22 are respectively sleeved and matched with the axle hole of the hub mounting sleeve 21, so that the flange plates 22 and the hub mounting sleeve 21 can be processed and manufactured separately, and the manufacturing difficulty of the hub assembly 20 is reduced. In the installation, the bearing bracket 12 of each rolling element assembly 10 can be fixed on the flange plate 22 on one side through the first fastening piece 23, then the hub installation sleeve 21 and the flange plate 22 on the other side are installed, and the side flange plate 22 and the bearing bracket 12 of each rolling element assembly 10 are fixedly connected together through the first fastening piece 23. The assembly of each rolling element assembly 10 is realized by using the flange plate 22, and the flange plate 22 is axially positioned and supported by using the hub mounting sleeve 21, so that the hub mounting sleeve 21, the flange plates 22 at two ends and each group of rolling element assemblies 10 can be simply and quickly assembled together to form an omnidirectional wheel integral structure, the assembly process is simple and convenient, and the manufacturing cost of the omnidirectional wheel can be effectively reduced.
As shown in fig. 11 and 12, in the present embodiment, after the middle portion of the flange plate 22 is axially positioned on the hub mounting sleeve 21, a space Δh is provided between the outer periphery of the flange plate 22 and the contact surface of the carrier bracket 12, so that the middle portion of the flange plate 22 locked with the carrier bracket 12 by the first fastener 23 is slightly arched to the outside. Like this, after the locking of first fastener 23, the flange board 22 circumference is inwards slightly deformed for flange board 22 middle part forms the arch structure, and not only locking is firm reliable like this, can guarantee that flange board 22 and wheel hub installation cover 21 combine stably firm, can improve flange board 22's pressure resistance moreover, improves the whole bearing capacity of omnidirectional wheel. The flange plate 22 in this embodiment may adopt a planar plate structure, and when the flange plate 22 is a planar plate structure, the above-mentioned arch structure of the flange plate 22 may be designed as: distance H between axial locating surfaces of two ends of hub mounting sleeve 21 and middle of flange plate 22 1 Distance H between the positioning contact surfaces of the two sides of the bearing bracket 12 to the periphery of the flange plate 22 2 With a 2×Δh, the central part of the flange plate 22, which is locked to the carrier bracket 12 by the first fastening element 23, is slightly arched outwards, so that a rough arched Δh on each side can be ensured. Namely: the axial positioning surface of the hub mounting sleeve 21 on the middle part of the flange plate 22 protrudes outwards by approximately delta H compared with the contact surface of the periphery of the flange plate 22 on the same side and the bearing bracket 12, so that the middle part of the flange plate 22 locked with the bearing bracket 12 through the first fastener 23 is slightly arched outwards, and the stable and reliable connection between the flange plate 22 and the hub mounting sleeve 21 is ensured. In this embodiment, Δh=0.1 to 0.5mm, and the value is preferably 0.2mm.
Referring to fig. 12 to 15, a positioning ring 21-1 is disposed at an end of the hub mounting sleeve 21, a ring positioning surface 21-1a is disposed on an inner side of the positioning ring 21-1, a central hole 22-2 is disposed in a middle portion of the flange plate 22 and is in clearance fit with the positioning ring 21-1, and the central hole 22-2 of the flange plate 22 is disposed on the positioning ring 21-1 on a corresponding side and axially positions the middle portion of the flange plate 22 through the ring positioning surface 21-1 a. The annular table positioning surface 21-1a is the axial positioning surface in the middle of the pair of flange plates 22. By adopting the shaft hole matching structure, the hub mounting sleeve 21 and the flange plate 22 are simple in assembly structure and convenient to process and manufacture. The bearing bracket 12 is also provided with a connecting part 12-2 used for being connected with the flange plate 22, the periphery of the flange plate 22 is provided with a plurality of connecting arms 22-1 distributed in a circumference radial shape, two sides of the connecting part 12-2 of the bearing bracket 12 are respectively provided with positioning grooves 12-3 matched with the connecting arms 22-1, the inner sides of the positioning grooves 12-3 are provided with abutting surfaces 12-3a in positioning contact with the connecting arms 22-1, the abutting surfaces 12-3a of the positioning grooves 12-3 are provided with connecting holes 12-4, the connecting arms 22-1 are correspondingly provided with through holes 22-1a, and first fasteners 23 penetrate through the through holes 22-1a and are screwed in the corresponding connecting holes 12-4 to realize the connection of the connecting arms 22-1 and the bearing bracket 12. The connecting arm 22-1 is designed to facilitate the positioning and assembly with the corresponding bearing bracket 12, and the connecting arm 22-1 is easier to slightly arch the flange plate 22, so that the flange plate 22 is firmly and stably connected with the rolling element assembly 10. The connecting arm 22-1 is receivable within the detent 12-3 to facilitate transmission of forces from the rolling element assembly 10 to the flange plate 22, reducing shearing of the first fastener 23. The first fastening members 23 are self-tapping screws which pass through the through holes 22-1a and are screwed in the corresponding connecting holes 12-4 to connect the connecting arms 22-1 with the bearing bracket 12. The self-tapping screw is adopted for connection, the connection operation is simple and convenient, and the processing and manufacturing cost is lower. The above-mentioned contact surface 12-3a is the positioning contact surface of the two sides of the bearing bracket 12 to the periphery of the flange plate 22. Each bearing bracket 12 is fixedly connected with the corresponding connecting arm 22-1 of the flange plate 22 on the same side through two tapping screws, and the connection is firm and reliable. In order to facilitate space arrangement, the self-tapping screw can be designed to be one large and one small, so that the connection strength is ensured. The hub mounting sleeve 21 and flange plate 22 may be made of stainless steel or plain carbon steel.
