[0044] In order to make the objectives, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.
[0045] figure 1 It is a schematic structural diagram of an omnidirectional wheel shown in an embodiment of the present invention. The omnidirectional wheel may include:
[0046] The center wheel 11 and a plurality of peripheral wheels 12 arranged in a circumferential array with the axis x of the center wheel 11 as the axis.
[0047] The center wheel 11 is provided with a peripheral wheel brake assembly 13, and the peripheral wheel brake assembly 13 can control the resistance of the peripheral wheel 12 when it rotates.
[0048] In summary, the omnidirectional wheel provided by the embodiment of the present invention has a peripheral wheel brake assembly on the center wheel for controlling the resistance of the peripheral wheels around the center wheel during rotation, which solves the problem of the motion device in the related art. Uncontrollable movement may occur due to other reasons when moving, and the problem of low braking performance. The effect that the peripheral wheel brake assembly can be used to increase the resistance when the peripheral wheel rotates and prevent the peripheral wheel from rotating at will is achieved.
[0049] Further, please refer to diagram 2-1 , Which shows a schematic structural diagram of another omnidirectional wheel provided by an embodiment of the present invention. figure 1 On the basis of the omnidirectional wheel shown, more preferable components are added, so that the omnidirectional wheel provided by the embodiment of the present invention has better performance.
[0050] Optionally, the peripheral wheel brake assembly 13 includes:
[0051] For the adjustment rod 131 and the plurality of expansion members 132, the axis of the adjustment rod 131 coincides with the axis of the center wheel 11 and both are x. The multiple expansion members 132 are evenly arranged around the adjusting rod 131 and can move toward and contact with the peripheral wheel 12 under the driving of the adjusting rod 131. Exemplarily, the omnidirectional wheel provided in the embodiment of the present invention is a mecanum wheel.
[0052] The adjustment rod in the omnidirectional wheel provided by the embodiment of the present invention may include two structures.
[0053] The first structure, such as Figure 2-2 As shown, it is diagram 2-1 The cross-sectional schematic diagram of the plane where the axis x of the omnidirectional wheel is shown, the adjustment rod 131 is provided with a tapered structure, and the adjustment rod 131 can be along the length direction of the adjustment rod 131 (the length direction may be the length direction of the axis x of the adjustment rod 131 ) Move and push the plurality of expansion members 132 to move toward the peripheral wheel 12. It should be noted, Figure 2-2 What is shown is a case where the shaft portion of the adjusting rod 131 is tapered, and the entire shaft of the adjusting rod 131 may also be tapered, which is not limited in the embodiment of the present invention. The adjusting rod 131 may also be provided with a thread for locking, and the thread may cooperate with other components of the center wheel, and the adjusting rod 131 pushes the expansion member 132 to the peripheral wheel 12 and contacts the peripheral wheel 12 for locking.
[0054] The second structure, such as Figure 2-3 As shown, it is diagram 2-1 In the illustrated omnidirectional wheel, a schematic cross-sectional view of a plane perpendicular to the axis x, a cam structure 131a is provided on the adjusting rod 131, and the cam structure 131a can rotate and push a plurality of expansion members 132 to move toward the peripheral wheel 12. The cam structure 131 a can rotate by itself, or the cam structure 131 a can rotate under the driving of the adjusting rod 131.
[0055] It should be noted that the adjusting rod 131 may also be other structures capable of pushing the expansion member toward the peripheral wheel, which is not limited in the embodiment of the present invention.
[0056] Optional, in diagram 2-1 Among them, the center wheel 11 includes: two hubs 111, the two hubs 111 are equal in size and have the same axis; the peripheral wheel brake assembly 13 is arranged in the two hubs 111.
[0057] Such as Figure 2-4 As shown, one of the two hubs 111 is provided with a through hole g, and the through hole g is provided with a plurality of compression springs t with an axis perpendicular to the axis of the hub 11, and any one of the plurality of compression springs t One end abuts on the inner wall of the through hole g, and the other end abuts on the first expansion member k of the plurality of expansion members, and the first expansion member k is any expansion member among the plurality of expansion members. The first expansion piece k includes a plurality of peripheral wheels ( Figure 2-4 Not shown in) the friction surface of at least one of the peripheral wheels, the other end of any compression spring is against the friction surface, the friction surface can be made of flexible materials such as rubber to improve the resistance of the friction surface to the rotation of the peripheral wheel Control effect. The compression spring t can make the friction surface not contact with the peripheral wheel when the omni wheel rotates normally (there is no need to restrict the rotation of the peripheral wheel when the omni wheel rotates normally), which avoids the expansion member from affecting the normal rotation of the peripheral wheel. It should be noted that the other of the two hubs 111 without a through hole may be provided with a blind hole, and the expansion piece may be pressed into the blind hole to ensure the stability of the expansion piece when moving to the peripheral wheel .
