Omnidirectional wheel and mobile device

Abstract

The present invention provides an omnidirectional wheel and mobile device, which relates to the technical field of mobile device, and is used to solve the technical problem that the existing omnidirectional wheel is easy to generate noise and vibration, and has poor running stability. The omnidirectional wheel includes a hub bracket and a roller component; the roller component includes a first roller assembly and a second roller assembly; the first roller assembly includes a roller bracket and a first roller structure; the second roller assembly includes a second shaft and a second roller structure, and the second shaft includes a second shaft body and a limiting portion; the second shaft body is locked and connected with the first connecting structure to limit the second roller structure between the limiting portion and the first connecting structure. The omnidirectional wheel provided by the present invention can ensure that the second roller will not shake or move during the travel of the omnidirectional wheel, reduce the vibration and noise of the omnidirectional wheel, and improve the stability of operation.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile devices, and in particular to an omnidirectional wheel and a mobile device. Background Art

[0002] Omni wheels are a large wheel composed of multiple rollers. The omni wheel as a whole can rotate around the hub, and each roller can rotate around its own center, so it can roll forward or slide left and right. Mobile devices such as robots can achieve 360-degree omnidirectional movement by combining multiple omni wheels together.

[0003] Omnidirectional wheels are generally divided into single-row omnidirectional wheels and multi-row omnidirectional wheels. Among them, multi-row omnidirectional wheels form a projected continuous tire surface through multiple rows of small rollers arranged alternately with each other. Since the rollers are multi-row structures, when used on bumpy roads, the roller brackets are very easy to collide with obstacles, causing inconvenience in use. And because of the multi-row structure, the structure is relatively complex, there are many parts, the production cost is high and the assembly is complicated. Single-row omnidirectional wheels form a continuous tire surface through small rollers embedded in each other, so there will be no problems like multi-row omnidirectional wheels. However, due to the large gap between the driven wheels of the single-row omnidirectional wheels, the continuity of the entire wheel is poor, so it will generate relatively large noise and vibration.

[0004] In order to solve the continuity problem, the large roller and the small roller usually share a bracket, so that the gap between the large roller and the small roller is smaller. However, in actual application, it is still easy to generate noise and vibration, and the running stability is poor. Summary of the invention

[0005] In view of the above problems, an embodiment of the present invention provides an omnidirectional wheel and a mobile device with good motion stability and low noise and vibration.

[0006] In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions:

[0007] A first aspect of an embodiment of the present invention provides an omnidirectional wheel, which includes a hub bracket and a plurality of roller components respectively connected to the hub bracket; the roller components include a first roller assembly and a second roller assembly; the first roller assembly includes a roller bracket and a first roller structure arranged on the roller bracket, and a first connecting structure is arranged on the roller bracket; the second roller assembly includes a second shaft and a second roller structure installed on the second shaft, and the second shaft includes a second shaft body and a limiting portion protruding from the outer peripheral surface of the second shaft body; in one of the roller components, the second shaft body is locked and connected to the first connecting structure to limit the second roller structure between the limiting portion and the first connecting structure; the plurality of roller components are arranged along the circumference of the hub bracket, so that the first roller structure and the second roller structure in each roller component together form a full circle of roller structure.

[0008] The omnidirectional wheel provided by the embodiment of the present invention has the following advantages:

[0009] Only one roller bracket is provided in one roller component, and two rollers are installed by using one roller bracket. Specifically, the second shaft of the second roller assembly is fixedly connected to the first connecting structure on the roller bracket of the first roller assembly, so that the gap between the rollers is smaller, and the integrity of the outer contour of the omnidirectional wheel is ensured. Furthermore, a limiting part is provided on the second shaft, and the second shaft body is locked and connected with the first connecting structure, so that the second roller structure is limited by the limiting part and the first connecting structure, ensuring that the second roller structure will not shake or move during the travel of the omnidirectional wheel, thereby reducing the vibration and noise of the omnidirectional wheel, and improving the stability of operation and the comfort of use.

