WO2019019362A1 - Vehicle and omnidirectional wheel thereof - Google Patents

Abstract

A vehicle and an omnidirectional wheel thereof. The omnidirectional wheel comprises a rotating component (1) capable of rotating around a vehicle axle and multiple rollers (2) mounted on the rotating component (1). The rollers (2) can rotate freely around the central axis of selves and the central axes of the rollers (2) are provided in a plane orthogonal to the vehicle axle. The central axes of the rollers (2) intersect the radial direction of the rotating component (1) and form acute angles. The rollers (2) are correspondingly provided with a large diameter extremity (21) and a small diameter extremity (22), the diameter of the rollers (2) gradually decreases from the large diameter extremity (21) to the small diameter extremity (22), and the rollers (2) are correspondingly provided at the large diameter extremity (21) with a recess (211). With adjacent two of the rollers (2) being marked respectively as a first roller (2a) and a second roller (2b), a part of the small diameter extremity (22) of the first roller (2a) extends into the recess (211) of the large diameter extremity (21) of the second roller (2b), thus the outer contours of the rollers (2) are provided on a same circumference with the vehicle axle as the center. The omnidirectional wheel is capable of implementing omnidirectional movements of the vehicle and facilitates flexible movements of the vehicle.

Description

Vehicle and its omnidirectional wheel Technical field

The invention relates to a wheel of a vehicle, in particular to a vehicle and an omnidirectional wheel thereof.

Background technique

Various types of vehicles (including wheelchairs, etc.) are usually equipped with wheels, which are a circular activating member of the vehicle that is coupled with the axle to allow the thrust to roll forward on a predetermined route. Current wheels usually only travel in the straight direction of the vehicle, which makes the movement of the vehicle in other directions more inconvenient, so it is necessary to design a newer wheel to achieve flexible movement of the vehicle.

Summary of the invention

In order to solve the above technical problem, the present invention provides an omnidirectional wheel capable of realizing omnidirectional movement of a vehicle and facilitating flexible movement of the vehicle.

Based on this, the present invention provides an omnidirectional wheel comprising a rotating member rotatable about an axle and a plurality of rollers mounted on the rotating member, the roller being freely rotatable about a central axis thereof, and each of the rollers The central axes are each disposed in a plane orthogonal to the axle, the central axis of the roller intersecting the radial direction of the rotating member and forming an acute angle, the roller having a large diameter end and a small diameter end, and The diameter of the roller gradually decreases along the large diameter end to the small diameter end, and the large diameter end of the roller is provided with a concave portion, and the two adjacent rollers are respectively recorded as the first roller and the second roller. A portion of the small diameter end of the first roller extends into the recess of the large diameter end of the second roller such that the outer contours of the rollers are disposed on the same circumference centered on the axle.

Optionally, the curvature of the outer contour of the roller coincides with the curvature of a circle centered on the axle.

Optionally, a central axis of the second roller is tangent to an outer circumference of the first roller small diameter end.

Optionally, the small-diameter end of the roller includes an inner corner portion and an outer corner portion, and the inner corner portion of the small-diameter end of the first roller protrudes into the concave portion of the large-diameter end of the second roller, and the outer corner portion of the small-diameter end of the first roller is There is a gap between the large diameter ends of the second roller.

Optionally, the outer surface of the roller is provided with at least two annular ribs arranged in parallel, and a space is formed between two adjacent annular ridges.

Optionally, the distance corresponding to the gap and the distance corresponding to the spacing are equal to the top width of the annular ridge.

Optionally, the rotating member includes a hub, an elastic damper member, and a plurality of supporting members, each of the supporting members is uniformly disposed around a circumference of the hub, and each of the rollers is respectively mounted on a corresponding supporting member; The support member includes a support base having an outer circumferential surface, and the elastic shock absorbing member is interposed between a support base of the support member and an outer circumferential surface of the hub.

Optionally, the support base comprises a support substrate and a connection hole seat, and the connection hole seat protrudes from a bottom surface of the support substrate, the elastic damping member has an outer annular surface and an inner annular surface, A concave groove is formed on the outer ring surface, and the connecting hole seat is engaged in the concave groove, and the inner ring surface is in close contact with the outer circumferential surface of the hub.

Optionally, the support member includes a support bar that intersects with a radial direction of the hub and forms an acute angle, the roller is mounted at an end of the support bar, and a central axis of the roller is The support strips are perpendicular.

Optionally, the roller comprises a first wheel portion and a second wheel portion, and the first wheel portion and the second wheel portion are respectively mounted on two sides of the support bar.

Optionally, a gap is formed between the first wheel portion and the second wheel portion, and a width of the notch is equal to a distance corresponding to the gap.

Optionally, the rotating member includes a first lateral restricting member and a second lateral restricting member, the supporting member being sandwiched between the first lateral restricting member and the second lateral restricting member The support member includes a connection hole seat, and each of the support members is fixedly coupled to the first lateral restriction member and the second lateral restriction member by a connection hole seat thereof.

Optionally, an intermediate restriction member is disposed at an intermediate position of the hub, and the elastic damping member is configured as two, and the two elastic damping members are respectively recorded as a first elastic damping member and a second elastic damping device. a member, the first elastic damper member is interposed between the intermediate restricting member and the first lateral restricting member, and the second elastic damper member is interposed between the intermediate restricting member and the first Two laterally restricting members.

