WO2019019363A1

WO2019019363A1 - Omnidirectional moving wheel

Info

Publication number: WO2019019363A1
Application number: PCT/CN2017/104265
Authority: WO
Inventors: 朱吴伟
Original assignee: 广州视源电子科技股份有限公司; 广州视睿电子科技有限公司
Priority date: 2017-07-28
Filing date: 2017-09-29
Publication date: 2019-01-31
Also published as: CN107444008B; CN107444008A

Abstract

An omnidirectional moving wheel, the omnidirectional moving wheel comprising: a rotating member (1) which may rotate about a vehicle axle, and a plurality of rollers (2) that is mounted on the rotating member (1); the rotating member (1) comprises a plurality of mounting seats (133), and the mounting seats (133) are provided thereon with a central support shaft (135); the rollers (2) are sleevedly connected to the central support shaft (135), and a side of the rollers (2) that is opposite to a mounting seat (133) is provided with a first mounting slot, the mounting seat (133) being disposed within the first mounting slot; a second mounting slot is disposed within the first mounting slot at a position corresponding to the mounting seat (133), and the second mounting slot is internally provided with a sealing member; the rollers (2) are pressed against the mounting seat (133) by means of the sealing member. The omnidirectional moving wheel may reduce wear between the rollers (2) thereof and the central axis of the rollers, and the rollers (2) thereof are less prone to loosening, and thus the structure is highly reliable.

Description

Omnidirectional moving wheel

Technical field

The present invention relates to a wheel of a vehicle, and more particularly to an omnidirectional moving wheel.

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. Existing wheels usually only travel in the straight direction of the vehicle, which makes the movement of the vehicle in other directions inconvenient, so it is necessary to design a newer wheel to achieve flexible movement of the vehicle. At present, although some wheels are provided with small rollers through their circumferential edges to achieve the movement in all directions, the rollers are usually directly placed on the central axis of the roller, and this structure leads to easy wear between the roller and its central axis. And it is easy to enter the dust sand, and after being used for a long time, it is easy to cause the abnormal running noise between the roller and the center shaft.

Summary of the invention

In order to solve the above technical problem, the present invention provides an omnidirectional moving wheel capable of reducing wear between the roller and the center axis of the roller, and the roller is less prone to loosening, and the structural reliability is high.

Based on this, the present invention provides an omnidirectional moving wheel comprising a rotating member rotatable about an axle and a plurality of rollers mounted on the rotating member, the rotating member comprising a plurality of mounts on the mount Provided with a central support shaft;

The roller is sleevedly connected to the central support shaft, and a side of the roller opposite to the mounting seat is provided with a first mounting slot, the mounting seat is disposed in the first mounting slot; the first installation a second mounting groove is disposed in the slot corresponding to the mounting seat, and a sealing member is disposed in the second mounting slot, and the roller is pressed against the mounting seat by the sealing firmware;

a central axis of each of the central support shafts is disposed in a plane orthogonal to the axle, and a central axis of the central support shaft intersects a radial direction of the rotating member to make an outer contour of each of the rollers It is disposed on the same circumference centered on the axle.

Optionally, a side surface of the sealing member that abuts the outer ring of the mounting seat and the outer ring of the rolling bearing constitutes a sliding friction surface.

Optionally, the sealing member comprises a sliding friction ring and a sealing rubber ring, and the other side of the sliding friction ring is provided with an annular groove, and the sealing rubber ring is disposed on the annular groove.

Optionally, the sliding friction ring is made of polytetrafluoroethylene.

Optionally, the sliding friction surface is provided with at least one heat dissipation groove.

Optionally, each of the rollers is mounted to a corresponding mounting seat by a rolling bearing, the mounting seat is provided with a mounting through hole, a center of the mounting through hole is provided with a central supporting shaft, and an inner ring of the rolling bearing is a central support shaft fixed sleeve, the hole wall of the mounting through hole and the roller The outer ring of the moving bearing is fixedly sleeved.

