WO2022262714A1

WO2022262714A1 - Omni wheel and mobile device

Info

Publication number: WO2022262714A1
Application number: PCT/CN2022/098628
Authority: WO
Inventors: 李建国; 王晓栋; 李永强; 刘杰; 姜士伟; 刘伯锋
Original assignee: 江苏邦邦智能科技有限公司
Priority date: 2021-06-16
Filing date: 2022-06-14
Publication date: 2022-12-22
Also published as: CN113246654B; CN113246654A

Abstract

An omni wheel and a mobile device. The omni wheel comprises a hub bracket (10), a first roller assembly (20), and second roller assemblies (30); the first roller assembly (20) comprises a first shaft (22) and a first roller (23), and the first roller (23) comprises a rim part (231) and a spoke part (232) which are connected to each other, the spoke part (232) being located in the middle of the rim part (231), and partial structures of two second roller assemblies (30) adjacent to the first roller assembly (20) extending into two axial side spaces of the spoke part (232) of the first roller assembly (20) respectively; the first roller assembly (20) further comprises a first support unit (211) and a second support unit (212) arranged separate from each other, a first fixing part (2111) of the first support unit (211) and a second fixing part (2121) of the second support unit (212) being located in the two axial side spaces of the spoke part (232) respectively and being fixedly connected together with the first shaft (22).

Description

Omni-directional wheels and mobile devices

This application claims the priority of the Chinese patent application with the application number 202110663455.1 and the application name "omnidirectional wheel and mobile equipment" submitted to the China Patent Office on June 16, 2021, the entire contents of which are incorporated in this application by reference.

technical field

The present application relates to the technical field of mobile devices, in particular to an omnidirectional wheel and mobile equipment.

Background technique

Omni wheels are a large wheel composed of multiple wheels. The omni wheel can rotate around the hub as a whole, and each wheel can rotate around its own center, so it can roll forward or slide left and right, and move the device Combining multiple omnidirectional wheels together can achieve 360-degree omnidirectional movement.

Omni-directional wheels are divided into single-row omni-directional wheels and multi-row omni-directional wheels. Among them, multi-row omni-directional wheels form a projected coherent tire surface through multiple rows of small rollers arranged alternately. Since the rollers have a multi-row structure, when used on bumpy roads, the roller bracket is very easy to collide with obstacles, causing inconvenience in use. And because it is a multi-row structure, the structure is relatively complicated, there are many parts, the production cost is high and the assembly is complicated. The single-row omni-directional wheels form a coherent tire surface through the small rollers embedded in each other, so there will be no problem like multiple rows of omni-directional wheels. However, due to the large gap between the driven wheels of the single-row omnidirectional wheel, the continuity of the whole wheel is poor, so relatively large noise and vibration will be generated.

In order to solve the problem of coherence, two small roller brackets are usually used to fix the large roller, but in actual production and application, there are problems of assembly difficulty, noise and vibration during use, and poor running stability. In addition, both the large roller and the small roller can be arranged in two halves and fixed on the bracket by both sides of the bracket. Although this solves the assembly problem, there will still be noise and vibration in actual use.

Contents of the invention

In view of the above problems, the embodiments of the present application provide an omnidirectional wheel and a mobile device with low production cost and high assembly efficiency.

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

The first aspect of the embodiments of the present application provides an omnidirectional wheel, the omnidirectional wheel includes a hub bracket and a plurality of first roller assemblies and a plurality of second roller assemblies connected to the hub bracket, the first roller The assembly and the second roller assembly are arranged alternately along the circumference of the hub bracket;

The first roller assembly includes a first shaft and a first roller rotatably mounted on the first shaft, the first roller includes a connected rim portion and a spoke portion, and in the axial direction of the first roller Above, the spoke portion is located in the middle of the rim portion, and the partial structures of the two second roller assemblies adjacent to the first roller assembly protrude into the axial direction of the spoke portion of the first roller assembly respectively. In the space on both sides; the first roller assembly also includes a first roller bracket fixedly connected to the hub bracket, and the first roller bracket includes a first bracket unit and a second bracket unit separately arranged, the first A bracket unit includes a first fixing portion, the second bracket unit includes a second fixing portion, the first fixing portion and the second fixing portion are respectively located in spaces on both sides of the spoke portion in the axial direction, the The first fixing part, the second fixing part and the first shaft are fixedly connected together.

Compared with the prior art, the omnidirectional wheel provided by the embodiment of the present application has the following advantages:

The spoke part of the first roller is arranged in the middle part of the rim part, thereby forming accommodating spaces on both sides in the axial direction of the spoke part, so that part of the structure of the second roller assembly can extend into the accommodating space, so that the omnidirectional wheel The structure is more compact, effectively reducing the angle difference between the first roller and the second roller and the roundness tolerance of the whole wheel. The first roller and the second roller are installed on the hub bracket through their own independent roller brackets, and the nesting between the first roller and the second roller is used to ensure the roundness of the whole wheel, while ensuring the quality of the omnidirectional wheel The requirements for processing and assembly precision are reduced, and the production cost is reduced. The first roller bracket of the first roller assembly is set as a two-half structure, and the two-half structure can extend into the first roller from both sides of the first roller to realize installation, so that it is not necessary to set the first roller into two halves That is, it can ensure the smooth assembly of the first roller assembly, thereby effectively reducing the vibration and noise of the omnidirectional wheel and improving the running stability of the omnidirectional wheel.

As an improvement to the omnidirectional wheel in the embodiment of the present application, the first bracket unit further includes a first installation part and a first connection part, and in the radial direction of the omnidirectional wheel, the first installation part is located on the The inner side of the first roller, the two ends of the first connecting part are respectively connected with the first mounting part and the first fixing part; the second bracket unit also includes a second mounting part and a second connecting part, In the radial direction of the omnidirectional wheel, the second mounting part is located inside the first roller, and the two ends of the second connecting part are respectively connected with the second mounting part and the second fixing part ; The first installation part and/or the second installation part are fixedly connected to the hub bracket.

As a further improvement of the omni-directional wheel in the embodiment of the present application, both the first connecting part and the second connecting part are bent or curved plate-shaped structures, and the plate-shaped structures are in line with the outline of the first roller. adaptation.

As a further improvement of the omnidirectional wheel in the embodiment of the present application, the first installation part abuts against the second installation part, and/or, the first installation part is fixedly connected to the second installation part.

As a further improvement of the omnidirectional wheel in the embodiment of the present application, the spoke portion is limited between the first fixing portion and the second fixing portion.

As a further improvement of the omni-directional wheel in the embodiment of the present application, first stoppers are provided at both ends of the first shaft, and the first stoppers at both ends are connected to the first shaft, and at least one end The first limiting part and the first shaft are separate structures, and the first limiting parts at both ends abut against the first fixing part and the second fixing part respectively.

As a further improvement of the omnidirectional wheel in the embodiment of the present application, the second roller assembly includes a second roller bracket, a second shaft, and a second roller arranged on the second shaft and capable of rotating relative to the second shaft; The second roller bracket includes a first support portion and a second support portion oppositely arranged, and the second shaft is fixedly connected with the first support portion and the second support portion to limit the second roller Located between the first support part and the second support part.

As a further improvement of the omnidirectional wheel in the embodiment of the present application, the two ends of the second shaft are provided with second limiting parts, and the second limiting parts at both ends are connected with the second shaft, and at least one end of the The second limiting part and the second shaft are separate structures, and the second limiting parts at both ends respectively abut against the first supporting part and the second supporting part, or, the first supporting part The second shaft is a screw, and the rod part of the second shaft passes through the first support part and the second roller, and is screwed with the second support part.