Optionally, the elastic damper member is an elastic ring body, and the elastic ring body is provided with a damper hole, and the damper hole is provided with an elastic support rib.

The invention also provides a vehicle comprising the omnidirectional wheel described above.

Embodiments of the present invention have the following beneficial effects:

The omnidirectional wheel of the present invention includes a rotating member and a plurality of rollers mounted on the rotating member, a central axis of the roller intersecting with a radial direction of the rotating member and forming an acute angle, the diameter of the roller being along a portion of the small diameter end of the first roller extends into the recess of the large diameter end of the second roller, so that the outer contour of each roller can be disposed around the axle On the same circumference, the omnidirectional wheel can, on the one hand, enable the vehicle to travel in its straight-forward direction, and on the other hand, by the action of the roller, the vehicle can also be moved in a direction orthogonal to the straight-forward direction. In addition, the omnidirectional movement of the vehicle can be realized, and the vehicle movement is more flexible. The structural design of the omnidirectional wheel is novel and ingenious, and the structures of the respective rollers are uniform, which is advantageous for reducing the manufacturing cost.

Further, the omnidirectional wheel of the present invention is further provided with an elastic damper member capable of suppressing transmission of vibration from the ground or the like to the axle, which is advantageous for improving ride comfort. Further, the structure of the support member of the present invention is also uniform, and it is possible to further reduce the manufacturing cost.

Since the vehicle of the present invention is equipped with the above omnidirectional wheel, it can realize all-round flexible movement, and can also be reduced in manufacturing. this.

DRAWINGS

1 is a schematic view showing the overall structure of an omnidirectional wheel according to an embodiment of the present invention.

2 is an assembled structural view of the omnidirectional wheel after the first lateral restricting member is removed, according to an embodiment of the present invention.

3 is a schematic exploded view of an omnidirectional wheel according to an embodiment of the present invention.

4 is a first cross-sectional view of the omnidirectional wheel according to the embodiment of the present invention.

Figure 5 is a second cross-sectional view of the omnidirectional wheel in accordance with an embodiment of the present invention.

Fig. 6 is a view showing the assembly structure between the support member of the omnidirectional wheel, the center support shaft, and the rolling bearing according to the embodiment of the present invention.

Figure 7 is a cross-sectional view showing the assembly of the roller and the mount according to the embodiment of the present invention.

FIG. 8 is a schematic structural view of an elastic shock absorbing member according to an embodiment of the present invention.

Figure 9 is a schematic view showing the structure of an omnidirectional wheel equipped with another elastic shock absorbing member in the embodiment of the present invention.

Figure 10 is a schematic view showing the structure of the elastic damper member of the omnidirectional wheel shown in Figure 9.

Figure 11 is a schematic view showing the structure of the supporting member of the omnidirectional wheel shown in Figure 9.

Figure 12 is a schematic view showing the overall structure of an omnidirectional wheel equipped with an elastic shock absorbing member according to an embodiment of the present invention.

Figure 13 is a schematic view showing the assembled structure of the omnidirectional wheel shown in Figure 12 after the first lateral restricting member is removed.

Figure 14 is a schematic view showing the structure of an elastic shock absorbing member according to an embodiment of the present invention.

Figure 15 is a schematic illustration of a variation of the omnidirectional wheel in accordance with an embodiment of the present invention.

Figure 16 is a cross-sectional view of the omnidirectional wheel shown in Figure 15 .

Figure 17 is an assembled structural view of the support member, the center support shaft, and the rolling bearing of the omnidirectional wheel shown in Figure 15;

Figure 18 is a cross-sectional view of an omnidirectional wheel of an unassembled elastic shock absorbing member according to an embodiment of the present invention.

Figure 19 is an exploded perspective view of the omnidirectional wheel shown in Figure 18.

Fig. 20 is a view showing the overall structure of an omnidirectional wheel which is fixed by a chain according to an embodiment of the present invention.

Figure 21 is an exploded perspective view of the omnidirectional wheel shown in Figure 20.

Description of the reference signs:

1. Rotating member, 11, hub, 111, outer circumferential surface, 112, intermediate restricting member, 113, annular member, 12, elastic shock absorbing member, 121, shock absorbing hole, 122, elastic supporting rib, 123, concave groove , 124, elastic ring body, 1201, first elastic shock absorbing member, 1202, second elastic shock absorbing member, 12a, elastic shock absorbing member, 125, sleeve, 126, shock absorbing spoke, 1261, first strip Part, 1262, second strip, 127, ring sleeve, 1271, card slot, 13, support member, 131, curved surface, 132, support strip, 133, mount, 1331, mounting recess, 134, rolling bearing , 1341, inner ring, 1342, outer ring, 135, central support shaft, 1351, ring Projection portion 136, support base, 1361, support substrate, 1362, connection hole holder, 13a, first support member, 13b, second support member 14, first lateral restriction member, 15, second lateral restriction Member, 2, roller, 21, large diameter end, 211, recess, 22, small diameter end, 221, inner corner, 222, outer corner, 23, annular relief, 201, first wheel, 202, second wheel , 203, groove, 2a, first roller, 2b, second roller, 2c, large diameter roller, 2d, small diameter roller, 3, annular rolling member, 31, center roller, 32, roller bearing, 4, long bolt, 5, chain, 51, chain plate, 52, chain link components, 501, sealing rubber ring, 502, sliding friction ring.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