[0010] As an improvement of the omnidirectional wheel in an embodiment of the present invention, the first connecting structure is arranged at one circumferential end of the roller bracket, and a second connecting structure is arranged at the other circumferential end of the roller bracket, and the second connecting structure is used to be plugged into the end of the second shaft body in the adjacent roller component, and the multiple roller components are spliced ​​end to end in the circumferential direction to form a full circle roller structure in which the first roller structure and the second roller structure are alternately arranged.

[0011] As a further improvement of the omnidirectional wheel in the embodiment of the present invention, the second connecting structure and the limiting portion on the second shaft body plugged therein fit together or press against each other; and / or, the second connecting structure is provided with a socket for inserting the end of the second shaft body in the adjacent roller component, and at least one of the socket and the end of the second shaft body plugged therein is provided with a guide surface for guiding the plug-in movement.

[0012] As a further improvement of the omnidirectional wheel in an embodiment of the present invention, the second shaft body is locked and connected to the first connecting structure through a first locking structure; the first locking structure includes a first screw, and the first screw fixedly connects the first connecting structure and the second shaft body; or, the second shaft is a screw, the second shaft includes a second head and a second rod, the second rod passes through the second roller structure and is threadedly connected to the first connecting structure, the second head constitutes the limiting part, and the second shaft constitutes the first locking structure; or, the second shaft is a screw, the second shaft includes a second head and a second rod, the second rod passes through the first connecting structure and the second roller structure, the second head is locked and connected to the first connecting structure, and the limiting part passes through the second rod to limit the second roller structure between the limiting part and the first connecting structure.

[0013] As a further improvement of the omnidirectional wheel in an embodiment of the present invention, the second roller structure includes a second roller and a second bearing, the second roller is rotatably mounted on the second shaft through the second bearing, and the inner ring of the second bearing is clamped between the limiting portion and the first connecting structure.

[0014] As a further improvement of the omnidirectional wheel in an embodiment of the present invention, the roller bracket includes a first support portion and a second support portion arranged opposite to each other, a first connecting portion connecting the first support portion and the second support portion, and a second connecting portion connecting the first connecting portion and the hub bracket, and the first connecting structure is arranged at a position where the first connecting portion and the second support portion intersect; the first roller assembly also includes a first shaft, and the first roller structure is installed on the first shaft; the first support portion, the second support portion and the first shaft are locked and connected to limit the first roller structure between the first support portion and the second support portion.

[0015] As a further improvement of the omnidirectional wheel in an embodiment of the present invention, the first shaft is a screw, the first shaft includes a first head and a first rod, the first rod passes through the first support part and the first roller structure and is threadedly connected to the second support part, and the first shaft constitutes the second locking structure.

[0016] As a further improvement of the omnidirectional wheel in an embodiment of the present invention, the first roller structure includes a first roller and a first bearing, the first roller is rotatably mounted on the first shaft through the first bearing, and the inner ring of the first bearing is clamped between the first support part and the second support part.

[0017] As a further improvement of the omnidirectional wheel in an embodiment of the present invention, the roller bracket includes a second connecting portion for connecting the roller component to the hub bracket, the hub bracket includes a plurality of mounting portions for connecting to the second connecting portions of each of the roller components, and the mounting portion includes a guide groove for guiding and limiting the second connecting portion when installed into the mounting portion.

[0018] A second aspect of an embodiment of the present invention provides a mobile device, which includes a body and also includes the omnidirectional wheel as described above mounted on the body.

[0019] Since the mobile device provided by the embodiment of the present invention adopts the above-mentioned omnidirectional wheel, the omnidirectional wheel in the mobile device runs smoothly with low noise and vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A three-dimensional diagram of an omnidirectional wheel provided in one embodiment of the present invention;

[0022] Figure 2 A front view of an omnidirectional wheel provided by an embodiment of the present invention;

[0023] Figure 3 An exploded view of the hub bracket and various roller components of an omnidirectional wheel provided in one embodiment of the present invention;

[0024] Figure 4 for Figure 3 A schematic diagram of the structure of a roller component;

[0025] Figure 5 for Figure 4 a cross-sectional view of the roller assembly shown;

[0026] Figure 6 for Figure 5 A cross-sectional view of the first roller;

[0027] Figure 7 for Figure 5 A cross-sectional view of the second roller;

[0028] Figure 8 A three-dimensional diagram of a roller bracket in a roller component of an omnidirectional wheel provided in an embodiment of the present invention;

[0029] Fig. 9A cross-sectional view of an omnidirectional wheel provided in one embodiment of the present invention;

[0030] Fig.10 for Fig. 9 A partial enlarged view of the middle A;

[0031] Fig.11 A three-dimensional view of a hub bracket of an omnidirectional wheel provided in one embodiment of the present invention.