As a further improvement of the omnidirectional wheel in the embodiment of the present application, the first roller assembly and the second roller assembly are alternately arranged in the circumferential direction to form a complete wheel structure, and the hub bracket includes two splints, and the two splints are respectively The two axial sides of the omnidirectional wheel are fixedly connected to the whole wheel structure; or, the first roller assembly and the second roller assembly are alternately arranged in the circumferential direction to form a whole wheel structure, and the hub bracket is An integral structure, the first roller bracket and the second roller bracket are respectively fixedly connected to the hub bracket.

A second aspect of the embodiments of the present application provides a mobile device, which includes a body and the above-mentioned omnidirectional wheels mounted on the body.

Since the mobile device provided in the embodiment of the present application uses the above-mentioned omni-directional wheels, the omni-directional wheels in the mobile device run smoothly and have low noise and vibration, and the production cost is low.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is a perspective view of an omnidirectional wheel provided by an embodiment of the present application;

Fig. 2 is a front view of an omnidirectional wheel provided by an embodiment of the present application;

Fig. 3 is a perspective view of the first roller assembly of the omnidirectional wheel provided by an embodiment of the present application;

Fig. 4 is a sectional view of the first roller assembly shown in Fig. 3;

Fig. 5 is a cross-sectional view of an omnidirectional wheel provided by an embodiment of the present application;

Fig. 6 is a partial enlarged view of place A in Fig. 5;

Fig. 7 is a schematic structural view of the first bracket unit in the first roller assembly shown in Fig. 3;

Fig. 8 is a schematic structural view of the second bracket unit in the first roller assembly shown in Fig. 3;

Fig. 9 is a perspective view of the second roller assembly of the omnidirectional wheel provided by an embodiment of the present application;

Fig. 10 is a cross-sectional view of the second roller assembly shown in Fig. 9;

Fig. 11 is a schematic structural view of the second roller bracket of the second roller assembly shown in Fig. 9;

Fig. 12 is a front view of an omnidirectional wheel provided by another embodiment of the present application;

Fig. 13 is a schematic structural view of the splint in the omnidirectional wheel shown in Fig. 12 .

Explanation of reference signs:

10: hub bracket;

11: splint; 111: first positioning hole; 112: second positioning hole; 113: fourth mounting hole; 114: fifth mounting hole; 115: third positioning hole; 116: sixth mounting hole;

20: the first roller assembly;

211: first bracket unit; 2111: first fixing part; 2111a: first through hole; 2112: first installation part; 2112a: first positioning post; 2112b: first installation hole; 2112c: first connection hole; 2113 : the first connecting part; 2114: the first reinforcing rib;

212: second bracket unit; 2121: second fixing part; 2121a: second through hole; 2122: second mounting part; 2122a: second positioning column; 2122b: second mounting hole; 2122c: second connecting hole; 2123 : the second connecting part; 2124: the second reinforcing rib;

22: first shaft; 23: first roller; 231: rim part; 232: spoke part; 2321: first hole section; 2322: second hole section; 2323: third hole section; 233: first anti-slip ring groove ; 24: the first screw; 25: the second screw; 26: the first bearing;

30: the second roller assembly;

31: second roller bracket; 311: first supporting part; 3111: third through hole; 312: second supporting part; 3121: fourth through hole; 313: third connecting part; 314: fourth connecting part; 3141 : the third positioning column; 3142: the third mounting hole; 315: plate structure;

32: second shaft; 33: second roller; 331: fourth hole section; 332: fifth hole section; 333: sixth hole section; 334: second anti-slip ring groove; 34: second bearing; 35: first Three screws; 36: fourth screw.

detailed description

In a related technology, two small roller brackets are used to fix the large roller. This method requires high assembly accuracy, and errors in the circumferential direction are very easy to accumulate, resulting in failure to assemble or excessive assembly clearance. Each structural part needs to be reprocessed, which affects production efficiency and increases production cost. If the assembly gap is too large, the assembled omnidirectional wheel will generate greater noise and vibration, and the running stability will be poor.

In another related technology, both the large roller and the small roller are arranged in two halves and fixed on the bracket by both sides of the bracket. Such a structural setting does not require high assembly accuracy, but there will still be noise in actual use. and vibration issues. The applicant of the present application found that the main cause of noise and vibration is the two-half structure of the large roller and the small roller. There is a gap between the roller and the roller, and there is also a gap between the two half-type structures. Increase the position points that generate noise and vibration. In addition, too much clearance will also lead to an increase in error accumulation, which will further aggravate noise and vibration.

Based on this, the embodiment of the present application provides an omnidirectional wheel, which uses the nesting between the first roller and the second roller to ensure the roundness of the whole wheel, and sets the first roller bracket into a two-half structure, The smooth installation of the first roller assembly can be ensured without setting the first roller into two halves, thereby effectively reducing the vibration and noise of the omnidirectional wheel and improving the running stability of the omnidirectional wheel.

In order to make the above objects, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

The omnidirectional wheel of the embodiment of the present application is described below with reference to the accompanying drawings.

Fig. 1 is a perspective view of an omnidirectional wheel provided by an embodiment of the present application, and Fig. 2 is a front view of an omnidirectional wheel provided by an embodiment of the present application. As shown in FIG. 1 and FIG. 2 , the omnidirectional wheel provided by the embodiment of the present application includes a hub bracket 10 and a plurality of first roller assemblies 20 and a plurality of second roller assemblies 30 fixedly connected to the hub bracket 10 . Wherein, the hub bracket 10 is used to connect with the mobile device, so as to install the omnidirectional wheel on the mobile device, so that the mobile device can move in all directions by means of the omnidirectional wheel.

The first roller assemblies 20 and the second roller assemblies 30 are arranged alternately along the circumference of the hub bracket 10, that is, a plurality of first roller assemblies 20 and a plurality of second roller assemblies 30 are arranged in the form of the first roller assemblies 20 and the second roller assemblies. 30. The first roller assembly 20 , the second roller assembly 30 ... are arranged in sequence to form a complete circle of roller structure, and its outer contour forms a complete and continuous tire surface. It can be understood that the full circle mentioned here means that the first roller assembly 20 and the second roller assembly 30 are arranged along the entire circumference, and it does not mean that there is no gap between the first roller assembly 20 and the second roller assembly 30. The gap, that is, there may or may not be a gap between the first roller assembly 20 and the adjacent second roller assembly 30 .

FIG. 3 is a perspective view of a first roller assembly of an omnidirectional wheel provided by an embodiment of the present application, and FIG. 4 is a cross-sectional view of the first roller assembly shown in FIG. 3 . As shown in FIGS. 3 and 4 , the first roller assembly 20 includes a first roller bracket (not shown), a first shaft 22 mounted on the first roller bracket, and a first shaft 22 rotatably mounted on the first shaft 22 . The first roller 23 , that is, the first roller 23 is mounted on the first shaft 22 and can rotate relative to the first shaft 22 . The first roller bracket is fixedly connected to the hub bracket 10 , so that the first roller assembly 20 is installed on the hub bracket 10 .

The first roller 23 includes a connected rim portion 231 and a spoke portion 232. The rim portion 231 is used to support the tire surface. A shaft 22 cooperates. In the axial direction of the first roller 23 (also the axial direction of the first shaft 22), the spoke portion 232 is located in the middle of the rim portion 231, so, in the axial direction of the spoke portion 232 (that is, the axial direction of the first roller 23 is also the first The two ends of the shaft 22 in the axial direction) form accommodating spaces, that is, there is a certain distance between the axial end faces of the spoke portion 232 and the corresponding axial end faces of the rim portion 231, so that the spoke portion 232 The axial end surface of the rim portion 231 and the radially inner peripheral surface of the rim portion 231 enclose to form an axially open accommodation space.

