CN217396107U

CN217396107U - Omnidirectional wheel and equipment using same

Info

Publication number: CN217396107U
Application number: CN202220619419.5U
Authority: CN
Inventors: 王雷; 陈熙
Original assignee: Ecoflow Technology Ltd
Current assignee: Ecoflow Technology Ltd
Priority date: 2022-03-21
Filing date: 2022-03-21
Publication date: 2022-09-09
Anticipated expiration: 2032-03-21

Abstract

The application relates to the technical field of rollers, and provides an omnidirectional wheel and equipment using the omnidirectional wheel, wherein the omnidirectional wheel comprises a wheel disc, a wheel frame and a plurality of rollers, the wheel frame comprises a plurality of connecting rods, the plurality of connecting rods form an annular structure, and the annular structure is arranged around the periphery of the wheel disc; the plurality of rollers and the plurality of connecting rods are in one-to-one correspondence, through holes are formed in the rollers along the axial direction of the rollers, and the connecting rods are configured to be in clearance fit with the through holes. The omnidirectional wheel of the embodiment of the application does not need to be provided with a bearing, and the roller can rotate by penetrating through the through hole on the connecting rod, so that the cost of devices is effectively saved; and through the simple cooperation of wearing to establish of gyro wheel and connecting rod and need not to consider and place the bearing, realized the promotion of efficiency.

Description

Omnidirectional wheel and equipment using same

Technical Field

The application relates to the technical field of rollers, and particularly provides an omnidirectional wheel and equipment using the same.

Background

An omni wheel is a wheel that can be used to build an omni mobile platform. The omnidirectional wheel has the driven wheels distributed around the wheel hub at a certain angle, so that the omnidirectional moving modes of advancing, traversing, diagonal moving, rotating, combination of the advancing, the traversing, the diagonal moving and the rotating on the plane of the omnidirectional wheel can be realized.

In the prior art, the bearing is arranged on the periphery of the hub of the omnidirectional wheel, and the driven wheel is matched with the bearing to realize rotation, so that the rotation flexibility of the driven wheel can be improved, but the assembly process of the omnidirectional wheel is complicated, and the manufacturing cost is high.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application aims to provide an omnidirectional wheel and equipment using the same, which can effectively shorten the assembly time, improve the assembly efficiency and save the manufacturing cost.

In order to achieve the above purpose, the embodiment of the present application adopts the following technical solutions:

in a first aspect, an embodiment of the present application provides an omnidirectional wheel, including a wheel disc, a wheel frame, and a plurality of rollers, where the wheel frame includes a plurality of links, and the plurality of links form an annular structure, and the annular structure is configured to be disposed around an outer periphery of the wheel disc; the plurality of rollers and the plurality of connecting rods are in one-to-one correspondence, through holes are formed in the rollers along the axial direction of the rollers, and the connecting rods are configured to be in clearance fit with the corresponding through holes.

The beneficial effects of the embodiment of the application are as follows: according to the omnidirectional wheel provided by the embodiment of the application, the wheel frame is arranged on the wheel disc, the plurality of connecting rods of the wheel frame form the annular structure, the annular structure is arranged to surround the periphery of the wheel disc, and the roller is arranged on the corresponding connecting rod in a penetrating manner through the through hole to form the omnidirectional wheel; compared with the existing omnidirectional wheel, the omnidirectional wheel provided by the embodiment of the application does not need to be provided with a bearing, and the roller can rotate by penetrating the connecting rod through the through hole, so that the device cost is effectively saved; and through the simple through-arrangement cooperation of gyro wheel and connecting rod and need not to consider and place the bearing, realized the promotion of efficiency.

The method is simple to operate, complex operation on multiple groups of bearings is omitted, the assembly efficiency is effectively improved, and the assembly time is further saved.

In one embodiment, the wheel disc comprises a main disc body and a plurality of connecting pieces, wherein the connecting pieces are fixed on the outer peripheral wall of the main disc body, and the connecting pieces are used for being matched with the corresponding connecting rods in a penetrating mode.

Through adopting foretell technical scheme, rotate through the main disk body, come simultaneously through setting up a plurality of connecting pieces on the periphery wall of main disk body and wear to establish the cooperation with its connecting rod that corresponds to make the connecting rod form ring structure and surround in the week side setting of main disk body, wear to establish the gyro wheel and can form the omniwheel on the connecting rod that corresponds, assemble simple more convenient.