[0032] Description of reference numerals:

[0033] 10: wheel hub bracket;

[0034] 11: intermediate sleeve; 12: mounting portion; 121: mounting plate portion; 1211: first pin hole; 1212: first fixing hole; 122: guide plate; 13: first connecting rib; 14: second connecting rib;

[0035] 20: roller component;

[0036] 21: first roller assembly;

[0037] 211: roller bracket; 2111: first connecting structure; 2111a: first plate portion; 2111b: second plate portion; 2111c: third plate portion; 2112: connecting hole; 2112a: first hole section; 2112b: second hole section; 2112c: third hole section; 2113: second connecting structure; 2113a: fourth plate portion; 2113b: fifth plate portion; 2113c: sixth plate portion; 2114: plug hole; 2115: first supporting portion; 211 6: second supporting portion; 2117: first connecting portion; 2118: second connecting portion; 2118a: second pin hole; 2118b: second fixing hole; 212: first roller; 2121: seventh hole segment; 2122: eighth hole segment; 2123: ninth hole segment; 2124: third step surface; 2125: fourth step surface; 2126: first anti-slip ring groove; 213: first bearing; 214: first shaft; 2141: first head; 2142: first rod;

[0038] 22: second roller assembly;

[0039] 221: second shaft; 2211: second shaft body; 2212: limiting portion; 2213: guide surface; 222: second roller; 2221: fourth hole section; 2222: fifth hole section; 2223: sixth hole section; 2224: first step surface; 2225: second step surface; 2226: second anti-slip ring groove; 223: second bearing;

[0040] 23: first screw;

[0041] 24: Washer;

[0042] 30: pin;

[0043] 40: Fasteners. DETAILED DESCRIPTION

[0044] In the related art, the large roller and the small roller of the omnidirectional wheel share a bracket, and the connection structure of the large roller and the small roller is as follows: a mounting shaft extends from one side of the bracket of the small roller, the shaft sleeve of the large roller is arranged on the mounting shaft, and the shaft of the large roller is fixed to the mounting shaft by fasteners. A bearing is arranged between the large roller and its shaft to realize the rotation of the large roller relative to its shaft. Such a structural setting can make the large roller and the small roller closer, but in actual application, it is still easy to generate noise and vibration, and the running stability is also poor.

[0045] The inventor of the present application has found through research that the noise and vibration of the omnidirectional wheel with the above structure mainly occur at the large roller. Since the shaft of the large roller is fixed to the bracket of the small roller, and the large roller itself is supported on the shaft by a bearing and is not positioned, the large roller is prone to movement and shaking during the movement of the omnidirectional wheel, thereby generating noise and vibration, and the running stability is poor. In addition, the axis of the fastener connecting the shaft of the large roller and the mounting shaft does not coincide with the axis of the shaft of the large roller. During the assembly process and the use of the omnidirectional wheel, it is easy to cause local jamming due to uneven force, thereby affecting the running stability of the omnidirectional wheel.

[0046] In another related technology, two small roller brackets are used to fix the large roller. This method has very high requirements on assembly accuracy, and the circumferential error is very easy to accumulate, resulting in an inability to assemble or an assembly gap that is too large. If the assembly is impossible, each structural part needs to be reprocessed, which affects production efficiency and increases production costs. If the assembly gap is too large, the assembled omni-directional wheel will produce greater noise and vibration, and the running stability will be poor.

[0047] Based on this, an embodiment of the present invention provides an omnidirectional wheel, a limiting portion is set on the second axis, and the axial limitation of the second roller structure is achieved by locking the roller bracket and the second axis, thereby ensuring that the second roller structure will not shake or move during the movement of the omnidirectional wheel, reducing the vibration and noise of the omnidirectional wheel, and improving the smoothness of operation and comfort of use.