Fig. 5 is a cross-sectional view of an omnidirectional wheel provided by an embodiment of the present application, and Fig. 6 is a partial enlarged view of the nesting position of the first roller assembly and the second roller assembly in Fig. 5 . 5 and 6, the partial structures of the two second roller assemblies 30 adjacent to the first roller assembly 20 respectively protrude into the space on both sides of the spoke portion 232 of the first roller assembly 20 (i.e. The aforesaid accommodating space of the axial opening formed by the axial end surface of the spoke portion 232 and the radially inner peripheral surface of the rim portion 231 ). The mutual nesting between the first roller assembly 20 and the second roller assembly 30 makes the structure of the omnidirectional wheel more compact, effectively reducing the angle difference between the first roller assembly 20 and the second roller assembly 30 and the overall wheel roundness tolerance. The first roller assembly 20 and the second roller assembly 30 are independently installed on the hub bracket 10, and the mutual nesting between the first roller assembly 20 and the second roller assembly 30 is used to ensure the roundness of the whole wheel, thereby ensuring The quality of the omnidirectional wheel also reduces the requirements for processing and assembly accuracy, and reduces production costs.

It can be understood that "the spoke part 232 is located in the middle of the rim part 231" mentioned here is not limited to the fact that the spoke part 232 is located in the middle of the rim part 231, that is, the two ends of the spoke part 232 and the corresponding rim part 231 The distance between the two end surfaces may be equal or unequal, as long as it is roughly located in the middle region of the rim portion 231, so that the axial end surface of the spoke portion 232 can be surrounded by the radially inner peripheral surface of the rim portion 231 to form an accommodating space. Can. Certainly, in order to ensure the movement stability of the first roller 23 , the spoke portion 232 is preferably disposed at the middle position of the rim portion 231 .

In order to form an accommodating space for the second roller assembly 30 to protrude into, the spoke portion 232 needs to be arranged in the middle area of the rim portion 231. In order to realize the installation between the first shaft 22 and the first roller bracket, as shown in FIG. 4 , The first roller support is configured as a split structure, and the split structure may not be limited by the structure of the rim portion 231 . Specifically, the first roller bracket includes a first bracket unit 211 and a second bracket unit 212 that are separately arranged, the first bracket unit 211 includes a first fixing portion 2111, the second bracket unit 212 includes a second fixing portion 2121, and the first bracket unit 211 includes a second fixing portion 2121. The fixing part 2111 and the second fixing part 2121 are respectively located in spaces on both sides of the spoke part 232 in the axial direction (ie the aforesaid accommodating space). The first fixing part 2111 , the second fixing part 2121 and the first shaft 22 are fixedly connected together.

Through the above-mentioned two-half bracket structure setting, the smooth assembly of the first roller assembly 20 can be ensured without setting the first roller 23 into a two-half structure, that is, the first roller 23 is an integral structure, thereby effectively reducing the vibration and noise, and improve the stability of the omni-directional wheel.

The first fixing part 2111 and the second fixing part 2121 can be fixedly connected to the two ends of the first shaft 22 through any structure, for example, it can be a clip connection, an interference fit connection and the like. In order to facilitate the disassembly and the adjustment of the locking force, in a preferred embodiment, as shown in FIG. The part 2121 is locked and fixedly connected with the other end of the first shaft 22 through the second screw 25. In this way, the fixing of the first fixing part 2111, the second fixing part 2121 and the first shaft 22 can be realized, and the locking can also be adjusted through adjustment. Force to adjust the axial position of the first roller 23 (details will be described later), so as to further improve the vibration and noise problems of the omnidirectional wheel.

The first bracket unit 211 and the second bracket unit 212 can be any structure capable of fixing the first shaft 22. In order to have enough space to accommodate the second roller assembly 30, the first fixing part 2111 and the second fixing part 2121 Preference is given to a plate-like structure. The installation structure used to connect the first roller bracket to the hub bracket 10 can be arranged on the first bracket unit 211, or on the second bracket unit 212, or both bracket units can be provided with the installation structure, or In addition, a separate third bracket unit (not shown in the figure) is provided, and the first bracket unit 211, the second bracket unit 212, and the hub bracket 10 are connected together through the third bracket unit.

In a preferred embodiment, FIG. 7 is a schematic structural view of the first bracket unit in the omnidirectional wheel provided by an embodiment of the present application. As shown in FIG. 7, the first bracket unit 211 also includes a first mounting part 2112 and a first A connecting portion 2113, in the radial direction of the omni-directional wheel, the first mounting portion 2112 is located inside the first roller 23, and the two ends of the first connecting portion 2113 are respectively connected with the first mounting portion 2112 and the first fixing portion 2111.

Fig. 8 is a schematic structural view of the second bracket unit in the omnidirectional wheel provided by an embodiment of the present application. As shown in Fig. In the radial direction of , the second mounting portion 2122 is located inside the first roller 23 , and the two ends of the second connecting portion 2123 are respectively connected to the second mounting portion 2122 and the second fixing portion 2121 . In this way, through the transition of the first connecting portion 2113 and the second connecting portion 2123, the first mounting portion 2112 of the first bracket unit 211 and the second mounting portion 2122 of the second bracket unit 212 are both located between the first roller 23 and the second mounting portion 2122. Between the hub brackets 10 , the cooperation between the two (the first installation part 2112 and the second installation part 2122 ) and the cooperation with the hub bracket 10 are facilitated.

For example, in a preferred embodiment, as shown in FIG. 7 and FIG. 8 , the installation structure for installing the first roller assembly 20 is provided on the first installation part 2112 and the second installation part 2122 . The mounting structure includes, for example, a first positioning post 2112a and a first mounting hole 2112b provided on the first mounting part 2112, and also includes a second positioning post 2122a and a second mounting hole 2122b provided on the second mounting part 2122, the first The positioning column 2112a and the second positioning column 2122a are used to cooperate with the positioning holes on the hub bracket 10 to realize the positioning of the first roller assembly 20, and the first mounting hole 2112b and the second mounting hole 2122b are used to be installed on the hub bracket 10 The hole fit realizes the fixed connection between the first roller assembly 20 and the hub bracket 10 .

It can be understood that the installation structure can also be arranged only on the first installation part 2112, or only on the second installation part 2122, or the positioning column is arranged on the first installation part 2112, and the installation hole is arranged on the second installation part. Section 2122 on.

There may be no matching relationship between the first mounting part 2112 and the second mounting part 2122, and the first bracket unit 211 and the second bracket unit 212 are independently installed on the hub bracket 10, for example, the first mounting part 2112 and the second mounting part There is a certain interval between 2122. In order to further improve the overall structural reliability, preferably, the first mounting portion 2112 and the second mounting portion 2122 are against each other, for example, in the embodiment shown in FIG. 4 , the first mounting portion 2112 and the second mounting portion 2122 are opposite set, and the two opposite faces fit each other. Further preferably, the first installation part 2112 and the second installation part 2122 are fixedly connected together, so as to further improve the overall structural reliability.

