Semi-closed load uniform distribution and wheel protection structure of omnidirectional wheel

Abstract

The invention discloses a semi-closed load uniform distribution and wheel protection structure of an omnidirectional wheel. Aiming at the technical defects of weak bearing capacity, poor impact resistance and the like of the existing omnidirectional wheel, the innovative solution is provided: a semi-closed design of combining a top hemispherical cover and a bottom support ring is adopted, a bull eye wheel group is arranged at the top of the hemispherical cover to form centering fixation with a ball wheel, and meanwhile, an annular bull eye wheel array is arranged at the equator line position to form a spherical wheel; the supporting ring is of an annular structure design, the inner diameter of the supporting ring is slightly smaller than the maximum outer diameter of the ball wheel, and a built-in elastic bull eye wheel array is installed on the inner surface of the supporting ring in a centering mode along the circumference to form containing fit. The unique structural design achieves three technical effects that firstly, loads are dispersed through multi-point contact, and the bearing capacity is remarkably improved; the guide effect of the bull eye wheel set is utilized to ensure that the motion freedom degree of the ball wheel is not limited; and thirdly, the bottom supporting ring and the equator wheel set cooperate to effectively prevent the wheels from deviating and falling off. The protection structure is convenient to disassemble and assemble and low in maintenance cost, provides a reliable omni-directional moving solution for intelligent moving equipment such as AGVs, service robots and ball balance robots, and has important application value in the fields of industrial automation and intelligent logistics.

Description

Technical Field

[0001] The present invention relates to an omnidirectional spherical wheel mechanism for a new energy electric vehicle, in particular to a semi-enclosed load distribution and wheel protection structure for an omnidirectional wheel. Background Art

[0002] As an innovative mobile mechanism that breaks through the limitations of traditional steering, the omnidirectional wheel, with its unique structural design, can achieve multi-degree-of-freedom movements such as lateral translation, diagonal movement, and on-the-spot turning. It demonstrates excellent maneuverability and flexibility in mobile platforms such as AGVs, service robots, ball balancing systems, and intelligent warehousing equipment, providing a new solution for dynamic balancing systems. However, this innovative structure has significant defects in load-bearing performance and impact resistance: traditional omnidirectional wheels adopt a centralized load transfer structure, with only 1-2 fixed support wheels on the top as the main load-bearing unit. At the same time, the omnidirectional wheels as the power output mechanism also need to share part of the load. The vertical load is concentrated on a few contact points, resulting in uneven stress distribution. In addition, the omnidirectional wheels need to assume power transmission and support functions at the same time. This dual stress state can easily lead to stress concentration, causing failure problems such as material fatigue, deformation or fracture. What is more serious is that due to the lack of effective protection structure of the omnidirectional wheels, the connection stability between the sphere and the drive mechanism is insufficient. When subjected to lateral impact or asymmetric load, the wheels may deviate or the movement trajectory may be out of control. In severe cases, it may cause failures such as wheel detachment, resulting in serious accidents. It will not only cause damage to the equipment, but may also cause serious injury to the operator.

[0003] To address these key issues, a protective structure for an omnidirectional wheel is designed that can significantly improve the wheel's load-bearing capacity and impact resistance while ensuring omnidirectional motion, thereby expanding its application prospects in different equipment fields. This has important theoretical significance and practical value. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the present invention proposes a semi-closed load distribution and wheel protection structure for an omnidirectional wheel.

[0005] A semi-enclosed load distribution and wheel protection structure for an omnidirectional wheel capable of solving the above-mentioned technical problems comprises a top support structure, an equatorial constraint structure, and a bottom support structure, wherein:

[0006] The top support structure adopts a hemispherical design, its contour maintaining a certain gap from the upper half of the ball wheel. The hemispherical cover is firmly supported by three high-strength alloy columns, evenly spaced at a strict 120° angle. The tops of the columns are firmly connected to the motor mounting plate via high-strength connectors, ensuring the rigidity and stability of the overall structure. The bull's-eye wheels on the top of the hemispherical cover are symmetrically distributed, with their axes aligned with the geometric center of the ball wheel, ensuring precise positioning and flexible support of the upper portion of the ball wheel.