[0048] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0049] Figure 1 A three-dimensional diagram of an omnidirectional wheel provided in one embodiment of the present invention, Figure 2 A front view of an omnidirectional wheel provided in one embodiment of the present invention, Figure 3 An exploded view of the hub bracket and various roller components of an omnidirectional wheel provided in one embodiment of the present invention.

[0050] like Figures 1 to 3 As shown, the omnidirectional wheel provided in the embodiment of the present invention includes a hub bracket 10, and a plurality of roller components 20 respectively connected to the hub bracket 10. The hub bracket 10 is used to connect with a mobile device so as to install the omnidirectional wheel on the mobile device, so that the mobile device can move in various directions with the help of the omnidirectional wheel. The plurality of roller components 20 are arranged along the circumference of the omnidirectional wheel to form a full circle of roller structures, and their outer contours form a complete and continuous tire surface (detailed description will be given later).

[0051] Figure 4 for Figure 3 The structural diagram of a roller component is shown in FIG. Figure 4 As shown, the roller component 20 includes a first roller assembly 21 and a second roller assembly 22 , wherein the first roller assembly 21 includes a roller bracket 211 and a first roller structure disposed on the roller bracket 211 , and the first roller structure at least includes a first roller 212 rotatably disposed on the roller bracket 211 .

[0052] Figure 5 for Figure 4 A cross-sectional view of the roller assembly is shown. Figure 5 As shown, the second roller assembly 22 includes a second shaft 221 and a second roller structure mounted on the second shaft 221, and the second roller structure includes at least a second roller 222 that can rotate relative to the second shaft 221. The second roller assembly 22 is mounted on the roller bracket 211. In this way, the installation of two rollers is achieved using one roller bracket 211, so that the gap between the rollers is smaller, ensuring the integrity of the outer profile of the omnidirectional wheel. Since the two rollers share one roller bracket 211, the structure of the hub bracket 10 can be further simplified, saving production costs and improving assembly efficiency.

[0053] The second shaft 221 includes a second shaft body 2211 and a limiting portion 2212 protruding from the outer peripheral surface of the second shaft body 2211. A first connecting structure 2111 is provided on the roller bracket 211. In a roller component 20, the second shaft body 2211 and the first connecting structure 2111 are locked and connected. For example, the roller component 20 also includes a first locking structure. The second shaft body 2211 and the first connecting structure 2111 are locked by the first locking structure, so that the second roller structure is limited between the limiting portion 2212 and the first connecting structure 2111, that is, the limiting portion 2212 and the first connecting structure 2111 are used to form an axial limit on the second roller structure, ensuring that the second roller 222 will not shake or move during the movement of the omni-directional wheel, thereby reducing the vibration and noise of the omni-directional wheel and improving the running stability and comfort of use. In addition, by adjusting the locking degree of the first locking structure, the axial position of the second roller structure can be fine-tuned to further improve the vibration and noise problems of the omni-directional wheel. Furthermore, since the second roller structure is limited, the hub bracket 10 can adopt a simple support form, which not only reduces the production cost, but also ensures the strength and load-bearing capacity of the omni-directional wheel.

[0054] In the embodiment of the present invention, Figure 2 As shown, the roller component 20 includes a first roller 212 and a second roller 222. After the plurality of roller components 20 are arranged along the circumferential direction, the first roller 212 and the second roller 222 are alternately arranged, that is, they are arranged in sequence in the manner of the first roller 212, the second roller 222, the first roller 212, the second roller 222, etc., so that the first roller 212 and the second roller 222 in each roller component 20 together form a full circle of roller structures. It can be understood that the full circle mentioned here means that the first roller 212 and the second roller 222 are arranged along the entire circumferential direction, and does not mean that there is no gap between the first roller 212 and the second roller 222, that is, there can be a gap or no gap between the first roller 212 and the second roller 222 adjacent thereto.

[0055] Among them, the second roller structure can be that only the second roller 222 is included, and the second roller 222 is directly sleeved on the second shaft 221, that is, the second roller 222 is directly and smoothly connected to the second shaft 221. At this time, the second roller 222 is limited between the limiting portion 2212 and the first connecting structure 2111. The limiting portion 2212 and the first connecting structure 2111 can have a very small gap with the second roller 222, or the limiting portion 2212 and the first connecting structure 2111 are only in contact with the second roller 222 without any axial force between them, or the limiting portion 2212 and the first connecting structure 2111 are in contact with the second roller 222 with a small axial force between them, as long as it does not affect the normal rotation of the second roller 222.