The first installation part 2112 and the second installation part 2122 can be fixedly connected together by clamping, plugging, fastener connection, etc. In a preferred embodiment, as shown in FIG. 7, the first installation part 2112 The surface opposite to the second mounting part 2122 is provided with a first connecting hole 2112c, and the first connecting hole 2112c is a threaded hole. As shown in FIG. The opposite direction of the mounting part 2122 passes through the second connection hole 2122c, the second connection hole 2122c is a stepped light hole, and the stepped light hole includes a small-diameter section arranged close to the first connection hole 2112c and a small-diameter section arranged away from the first connection hole 2112c and connected to the small-diameter section Contiguous large diameter segments. In this way, the screw can pass through the stepped light hole from the large-diameter section, and the shank of the screw passes through the small-diameter section and enters the first connecting hole 2112c to be screwed to the first connecting hole 2112c until the screw head of the screw abuts against the large-diameter section On the step surface between the small-diameter section, the fixed connection between the first installation part 2112 and the second installation part 2122 is completed.

The first connecting part 2113 can be any structure that can connect the first fixing part 2111 in the first roller 23 and the first mounting part 2112 between the first roller 23 and the hub bracket 10, in order to further improve the compactness of the structure Preferably, as shown in FIG. 7, the first connecting portion 2113 is a bent or bent plate-like structure, and as shown in FIG. The plate-shaped structure adapted to the contour of the first roller 23 can not only realize the connection between the first fixing part 2111 and the first installation part 2112, but also prevent the setting of the first connecting part 2113 from occupying a lot of accommodating space.

In order to improve the structural strength of the first connecting portion 2113 in a plate-like structure, preferably, a reinforcing structure is further provided on the first connecting portion 2113 . The reinforcement structure may be any structure capable of strengthening, such as a reinforcement plate, a reinforcement groove, and the like. The reinforcing structure can be disposed at any position of the first connecting portion 2113 , for example, disposed on a side of the first connecting portion 2113 away from the first roller 23 , or disposed on a side of the first connecting portion 2113 close to the first roller 23 . In a preferred embodiment, as shown in FIG. 7 and with reference to FIG. 4 , the reinforcing structure is a first reinforcing rib 2114 disposed on the side of the first connecting portion 2113 close to the first roller 23, and the first reinforcing rib 2114 is formed by the first reinforcing rib 2114. A radial inner end of a fixing portion 2111 extends to a position corresponding to the axial first end of the first roller 23 . In this way, the structural strength of the first connecting portion 2113 is ensured without affecting the structural space layout of each part.

Similarly, the second connecting portion 2123 can be any structure that can connect the second fixing portion 2121 in the first roller 23 and the second mounting portion 2122 between the second roller 33 and the hub bracket 10, in order to further improve The compactness of the structure, preferably, as shown in FIG. 8, the second connecting portion 2123 is a bent or curved plate-shaped structure, and as shown in FIG. 4, the plate-shaped structure is adapted to the contour of the first roller 23 Using the plate-shaped structure adapted to the contour of the first roller 23 can not only realize the connection between the second fixing part 2121 and the second mounting part 2122, but also avoid the setting of the second connecting part 2123 from occupying a lot of accommodating space.

In order to improve the structural strength of the second connecting portion 2123 in the form of a plate, preferably, a reinforcement structure is further provided on the second connecting portion 2123 . The reinforcement structure may be any structure capable of strengthening, such as a reinforcement plate, a reinforcement groove, and the like. The reinforcing structure can be disposed at any position of the second connecting portion 2123 , for example, disposed on a side of the second connecting portion 2123 away from the first roller 23 , or disposed on a side of the second connecting portion 2123 close to the first roller 23 . In a preferred embodiment, as shown in FIG. 8 and with reference to FIG. 4 , the reinforcing structure is a second reinforcing rib 2124 disposed on the side of the second connecting portion 2123 close to the first roller 23, and the second reinforcing rib 2124 is formed by the second reinforcing rib 2124. The radially inner ends of the two fixing portions 2121 extend to a position corresponding to the second axial end of the first roller 23 . In this way, the structural strength of the second connecting portion 2123 is ensured without affecting the structural space layout of each part.

Since the first fixing part 2111 and the second fixing part 2121 are arranged on both sides of the spoke part 232 of the first roller 23, so, in a further preferred embodiment, the first fixing part 2111 and the second fixing part 2121 are used to realize alignment. The axial limit of the first roller 23, that is, the surface of the first fixed part 2111 opposite to the spoke part 232 is the first limit surface, and the surface of the second fixed part 2121 opposite to the spoke part 232 is the second limit surface On the surface, the spoke portion 232 of the first roller 23 can be limited between the first limiting surface and the second limiting surface, thereby ensuring that the first roller 23 will not shake and move during the travel of the omnidirectional wheel, and then Reduce the vibration and noise of the omnidirectional wheel, improve the running stability and use comfort.

In other embodiments, while using the first fixing part 2111 and the second fixing part 2121 to realize the axial limit of the first roller 23, the first fixing part 2111, the second fixing part 2121 and the first axis are also adjusted. The locking degree of 22 can fine-tune the axial position of the first roller 23, so as to achieve the effect of further improving the noise and vibration of the omnidirectional wheel.

In one embodiment, the first roller 23 is directly sleeved on the first shaft 22, that is, the first roller 23 is directly connected to the first shaft 22. At this time, the spoke portion 232 of the first roller 23 is limited to the first Between the fixed part 2111 and the second fixed part 2121, the first fixed part 2111 and the second fixed part 2121 may have a small gap with the spoke part 232, or may be the first fixed part 2111 and the second fixed part 2121 and the spoke portion 232 are only in contact with each other and there is no axial force between them. It is also possible that there is a small axial force between the first fixing portion 2111 and the second fixing portion 2121 and the spoke portion 232, as long as there is no It is sufficient to affect the normal rotation of the first roller 23 .

In other embodiments, a first sleeve (not shown) is arranged between the spoke portion 232 of the first roller 23 and the first shaft 22, the first sleeve forms a tight fit with the spoke portion 232, and the first shaft 22 can rotate relative to the first sleeve. At this time, the first sleeve is limited between the first fixing portion 2111 and the second fixing portion 2121 . The first fixing part 2111 and the second fixing part 2121 may have a small gap with the first sleeve, or the first fixing part 2111 and the second fixing part 2121 may only be in contact with the first sleeve. There is no axial force between each other, and there may be a small axial force between the first fixing part 2111 and the second fixing part 2121 and the first sleeve, as long as the normal rotation of the first roller 23 is not affected. Can. The first sleeve is preferably a copper sleeve.

In order to further improve the rotation reliability of the first roller 23, in a preferred embodiment, a first bearing 26 is arranged between the first shaft 22 and the spoke portion 232, and the first roller 23 is rotatably installed through the first bearing 26. On the first shaft 22, that is, the first roller 23 is supported on the first shaft 22 through the first bearing 26 and can rotate relative to the first shaft 22 (the first roller 23 is connected to the first shaft 22 in a fixed axial position and the first roller 23 can rotate relative to the first shaft 22). The first roller 23 is clamped between the first fixing portion 2111 and the second fixing portion 2121 .

In a specific embodiment, there is a gap between the inner ring of the first bearing 26 and the first shaft 22 , and the outer ring of the first bearing 26 is in interference fit with the spoke portion 232 . It can be understood that the size of the gap between the inner ring of the first bearing 26 and the first shaft 22 described here is not limited specifically, and it can be a large gap or a small gap, which can make the first bearing Relative movement between the inner ring of 26 and the first shaft 22 is sufficient.