Optionally, each of the mounting seats is mounted with two of the rolling bearings, and two mounting recesses are disposed in the mounting through holes of the mounting brackets, and the two rolling bearings are respectively mounted on the corresponding mounting holes. In the mounting recess, the central support shaft passes through the two rolling bearings, and the inner rings of the two rolling bearings are respectively fixedly sleeved to the central support shaft, and the roller includes a first wheel portion and a second wheel portion The first wheel portion and the second wheel portion are respectively disposed at two sides of the mounting seat, and the first wheel portion and the second wheel portion are fixedly coupled to the central support shaft, respectively.

Optionally, an annular convex portion is disposed in the middle of the central support shaft, and inner rings of the two rolling bearings respectively fix and sleeve the annular convex portion.

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

Optionally, a fixed connection is formed between the roller and the central support shaft by a screw connection.

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 central support shaft is fixedly connected to the mounting seat, the roller is sleeved on the central support shaft, and the roller is rollingly connected to the central support shaft.

Optionally, a central axis of the roller intersects with a radial direction of the hub to form an acute angle; the roller has a large diameter end and a small diameter end, and the diameter of the roller is along the large diameter end to the small diameter The end of the roller is gradually reduced, and the large diameter end of the roller is provided with a recess, and two adjacent rollers are respectively recorded as a first roller and a second roller, and a part of the small diameter end of the first roller extends into the second The inside of the recess of the large diameter end of the roller.

Optionally, the central axis of the roller intersects and is perpendicular to the radial direction of the hub; the diameter of the roller gradually decreases along the middle of the central axis of the roller, and the roller includes a large diameter roller. And the small diameter roller, the large diameter roller and the small diameter roller are arranged in a staggered manner, and the end of the large diameter roller is provided with a concave portion, and a part of the end portion of the small diameter roller protrudes into the concave portion of the large diameter roller.

Optionally, the rotating member includes a hub, an elastic member and a support body, the support body is disposed around a circumference centered on the axle, and each of the mounting seats is disposed on the support body, the support body There is an inner circumferential surface, the hub has an outer circumferential surface, and the elastic member is interposed between an inner circumferential surface of the support body and an outer circumferential surface of the hub.

Optionally, the support body includes a plurality of support members, each of the support members is evenly arranged around a circumference of the hub, the mounting seat is disposed on the support member, and the support member is provided with an inner curved shape. The inner curved surface of each of the support members encloses the inner circumferential surface.

Optionally, the support member includes a support bar, the mounting seat is disposed at an end of the support bar, the central support shaft is perpendicular to the support bar, and the support bar is along a radial direction of the hub Provided, or the support strips intersect the radial direction of the hub and form an acute angle.

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 And each of the support members is fixedly coupled to the first lateral restricting member and the second lateral restricting member, respectively.

Optionally, the intermediate position of the hub is provided with an intermediate restricting member, the elastic member is set to two, and the two elastic members are respectively referred to as a first elastic member and a second elastic member, and the first elastic member Interposed between the intermediate restricting member and the first lateral restricting member The second elastic member is interposed between the intermediate restricting member and the second lateral restricting member.

Optionally, the elastic member is an elastic ring, and the elastic ring is provided with a buffer hole, and the buffer hole is provided with an elastic rib.

Another object of the present invention is to provide a vehicle including the omnidirectional moving wheel described above.

Embodiments of the present invention have the following beneficial effects:

The omnidirectional moving wheel of the present invention includes a rotating member rotatable about an axle and a plurality of rollers mounted on the rotating member, each of the rollers being mounted to a mounting seat of the rotating member via a rolling bearing and a center supporting shaft, thereby being capable of Under the action of the rolling bearing, the smooth rolling of the roller is realized, and the mutual wear between the components is not easily caused. Moreover, since the central supporting shaft is rotated by the rotation transmission of the rolling bearing, and the roller is fixedly connected to the central supporting shaft, the roller is It is not easy to loosen and its structural reliability is high. At the same time, the roller is pressed against the outer ring of the mounting seat and the outer ring of the rolling bearing by the sealing firmware, and the sealing firmware can effectively prevent sand dust from entering the inside of the rolling bearing and prevent wear.