[0007] 2 The equatorial constraint structure described above is equipped with a set of bull's eye wheel arrays at the equatorial position of the hemispherical cover (which is also the equatorial position of the spherical wheel). These guide wheels are evenly arranged at intervals of 60° and are integrated with precise pre-loaded spring devices to form a complete annular constraint system.

[0008] The bottom support structure adopts a ring-shaped design, with the inner diameter of the support ring slightly smaller than the maximum outer diameter of the ball wheel, creating a perfectly contained fit. On the upper surface of the support ring, the bull's-eye wheel units are evenly distributed around the circumference, precisely arranged at 45° intervals to form a complete circular guide array. Each installed bull's-eye wheel utilizes an innovative built-in preloaded spring mechanism. The mounting angle of each bull's-eye wheel is rigorously calibrated, with its axis of rotation pointing toward the geometric center of the ball wheel. This directional design ensures support stability while minimizing motion resistance.

[0009] Beneficial effects of the present invention:

[0010] This invention addresses the technical issues existing in existing omnidirectional wheels and innovatively proposes a semi-enclosed load distribution and wheel protection structure for the omnidirectional wheel. This structure significantly improves the load-bearing capacity, impact resistance, and operational stability of the spherical wheel system while retaining the omnidirectional wheel's degrees of freedom.

[0011] 2 In the semi-enclosed load distribution and wheel protection structure of the omnidirectional wheel of the present invention, a top hemispherical cover is integrated with a bull's eye wheel assembly for centering fixation, and a multi-contact point support structure is constructed to achieve uniform load distribution.

[0012] 3 In the semi-enclosed load distribution and wheel protection structure of the omnidirectional wheel of the present invention, the hemispherical cover equatorial wheel set and the bottom support ring work together to effectively prevent safety hazards such as wheel deviation and falling off. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a front view of the mechanism of an embodiment of the present invention.

[0014] Figure 2 for Figure 1 Half-section view.

[0015] Figure 3 for Figure 1 Top view of an embodiment.

[0016] Figure 4 It is a 45° view from the upper side of the hemispherical cover.

[0017] Figure 5 This is a bottom view of the hemispherical cover.

[0018] Figure 6 This is a 45° view directly above the support ring.

[0019] Figure 7 Schematic diagram of the load direction of the hemispherical cover and the supporting ring bull's eye wheel.

[0020] Figure number identification: 1, ball wheel; 2, support ring; 3, connecting column; 4, hemispherical cover; 5, omnidirectional wheel; 6, omnidirectional wheel protective shell; 7, top cover; 8, motor fixing plate; 9, bull's eye wheel array on the top of the hemispherical cover; 10, column; 11, bull's eye wheel array on the equator of the hemispherical cover; 12, bull's eye wheel array on the support ring; 13, motor; 14, motor protective cover; 15, Indicates the direction of the load; DETAILED DESCRIPTION

[0021] The technical solution of the present invention is further described below with reference to the embodiments shown in the accompanying drawings.

[0022] The present invention provides a semi-enclosed load distribution and wheel protection structure for an omnidirectional wheel. The structure mainly comprises two main components, a hemispherical cover (4) and a support ring (2), as well as parts such as a column (10), a connecting column (3) and a built-in elastic bull's eye wheel.

[0023] The top support system is mainly a precision-formed hemispherical cover (4), which is rigidly connected to the motor fixing plate (8) through three high-strength alloy columns (10) symmetrically distributed at 120 degrees. The top of the hemispherical cover (4) is provided with a built-in elastic bull's eye wheel array (9), and the axis of each wheel group is precisely pointed to the center of the ball wheel (1), forming a stable three-point centering support. The equatorial constraint system evenly arranges the built-in elastic bull's eye wheel array (11) at the equatorial position of the hemispherical cover (4) to form a complete annular guide structure. The bottom support ring (2) adopts an annular support seat design with an inner diameter slightly smaller than the ball wheel. The upper surface of the bottom support ring bull's eye wheel array (12) is evenly distributed along the circumference, and the rotation axis of each wheel group is strictly pointed to the center of the ball. During assembly, the position accuracy of each bull's eye wheel group is ensured by a special tool. The structure constructs a full-dimensional support network in three-dimensional space through the axial constraint of the top bull's eye wheel array (9), the radial limit of the equatorial bull's eye wheel array (11) and the bottom guidance of the support ring bull's eye wheel array (12).