Through the fixing of the first shaft 22 to the first fixing part 2111 and the second fixing part 2121 , the inner ring of the first bearing 26 is clamped between the first fixing part 2111 and the second fixing part 2121 . Because there is a gap between the inner ring of the first bearing 26 and the first shaft 22, they can move relative to each other before being fixed, and because the inner ring of the first bearing 26 and the first shaft 22 can move relative to each other, when the first When the first shaft 22 is fixed to the first fixing part 2111 and the second fixing part 2121, the inner ring of the first bearing 26 is clamped by the first fixing part 2111 and the second fixing part 2121, so as to ensure that the first roller 23 is on the omnidirectional wheel. There will be no shaking and swaying during the running process, thereby further reducing the vibration and noise of the omnidirectional wheel, and improving the stability of operation and the comfort of use.

It can be understood that “clamping the inner ring of the first bearing 26 between the first fixing portion 2111 and the second fixing portion 2121” mentioned here means that the inner ring of the first bearing 26 is not only positioned Between the first fixing part 2111 and the second fixing part 2121 , and the inner ring of the first bearing 26 is subjected to a certain clamping force, and the magnitude of the clamping force is not specifically limited.

The first shaft 22, the first fixing part 2111 and the second fixing part 2121 can be fixedly connected together by any means. Both the first limiting parts at one end are connected with the first shaft 22. In order to assemble smoothly, the first limiting part at least one end and the first shaft 22 have a separate structure, and the first limiting parts at both ends respectively abut against the first fixed part 2111 and the second fixing part 2121, so as to fixedly connect the first shaft 22, the first fixing part 2111 and the second fixing part 2121 together.

In order to simplify the structure further, preferably, as shown in FIG. A second through hole 2121a through which the other end of the first shaft 22 passes is provided. As shown in Figure 4, the two ends of the first shaft 22 are respectively provided with a first threaded hole and a second threaded hole, the rod of the first screw 24 is matched with the first threaded hole, and the head of the first screw 24 is against In the first fixing part 2111 , the shaft of the second screw 25 fits into the second threaded hole, and the head of the second screw 25 abuts against the second fixing part 2121 . In this way, the head of the first screw 24 and the head of the second screw 25 constitute the above-mentioned first limiting part, and the locking force of the first screw 24 and the second screw 25 acts on the first fixing part 2111 and the second fixing part 2111. part 2121 , so that the first fixing part 2111 and the second fixing part 2121 clamp the inner ring of the first bearing 26 .

Of course, it can be understood that, in the embodiment provided with the first bearing 26, the first fixing part 2111 and the second fixing part 2121 may not be configured to clamp the inner ring of the first bearing 26, but to be connected to the spoke Part 232 cooperates to limit the position of the first roller 23, for example, the first fixing part 2111 and the second fixing part 2121 form a clearance fit with the spoke part 232, or the first fixing part 2111 and the second fixing part 2121 and the spoke part 232 The two side surfaces of the spoke portion 232 are arranged in close contact with each other, or there is a certain clamping force between the first fixing portion 2111 and the second fixing portion 2121 and the two side surfaces of the spoke portion 232, as long as the normal rotation of the first roller 23 is not affected.

In another embodiment, the first shaft 22 is a screw, and the end of the shaft of the first shaft 22 away from the head is provided with a fifth threaded hole, and the shaft of the first shaft 22 passes through the first fixing part 2111, The spoke portion 232 and the second fixing portion 2121, the first roller assembly 20 also includes a fifth screw (not shown in the figure), the stem of the fifth screw is threadedly connected with the fifth threaded hole, and the head of the first shaft 22 abuts against Leaning against the first fixing part 2111, the head of the fifth screw leans against the second fixing part 2121, the head of the first shaft 22 and the head of the fifth screw constitute the above-mentioned first limiting part, and can also realize The aforementioned limiting of the spoke portion 232 or clamping of the inner ring of the first bearing 26 . In an alternative embodiment of this embodiment, the outer thread of the rod portion of the first shaft 22 away from the end of its head is provided outside, and the rod portion of the first shaft 22 passes through the first fixing portion 2111, the spoke portion 232 and the second The fixing part 2121 is threaded with the nut, the head of the first shaft 22 is against the first fixing part 2111, and the nut threaded with the rod of the first shaft 22 is against the second fixing part 2121. The nut and the head of the first shaft 22 constitute the above-mentioned first limiting portion.

In yet another embodiment, both ends of the first shaft 22 are provided with external threads, the first shaft 22 passes through the first fixing part 2111, the spoke part 232, and the second fixing part 2121, and the two ends of the first shaft 22 are exposed And respectively screwed with nuts (not shown in the figure), so that the nuts at both ends abut against the first fixing part 2111 and the second fixing part 2121 respectively, and the nuts at both ends constitute the above-mentioned first limiting part.

Further preferably, referring to FIG. 4 , the axial dimension of the first shaft 22 is L1, the axially outer surface of the first fixing portion 2111 (the axial direction of the first shaft 22 ) and the axial outer surface of the second fixing portion 2121 ( The distance between the axis direction of the first shaft 22) is L2, and L2 is greater than L1, so that the clamping effect of the first fixing part 2111 and the second fixing part 2121 on the first roller 23 can be further ensured, and the locking force The adjustable range is larger, and the adjustable degree of freedom is high, so as to further improve the noise and vibration problems of the omnidirectional wheel.

There may be one first bearing 26, or there may be multiple ones. When there is one first bearing 26 , the first fixing portion 2111 and the second fixing portion 2121 clamp the inner ring of the first bearing 26 . In order to further improve the stability of rotation of the first roller 23 and the connection reliability with the first shaft 22, in a preferred embodiment, as shown in Figure 4, the first bearing 26 is provided with two, two first bearings The inner ring of 26 is jointly clamped between the first fixing portion 2111 and the second fixing portion 2121 .

Specifically, as shown in FIG. 4 , the inner hole of the spoke portion 232 includes a first hole segment 2321 and a second hole segment 2322 and a third hole segment 2323 connected to the two ends of the first hole segment 2321 respectively. The diameter of 2321 is smaller than the diameter of the second hole segment 2322 and the third hole segment 2323, thereby forming a first stepped surface between the first hole segment 2321 and the second hole segment 2322, and between the first hole segment 2321 and the third hole segment A second stepped surface is formed between 2323. One of the first bearings 26 is arranged in the second hole section 2322, and the outer ring of the first bearing 26 is connected with the hole wall of the second hole section 2322 with an interference fit, for example, it can be pressed into the second hole section 2322 by means of hydraulic pressure or the like. Inside, the outer ring of the first bearing 26 abuts against the first stepped surface. Another first bearing 26 is arranged in the third hole section 2323, and the outer ring of the first bearing 26 is connected with the hole wall of the third hole section 2323 with an interference fit, for example, it can be pressed into the third hole section 2323 by means of hydraulic pressure, etc. Inside, the outer ring of the first bearing 26 abuts against the second stepped surface.

Through the above structural arrangement, the inner rings of the two first bearings 26 are clamped between the first fixing portion 2111 and the second fixing portion 2121 . Wherein, the first fixing part 2111 and the second fixing part 2121 can be directly pressed against the inner ring of the first bearing 26, in order to ensure the pressing effect, the first fixing part 2111 and the second fixing part 2121 are opposite to the first bearing 26 A ring-shaped boss structure is provided on the side of the ring-shaped boss structure, and is pressed against the inner ring of the first bearing 26 through the ring-shaped boss structure.

Further, FIG. 9 is a schematic structural view of a second roller assembly provided by an embodiment of the present application, and FIG. 10 is a cross-sectional view of the second roller assembly provided by an embodiment of the present application. As shown in FIGS. 9 and 10 , the second roller assembly 30 includes a second roller bracket 31 , a second shaft 32 arranged on the second roller bracket 31 , and a second roller 33 rotatably arranged on the second shaft 32 . Wherein, the second roller support 31 includes a first support portion 311 and a second support portion 312 oppositely arranged, a third connection portion 313 connecting the first support portion 311 and the second support portion 312, and a third connection portion 313 connected to the hub. The fourth connecting portion 314 of the bracket 10 . In order to facilitate processing and ensure structural reliability, the second roller bracket 31 is preferably a one-piece structure.