1 to 5, the embodiment provides an omnidirectional wheel that can be mounted on a vehicle such as a wheelchair, and includes a rotating member 1 rotatable about an axle and a plurality of mounted on the rotating member 1 The roller 2, the roller 2 is freely rotatable about its own central axis, and the central axes of the rollers 2 are all disposed in a plane orthogonal to the axle, and the central axis of the roller 2 intersects with the radial direction of the rotating member 1 and forms an acute angle. The roller 2 has a large diameter end 21 and a small diameter end 22, and the diameter of the roller 2 gradually decreases along the large diameter end 21 to the small diameter end 22 to form the roller 2 into a substantially truncated cone shape, and the large diameter end 21 of the roller 2 is provided. In the recess 211, two adjacent rollers 2 are respectively referred to as a first roller 2a and a second roller 2b, and a part of the small diameter end 22 of the first roller 2a protrudes into the concave portion 211 of the large diameter end 21 of the second roller 2b, so that each The outer contours of the rollers 2 are all arranged on the same circumference centered on the axle.

Based on the above structure, when a thrust or a driving force is applied to the vehicle on which the omnidirectional wheel is mounted, the omnidirectional wheel can make the vehicle travel in the straight forward direction on the one hand, and can also cause the vehicle along the other side by the action of the above roller 2 Moving in a direction orthogonal to the straight direction, thereby enabling omnidirectional movement of the vehicle, making the vehicle movement more flexible, the structural design of the omnidirectional wheel is novel and ingenious, and the structure of each roller 2 can be uniform, Conducive to reducing manufacturing costs.

The small-diameter end 22 of the roller 2 includes an inner corner portion 221 and an outer corner portion 222. The inner corner portion 221 of the small-diameter end 22 of the first roller 2a extends into the recess 211 of the large-diameter end 21 of the second roller 2b. The first roller 2a There is a gap between the outer corner portion 222 of the small diameter end 22 and the large diameter end 21 of the second roller 2b, and the curvature of the outer contour of each roller 2 coincides with the curvature of a circle centered on the axle, thereby It is advantageous to realize that the outer contours of the rollers 2 are arranged on the same circumference centered on the axle, thereby facilitating the all-round flexible movement of the omnidirectional wheel. In addition, the outer surface of the roller 2 can be provided with at least two annular ribs 23 arranged in parallel, and the spacing between the two adjacent annular ridges 23 is beneficial to improve the friction between the roller 2 and the ground. To avoid slipping on the wheels. It should be noted that in the present embodiment, the "outer contour" of the roller 2 specifically refers to the outer contour of the roller 2 in a stationary state, and similarly, the "inner corner portion" of the small diameter end 22 of the roller 2 specifically refers to The small diameter end 22 of the roller 2 in the stationary state is located at the inner corner, and the "outer corner" of the large diameter end 22 of the roller 2 specifically refers to the corner where the small diameter end 22 of the roller 2 is located at the outer side in the stationary state.

In the present embodiment, the rotating member 1 includes a hub 11, an elastic damper member 12, and a support body. The support body is disposed around a circumference centered on the axle, and the rollers 2 are respectively mounted on the support body, and the elastic damper members 12 are disposed. Between the hub 11 and the support body, the mounting of the respective rollers 2 can be achieved, and the vibration from the ground or the like can be buffered by the action of the elastic damper member 12, and the ride comfort can be improved. Specifically, the support body includes twelve support members 13, and correspondingly, the number of the rollers 2 is also set to twelve, and the support members 13 are evenly arranged around the circumference of the hub 11, and the rollers 2 are respectively mounted on the corresponding support members 13 on. 2, 6 and 8, the support member 13 includes a support base 136 having an outer circumferential surface 111, and the elastic shock absorbing member 12 is sandwiched between the support base 136 of the support member 13 and the hub 11. Further, the support base 136 includes a support substrate 1361 and two connection hole holders 1362. The two connection hole holders 1362 are respectively disposed on the support substrate 1361, and the connection hole holder 1362 is convex. The elastic damper member 12 has an inner annular surface and an outer annular surface on the bottom surface of the support substrate 1361. The outer annular surface is provided with a concave groove 123. The connecting hole holder 1362 protrudes from the bottom surface of the support substrate 1361. In the concave groove 123, the inner annular surface abuts against the outer circumferential surface 111 of the hub 11; thus, the roller 2 is mounted on the support body, and the elastic damping member 2 and the support member of the support body are realized. 13 closely matched. It should be noted here that the number of the above-mentioned connection hole holders 1362 can be set to two or more to strengthen the cooperation.