[0058] Such as Figure 2-5 As shown, it is Figure 2-4 The right side view of the omnidirectional wheel is shown, in which, 131 is the adjusting rod, k is the first expansion member, c is the friction surface on the first expansion member k, and 12 is the peripheral wheel. To clearly show the friction surface c, Figure 2-5 Some peripheral wheels are not shown.
[0059] It needs to be supplemented that the omnidirectional wheel provided by the embodiment of the present invention adjusts the friction between the expansion member and the peripheral wheel through the adjustment rod provided with a tapered structure, and then controls the resistance of the peripheral wheel to rotate to prevent the periphery The effect of turning the wheel at will.
[0060] It needs to be supplemented that the omnidirectional wheel provided by the embodiment of the present invention adjusts the friction between the expansion member and the peripheral wheel through an adjusting rod provided with a cam structure, and then controls the resistance of the peripheral wheel to rotate, thereby preventing the peripheral wheel from rotating. The effect of turning at will.
[0061] It should be supplemented that the omnidirectional wheel provided by the embodiment of the present invention has a compression spring provided between the expansion member and the hub, so that the expansion member does not affect the free rotation of the surrounding wheels when the omnidirectional wheel rotates normally. .
[0062] In summary, the omnidirectional wheel provided by the embodiment of the present invention has a peripheral wheel brake assembly on the center wheel for controlling the resistance of the peripheral wheels around the center wheel during rotation, which solves the problem of the motion device in the related art. Uncontrollable movement may occur due to other reasons when moving, and the problem of low braking performance. The effect that the peripheral wheel brake assembly can be used to increase the resistance when the peripheral wheel rotates and prevent the peripheral wheel from rotating at will is achieved.
[0063] image 3 It is a schematic structural diagram of an exercise device provided by an embodiment of the present invention. The exercise device includes a control component 20 and at least four diagram 2-1 The illustrated embodiment shows an omnidirectional wheel 10, which includes a central wheel and a plurality of peripheral wheels arranged in a circumferential array with the axis of the central wheel as the axis. The center wheel is provided with a peripheral wheel brake assembly, and the peripheral wheel brake assembly can control the resistance of the peripheral wheel during rotation. The control assembly 20 is used to control the omnidirectional wheel 10.
[0064] The exercise device may include a main body A, and various components of the exercise device may be arranged in the main body A.
[0065] Optionally, the exercise device further includes: a pressure sensing component 30, which is used to collect control instructions from the user and transmit the control instructions to the control component. The pressure sensing component 30 may be arranged directly above the main body A to facilitate collection of user control instructions. The exercise device provided in the embodiment of the present invention may be a balance scooter, and the balance scooter can be applied to tally occasions such as shopping malls and supermarkets, and inspection occasions such as hotels and shops.
[0066] Optionally, the exercise device also includes: a power component ( image 3 Not shown in ), the power assembly is used to provide power to the omnidirectional wheel 10. The power component may be arranged in the main body A, such as under the pressure sensing component 30. Exemplarily, the power component may include a battery and a motor. The battery is used to provide electrical energy to the motor. The motor may be connected to the omnidirectional wheel for driving the omnidirectional wheel or braking the omnidirectional wheel.
[0067] It should be noted, image 3 What is shown is a case where there are 4 omnidirectional wheels 10, and the positions of the 4 omnidirectional wheels can constitute 4 vertices of a square. In addition, the number of omnidirectional wheels in the exercise device can be more, which is not limited in the embodiment of the present invention.
[0068] It should be supplemented that the exercise device provided by the embodiment of the present invention is provided with a pressure sensing component to achieve the effect that the user can conveniently control the exercise device.
[0069] It should be supplemented that the exercise device provided in the embodiment of the present invention achieves the effect of being able to move through its own power component by providing a power component.
[0070] In summary, the movement device provided by the embodiment of the present invention solves the problem of braking the movement device in the related art by providing a peripheral wheel brake assembly on the center wheel to control the resistance of the peripheral wheels around the center wheel during rotation. Uncontrollable movement may occur due to other reasons, and the problem of low braking performance. The effect that the peripheral wheel brake assembly can be used to increase the resistance when the peripheral wheel rotates and prevent the peripheral wheel from rotating at will is achieved.
[0071] Pic 4-1 It is a flowchart of a method for controlling a sports device provided by an embodiment of the present invention for controlling image 3 In the exercise device shown, the method includes:
[0072] In step 401, when a braking instruction is received, the resistance of the center wheel of the omnidirectional wheel when rotating is increased, and the resistance of the peripheral wheel when the peripheral wheel is rotating is increased through the peripheral wheel brake assembly on the omnidirectional wheel.