Furthermore, the outer contour of each of the rollers of the present invention is disposed on the same circumference centered on the axle, such that the omnidirectional moving wheel is capable of moving the vehicle in its straight forward direction on the one hand and the roller through the roller on the other hand. The function can also move the vehicle in a direction orthogonal to the straight direction, thereby enabling omnidirectional movement, making the vehicle movement more flexible, and the structural design of the omnidirectional moving wheel is novel and ingenious.

DRAWINGS

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

2 is an assembled structural view of the omnidirectional moving 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 moving wheel according to an embodiment of the present invention.

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

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

Fig. 6 is a view showing the assembly structure between the supporting member, the center supporting shaft, and the rolling bearing of the omnidirectional moving wheel 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 moving wheel equipped with another elastic shock absorbing member in the embodiment of the present invention.

Fig. 10 is a structural schematic view of the elastic damper member of the omnidirectional moving wheel shown in Fig. 9.

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

Figure 12 is a schematic view showing the overall structure of an omnidirectional moving 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 moving 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 view showing a modified structure of an omnidirectional moving wheel according to an embodiment of the present invention.

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

Figure 18 is a cross-sectional view showing an omnidirectional moving wheel of an elastic shock absorbing member which is not assembled according to an embodiment of the present invention.

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

20 is an overall structural view of an omnidirectional moving wheel that is structurally fixed by a chain according to an embodiment of the present invention.

Figure 21 is an exploded perspective view of the omnidirectional moving 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, annular protrusion, 136, support base, 1361, support substrate, 1362, connection hole seat, 13a, first support member, 13b, Two support members, 14, first lateral restricting members, 15, second lateral restricting members, 2, rollers, 21, large diameter ends, 211, recesses, 22, small diameter ends, 221, inner corners, 222, outer corners 23, annular relief, 201, first wheel portion, 202, second wheel portion, 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, link element , 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.

Referring to FIG. 1 to FIG. 5 , the embodiment provides an omnidirectional moving wheel, which can be mounted on a vehicle such as a wheelchair, and includes a rotating member 1 capable of rotating around an axle and a plurality of rotating components 1 . The upper 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 to form 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 a concave portion 211 is provided, and 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. The outer contours of the rollers 2 are arranged on the same circumference centered on the axle.

Based on the above structure, when a thrust or a driving force is applied to a vehicle mounted with an omnidirectional moving wheel, the omnidirectional moving wheel can make the vehicle travel in the straight forward direction on the one hand, and can also make the roller 2 function by the action of the roller 2 on the other hand. The vehicle moves in a direction orthogonal to the straight forward direction, thereby enabling omnidirectional movement of the vehicle, so that the vehicle movement is more flexible, and the structural design of the omnidirectional moving wheel is novel and ingenious, and each of the rollers is rolled. The structure of the wheel 2 can be consistent, which is advantageous for reducing the manufacturing cost.