Referring to FIGS. 2, 4, 6, and 7, the support member 13 of the present embodiment includes a support bar 132 that intersects the radial direction of the hub 11 and forms an acute angle, and the roller 2 is attached to the end of the support bar 132. And the central axis of the roller 2 is perpendicular to the support bar 132, whereby the central axis of the roller 2 described above can be made to intersect the radial direction of the rotating member 1 and form an acute angle. In the present embodiment, the support member 13 includes a mounting seat 133 for mounting the roller 2, and the mounting seat 133 is provided at the end of the support bar 132, so that the support body of the embodiment has twelve mounts 133, which can be combined with ten The two rollers 2 correspond. The mounting structure between the mounting seat 133 and the corresponding roller 2 is specifically: the mounting seat 133 is provided with a mounting through hole, the center of the mounting through hole is provided with a central supporting shaft 135, the inner ring 1341 of the rolling bearing 134 and the central supporting shaft 135 The fixing sleeve is fixedly sleeved with the outer wall 1342 of the rolling bearing 134, and the roller 2 is fixedly coupled to the central supporting shaft 135, whereby the roller 2 can be mounted to the corresponding supporting member 13 by the rolling bearing 134. The mounting seat 133 is configured to realize smooth rolling of the roller 2 under the action of the rolling bearing 134, and it is not easy to cause mutual wear between the components. Moreover, since the central supporting shaft 135 is rotated by the rotation of the rolling bearing 134, the roller 2 is realized. Fixedly connected to the central support shaft 135, so that the roller 2 is less likely to loosen and has high structural reliability; further, each of the mounting seats 133 is mounted with two rolling bearings 134, and the mounting seat 133 is installed in the through hole Two mounting recesses 1331 are provided, the two rolling bearings 134 are respectively mounted in the corresponding mounting recesses 1331, and the central support shaft 135 passes through the two rolling shafts. 134, and the inner ring 1341 of the two rolling bearings 134 respectively fix the sleeve central support shaft 135, the roller 2 includes a first wheel portion 201 and a second wheel portion 202, and the first wheel portion 201 and the second wheel portion 202 are respectively provided On the two sides of the support bar 132 and the corresponding mounting seat 133, and the first wheel portion 201 and the second wheel portion 202 are fixedly connected to the central support shaft 135, respectively, and the central support shaft 135 is provided with an annular convex portion 1351, two rolling bearings. The inner ring 1341 of the 134 is respectively fixedly sleeved with the annular protrusion 1351, and the roller 2 and the central support shaft 135 are screwed. A fixed connection is achieved; it is noted here that only one rolling bearing 134 is illustrated in Figure 6 for ease of understanding the assembled structure between the rolling bearing 134 and the central support shaft 135. Thereby, a reliable rotation transmission structure can be realized, and the two wheel portions of the roller 2 can be more smoothly rolled. Of course, in other embodiments, the central support shaft 135 can be fixedly coupled to the mounting seat 133, and the roller 2 is sleeved on the central support shaft 135, and the roller 2 is rollingly connected with the central support shaft 135; The portion 210 and the second wheel portion 202 can be rotated separately to improve steering accuracy and smoothness.

Further, referring to FIG. 6 and FIG. 7 , the side of the roller 2 opposite to the mounting seat 133 of the embodiment is provided with a first mounting slot, and the mounting seat 133 is disposed in the first mounting slot. Specifically, the first wheel portion 201 and the second wheel portion 202 are respectively provided with a first mounting groove on a side close to the mounting seat 133, and the mounting seat 133 is wrapped in the first mounting groove, so that the first wheel The distance between the portion 201 and the second wheel portion 202 is the shortest distance from each other. When the position of the omnidirectional moving wheel is transferred from the first wheel portion 201 to the second wheel portion 202, the smoothness of the process can be effectively improved. A second mounting groove is further disposed in the first mounting groove of the roller 2 and the outer ring of the mounting seat 133 and the outer ring 1342 of the rolling bearing 134. The second mounting groove is provided with a sealing member, and the roller 2 is sealed. The member and the outer ring of the mounting seat 133 and the outer ring 1342 of the rolling bearing 134 are pressed against each other, and thus, the sealing member can effectively prevent dust from entering the inside of the rolling bearing 134 to prevent wear; moreover, the sealing member and the outer ring of the mounting seat 133 And a side surface of the outer ring 1342 of the rolling bearing 134 abutting each other also constitutes a sliding friction surface. Specifically, the sealing member includes a sliding friction ring 502 and a sealing rubber ring 501. The other side of the sliding friction ring 502 is provided with an annular groove, and the sealing rubber ring 501 is disposed on the annular groove. Preferably, the sliding friction ring 502 is made of polytetrafluoroethylene, the sealing rubber ring 501 is made of a nitrile rubber ring, and at least one heat dissipating groove is disposed on the sliding friction surface. The sliding friction ring 502 and the mounting seat 133 have the above-mentioned sliding friction surface, and the sliding friction ring 502 is made of polytetrafluoroethylene, which can improve the wear resistance. The annular groove is disposed on the other side of the sliding friction ring 502 with respect to the sliding friction surface, and the nitrile rubber ring is disposed on the annular groove, and the nitrile rubber is installed when the roller 2 and the mounting seat 133 are locked to each other. The ring is deformed to provide a pre-tightening force, which can effectively improve the sealing degree.