[0073] When the control component receives the braking command of any one of the omnidirectional wheels, it can increase the resistance of the center wheel of the omnidirectional wheel when rotating, and increase the resistance of the surrounding wheels when the peripheral wheel rotates through the peripheral wheel braking component on the omnidirectional wheel. That is, the center wheel and peripheral wheels are simultaneously braked. Exemplarily, the center wheel can be braked by the motor, and the peripheral wheel can be braked by the peripheral wheel brake assembly. In addition, when the moving device is in a stationary state, the control assembly can also lock both the center wheel and the peripheral wheels to prevent the moving device from sliding. The control component can also adjust the resistance of the peripheral wheels during rotation according to the different ground contact of the motion device, so that the motion device can adapt to different ground contact.
[0074] In the related art, the center wheel is usually braked by a motor. However, when the center wheel is braked, if the entire motion device has kinetic energy in a certain direction, the surrounding wheels may rotate in this direction, causing the motion device to malfunction. The controlled movement affects the braking effect of the motion device, which is dangerous when the motion device carries operators or heavy goods. However, the control method of the exercise device provided by the embodiment of the present invention avoids the random rotation of the peripheral wheels, and improves the braking effect of the exercise device.
[0075] Optionally, the exercise device also includes pressure sensing components, such as Figure 4-2 As shown, the method also includes:
[0076] In step 402, a user's control instruction is received through the pressure sensing component.
[0077] When the user uses the exercise device, the exercise device can receive the user's control instruction through the pressure sensing component. The pressure sensing component can be image 3 The pressure sensing component in the exercise device shown. In addition, the user's control instruction can also be acquired in other ways. For example, the user's control instruction can be received through a control terminal connected to the exercise device.
[0078] In step 403, the center wheel of the omnidirectional wheel is controlled to rotate according to the control instruction.
[0079] After obtaining the user's control instruction, the motion device can control the center wheel of the omnidirectional wheel to rotate according to the control instruction. It should be noted, Pic 4-1 The control method shown and Figure 4-2 The control method shown can be two parallel control methods, and control the motion device under different conditions respectively.
[0080] The control method of the pressure sensing component 30 will now be described, such as Figure 4-3 As shown, it is image 3 The top view of the exercise device shown can divide the pressure sensing component into 4 areas 31, 32, 33, and 34. When operating the exercise device, the user can face the direction N and step on the pressure sensing component 30 with both feet. When the user normally steps on the pressure sensing component 30 (without intentionally deviating to which area), the pressure value of each area on the four areas of the pressure sensing component 30 is the initial value, and then the user can change the pressure sensitivity by changing its own center of gravity The pressure value of each area on the 4 areas of the component 30, and the change of the pressure value of each area may correspond to different control commands.
[0081] Exemplarily, the front, back, left, and right directions of the user facing direction N are all standards for description. When the user leans forward, the pressure applied by the forefoot to the pressure sensing component 30 increases, that is, the area 31 and the area 32 As the pressure value increases and the pressure values in area 33 and area 34 decrease, the exercise device will move forward. At this time, the four omnidirectional wheels of the exercise device will all rotate forward; when the user leans to the left, the left foot will face the pressure sensing assembly 30 When the applied pressure increases and the pressure applied by the right foot to the pressure sensing assembly 30 decreases, the movement device will move to the left. At this time, the omnidirectional wheels 10b and 10c rotate forward, and the omnidirectional wheels 10a and 10d rotate backward; When the pressure values of 33 and area 32 increase, the motion device can perform a rotating action, at this time the omnidirectional wheels 10a and 10c rotate forward, and the omnidirectional wheels 10b and 10d rotate backward. It should be noted that when the control component controls each omnidirectional wheel, if an omnidirectional wheel does not need to be rotated, the control component can lock the center wheel of the omnidirectional wheel through the motor, and use the peripheral wheels to brake when necessary The component locks the peripheral wheels of the omnidirectional wheel to prevent the random rotation of the peripheral wheels from affecting the movement device.
[0082] It should be supplemented that the control method of the exercise device provided by the embodiment of the present invention obtains the user's control instruction through the pressure sensing component, and controls the rotation of the center wheel of the omnidirectional wheel according to the control instruction, so as to facilitate the control of the exercise device The effect of control.
[0083] In summary, the control method of the motion device provided by the embodiment of the present invention increases the resistance of the center wheel and the peripheral wheels of the omnidirectional wheel during rotation when the braking instruction is received, thereby solving the problem of the motion device in the related art. Uncontrollable movement may occur due to other reasons when moving, and the problem of low braking performance. The effect that the peripheral wheel brake assembly can be used to increase the resistance when the peripheral wheel rotates and prevent the peripheral wheel from rotating at will is achieved.
[0084] Those of ordinary skill in the art can understand that all or part of the steps in the foregoing embodiments can be implemented by hardware, or by a program instructing related hardware to be completed. The program can be stored in a computer-readable storage medium. The storage medium mentioned can be a read-only memory, a magnetic disk or an optical disk, etc.
[0085] The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection of the present invention. Within range.