Wherein, the second shaft 32 is fixedly connected with the first support part 311 and the second support part 312, so that the second roller 33 is limited between the first support part 311 and the second support part 312, thereby ensuring that the second roller 33 is The omnidirectional wheel will not shake and move during the running process, thereby reducing the vibration and noise of the omnidirectional wheel, and improving the stability of operation and the comfort of use. In addition, by adjusting the degree of locking between the second shaft 32 and the first support part 311 and the second support part 312, the axial position of the second roller 33 can be fine-tuned to achieve the effect of further improving the noise and vibration of the omnidirectional wheel .

In one embodiment, the second roller 33 is directly sleeved on the second shaft 32, that is, the second roller 33 is directly optically connected to the second shaft 32. At this time, the second roller 33 is limited between the first support portion 311 and Between the second support parts 312, the first support part 311 and the second support part 312 may have a small gap with the second roller 33, or the first support part 311 and the second support part 312 may be in contact with the first support part 312. There is only contact between the two rollers 33 and there is no axial force between them. It can also be that there is a small axial force between the first support part 311 and the second support part 312 and the second roller 33, as long as it does not affect The normal rotation of the second roller 33 is sufficient.

In other embodiments, a second sleeve (not shown) is arranged between the second roller 33 and the second shaft 32, the second sleeve forms a tight fit with the second roller 33, and the second shaft 32 and the first The two sleeves can be relatively rotated. At this time, the second sleeve is limited between the first supporting portion 311 and the second supporting portion 312 . The first supporting portion 311 and the second supporting portion 312 may have a small gap with the second sleeve, or the first supporting portion 311 and the second supporting portion 312 may only be in contact with the second sleeve. There is no axial force between each other, and there may be a small axial force between the first support part 311 and the second support part 312 and the second sleeve, as long as the normal rotation of the second roller 33 is not affected. Can. The second sleeve is preferably a copper sleeve.

In order to further improve the rotation reliability of the second roller 33, in a preferred embodiment, a second bearing 34 is arranged between the second shaft 32 and the second roller 33, and the second roller 33 is rotatable through the second bearing 34. Installed on the second shaft 32, that is, the second roller 33 is supported on the second shaft 32 by the second bearing 34 and can rotate relative to the second shaft 32 (the second roller 33 is connected with the second shaft 32 in a fixed axial position and the second The roller 33 can rotate relative to the second shaft 32). The inner ring of the second bearing 34 is clamped between the first supporting portion 311 and the second supporting portion 312 .

In a specific embodiment, there is a gap between the inner ring of the second bearing 34 and the second shaft 32 , and the outer ring of the second bearing 34 is in interference fit with the second roller 33 . It can be understood that the size of the gap between the inner ring of the second bearing 34 and the second shaft 32 described here is not limited specifically, and it can be a larger gap or a smaller gap, which can make the second bearing Relative movement between the inner ring of 34 and the second shaft 32 is sufficient.

The inner ring of the second bearing 34 is clamped between the first support portion 311 and the second support portion 312 by fixing the second shaft 32 to the first support portion 311 and the second support portion 312 . Because there is a gap between the inner ring of the second bearing 34 and the second shaft 32, they can move relative to each other before being fixed, and because the inner ring of the second bearing 34 and the second shaft 32 can move relative to each other, when the first When the two shafts 32 are fixed to the first support part 311 and the second support part 312, the second roller 33 is clamped by the first support part 311 and the second support part 312 to ensure that the second roller 33 travels in the omnidirectional wheel There will be no shaking and swaying in the middle, so as to further reduce the vibration and noise of the omnidirectional wheel, and improve the stability of operation and the comfort of use.

It can be understood that “clamping the inner ring of the second bearing 34 between the first support portion 311 and the second support portion 312” mentioned here means that the inner ring of the second bearing 34 is not only located Between the first supporting portion 311 and the second supporting portion 312 , and the inner ring of the second bearing 34 is subjected to a certain clamping force, and the magnitude of the clamping force is not limited.

The second shaft 32 can be fixedly connected to the first support portion 311 and the second support portion 312 by clamping, interference fit connection and the like. For example, the two ends of the second shaft 32 are provided with second limiting parts (not shown in the figure), and the second limiting parts at both ends are connected with the second shaft 32. In order to assemble smoothly, at least one end of the second limiting parts part and the second shaft 32 are separate structures, and the second limiting parts at both ends respectively abut against the first supporting part 311 and the second supporting part 312, so as to connect the second shaft 32, the first supporting part 311 and the second supporting part The three parts 312 are fixedly connected together. In order to facilitate disassembly and adjustment of the locking force, in a preferred embodiment, as shown in FIG. The second support part 312 is fixedly connected, and the head of the third screw 35 and the head of the fourth screw 36 constitute the above-mentioned second limiting part. In this way, the second shaft 32 can be connected with the first support part 311, the second The fixing of the supporting part 312 can also adjust the axial position of the second roller 33 by adjusting the locking force (details will be described later), so as to further improve the vibration and noise problems of the omnidirectional wheel.

In another embodiment, both ends of the second shaft 32 are provided with external threads, the second shaft 32 passes through the first support part 311 and the second support part 312, and the two ends of the second shaft 32 are exposed and connected to the nuts respectively. (not shown in the figure) threaded connection, so that the nuts at both ends abut against the first supporting portion 311 and the second supporting portion 312 respectively, and the nuts at both ends constitute the above-mentioned second limiting portion.

Of course, the way of connecting by fasteners can also be that the second shaft 32 is a screw, the second shaft 32 includes a head and a rod, and the rod passes through the first support part 311 and the inner ring of the second bearing 34, and It is threadedly connected with the second supporting part 312, so that the assembly process can be further simplified and the assembly efficiency can be improved.

In order to further simplify the structure, preferably, as shown in FIG. 11 , the first support portion 311 is provided with a third through hole 3111 through which one end of the second shaft 32 passes, and the second support portion 312 is provided with a third through hole 3111 for the second shaft. The fourth through hole 3121 through which the other end of 32 passes. As shown in Figure 10, the two ends of the second shaft 32 are respectively provided with a third threaded hole and a fourth threaded hole, the rod of the third screw 35 is matched with the third threaded hole, and the head of the third screw 35 is against the third threaded hole. On the first supporting portion 311 , the stem portion of the fourth screw 36 fits into the fourth threaded hole, and the head of the fourth screw 36 abuts against the second supporting portion 312 . In this way, the locking force of the third screw 35 and the fourth screw 36 acts on the first support part 311 and the second support part 312, so that the first support part 311 and the second support part 312 connect the inner ring of the second bearing 34 Clamp.

Of course, it can be understood that, in the embodiment provided with the second bearing 34, the first support part 311 and the second support part 312 may not be configured to clamp the inner ring of the second bearing 34, but are connected to the second bearing 34 The two side surfaces of the two rollers 33 cooperate to realize the positioning of the second roller 33, for example, the first support part 311 and the second support part 312 form a clearance fit with the second roller 33, or the first support part 311 and the second support part 312 is attached to the two sides of the second roller 33, or there is a certain clamping force between the first support part 311 and the second support part 312 and the second roller 33, as long as the normal rotation of the second roller 33 is not affected That's it.