It should be noted that the number of the support member 13 and the roller 2 of the present invention may not be limited by the embodiment. In other embodiments, the number of the support member 13 and the roller 2 may be set to multiple (except twelve). In addition, of course, when their number is set to a number other than twelve, the acute angle formed between the support bar 132 and the radial direction of the hub 11 and the central axis of the roller 2 and the radial direction of the rotating member 1 The acute angle formed between the two can be changed accordingly to ensure that the outer contour of each roller 2 is disposed on the same circumference centered on the axle. Further, it should be noted that the radial direction of the hub 11 is also the radial direction of the rotating member 1.

Referring to Figures 1, 3 and 5, the rotating member 1 further includes a first lateral restricting member 14 and a second lateral restricting member 15, each supporting member 13 being sandwiched between the first lateral restricting member 14 and the second side The first lateral restricting member 14 and the second lateral restricting member 15 are fixedly coupled to the restricting members 15 and respectively, and specifically, the first lateral restricting members 14 and the connecting members 13 are connected to the connecting holes. The seat 1362 and the second lateral restricting member 15 are fixedly connected by the long bolts 4, so that the stability of the omnidirectional wheel structure can be ensured. Further, an intermediate restricting member 112 is provided at an intermediate position of the outer circumferential surface 111 of the hub 11, and the elastic damper member 12 is provided. Two are provided. If the two elastic damper members 12 are respectively referred to as the first elastic damper member 1201 and the second elastic damper member 1202, the first elastic damper member 1201 is interposed between the intermediate restricting member 112 and Between the first lateral restricting members 14 , the second elastic damper member 1202 is interposed between the intermediate restricting member 112 and the second lateral restricting member 15 , and thus passes through the first elastic damper members 1201 and the second The action of the elastic damper member 1202 can further dampen vibrations from the ground and the like, and further suppress transmission of vibration to the axle, which can contribute to improvement in ride comfort. Further, the first lateral restricting member 14, the second lateral restricting member 15, and the intermediate restricting member 112 of the present embodiment are both plate members.

Referring to Figures 20 and 21, the first lateral restricting member 14 and the second lateral restricting member 15 described above may be replaced with a chain 5. The omnidirectional wheel as shown in the figure is a fixed connection of the above-mentioned support members 13 by a chain 5, and the structure does not use a single plate member to connect the support members 13, which is advantageous for reducing the required production materials, and is advantageous for Further cost reduction, and the connection by means of the chain 5, can also make the support member 13 more convenient and flexible in installation calibration. The chain 5 may include a plurality of link plates 51 and a plurality of link members 52, and the adjacent two link plates 51 are connected by the link members 52, so that the link plates 51 can be connected in series to the chain 5. Thereby, it is possible to prevent the link plate 51 from being lost when it is not mounted, and the adjacent two support members 13 are fixedly connected by the link plate 51, thereby ensuring that the connection between the adjacent two support members 13 is securely secured, thereby enabling It is ensured that the respective support members 13 are fixedly coupled in one body. The link element 52 of the present embodiment may be a cuff; of course, in the present invention, the specific structural form of the link element 52 may not be limited by this embodiment. For example, in other embodiments, the link element 52 It may be a structural form of a sub-chain connected by a chain link. Further, one side of the link plate 51 protrudes from the bottom of the support base 136 of the support member 13, and the elastic shock absorbing member 12 is interposed between the link plate 51 and the intermediate restricting plate member 112, thereby enabling elastic shock absorption. The fixed positioning of the member 12 in the axial direction of the hub 11; specifically, the chain 5 can be set to two, the two chains 5 can be respectively recorded as a first chain and a second chain, and the first elastic damping member 1201 The intermediate elastic damper member 1202 may be interposed between the intermediate restricting plate member 112 and the link plate 51 of the first chain, and the second elastic damper member 1202 may be interposed between the intermediate restricting plate member 112 and the link plate 51 of the second chain. Moreover, the link plate 51 of the first chain and the link plate 51 of the second chain also sandwich the support member 13 between the link plate 51 of the first chain, the support member 13 and the corresponding link plate 51 of the second chain. The fastening can be fastened by the long bolts 4, so that a firm connection between the support member 13 and the link plate 51 can be achieved, which in turn ensures the structural stability of the omnidirectional wheel.

8 and FIG. 10, the elastic damper member of the present embodiment includes an elastic ring body 124. The elastic ring body 124 is provided with a plurality of damper holes 121, and the damper holes 121 are disposed around the central axis of the elastic ring body 124. Elastic support ribs 122 are connected to the damper hole 121, and the elastic support ribs 122 are disposed along the diameter direction of the damper hole 121. Specifically, the above-mentioned respective damper holes 121 of the present embodiment can be arranged around the central axis of the elastic ring body 124 to form a ring of holes (see FIG. 10). Of course, in the embodiment, each of the shock absorbing holes 121 can be arranged around the central axis of the elastic ring body 124 to form at least two ring holes. For example, as shown in FIG. 8, the number of the hole rings is set to two. When the number of the ring rings is two or more rings, the adjacent two ring holes can be respectively recorded as the first ring ring and the second ring ring, and the first hole ring has the shock hole 121 and the second hole The damper holes 121 of the eyelet can be staggered along the circumferential direction of the central axis of the elastic ring body 124. Moreover, an elastic support rib 122 connected in the damper hole 121 of the first rim and an elastic support rib 122 connected to the damper hole 121 of the second ferrule form an angle greater than 0 degrees, thereby Through the action of the shock absorbing holes 121 and the elastic supporting ribs 122, it is advantageous to further improve the shock absorbing cushioning effect, thereby facilitating the comfort of riding the vehicle.