In one embodiment, the plurality of connecting rods comprise a plurality of first rod pieces and a plurality of second rod pieces, and the plurality of first rod pieces and the plurality of connecting pieces are in one-to-one correspondence and are arranged and matched in a penetrating way; the wheel carrier further comprises a plurality of coupling parts, and two opposite ends of each second rod piece are respectively connected with two adjacent first rod pieces through the coupling parts.

By adopting the technical scheme, the first rod pieces in the plurality of connecting rods are respectively penetrated through the corresponding connecting pieces, and the two opposite ends of each second rod piece are respectively connected with the two adjacent first connecting rods through the coupling pieces, so that the first rod pieces and the second rod pieces are sequentially arranged to form an annular structure, and the connecting stability between the connecting rods and the main disc body is effectively improved.

In one embodiment, the plurality of rollers includes a plurality of first rollers and a plurality of second rollers, and the plurality of first rollers and the plurality of first levers correspond to each other one by one; the first wheel body comprises two sub wheel bodies which are respectively matched with the two ends of the corresponding first rod piece, which are exposed out of the connecting piece in a penetrating way; the second wheel bodies and the second rod pieces are in one-to-one correspondence and are in penetrating fit.

By adopting the technical scheme, the first wheel body and the first rod piece are correspondingly assembled, and the second wheel body and the second rod piece are correspondingly assembled; the two sub-wheel bodies of the first wheel body can be exposed out of two ends of the connecting piece for penetrating and matching when the first rod piece penetrates through the connecting piece, so that the sub-wheel bodies can be installed to avoid the connecting piece; the second wheel body can be directly matched with the second rod piece in a penetrating way.

In one embodiment, the second wheel body is formed with cavities on opposite sides thereof for clearance of adjacent sub-wheels.

By adopting the technical scheme, the concave cavities formed on the two opposite sides of the second wheel body are utilized, and when the second wheel body is assembled on the second rod piece and the sub-wheel body is assembled on the first rod body, the sub-wheel body can rotate in the concave cavities, so that the sub-wheel body is effectively prevented from interfering with the second tire.

In one embodiment, a limiting block is formed at one end of the connecting piece, the main tray body comprises a first tray body and a second tray body, a plurality of first mounting grooves are formed in one side, facing the second tray body, of the first tray body, and a plurality of second mounting grooves corresponding to the first mounting grooves are formed in the second tray body; the first tray body and the second tray body are buckled to form a main tray body, and the first mounting groove and the corresponding second mounting groove are surrounded to form a clamping position for the limiting stopper.

Through adopting foretell technical scheme, utilize first disk body and second disk body looks lock installation to form main disk body and screens, come spacing installation stopper through the screens to make the connecting piece be fixed in on the peripheral lateral wall of main disk body.

In one embodiment, one side of the first tray body facing the second tray body is provided with a plurality of first weight-reducing grooves, and reinforcing ribs for supporting the side walls of the first mounting grooves are formed on the groove walls between the adjacent first weight-reducing grooves; one side of the second tray body facing the first tray body is provided with a second weight-reducing groove corresponding to the first weight-reducing groove.

By adopting the technical scheme, the weight reducing grooves are formed in the first disc body to reduce the overall weight of the omnidirectional wheel, and meanwhile, reinforcing ribs can be formed on the groove walls between the first weight reducing grooves to support the side walls of the first mounting groove; the second weight reducing grooves formed in the second disc body have a weight reducing effect, and the positions of the second weight reducing grooves correspond to the first weight reducing grooves, so that the groove walls between the adjacent second weight reducing grooves can also reinforce the side walls of the second mounting groove, namely the first weight reducing grooves and the second weight reducing grooves have the weight reducing and structure reinforcing effects.

In one embodiment, a plurality of connecting convex parts are formed on the outer peripheral wall of the main tray body, the connecting piece is provided with a clamping part, a connecting groove matched with the connecting convex part in a clamping mode is formed in the clamping part, and the connecting convex part is used for being clamped in the connecting groove.

Through adopting foretell technical scheme, through forming a plurality of connection convex parts on the periphery wall at the main disk body, pass through the joint groove with a plurality of connecting pieces respectively with the cooperation of the connection convex part joint that corresponds to the realization is fixed in the purpose of the periphery wall of main disk body with the connecting piece.

In one embodiment, the wheel disc further comprises a protective cover disposed on a side of the first disc facing away from the second disc.

Through adopting foretell technical scheme, establish the side of protection first disk body through the one side lid at first disk body dorsad second disk body.