According to the different use scenes of the omni wheel, the omni wheel can be used as a driven wheel or a driving wheel. When the omni wheel is used as a driven wheel, as shown in fig. 14 and 15, the hub mounting sleeve 21 is a bearing sleeve, a pair of bearings 24 are arranged in the hub mounting sleeve 21, and a spacer 25 is adopted between the two bearings 24 for positioning. When the omni-wheel is used as a driving wheel, as shown in fig. 16 and 17, the center of the hub mounting sleeve 21 is provided with a transmission shaft hole 21-2, and transmission structures such as a key slot or an internal spline can be arranged in the transmission shaft hole 21-2 so as to realize connection with a power mechanism; the hub mounting sleeve 21 is connected with the flange plate 22 at the corresponding end through a second fastener 26, the second fastener 26 can be a bolt, a threaded hole is formed in the annular table positioning surface 21-1a of the hub mounting sleeve 21, and the second fastener 26 is screwed on the threaded hole to fixedly connect the middle part of the flange plate 22 with the hub mounting sleeve 21, so that stable transmission of torque is ensured.
The embodiment also relates to a moving tool using the omni-wheel, and the moving tool comprises the low-cost omni-wheel. The moving means may be an electric wheelchair, a small vehicle, a carrying cart or a walking robot, etc. In general, omni-directional wheels can be used as steering wheels for a mobile tool, so that the mobile tool turns sensitively and has a smaller turning radius. Taking an electric wheelchair as an example, when the rear wheel of the electric wheelchair is a driving wheel, the front wheel (steering wheel) of the electric wheelchair can be the low-cost omni-wheel; when the front wheel of the electric wheelchair is a driving wheel, the rear wheel of the electric wheelchair can be the low-cost omni-wheel. The moving tool adopting the omnidirectional wheel is flexible and convenient to turn, the cost of the moving tool is further reduced, and the market competitiveness of the moving tool using the omnidirectional wheel can be greatly improved.
According to the low-cost omnidirectional wheel and the mobile tool using the omnidirectional wheel, through reasonable optimization design of the proportioning coefficient of the omnidirectional wheel rolling bodies, the number of the omnidirectional wheel rolling bodies and the size of the rolling bodies are considered, the number of the omnidirectional wheel rolling bodies is reasonably reduced under the condition that the overall thickness and the size of the omnidirectional wheel are moderate, the manufacturing cost of the omnidirectional wheel is reduced, the repeated assembly working procedures of the rolling bodies are reduced, and the assembly and manufacturing efficiency of the omnidirectional wheel is improved; compared with the existing omnidirectional wheel, the maximum diameter of the rolling body is larger, obstacle crossing trafficability when the omnidirectional wheel laterally rolls is improved, and meanwhile bearing capacity of the omnidirectional wheel is considered. In addition, through the structural, material and manufacturing and assembly process optimization design of the rolling body assembly and the hub assembly, the manufacturing and assembly process flow of the omni-directional wheel is simplified, the manufacturing cost and the manufacturing difficulty of the omni-directional wheel are further reduced, and the market competitiveness of the omni-directional wheel and a mobile tool using the omni-directional wheel is greatly improved.
The invention and its embodiments have been described above schematically, without limitation, and the actual construction is not limited to this, as it is shown in the drawings, which are only one of the embodiments of the invention. Therefore, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical scheme are not creatively devised without departing from the gist of the present invention, and all the structural manners and the embodiments belong to the protection scope of the present invention.