It should be noted that the omnidirectional wheel of the embodiment may not be provided with the elastic damper member 12 described above, and if the elastic damper member 12 is not provided, the structure of the omnidirectional wheel may be simpler, which is advantageous for reducing the cost. . Referring to Figures 18 and 19, the omnidirectional wheel shown is not provided with an elastic damper member 12, in this embodiment, both ends of the hub 11 can be directly coupled to the first lateral restricting member 14 and the second lateral direction. The restricting member 15 is fixedly coupled, and the hub 11 can be modified accordingly. Specifically, the hub 11 of the embodiment is configured to include two annular members 113, which can be oppositely disposed and joined, and the two annular members 113 may be fixedly coupled to the first lateral restricting member 14 and the second lateral restricting member 15, respectively; thus, the hub 11 is more conveniently disposed between the two lateral restricting members by being disposed as two annular members 113 assembly. More specifically, the annular member 113 includes a cylindrical portion and a flange plate portion, and the flange plate portion is provided at one end of the cylindrical portion, and the annular member 113 can be fixedly connected to the corresponding lateral restricting member through the flange plate portion; This fixed connection can be achieved with a screw connection.

In addition, referring to Figures 1 to 3, the omnidirectional wheel further comprises an annular rolling member 3 for mounting an axle, the annular rolling member 3 comprising two roller bearings 32 and a central roller 31 for the socket axle, two rollers The bearing 32 is sleeved on the outer wall of the center drum 31, and the center hole of the hub 11 sleeves the two roller bearings 32, so that the omnidirectional wheel can be more smoothly rolled.

In addition, ensuring the smoothness of the omnidirectional wheel forward movement, reducing bumps, and improving the consistency of the user's ride experience is another direction of the effort of this implementation. Referring to FIG. 4, FIG. 4 is a cross-sectional view showing the maximum diameter of the omnidirectional wheel in the radial direction (intersecting with the axial direction thereof). During the omnidirectional wheel operation (combined motion of front, rear, radial or both), the force point of the whole vehicle is always maintained in the outer contour part of Fig. 4 (that is, the maximum diameter of the omnidirectional wheel in the radial direction) Connect). Therefore, the inner corner portion 221 of the small diameter end 22 of the first roller 2a penetrates as much as possible into the concave portion 211 of the large diameter end 21 of the second roller 2b, so that the outer corner portion 222 of the small diameter end 22 of the first roller 2a and the first portion The distance between the two-wheel 2b large-diameter end 21 on the outer contour is the shortest (the distance value is H) to improve the force point of the omnidirectional wheel in the process of rotating from the first roller 2a to the second roller 2b. The bumps of the whole vehicle are the smallest. During the design modification and proofing test of the inventor for dozens of times, it was found that when the central axis of the second roller 2b is tangent to the outer circumference of the small diameter end of the first roller 2a, the outer corner portion 222 of the small diameter end 22 of the first roller 2a. The distance from the large diameter end 21 of the second roller 2b on the outer contour is the shortest (the H value is the smallest). It should be noted that H is a value associated with the maximum diameter of the omnidirectional wheel. In the case where the maximum diameter of the omnidirectional wheel is determined, H has a minimum value.

At the same time, in order to improve the smoothness of the omnidirectional wheel operation, the inventor has made another part of the effort. In the present embodiment, in one aspect, the roller 2 includes a first wheel portion 201 and a second wheel portion 202, the first wheel portion 201 and the second wheel portion 202 having equal arc lengths on the outer contour circumference of the omnidirectional wheel. Still alternatively, in another aspect, a notch is provided between the first wheel portion 201 and the second wheel portion 202, and a distance between the first wheel portion 201 and the second wheel portion 202 is equal to the above-described H value. The outer surface of the roller 2 may be provided with at least two annular projections arranged in parallel The pattern 23 and the spacing between the two adjacent annular ridges 23 are beneficial to improve the friction between the roller 2 and the ground to prevent the wheels from slipping. In a third aspect, a groove is formed between adjacent annular ridges 23, the width of the notch (i.e., the distance corresponding to the spacing between the two adjacent annular ridges 23) is H, where possible Next, the top width of the annular relief is also H. It can be understood that several aspects described above in this embodiment can be implemented in a permutation and combination.

In one aspect of the present embodiment, the inventors have also conducted intensive studies on the damper technology of the omnidirectional wheel. Referring to FIG. 9 to FIG. 11 , the outer ring surface of the elastic damper member of the present embodiment may be a smooth toroidal surface without providing the above-mentioned concave groove 123. Accordingly, the bottom surface of the support substrate 1361 of the support base 136 is disposed. The curved surface 131 is not protruded from the bottom surface of the support substrate 1361, so that the curved surface 131 of each support base 136 can enclose the inner circumferential surface of the support. Thereby, the outer annular surface of the elastic shock absorbing member 12 of the structural type can be in close contact with the inner circumferential surface of the support body, and further, the elastic shock absorbing member 12 can be mounted to achieve a good shock absorbing cushioning effect.