In a second aspect, embodiments of the present application further provide an apparatus using an omni-wheel, which includes at least an omni-wheel as described above.

The beneficial effects of the embodiment of the application are as follows: the equipment using the omnidirectional wheel provided by the embodiment of the application comprises the omnidirectional wheel, and the assembly efficiency of the omnidirectional wheel is higher, so that the assembly efficiency of the equipment using the omnidirectional wheel is also improved, and the assembly time and labor cost are saved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic overall structure diagram of an omni wheel provided in an embodiment of the present application;

figure 2 is a cross-sectional view of an omni wheel provided in an embodiment of the present application;

FIG. 3 is an enlarged view of a portion of FIG. 2;

fig. 4 is a schematic view of an internal mounting structure of an omni wheel according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a wheel disc and a wheel carrier provided in an embodiment of the present application;

fig. 6 is an exploded view of an omni wheel provided in an embodiment of the present application;

fig. 7 is a schematic structural diagram of another main tray body and a connecting member according to an embodiment of the present disclosure.

Wherein, in the figures, the various reference numbers:

10-wheel disc 11-main disc body 12-connecting piece

13-protective cover 20-wheel carrier 21-connecting rod

22-coupling 30-roller 31-first wheel body

32-second wheel body 100-omni wheel 101-rotation center

111-first tray 112-second tray 113-connecting projection

121-a limiting block 122-a clamping part 211-a first rod piece

212-second rod 301-through hole 311-sub wheel body

321-concave cavity 1111-first mounting groove 1112-first lightening groove

1113-a reinforcing rib 1121-a second mounting groove 1221-a connecting groove.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1 to 7 are exemplary and intended to be used for explaining the present application, and should not be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is for convenience and simplicity of description, and does not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, is not to be considered as limiting.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

An omni wheel is a wheel that can be used to build an omni mobile platform. In the prior art, the bearing is arranged on the periphery of the hub of the omnidirectional wheel, and the driven wheel is matched with the bearing to realize rotation, so that the rotation flexibility of the driven wheel can be improved, but the assembly process of the omnidirectional wheel is complicated, and the manufacturing cost is high.

Therefore, the embodiment of the application provides an omnidirectional wheel and equipment using the omnidirectional wheel, a plurality of connecting rods are utilized to form an annular structure to surround the periphery of the wheel disc to form the wheel carrier, and the roller is correspondingly installed on the wheel carrier, so that complex operation on a plurality of groups of bearings is omitted, the assembly efficiency is effectively improved, and the assembly time is further saved.

In this embodiment, the device using the omni-directional wheel may be a mower, a sweeping robot, an AGV (Automated Guided Vehicle) cart, or an outdoor carrying device (such as an outdoor power supply). In a specific embodiment, when the omni-directional wheel is applied to a mower, the mower can move in all directions by using the omni-directional wheel, and when encountering an obstacle, the mower can conveniently bypass the obstacle through the omni-directional wheel, so that the passing performance of the mower for the obstacle is effectively improved.

Specifically, in a first aspect, the present embodiment provides an omnidirectional wheel 100, which includes a wheel disc 10, a wheel frame 20 and a plurality of rollers 30, wherein the wheel frame 20 includes a plurality of links 21, and the plurality of links 21 form an annular structure, and the annular structure is configured to be disposed around an outer periphery of the wheel disc 10. The rollers 30 correspond to the connecting rods 21 one by one, the rollers 30 are provided with through holes 301 along the axial direction, the connecting rods 21 are configured to be in clearance fit with the corresponding through holes 301, so that when the connecting rods 21 are in penetrating fit with the through holes 301, the rollers 30 can freely rotate around the connecting rods 21, and the rotation flexibility of the rollers 30 is effectively improved.

The rotation center 101 of the wheel disc 10 is used for an output shaft of an external device to be fixed in a penetrating manner, and the output shaft is used for driving the wheel disc 10 to rotate. The wheel frame 20 is a ring structure formed by a plurality of links 21, the ring structure is configured to be arranged around the outer periphery of the wheel disc 10, and the links 21 are respectively provided with the rollers 30, so that the plurality of rollers 30 are arranged around the outer periphery of the wheel disc 10 to drive the wheel disc 10 to rotate. It is understood that the outer periphery of the wheel disc 10 described above refers to the outer end of one revolution of the wheel disc 10 in the radial direction, and the roller 30 will rotate around the wheel disc 10 in the circumferential direction when the wheel disc 10 rotates. Meanwhile, as the roller 30 is provided with the through hole 301 in the axial direction, and the connecting rod 21 penetrates through the through hole 301 and is in clearance fit with the through hole, the roller 30 can rotate around the corresponding connecting rod 21, that is, the omnidirectional wheel 100 can rotate around the axial direction of the wheel disc 10 to move, and can also move in the axial direction parallel to the wheel disc 10 according to the rotation of the roller 30, so that the omnidirectional wheel 100 has the capability of moving towards multiple directions.