[0024] The motor fixing plate (8) is connected to the main frame of the equipment by bolts and is equipped with elastic washers to prevent loosening. It is mainly used for positioning and installing the motor (13). A motor protection cover (14) with heat dissipation fins is installed on the outside of the motor (13); the omnidirectional wheel protection shell (6) is fixed to the edge connection hole of the motor fixing plate (8). The upper part of the motor fixing plate (8) is connected by a bolt top cover (7), which protects the motor (13) while making the installation of the motor fixing plate (8) and the omnidirectional wheel protection shell (6) more stable. The top cover (7) and the omnidirectional wheel protection shell (6) together constitute a protection system. The outer ends of the support ring (2) and the hemispherical cover (4) are both processed with a precise annular plane. The connecting column (3) is made of alloy steel and the rigid connection between the support ring (2) and the hemispherical cover (4) is achieved by assembling bolts.

Claims

1. A semi-enclosed load distribution and wheel protection structure for an omnidirectional wheel, characterized in that: A composite support structure design with coordinated top and bottom is adopted, which includes a top support structure, an equatorial constraint structure and a bottom support structure. The top support structure is a hemispherical cover (4) support component, whose outer contour maintains a reasonable gap with the upper half of the ball wheel. Three high-strength alloy columns (10) are distributed in a strict 120° circumferential symmetry. A rigid connection is formed with the motor fixing plate (8) through an optimized high-strength connector. The triangular support structure design significantly improves the torsional rigidity and dynamic stability of the overall structure. A built-in elastic bull's eye wheel array (9) with its axis aligned with the center of the ball is set at the top of the hemispherical cover (4) to achieve precise positioning of the upper part. The equatorial constraint structure arranges a bull's eye wheel array (11) evenly distributed at 60° at the equatorial position to form an annular constraint system. Each wheel unit is integrated with a pre-loaded spring device to automatically adjust the contact pressure. The bottom support structure is a support ring (2) with an annular structure design. Its inner diameter is designed to be slightly smaller than the maximum outer diameter of the ball wheel to form an inclusive fit. The inner surface is arranged with a built-in elastic bull's eye wheel guide array (12) at 45° intervals along the circumference. The rotation axes of all bull's eye wheels are strictly directed to the center of the ball. This top-to-bottom combined support system provides all-round stable support and precise positioning through the axial constraint of the top hemispherical cover (4), the radial limit of the equatorial ring belt, and the inclusive guidance of the bottom support ring (2). While ensuring the omnidirectional movement freedom of the ball wheel (1), it also provides all-round stable support and precise positioning.

2. The hemispherical cover (4) according to claim 1, characterized in that: The support columns (10) are fixedly connected to the top of the hemispherical cover (4) at an angle of 120°, and a reinforcing rib structure is provided between the support columns (10) and the hemispherical cover (4).

3. The hemispherical cover (4) according to claim 1 or 2, characterized in that: The rotation axes of the top bull's eye wheel group and the equatorial bull's eye wheel group are strictly directed to the center of the ball, and the installed built-in elastic bull's eye wheel fits the ball wheel (1) but does not interfere with its movement.

4. The support ring (2) according to claim 1, characterized in that: The rotation axis of each bull's eye wheel in the built-in elastic bull's eye wheel array (12) installed by the support ring strictly points to the center of the ball.

5. The omnidirectional wheel semi-enclosed load distribution and wheel protection structure according to claim 1, characterized in that: The top support assembly, the equatorial constraint assembly and the bottom support assembly together constitute an all-round stable support network in a three-dimensional space, and the bull's eye wheels installed thereon are all built-in elastic bull's eye wheels.

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