Claims (16)
1. A low cost omni-wheel comprising:
a rolling element assembly (10), wherein the rolling element assembly (10) comprises a rolling element (11) and a bearing bracket (12), and the rolling element (11) is rotatably arranged on one side of the bearing bracket (12);
the hub assembly (20), the periphery of the hub assembly (20) is provided with a plurality of rolling body assemblies (10) in a circumferential distribution manner, the bearing bracket (12) of each rolling body assembly (10) is arranged on the hub assembly (20), and the rolling bodies (11) of the adjacent rolling body assemblies (10) are connected end to end, so that the outer contour buses m of the rolling bodies (11) are all positioned on the same enveloping circle O;
the method is characterized in that:
the ratio coefficient of the rolling bodies of the low-cost omnidirectional wheel is 0.035-0.06, the ratio coefficient of the rolling bodies is the ratio of the number of the rolling bodies (11) arranged in the omnidirectional wheel to the diameter of the enveloping circle O, wherein the diameter unit of the enveloping circle O is millimeter.
2. The low cost omni wheel of claim 1 wherein: the included angle alpha between the axes of the adjacent rolling bodies (11) is 24-40 degrees.
3. The low cost omni wheel of claim 1 wherein:
when the diameter of the enveloping circle O is 8 inches, the number of the rolling bodies (11) arranged in the omnidirectional wheel is 9-10;
When the diameter of the enveloping circle O is 9 inches, the number of the rolling bodies (11) arranged in the omnidirectional wheel is 9-12;
when the diameter of the enveloping circle O is 10 inches, the number of the rolling bodies (11) arranged in the omnidirectional wheel is 10-13;
when the diameter of the enveloping circle O is 12 inches, the number of the rolling bodies (11) arranged in the omnidirectional wheel is 11-14;
when the diameter of the enveloping circle O is 13 inches, the number of the rolling bodies (11) arranged in the omnidirectional wheel is 12-15.
4. A low cost omni wheel according to claim 1 or 2 or 3, wherein: the adjacent rolling bodies (11) are embedded into clearance fit from head to tail, and the axes of the rolling bodies (11) are all positioned in the plane where the envelope circle O is positioned; the bus m of the rolling body (11) is an arc line, the outer diameter of the rolling body (11) gradually increases from one end to the other end along the axial direction, the large-diameter end of the rolling body (11) is provided with an accommodating groove (11-1) recessed inwards, and the bearing bracket (12) is provided with a shaft mounting part (12-1) accommodated in the accommodating groove (11-1) of the rolling body (11); the side of the bearing bracket (12) far away from the shaft mounting part (12-1) is also provided with an avoidance groove (12-5) for accommodating the small-diameter end of the adjacent rolling body (11).
5. The low cost omni wheel of claim 4 wherein: the bearing support (12) is an injection molding piece or a die casting piece, a cantilever shaft (14) is integrally connected to a shaft mounting portion (12-1) of the bearing support (12) through an injection molding or die casting process, and a shaft hole portion (11-3) of the rolling body (11) is mounted on the cantilever shaft (14) through a cantilever end.
6. The low cost omni wheel of claim 5 wherein: the rolling body (11) and the cantilever shaft (14) are rotationally matched through a shaft sleeve (15), the rolling body (11) and the cantilever shaft (14) are axially limited through an end face wear-resistant gasket sleeved on the cantilever shaft (14), and an elastic gasket (18) for pressing the end face wear-resistant gasket is further arranged on the cantilever shaft (14).
7. The low cost omni wheel of claim 6 wherein: the shaft sleeve (15) and the rolling body (11) are sleeved on the cantilever shaft (14) from the cantilever end of the cantilever shaft (14) in sequence and are locked and fixed through the axial fastener (13); the end face wear-resistant gasket comprises a first wear-resistant gasket (16) and a second wear-resistant gasket (17), the first wear-resistant gasket (16) and the second wear-resistant gasket (17) are arranged between the axial fastener (13) and one end face of the shaft hole part (11-3), and the elastic gasket (18) is arranged between the first wear-resistant gasket (16) and the second wear-resistant gasket (17).
8. The low cost omni wheel of claim 7 wherein: the elastic gasket (18) is a wave gasket, and the shaft sleeve (15) is a powder metallurgy oil-containing shaft sleeve; the side of the rolling body (11) close to the cantilever end of the cantilever shaft (14) is provided with a countersunk hole (11-4) for accommodating an axial fastener (13).
9. The low cost omni wheel of claim 4 wherein: the bearing support (12) is formed by injection molding of glass fiber reinforced nylon materials or by die casting of aluminum alloy materials, and a plurality of material reduction grooves (12-6) are formed in the bearing support (12) at positions of the shaft mounting parts (12-1).