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 all arranged on the same circumference centered on the axle, thereby facilitating the all-round flexible movement of the omnidirectional moving wheels. 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, which is not easy to cause mutual wear between the components, and since the central supporting shaft 135 is passed through the rolling shaft The rotation of the bearing 134 is transmitted to realize the rotation, and the roller 2 is fixedly coupled to the central support shaft 135. Therefore, the roller 2 is less likely to loosen and has high structural reliability; further, each mounting seat 133 is mounted with two The rolling bearing 134 has two mounting recesses 1331 disposed opposite to each other in the mounting through hole of the mounting seat 133. The two rolling bearings 134 are respectively mounted in the corresponding mounting recesses 1331, and the central supporting shaft 135 passes through the two rolling bearings 134. The inner ring 1341 of the two rolling bearings 134 is respectively fixedly sleeved with the 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 disposed on The support bar 132 and the two sides of the corresponding mounting seat 133, and the first wheel portion 201 and the second wheel portion 202 are fixedly coupled to the central support shaft 135, respectively, and the central support shaft 135 is provided with an annular convex portion 1351 in the middle thereof, and two rolling bearings 134 The inner ring 1341 is respectively fixedly sleeved with the annular protrusion 1351, and the roller 2 and the central support shaft 135 are fixedly connected by screw connection; here, it is pointed out that the rolling bearing 134 and the central support shaft 135 are easy to see. Between the assembly structures, only one rolling bearing 134 is illustrated in FIG. 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, thereby ensuring the stability of the omnidirectional moving wheel structure. Further, an intermediate restricting member 112 is disposed at an intermediate position of the outer circumferential surface 111 of the hub 11, and the elastic damper members 12 are provided as two, and if the two elastic damper members 12 are respectively referred to as the first elastic damper members 1201 And the second elastic damper member 1202, the first elastic damper member 1201 is interposed between the intermediate restricting member 112 and the first lateral restricting member 14, and the second elastic damper member 1202 is interposed between the intermediate restricting member 112 and Between the second lateral restricting members 15 described above, the vibrations from the ground and the like can be further buffered by the action of the first elastic damper members 1201 and the second elastic damper members 1202, and the transmission of vibrations to the axle can be further suppressed. Helps improve the comfort of the ride. 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 moving wheel as shown in the figure is a fixed connection of the above-mentioned supporting members 13 by a chain 5, and the structure does not use a whole plate member to connect the supporting members 13, which is advantageous for reducing the required production materials. It is advantageous to further reduce the cost, 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 connection 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 structural stability of the omnidirectional moving 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. Circle; when the number of holes is When two or more turns or more, the adjacent two ring holes can be respectively recorded as the first hole ring and the second hole ring, and the shock hole 121 of the first hole ring and the shock hole 121 of the second hole ring are along The circumferential direction of the central axis of the elastic ring body 124 may be staggered with each other, and the elastic support ribs 122 connected to the damper holes 121 of the first ferrule and the elastic support connected to the damper holes 121 of the second ferrule The angle between the ribs 122 and the ribs 122 is greater than 0 degrees. Therefore, the shock absorbing holes 121 and the elastic supporting ribs 122 are used to further enhance the shock absorbing cushioning effect, thereby facilitating the comfort of the vehicle.

It should be noted that the omnidirectional moving wheel of the embodiment may not be provided with the above-mentioned elastic damper member 12, and if the elastic damper member 12 is not provided, the structure of the omnidirectional moving wheel will be simpler and more favorable. cut costs. Referring to Figures 18 and 19, the omnidirectional moving 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 side The fixing member 15 is fixedly connected, and the hub 11 can be modified accordingly. Specifically, the hub 11 of the embodiment is provided to include two annular members 113, which can be oppositely disposed and connected, and two rings The member 113 can be fixedly coupled to the first lateral restricting member 14 and the second lateral restricting member 15, respectively; thus, the hub 11 can be more conveniently disposed between the two lateral restricting members by being provided 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 moving 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 The roller bearings 32 are respectively sleeved on the outer wall of the center drum 31, and the center hole of the hub 11 sleeves the two roller bearings 32, thereby enabling smoother rolling of the omnidirectional moving wheels.

In addition, ensuring the smoothness of the omnidirectional moving wheel in forward movement, reducing bumps, and improving the consistency of the user's riding experience are another direction of the present efforts. Referring to FIG. 4, FIG. 4 is a cross-sectional view showing the maximum diameter of the omnidirectional moving wheel in the radial direction (intersecting with its axial direction). During the omnidirectional moving 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 (ie, the diameter of the omnidirectional moving wheel in the radial direction) Maximum connection). 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), so as to improve the force point of the omnidirectional moving wheel during the rotation from the first roller 2a to the second roller 2b. The whole car has the least bumps. 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 moving wheel. In the case where the maximum diameter of the omnidirectional moving wheel is determined, H has a minimum value.