The omni wheel 100 provided in the embodiments of the present application is further described below: according to the omnidirectional wheel 100 provided by the embodiment of the application, the wheel frame 20 is arranged on the wheel disc 10, the plurality of connecting rods 21 of the wheel frame 20 form an annular structure, the annular structure is arranged to surround the periphery of the wheel disc 10, and the roller 30 is arranged on the corresponding connecting rod 21 through the through hole 301 to form the omnidirectional wheel 100; compared with the existing omnidirectional wheel 100, the omnidirectional wheel 100 of the embodiment of the present application does not need to be provided with a bearing, and the roller 30 can rotate by penetrating through the through hole 301 on the connecting rod 21, thereby effectively saving the device cost; and the efficiency is improved by simply penetrating and matching the roller 30 and the connecting rod 21 without considering the placement of a bearing.

Referring to fig. 1 to 4, in an embodiment, the wheel disc 10 includes a main disc 11 and a plurality of connectors 12, the plurality of connectors 12 are fixed on an outer peripheral wall of the main disc 11, and the connectors 12 are used for being inserted and matched with corresponding connecting rods 21. The wheel frame 20 is connected to the main disc 11 by inserting the connecting rod 21 into the connecting member 12 fixed to the main disc 11. The connecting members 12 may be provided in plural, for example, each connecting rod 21 corresponds to at least one connecting member 12, or the number of the connecting members 12 is less than the number of the connecting rods 21, that is, a part of the connecting rods 21 and the corresponding connecting members 12 are configured in a penetrating manner, and the specific matching condition between the connecting members 12 and the connecting rods 21 may be selected according to actual requirements.

Specifically, the connecting member 12 may be a bracket structure, and the connecting rod 21 is inserted into the connecting member 12 of the bracket structure to achieve assembly, so that the bracket structure has a smaller weight, and the overall weight of the omni wheel 100 is also reduced; or, the connecting member 12 may be a plate structure, and a through hole is formed in the connecting member 12 of the plate structure, so that the connecting rod 21 is inserted and matched to realize assembly; the connection of the connecting rod 21 to the main disc 11 is achieved by the connecting member 12 in a plate structure, and the structural strength of the connecting member 12 is higher, so that the omni wheel 100 is more stable. The connector 12 may be fixed to the main tray 11 by a snap fit or an integral molding.

Referring to fig. 4 to 6, in an embodiment, the plurality of connecting rods 21 include a plurality of first rod members 211 and a plurality of second rod members 212, and the plurality of first rod members 211 and the plurality of connecting members 12 are in one-to-one correspondence and are disposed through and matched with each other; the wheel carrier 20 further includes a plurality of coupling members 22, and opposite ends of each of the second bars 212 are respectively connected to two adjacent first bars 211 through the coupling members 22. The first rod members 211 of the plurality of connecting rods 21 are respectively inserted into the corresponding connecting members 12, and the opposite ends of each second rod member 212 are respectively connected with the two adjacent first connecting rods 21 through the coupling members 22, so that the first rod members 211 and the second rod members 212 are sequentially arranged to form an annular structure, and the connection stability between the connecting rods 21 and the main disc 11 is effectively improved. In this embodiment, four connecting members 12 are uniformly distributed on the outer circumferential wall of the main disc 11, so that the number of the first rods 211 is four, and the number of the second rods 212 is also four; during assembly, the four first rod members 211 are respectively arranged on the corresponding connecting members 12 in a penetrating manner, then the coupling members 22 are respectively arranged at two opposite ends of each first rod member 211, and the second rod members 212 are connected with the first rod members 211 through the coupling members 22, so that the first rod members 211 and the second rod members 212 are distributed at intervals and form an annular structure in a surrounding manner.