10. The low cost omni wheel of claim 4 wherein: the rolling body (11) comprises an inner core (11 a) and a tread (11 b), wherein the tread (11 b) is coated on the inner core (11 a), the inner core (11 a) is formed by injection molding of glass fiber reinforced nylon materials, the tread (11 b) is made of elastic wear-resistant materials, and a plurality of annular grooves (11-2) are further formed in the outer wall of the tread (11 b).
11. A low cost omni wheel according to claim 1 or 2 or 3, wherein: the hub assembly (20) comprises a hub mounting sleeve (21) and flange plates (22) arranged at two ends of the hub mounting sleeve (21), one end or two ends of the hub mounting sleeve (21) are sleeved with the flange plates (22) at the corresponding ends by adopting shaft holes to be matched in a sleeved and positioning mode, and the periphery of the flange plates (22) is fixedly connected with a bearing bracket (12) of the corresponding rolling body assembly (10) through a first fastener (23).
12. The low cost omni wheel of claim 11 wherein: after the middle part of the flange plate (22) is axially positioned on the hub mounting sleeve (21), a gap delta H is formed between the periphery of the flange plate (22) and the contact surface of the bearing bracket (12), so that the middle part of the flange plate (22) locked with the bearing bracket (12) through the first fastening piece (23) is slightly arched outwards; or,
The distance H between the two ends of the hub mounting sleeve (21) and the axial positioning surface in the middle of the flange plate (22) 1 The distance H between the positioning contact surfaces of the two sides of the bearing bracket (12) and the periphery of the flange plate (22) 2 And the flange plate (22) is of a planar plate structure, and the middle part of the flange plate (22) locked with the bearing bracket (12) through the first fastening piece (23) is slightly arched outwards.
13. The low cost omni wheel of claim 12 wherein: the end part of the hub mounting sleeve (21) is provided with a positioning ring table (21-1), the inner side of the positioning ring table (21-1) is provided with a ring table positioning surface (21-1 a), the middle part of the flange plate (22) is provided with a central hole (22-2) in clearance fit with the positioning ring table (21-1), and the central hole (22-2) of the flange plate (22) is sleeved on the positioning ring table (21-1) at the corresponding side and axially positions the middle part of the flange plate (22) through the ring table positioning surface (21-1 a);
the periphery of flange board (22) has a plurality of linking arm (22-1) that are circumference radial distribution, the both sides of bearing support (12) are equipped with respectively with above-mentioned linking arm (22-1) matched with constant head tank (12-3), the inboard of constant head tank (12-3) has butt face (12-3 a) with linking arm (22-1) location contact, be equipped with connecting hole (12-4) on butt face (12-3 a) of constant head tank (12-3), be equipped with through-hole (22-1 a) on linking arm (22-1) correspondence, first fastener (23) pass through-hole (22-1 a) and revolve and twist in corresponding connecting hole (12-4) and realize linking arm (22-1) and bearing support (12) are connected, first fastener (23) are self tapping screw.
14. The low cost omni wheel of claim 11 wherein:
when the omni-wheel is used as a driven wheel, a pair of bearings (24) are arranged in the hub mounting sleeve (21), and a spacer bush (25) is adopted for positioning between the two bearings (24);
when the omni-wheel is used as a driving wheel, the center of the hub mounting sleeve (21) is provided with a transmission shaft hole (21-2), and the hub mounting sleeve (21) is connected with a flange plate (22) at the corresponding end through a second fastening piece (26).
15. A mobile tool, characterized by: comprising a low cost omni-wheel according to any of claims 1 to 14.
16. The mobile tool of claim 15, wherein: the moving tool is an electric wheelchair, a small-sized vehicle, a carrying cart or a walking robot.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310636931 | 2023-06-01 | ||
| CN202310636931X | 2023-06-01 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117124769A true CN117124769A (en) | 2023-11-28 |
Family
ID=88853528
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310850942.8A Pending CN117124769A (en) | 2023-06-01 | 2023-07-12 | Low-cost omni-wheel and mobile tool using same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117124769A (en) |
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2023
- 2023-07-12 CN CN202310850942.8A patent/CN117124769A/en active Pending
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Effective date of registration: 20240509 Address after: Floor 4, No. 8 Xingxin Road, Luoxi Town, Xinbei District, Changzhou City, Jiangsu Province, China, 213136 Applicant after: Changzhou Aoxiang Intelligent Technology Co.,Ltd. Country or region after: China Address before: 213022 No.91, Hanjiang West Road, Xinbei District, Changzhou City, Jiangsu Province Applicant before: Weisen (Changzhou) Health Technology Co.,Ltd. Country or region before: China |