Further preferably, referring to FIG. 10 , the axial dimension of the second shaft 32 is L3, the axially outer surface of the first support portion 311 (the axial direction of the second shaft 32 ) and the axially outer surface of the second support portion 312 ( The distance between the second shaft 32 in the axial direction) is L4, and L4 is greater than L3, so that the clamping effect of the first support part 311 and the second support part 312 on the inner ring of the second bearing 34 can be further ensured, and the lock The adjustable range of the tightening force is larger, and the adjustable degree of freedom is high, so as to further improve the noise and vibration problems of the omnidirectional wheel.

There may be one second bearing 34, or there may be a plurality of them. When there is one second bearing 34 , the inner ring of the second bearing 34 is clamped by the first support portion 311 and the second support portion 312 . In order to further improve the rotation stability of the second roller 33 and the connection reliability with the second shaft 32, in a preferred embodiment, as shown in Figure 10, the second bearing 34 is provided with two, two second bearings The inner ring of 34 is jointly clamped between the first support part 311 and the second support part 312 .

Specifically, as shown in FIG. 10 , the inner hole of the second roller 33 includes a fourth hole segment 331 and a fifth hole segment 332 and a sixth hole segment 333 respectively connected to both ends of the fourth hole segment 331 . The diameter of segment 331 is smaller than the diameter of the fifth hole segment 332 and the sixth hole segment 333, thereby forming a third stepped surface between the fourth hole segment 331 and the fifth hole segment 332, and between the fourth hole segment 331 and the sixth hole segment A fourth step surface is formed between the segments 333 . One of the second bearings 34 is arranged in the fifth hole section 332, and the outer ring of the second bearing 34 is connected with the hole wall of the fifth hole section 332 with an interference fit, for example, it can be pressed into the fifth hole section 332 by means of hydraulic pressure or the like. Inside, the outer ring of the second bearing 34 abuts against the third stepped surface. Another second bearing 34 is arranged in the sixth hole section 333, and the outer ring of the second bearing 34 is connected with the hole wall of the sixth hole section 333 with an interference fit, for example, it can be pressed into the sixth hole section 333 by means of hydraulic pressure or the like. Inside, the outer ring of the second bearing 34 abuts against the fourth stepped surface.

Through the above structural arrangement, the inner rings of the two second bearings 34 are clamped between the first support portion 311 and the second support portion 312 . Wherein, the first supporting portion 311 and the second supporting portion 312 can be directly pressed against the inner ring of the second bearing 34 , in order to ensure the pressing effect, the first supporting portion 311 and the second supporting portion 312 are opposite to the second bearing 34 The side of the ring is provided with an annular boss structure, which is pressed against the inner ring of the second bearing 34 through the annular boss structure.

To simplify the structure, the third connecting portion 313 is preferably in a plate-like structure, for example, may be a flat plate structure, or a curved plate or corrugated plate structure. In order to improve structural reliability and better adapt to the second roller 33 , preferably, as shown in FIG. 10 , the third connecting portion 313 is an arc-shaped plate structure adapted to the outer contour of the second roller 33 . In order to further improve the structural reliability of the second roller bracket 31, a reinforcing structure (not shown in the figure) is provided on the third connecting portion 313, and the supporting force of the second roller bracket 31 is improved through the reinforcing structure, thereby helping to ensure dynamic Stable, preventing stress concentration in the second roller support 31.

The reinforcing structure can be any structure such as ribs and grooves that can play a reinforcing role. In a preferred embodiment, as shown in FIG. 33 protrudingly provided on one side of the plate-like structure 315, two mutually spaced plate-like structures 315 are provided at both ends of the third connecting portion 313, as shown in Figure 6, the interval between the two plate-like structures 315 The first screw 24 and the second screw 25 are accommodated, thereby improving the structural strength of the second roller bracket 31 while ensuring a compact structure.

The specific shape of the plate-like structure 315 is not limited. Preferably, as shown in FIG. The first bracket unit 211 and the second bracket unit 212 are in contact, so that the structural reliability of the whole wheel after assembly can be further improved.

The fourth connecting portion 314 can be configured as any structure that can facilitate the connection between the third connecting portion 313 and the hub bracket 10 , such as a connecting block protruding radially inward from the third connecting portion 313 . In order to ensure compact structure, preferably, the fourth connecting portion 314 is located in the middle of the third connecting portion 313 in the circumferential direction, and has a thick plate structure extending radially inward from the third connecting portion 313. extend axially until they are respectively flush with the axial end surfaces of the third connecting portion 313 . An installation structure for cooperating with the hub bracket 10 is provided on the fourth connecting portion 314 . In a preferred embodiment, as shown in FIG. 11 , the fourth connecting portion 314 is provided with a third positioning post 3141 and a third mounting hole 3142 , and the third positioning post 3141 is used to cooperate with the positioning hole on the hub bracket 10 The positioning of the second roller assembly 30 is realized, and the third installation hole 3142 is used to cooperate with the installation hole on the hub bracket 10 to realize the fixed connection between the second roller assembly 30 and the hub bracket 10 .

Of course, it can be understood that the second roller bracket 31 can also be configured as a two-half structure similar to the first roller bracket, and the specific structure will not be repeated here.

Both the outer periphery of the first roller 23 and the second roller 33 are coated with elastic buffer parts (not shown in the figure). In order to prevent the omnidirectional wheel from slipping, the surface of the elastic buffer part is provided with anti-skid lines. Specifically, as shown in FIG. 6 , a plurality of first anti-slip ring grooves 233 arranged along its axial direction are provided on the elastic buffer portion of the first roller 23 , and a plurality of first anti-slip ring grooves 233 arranged along its axial direction are provided on the elastic buffer portion of the second roller 33 . A plurality of second anti-slip ring grooves 334 arranged axially. In order to ensure the running stability of the omnidirectional wheel during travel, preferably, the size of the notch of the first anti-slip ring groove 233 in the circumferential direction is approximately the same as the size of the notch of the second anti-slip ring groove 334 in the circumferential direction, further Specifically, the size of the gap in the circumferential direction between the adjacent first roller 23 and the second roller 33 is also set to be approximately the same as the aforementioned two sizes, so that the omnidirectional wheel can always Maintain regular motion convergence, so as to ensure the smooth motion of the omnidirectional wheel.

The hub bracket 10 can be any structure that can fix the various roller parts together. For example, in the embodiment shown in FIGS. The vibration buffering effect of the omnidirectional wheel is further improved, thereby ensuring the running stability of the omnidirectional wheel. Fig. 12 is a front view of an omnidirectional wheel provided by another embodiment of the present application. In another embodiment, as shown in Fig. 12 , the hub bracket 10 can be two splints 11, and the two splints 11 are separated from the first roller respectively. Both sides of the whole wheel structure formed by alternately arranging the components 20 and the second roller components 30 in the circumferential direction are fixed to the whole wheel structure.

Fig. 13 is a schematic structural view of the splint in the omnidirectional wheel shown in Fig. 12. As shown in Fig. 13, first positioning holes 111 are respectively provided on the splint 11 at positions corresponding to the first positioning post 2112a and the second positioning post 2122a And the second positioning hole 112, the position corresponding to the first mounting hole 2112b and the second mounting hole 2122b are respectively provided with the fourth mounting hole 113 and the fifth mounting hole 114, and the position corresponding to the third positioning column 3141 is provided with The third positioning hole 115 is provided with a sixth mounting hole 116 at a position corresponding to the third mounting hole 3142 . In this way, through the cooperation of the first positioning post 2112a and the first positioning hole 111, the cooperation of the second positioning post 2122a and the second positioning hole 112, and the cooperation of the third positioning post 3141 and the third positioning hole 115, the splints 11 on both sides Position with the whole wheel structure, and then use the locking member to lock and fix the first installation hole 2112b and the fourth installation hole 113, lock and fix the second installation hole 2122b and the fifth installation hole 114, and lock and fix the third installation hole 3142 It is locked and fixed with the sixth mounting hole 116, thereby completing the fixing of the splint 11 and the whole wheel structure.