Referring to fig. 1, 5 and 6, in one embodiment, the rollers 30 include a plurality of first rollers 31 and a plurality of second rollers 32, and the plurality of first rollers 31 correspond to the plurality of first rods 211 one by one; the first wheel body 31 comprises two sub wheel bodies 311, and the two sub wheel bodies 311 are respectively in penetrating fit with the two ends of the corresponding first rod piece 211 exposed out of the connecting piece 12; the plurality of second wheel bodies 32 and the plurality of second rod members 212 are correspondingly arranged one by one and are penetrated and matched. When the first rod 211 is matched with the corresponding connecting piece 12 in a penetrating manner, the roller 30 cannot be directly installed on the first rod 211, and therefore two sub-wheel bodies 311 need to be respectively matched at two ends exposed out of the connecting piece 12 in a penetrating manner, installation at positions avoiding the connecting piece 12 is achieved, and meanwhile, the roller 30 is guaranteed to be installed on the first rod 211 and the second rod 212, so that the rollers 30 distributed on the periphery of the omnidirectional wheel 100 are more dense, and the smoothness of the omnidirectional wheel 100 during moving around the shaft is higher. The opposite ends of the second link 212 are connected to the adjacent two first links 211 through the coupling members 22, respectively, so that the second link 212 can be directly fitted to the second wheel body 32.

Referring to fig. 4 and 5, in one embodiment, the second wheel 32 is formed with cavities 321 on opposite sides thereof for clearance of adjacent sub-wheels 311. By using the concave cavities 321 formed on the two opposite sides of the second wheel body 32, when the second wheel body 32 is assembled on the second rod 212 and the sub-wheel body 311 is assembled on the first rod, the sub-wheel body 311 can rotate in the concave cavity 321, and the second wheel body 32 does not interfere with the sub-wheel body 311 when rotating, thereby effectively avoiding the interference between the sub-wheel body 311 and the second wheel body 32.

Referring to fig. 6, in an embodiment, a limiting block 121 is formed at one end of the connecting member 12, the main tray 11 includes a first tray 111 and a second tray 112, a plurality of first mounting slots 1111 are formed on one side of the first tray 111 facing the second tray 112, and a plurality of second mounting slots 1121 corresponding to the first mounting slots 1111 are formed on the second tray 112; the first tray body 111 and the second tray body 112 are fastened to form the main tray body 11, and the first mounting groove 1111 and the corresponding second mounting groove 1121 surround to form a position-limiting stopper 121. During assembly, the limiting block 121 of the connecting element 12 can be firstly placed in the first mounting groove 1111 or the second mounting groove 1121, and then the first tray body 111 is buckled and assembled, so that the first mounting groove 1111 and the second mounting groove 1121 are enclosed to form a clamping position and the limiting block 121 is clamped into the clamping position, and the connecting element 12 can be fixed on the main tray body 11. After the first tray body 111 and the second tray body 112 are fastened, bolts can be used for mounting to prevent the first tray body 111 and the second tray body 112 from loosening.

Referring to fig. 3 and 6, in an embodiment, a plurality of first weight-reducing grooves 1112 are formed in a side of the first tray body 111 facing the second tray body 112, and a reinforcing rib 1113 for supporting a side wall of the first mounting groove 1111 is formed on a groove wall between adjacent first weight-reducing grooves 1112; the second disk 112 has a second lightening groove corresponding to the first lightening groove 1112 on a side facing the first disk 111. The weight of the main tray body 11 is reduced by forming the first lightening groove 1112 in the first tray body 111 and forming the second lightening groove in the second tray body 112; meanwhile, reinforcing ribs 1113 can be further formed on the groove walls between the first weight-reducing grooves 1112 to support the side walls of the first mounting groove 1111, and the positions of the second weight-reducing grooves correspond to the positions of the second weight-reducing grooves, so that the groove walls between the adjacent second weight-reducing grooves can also reinforce the side walls of the second mounting groove 1121, that is, when the first weight-reducing grooves 1112 and the second weight-reducing grooves play a weight-reducing effect, the groove walls between the adjacent first weight-reducing grooves 1112 and the groove walls between the adjacent second weight-reducing grooves can play a reinforcing effect, so as to ensure the stability of the overall structure of the main tray body 11.