In order to achieve a better shock absorbing cushioning effect, and to make the elastic shock absorbing assembly structure and the assembly structure of the omnidirectional wheel more simple and reliable, the inventors have made further efforts to improve the elastic shock absorbing structure. Referring to FIG. 12 to FIG. 14, the elastic damper member of each structure type which is different from the omnidirectional wheel is used, and the omnidirectional wheel replaces the above-mentioned elastic damper member 12 by using the elastic damper member 12a of a novel structure. The elastic damper member 12a includes a sleeve 125 and a plurality of shock absorbing ribs 126. The two adjacent shock absorbing spokes 126 form a space therebetween. Each of the shock absorbing spokes 126 is connected to the sleeve 125 and surrounds the sleeve 125. Arranged, the shock absorbing spoke 126 is pressed against the support body, and the elastic damper member 12a of the structure further includes a ring sleeve 127, and the shock absorbing spoke 126 is connected between the sleeve 125 and the ring sleeve 127, and is shock absorbing. The web 126 presses against the support base 136 of the support member by the collar 127; thus, when the omnidirectional wheel is subjected to vibration, the shock can be transmitted to the shock absorbing spoke due to the relationship between the adjacent two shock absorbing splines When there is a gap, the shock absorbing spline can be deformed by the vibration, thereby suppressing the transmission of the vibration to the axle of the omnidirectional wheel, so as to achieve a good shock absorbing effect. Correspondingly, the omnidirectional wheel having the elastic damper structure may not be provided with the above-mentioned hub 11, so that the elastic damper member 12a becomes a necessary component, and specifically, when installed, the elasticity can be directly reduced. The sleeve 125 of the seismic member 12a sleeves the two roller bearings 32 of the above-mentioned annular rolling member 3, thereby realizing the assembly between the elastic shock absorbing member 12a having the structure of the shock absorbing spoke 126 and the annular rolling member 3. The first damper strip 126 includes a first strip portion 1261 and a second strip portion 1262, and the first end of the first strip portion 1261 is coupled to the sleeve 125, the first frame The second end of the strip 1261 is connected to the first end of the second strip 1262, the second end of the second strip 1262 is connected to the collar 127, and the first strip 1261 and the second strip A bent corner is formed between 1262, the first strip portion 1261 is disposed along a radial direction of the rolling member, and the second web portion 1262 forms an acute angle with a radial direction of the annular rolling member 3, thereby facilitating shock absorption of the specific structure. The spoke 126 has a better shock absorbing effect.

In addition, in the elastic shock absorbing structure having the shock absorbing spoke 126, the ring sleeve 127 can be provided with a card slot 1271, and correspondingly, for the support member of the support body of the present embodiment, the connection on the support substrate 1361 is supported. The hole holder 1362 can be protruded from the bottom surface of the support substrate 1361, so that the portion of the connection hole holder 1362 protruding from the bottom surface of the support substrate 1361 can be caught in the card slot 1271 of the collar 127, A close fit between the elastic shock absorbing member 12a and each of the support members 13 of the support body is achieved. Of course, the ring sleeve 127 may not be provided with the card slot 1271. In this case, the bottom surface of the support substrate 1361 of the support base 136 may be correspondingly disposed as a curved surface 131, and the connection hole holder 1362 may not be from the bottom surface of the support substrate 1361. Therefore, the curved surface of each supporting base 136 can also enclose the inner circumferential surface of the supporting body, so that the ring sleeve 127 can be in close contact with the inner circumferential surface of the supporting body, thereby realizing the elastic reduction of the structure type. Assembly of seismic components.

In another aspect of the present embodiment, the body structure of the omnidirectional wheel can be modified. Referring to Figures 15 to 17, the main difference between the omnidirectional wheel of the modified structure and the omnidirectional wheel described above is that the structure of the roller 2 of the omnidirectional wheel of the modified structure and the assembly between the rollers 2 thereof are as described above. The omnidirectional wheel is different. Specifically, the roller 2 is divided into a large diameter roller 2c and a small diameter roller 2d having a smaller diameter than the large diameter roller 2c. The large diameter roller 2c and the small diameter roller 2d are alternately arranged with each other, and the large diameter roller 2c is arranged. The end portion is provided with a recess 203, and a part of the end portion of the small-diameter roller 2d protrudes into the recess 203 of the large-diameter roller 2c; and, regardless of the large-diameter roller 2c or the small-diameter roller 2d, the diameter of the roller 2 is along the roller. 2 The center axis is gradually narrowed toward both sides. In addition, the support bar 132 of the support member 13 of the omnidirectional wheel of the modified structure is disposed in the radial direction of the hub 11, and the central axis of the roller 2 is radially opposite to the hub 11. The crossings are perpendicular to each other, and such an arrangement is to ensure that the outer contour of each roller 2 can be disposed on the same circumference centered on the axle. Further, in order to accommodate the mounting of the large-diameter roller 2c and the small-diameter roller 2d, the support member 13 of the present embodiment is divided into a first support member 13a for supporting the large-diameter roller 2c and a second support member 13b for supporting the small-diameter roller 2d. The difference between the first support member 13a and the second support member 13b is mainly due to the difference in thickness and strength of the structure at the support bar 132. It should be noted here that the omnidirectional wheel of the modified structure may adopt any one of the elastic shock absorbing structures shown in FIG. 2, FIG. 9 or FIG. 13, and FIG. 16 does not constitute a limitation on the assembled structure thereof, and Other structures and corresponding effects of the omnidirectional wheel of the modified structure, such as the assembly structure between the roller 2 and the support member 13, the rolling bearing 134, the intermediate support shaft 135, etc., may also be related to the omnidirectional wheels described above. Consistent, no further details are provided here.