The number of the first rollers 23 and the second rollers 33 is not limited, for example, five as shown in FIG. 1 can be provided, or six or other numbers can be provided. The first roller bracket, the second roller bracket 31 and the hub bracket 10 are connected in a detachable manner, which is convenient for assembly and effectively improves the yield of products. Since the first roller assembly 20 and the second roller assembly 30 are fixedly connected to the hub bracket 10 through respective roller brackets, that is, the first roller bracket and the second roller bracket 31, both the first roller assembly 20 and the second roller assembly 30 have hubs. The bracket 10 is connected and supported, so the load-bearing capacity is better, and the first roller assembly 20 and the second roller assembly 30 can be replaced separately after damage, which is convenient for maintenance and effectively reduces costs.

The assembly process of the omnidirectional wheel provided by the embodiment of Fig. 1 is as follows:

Assemble each first roller assembly 20;

Assemble each second roller assembly 30;

First, the second roller assembly 30 is respectively nested on both sides of a first roller assembly 20, and then a first roller assembly 20 is nested at the exposed ends of the two second roller assemblies 30, so that by nesting each other form a full round structure;

The first roller bracket of the first roller assembly 20 and the second roller bracket 31 of the second roller assembly 30 are respectively fixedly connected to the hub bracket 10 .

Wherein, when the whole wheel structure is fixedly connected with the hub bracket 10, if the hub bracket 10 is two splints 11, then one of the splints 11 is first positioned and installed on one side of the whole wheel structure, specifically, the first splint 11 on one of the splints 11 A positioning hole 111, a second positioning hole 112, and a third positioning hole 115 are respectively positioned with the first positioning column 2112a, the second positioning column 2122a, and the third positioning column 3141 on one side of the whole wheel structure, and then the entire assembly is turned over , the other splint 11 is positioned and installed with the other side of the whole wheel structure, specifically, the first positioning hole 111, the second positioning hole 112, and the third positioning hole 115 on the other splint 11 are respectively connected with the other side of the whole wheel structure. The first positioning column 2112a, the second positioning column 2122a, and the third positioning column 3141 on the side are positioned together, and finally the first mounting hole 2112b and the fourth mounting hole 113 are locked and fixed by a locking member, and the second mounting hole 2122b and the fourth mounting hole 113 are locked and fixed. The fifth installation hole 114 is locked and fixed, and the third installation hole 3142 and the sixth installation hole 116 are locked and fixed to complete the locking and fixing of the splint 11 and the whole wheel structure.

If the hub bracket 10 has an integral structure, the first roller bracket and the second roller bracket 31 are respectively fixed to the hub bracket 10 .

The embodiment of the present application also provides a mobile device, which includes a body and the above-mentioned omni-directional wheels installed on the body, so as to ensure the smooth movement of the mobile device and reduce noise and vibration during the movement of the mobile device. The mobile device can be any device that requires omnidirectional movement, such as a robot, a trolley, a transfer conveyor, a freight car, a suitcase, and the like.

Each embodiment or implementation manner in this specification is described in a progressive manner, each embodiment focuses on the differences from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

In the description of this specification, descriptions with reference to "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples" mean that the embodiments are combined Specific features, structures, materials, or characteristics described in or examples are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit it; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present application. scope.

Claims

An omnidirectional wheel, characterized in that the omnidirectional wheel comprises a hub bracket and a plurality of first roller assemblies and a plurality of second roller assemblies connected to the hub bracket, the first roller assemblies and the first roller assemblies Two roller assemblies are alternately arranged along the circumference of the hub bracket;

The first roller assembly includes a first shaft and a first roller rotatably mounted on the first shaft, the first roller includes a connected rim portion and a spoke portion, and in the axial direction of the first roller Above, the spoke portion is located in the middle of the rim portion, and the partial structures of the two second roller assemblies adjacent to the first roller assembly respectively protrude into the axial direction of the spoke portion of the first roller assembly. In the space on both sides; the first roller assembly also includes a first roller bracket fixedly connected to the hub bracket, and the first roller bracket includes a first bracket unit and a second bracket unit separately arranged, the first A bracket unit includes a first fixing portion, the second bracket unit includes a second fixing portion, the first fixing portion and the second fixing portion are respectively located in spaces on both sides of the spoke portion in the axial direction, the The first fixing part, the second fixing part and the first shaft are fixedly connected together.
The omnidirectional wheel according to claim 1, wherein the first bracket unit further comprises a first mounting portion and a first connecting portion, and in the radial direction of the omnidirectional wheel, the first mounting portion is located at The inner side of the first roller, the two ends of the first connecting part are respectively connected with the first installation part and the first fixing part;

The second bracket unit also includes a second installation part and a second connection part, in the radial direction of the omni-directional wheel, the second installation part is located inside the first roller, and the second connection part Both ends are respectively connected to the second installation part and the second fixing part;

The first installation part and/or the second installation part are fixedly connected with the hub bracket.
The omnidirectional wheel according to claim 2, characterized in that, both the first connecting portion and the second connecting portion are bent or curved plate-shaped structures, and the plate-shaped structure is connected to the first roller fit the outline.
The omnidirectional wheel according to claim 2, characterized in that, the first installation part abuts against the second installation part, and/or, the first installation part is fixedly connected to the second installation part .
The omnidirectional wheel according to any one of claims 1 to 4, wherein the spoke portion is limited between the first fixing portion and the second fixing portion.
The omnidirectional wheel according to claim 5, characterized in that first limiting parts are provided at both ends of the first shaft, and the first limiting parts at both ends are connected to the first shaft, and The first limiting part at at least one end is a separate structure from the first shaft, and the first limiting parts at both ends abut against the first fixing part and the second fixing part respectively.
The omnidirectional wheel according to any one of claims 1 to 4, characterized in that, the second roller assembly includes a second roller bracket, a second shaft, and a wheel set on the second shaft and capable of A second roller that rotates on two axes;

The second roller bracket includes a first support portion and a second support portion oppositely arranged, and the second shaft is fixedly connected with the first support portion and the second support portion to limit the second roller Located between the first support part and the second support part.
The omnidirectional wheel according to claim 7, wherein the two ends of the second shaft are provided with second limiting parts, and the second limiting parts at both ends are connected to the second shaft, and The second limiting part at at least one end is a separate structure from the second shaft, and the second limiting parts at both ends respectively abut against the first supporting part and the second supporting part;

Alternatively, the second shaft is a screw, and the rod portion of the second shaft passes through the first support part and the second roller, and is threadedly connected with the second support part.
The omnidirectional wheel according to claim 7, wherein the first roller assembly and the second roller assembly are arranged alternately in the circumferential direction to form a complete wheel structure, and the hub bracket includes two splints, and the two The splint is respectively fixedly connected to the whole wheel structure by both axial sides of the omnidirectional wheel; or,

The first roller assembly and the second roller assembly are alternately arranged in the circumferential direction to form a complete wheel structure, the hub bracket is an integral structure, and the first roller bracket and the second roller bracket are respectively connected to the hub bracket Fixed connection.
A mobile device, characterized by comprising a body and the omnidirectional wheel according to any one of claims 1 to 9 mounted on the body.