At the same time, in order to improve the smoothness of the omnidirectional moving wheel, 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 the same arc length on the outer contour circumference of the omnidirectional moving 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 ribs 23 arranged in parallel, and two The spacing between adjacent annular ridges 23 is 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 damping technique of the omnidirectional moving 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 assembly structure of the elastic shock absorbing structure and the assembly structure of the omnidirectional moving wheel more simple and reliable, the inventors have made further improvement efforts on the elastic shock absorbing structure. Referring to Figs. 12 to 14, the elastic damper members of the respective structural types employed in the omnidirectional moving wheel are replaced by the elastic damper members 12a of the novel structure instead of the elastic damper members 12 described above. The elastic damper member 12a includes a sleeve 125 and a plurality of shock absorbing spokes 126. The two adjacent shock absorbing spokes 126 are spaced apart from each other. Each of the shock absorbing spokes 126 is connected to the sleeve 125 and surrounds the sleeve. The barrel 125 is disposed, the shock absorbing 126 is pressed against the support body, and the elastic damper member 12a of the structure further includes a loop 127, and the shock absorbing 126 is connected between the sleeve 125 and the collar 127, and The shock absorbing spoke 126 presses against the support base 136 of the support member through the collar 127; thus, when the omnidirectional moving wheel is subjected to vibration, the shock can be transmitted to the shock absorbing splint due to the adjacent two shock absorbing frames There is a gap between the strips, and the shock absorbing spline can be deformed by the vibration, thereby suppressing the transmission of the vibration to the axle of the omnidirectional moving wheel, so as to achieve a good shock absorbing effect. Correspondingly, the omnidirectional moving 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, the elastic force can be directly passed during installation. The sleeve 125 of the damping member 12a sleeves the two roller bearings 32 of the above-mentioned annular rolling member 3, whereby the elastic shock absorbing member 12a having the structure of the shock absorbing 126 and the annular rolling member 3 can be realized. Assembly, so that the components can be reduced; and the shock absorbing 126 includes a first strip portion 1261 and a second strip portion 1262, the first end of the first strip portion 1261 is coupled to the sleeve 125, first The second end of the strip portion 1261 is connected to the first end of the second strip portion 1262, the second end of the second strip portion 1262 is connected to the loop sleeve 127, and the first strip portion 1261 and the second strip A bent corner is formed between the portions 1262. The first strip portion 1261 is disposed along the radial direction of the rolling member, and the second web portion 1262 forms an acute angle with the radial direction of the annular rolling member 3, thereby facilitating the reduction of the specific structure. The amplitude strip 126 has a better shock absorption buffer 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 slot 1271 of the collar 127 to realize the elastic shock absorbing member 12a. A close fit with each support member 13 of the support. 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 support base 136 can also enclose the inner circumferential surface of the support body, so that the ring sleeve 127 can be attached. The assembly of the elastic shock absorbing member of the structural type is achieved by tightening the inner circumferential surface of the support body.

In another aspect of the present embodiment, the body structure of the omnidirectional moving wheel can be modified. Referring to Figures 15 to 17, the main difference between the omnidirectional moving wheel of the modified structure and the omnidirectional moving wheel described above is that the structure of the roller 2 of the omnidirectional moving wheel of the modified structure and the assembly between the rollers 2 thereof Different from the above-mentioned omnidirectional moving wheel, 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, and the large-diameter roller 2c and the small-diameter roller 2d are alternately arranged with each other, and are large. The end of the radial roller 2c is provided with a recess 203, and a part of the end of the small-diameter roller 2d projects 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 Both of them are gradually reduced along the middle of the central axis of the roller 2, and the support bar 132 of the supporting member 13 of the omnidirectional moving wheel of the modified structure is disposed along the radial direction of the hub 11, and the central axis of the roller 2 and the hub The radial directions of the 11 are crossed and perpendicular, 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 moving 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 of the assembled structure thereof, and Other structures and corresponding effects of the omnidirectional moving wheel of the modified structure, such as the mounting structure between the roller 2 and the supporting member 13, the rolling bearing 134, the intermediate supporting shaft 135, etc., can also be moved with the omnidirectional movement described above. The rounds are consistent and will not be repeated here.