In summary, the omnidirectional wheel of the embodiment of the present invention can make the vehicle travel in the straight forward direction on the one hand, and can also move the vehicle in the direction orthogonal to the straight forward direction by the action of the roller 2, and further It can realize all-round movement, making the vehicle movement more flexible, and its structural design is novel and ingenious.

It should be understood that the terms "first", "second", and the like are used in the present invention to describe various information, but the information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the invention.

The above is a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and modifications without departing from the principles of the present invention. It is the scope of protection of the present invention.

Claims (15)

An omnidirectional wheel comprising: a rotating member rotatable about an axle and a plurality of rollers mounted on the rotating member, the roller being freely rotatable about a central axis thereof, and a central axis of each of the rollers Both are disposed in a plane orthogonal to the axle, the central axis of the roller intersects with the radial direction of the rotating member and forms an acute angle, the roller has a large diameter end and a small diameter end, and the diameter of the roller And gradually decreasing along the large diameter end to the small diameter end, the large diameter end of the roller is provided with a concave portion, and two adjacent rollers are respectively recorded as a first roller and a second roller, the first A portion of the small diameter end of the roller extends into the recess of the large diameter end of the second roller such that the outer contours of the rollers are disposed on the same circumference centered on the axle. The omnidirectional wheel of claim 1 wherein the curvature of the outer contour of the roller coincides with the curvature of a circle centered on the axle. The omnidirectional wheel according to claim 1, wherein a center axis of said second roller is tangent to an outer circumference of said first roller small diameter end. The omnidirectional wheel according to claim 1, wherein the small diameter end of the roller comprises an inner corner portion and an outer corner portion, and the inner corner portion of the small diameter end of the first roller protrudes into the concave portion of the large diameter end of the second roller There is a gap between the outer corner of the small diameter end of the first roller and the large diameter end of the second roller. The omnidirectional wheel according to claim 4, wherein the outer surface of the roller is provided with at least two annular ribs arranged in parallel, and a space is formed between two adjacent annular ridges. The omnidirectional wheel according to claim 5, wherein the distance corresponding to the gap and the distance corresponding to the pitch are equal to the top width of the annular ridge. The omnidirectional wheel according to any one of claims 4 to 6, wherein the rotating member comprises a hub, an elastic damper member, and a plurality of supporting members, each of the supporting members surrounding a circumference of the hub Evenly disposed, each of the rollers is respectively mounted on a corresponding support member; the support member includes a support base, the hub has an outer circumferential surface, and the elastic shock absorbing member is sandwiched on a support base of the support member Between the outer circumferential surface of the hub. The omnidirectional wheel according to claim 7, wherein the support base comprises a support substrate and a connection hole holder, and the connection hole holder protrudes from a bottom surface of the support substrate, the elastic shock absorbing member An outer annular surface and an inner annular surface, wherein the outer annular surface is provided with a concave groove, the connecting hole seat is engaged in the concave groove, and the inner annular surface is in close contact with the outer circumferential surface of the hub . The omnidirectional wheel according to claim 7, wherein said support member comprises a support bar, said support bar intersecting a radial direction of said hub and forming an acute angle, said roller being mounted to said support bar An end portion, and a center axis of the roller is perpendicular to the support strip. The omnidirectional wheel according to claim 9, wherein the roller comprises a first wheel portion and a second wheel portion, and the first wheel portion and the second wheel portion are respectively mounted to the support bar On both sides. The omnidirectional wheel according to claim 10, wherein a gap is formed between the first wheel portion and the second wheel portion, and a width of the notch is equal to a distance corresponding to the gap. The omnidirectional wheel according to claim 7, wherein the rotating member includes a first lateral restricting member and a second lateral restricting member, the supporting member being interposed on the first lateral restricting member And the second lateral restricting member, the supporting member includes a connecting hole seat, each of the supporting members passing through the connecting hole seat and the first lateral restricting member and the second lateral restriction The components are fixedly connected. The omnidirectional wheel according to claim 12, wherein the intermediate position of the hub is provided with an intermediate restricting member, and the elastic damper members are provided as two, and the two elastic damper members are respectively referred to as An elastic damper member and a second elastic damper member interposed between the intermediate restricting member and the first lateral restricting member, the second elastic damper member clip Provided between the intermediate restricting member and the second lateral restricting member. The omnidirectional wheel according to claim 7, wherein the elastic damper member is an elastic ring body, the elastic ring body is provided with a damper hole, and the damper hole is provided with an elastic support rib. A vehicle characterized by comprising the omnidirectional wheel according to any one of claims 1 to 14.

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