Referring to fig. 7, in an embodiment, a plurality of connecting protrusions 113 are formed on the outer peripheral wall of the main tray 11, the connecting member 12 has a clamping portion 122, the clamping portion 122 is formed with a connecting groove 1221 clamped and matched with the connecting protrusions 113, and the connecting protrusions 113 are used for being clamped in the connecting groove 1221. Through forming a plurality of connection convex parts 113 on the periphery wall of main disk body 11, pass through the joint groove with a plurality of connecting pieces 12 respectively with the cooperation of the joint of corresponding connection convex part 113 to the realization is fixed in the purpose of the periphery wall of main disk body 11 with connecting pieces 12. It can be understood that the main plate body 11 can be formed by two axially symmetric sub-plate bodies which are fastened together, local protrusions are formed on the two sub-plate bodies, when the two sub-plate bodies are fastened together to form the main plate body 11, the two local protrusions are combined to form the connecting convex portion 113, and then the clamping grooves formed in the clamping portion 122 of the connecting member 12 are inserted toward the connecting convex portion 113.

Referring to fig. 1 and 6, in one embodiment, the wheel disc 10 further includes a protection cover 13, and the protection cover 13 is disposed on a side of the first disc 111 facing away from the second disc 112. After the first tray 111 and the second tray 112 are fastened together, the first tray 111 and the second tray 112 can be fastened together by bolts, and the protective cover 13 is covered on the side end of the first tray 111 to cover the operation end of the bolts, so as to prevent the bolts from being touched by mistake and causing the first tray 111 and the second tray 112 to be loosened.

Referring to fig. 1, in a second aspect, an embodiment of the present application further provides an apparatus using an omni wheel 100, where the apparatus using the omni wheel 100 at least includes the omni wheel 100 as described above. The device using the omni wheel 100 provided by the embodiment of the application includes the omni wheel 100, and the assembly efficiency of the omni wheel 100 is higher, so that the assembly efficiency of the device using the omni wheel 100 is also improved, and the assembly time and labor cost are saved.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims

1. An omni wheel, comprising:

a wheel disc;

a wheel carrier including a plurality of links constituting an annular structure configured to be disposed around an outer periphery of the wheel disc;

the connecting rods are arranged in a clearance fit with the corresponding through holes.

2. An omni wheel according to claim 1, wherein: the rim plate includes main disk body and a plurality of connecting piece, and is a plurality of the connecting piece is fixed in the periphery wall of main disk body, the connecting piece be used for with it corresponds the connecting rod wears to establish the cooperation.

3. An omni wheel according to claim 2, wherein: the connecting rods comprise a plurality of first rod pieces and a plurality of second rod pieces, and the first rod pieces and the connecting pieces are in one-to-one correspondence and are in penetrating fit; the wheel carrier further comprises a plurality of coupling parts, and two opposite ends of each second rod piece are respectively connected with two adjacent first rod pieces through the coupling parts.

4. An omni wheel according to claim 3, wherein the plurality of rollers comprises:

the first wheel bodies correspond to the first rod pieces one by one, each first wheel body comprises two sub wheel bodies, and the two sub wheel bodies are respectively in penetrating fit with the two ends, exposed out of the connecting piece, of the corresponding first rod pieces;

the plurality of second wheel bodies and the plurality of second rod pieces are in one-to-one correspondence and penetrate through and are matched.

5. An omni wheel according to claim 4, wherein: and concave cavities for avoiding the adjacent sub-wheel bodies are formed on the two opposite sides of the second wheel body.

6. An omni wheel according to claim 2, wherein: a limiting block is formed at one end of the connecting piece, the main tray body comprises a first tray body and a second tray body, a plurality of first mounting grooves are formed in one side, facing the second tray body, of the first tray body, and a plurality of second mounting grooves corresponding to the first mounting grooves in position are formed in the second tray body; the first tray body and the second tray body are buckled to form the main tray body, and the first mounting grooves and the corresponding second mounting grooves are enclosed to form clamping positions for limiting the limiting blocks.

7. The omni wheel of claim 6, wherein: a plurality of first weight-reducing grooves are formed in one side, facing the second disc body, of the first disc body, and reinforcing ribs for supporting the side walls of the first mounting grooves are formed in the groove walls between the adjacent first weight-reducing grooves; and a second weight-reducing groove corresponding to the first weight-reducing groove is formed in one side of the second tray body facing the first tray body.

8. An omni wheel according to claim 2, wherein: be formed with a plurality of connection convex parts on the periphery wall of main disk body, the connecting piece has joint portion, seted up in the joint portion with connect convex part joint complex spread groove, it is used for the card to locate to connect the convex part in the spread groove.

9. The omni wheel of claim 6, wherein: the wheel disc further comprises a protective cover, and the protective cover is arranged on one side, back to the second disc body, of the first disc body.

10. An apparatus for using an omni wheel, comprising: the apparatus using omni-wheels comprises at least an omni-wheel according to any one of claims 1 to 9.