In summary, the omnidirectional moving 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 direction by the action of the roller 2 on the other hand. In turn, 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

An omnidirectional moving wheel characterized by comprising a rotating member rotatable about an axle and a plurality of rollers mounted on the rotating member, the rotating member comprising a plurality of mounting seats, the mounting seat being provided with a center Support shaft

The roller is sleevedly connected to the central support shaft, and a side of the roller opposite to the mounting seat is provided with a first mounting slot, the mounting seat is disposed in the first mounting slot; the first installation a second mounting groove is disposed in the slot corresponding to the mounting seat, and a sealing member is disposed in the second mounting slot, and the roller is pressed against the mounting seat by the sealing firmware;

a central axis of each of the central support shafts is disposed in a plane orthogonal to the axle, and a central axis of the central support shaft intersects a radial direction of the rotating member to make an outer contour of each of the rollers It is disposed on the same circumference centered on the axle.
The omnidirectional moving wheel according to claim 1, wherein a side surface of the sealing member that abuts against the mounting seat constitutes a sliding friction surface.
The omnidirectional moving wheel according to claim 2, wherein the sealing member comprises a sliding friction ring and a sealing rubber ring, and the other side of the sliding friction ring is provided with an annular groove, and the sealing rubber ring is arranged On the annular groove.
The omnidirectional moving wheel according to claim 3, wherein the sliding friction ring is made of polytetrafluoroethylene.
The omnidirectional moving wheel according to claim 2, wherein the sliding friction surface is provided with at least one heat dissipating groove.
The omnidirectional moving wheel according to claim 1, wherein each of the rollers is mounted to a corresponding mounting seat by a rolling bearing, the mounting seat is provided with a mounting through hole, and a center of the mounting through hole is provided with a center Supporting a shaft, an inner ring of the rolling bearing is fixedly sleeved with the central support shaft, and a hole wall of the mounting through hole is fixedly sleeved with an outer ring of the rolling bearing.
The omnidirectional moving wheel according to claim 6, wherein each of the mounting seats is provided with two of the rolling bearings, and two mounting recesses are arranged in the mounting through holes of the mounting seat. Positioning, two of the rolling bearings are respectively mounted in corresponding mounting recesses, the central supporting shaft passes through the two rolling bearings, and the inner rings of the two rolling bearings are respectively fixedly sleeved to the central supporting shaft, The roller includes a first wheel portion and a second wheel portion, the first wheel portion and the second wheel portion are respectively disposed at two sides of the mounting seat, and the first wheel portion and the second wheel portion The portions are fixedly coupled to the central support shaft, respectively.
The omnidirectional moving wheel according to claim 7, wherein an annular convex portion is disposed in the middle of the central support shaft, and inner rings of the two rolling bearings are respectively fixedly sleeved with the annular convex portion.
The omnidirectional moving wheel according to 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 moving wheel according to claim 1, wherein the central support shaft is fixedly connected to the mounting seat, the roller is sleeved on the central support shaft, and the roller and the center support Axis scroll connection.
The omnidirectional moving wheel according to any one of claims 1 to 10, wherein a central axis of the roller intersects with a radial direction of the hub to form an acute angle; the roller has 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, the large diameter end of the roller is provided with a concave portion, and two adjacent rollers are respectively recorded as the first roller and the first Two scroll wheels, the first roll A portion of the small diameter end of the wheel extends into the recess of the large diameter end of the second roller.
An omnidirectional moving wheel according to any one of claims 1 to 10, wherein a central axis of the roller intersects and is perpendicular to a radial direction of the hub; a diameter of the roller is along a center of the roller The middle of the axis is gradually narrowed toward the two sides, and the roller includes a large diameter roller and a small diameter roller, and the large diameter roller and the small diameter roller are alternately arranged with each other, and the end of the large diameter roller is provided with a concave portion, the small diameter A portion of the end of the roller extends into the recess of the large diameter roller.
The omnidirectional moving wheel according to any one of claims 1 to 10, wherein the rotating member comprises a hub, an elastic member, and a support body, the support body being disposed around a circumference centered on the axle, each of The mounting seat is disposed on the support body, the support body has an inner circumferential surface, the hub has an outer circumferential surface, and the elastic member is interposed on an inner circumferential surface of the support body and the hub Between the outer circumferential faces.