[0056] In other embodiments, the second roller structure includes a second roller 222 and a second sleeve, the second sleeve is arranged between the second roller 222 and the second shaft 221 and is tightly matched with the second roller 222, and the second shaft 221 and the second sleeve can rotate relative to each other. At this time, the second sleeve is limited between the limiting portion 2212 and the first connecting structure 2111, and the limiting portion 2212 and the first connecting structure 2111 may have a very small gap with the second sleeve, or the limiting portion 2212 and the first connecting structure 2111 are only in contact with the second sleeve without an axial force between them, or the limiting portion 2212 and the first connecting structure 2111 are relatively small axial forces between them, as long as the normal rotation of the second roller 222 is not affected. The second sleeve is preferably a copper sleeve.

[0057] In order to further improve the rotation reliability of the second roller 222, in a preferred embodiment, the second roller structure includes a second roller 222 and a second bearing 223, and the second roller 222 is rotatably mounted on the second shaft 221 through the second bearing 223, that is, the second roller 222 is supported on the second shaft 221 through the second bearing 223 and can rotate relative to the second shaft 221 (the second roller 222 is connected to the second shaft 221 in a fixed axial position and the second roller 222 can rotate relative to the second shaft 221). The inner ring of the second bearing 223 is clamped between the limiting portion 2212 and the first connecting structure 2111.

[0058] Specifically, there is a gap between the inner ring of the second bearing 223 and the second shaft body 2211, and the outer ring of the second bearing 223 and the second roller 222 are interference fit. It can be understood that the size of the gap between the inner ring of the second bearing 223 and the second shaft body 2211 described herein is not specifically limited, and can be a larger gap or a smaller gap, as long as the inner ring of the second bearing 223 and the second shaft body 2211 can move relative to each other. In a roller component 20, the second shaft body 2211 and the first connecting structure 2111 are locked by the first locking structure to clamp the inner ring of the second bearing 223 between the limiting portion 2212 and the first connecting structure 2111. Since there is a gap between the inner ring of the second bearing 223 and the second shaft body 2211, they can move relative to each other before being locked. Precisely because the inner ring of the second bearing 223 and the second shaft body 2211 can move relative to each other, when the first locking structure locks the second shaft body 2211 and the first connecting structure 2111, the inner ring of the second bearing 223 is clamped by the limiting portion 2212 and the first connecting structure 2111 to ensure that the second roller 222 does not shake or move during the movement of the omni-directional wheel, thereby further reducing the vibration and noise of the omni-directional wheel and improving the smoothness of operation and comfort of use.

[0059] It can be understood that the “clamping the inner ring of the second bearing 223 between the limiting portion 2212 and the first connecting structure 2111” mentioned here means that the inner ring of the second bearing 223 is not only located between the limiting portion 2212 and the first connecting structure 2111, but also the inner ring of the second bearing 223 is subjected to a certain clamping force, and the size of the clamping force is not specifically limited.

[0060] In the subsequent embodiments, the omnidirectional wheel provided by the present invention is mainly introduced by taking the second roller structure including the second roller 222 and the second bearing 223, and the inner ring of the second bearing 223 is clamped between the limiting portion 2212 and the first connecting structure 2111 as an example. It can be understood that, in the absence of conflict, the structures of the subsequent embodiments are also suitable for the case where the second roller structure only includes the second roller 222 and includes the second roller 222 and the second sleeve.

[0061] The limiting portion 2212 may be any structure capable of limiting the position of the second roller structure. For example, the limiting portion 2212 is a plurality of convex block structures protruding from the outer peripheral surface of the second shaft body 2211 and uniformly distributed along the circumference of the second shaft body 2211. In order to facilitate processing and ensure the pressing effect, in a preferred embodiment, the limiting portion 2212 is an annular protrusion protruding from the outer periphery of the second shaft body 2211. The limiting portion 2212 may form a non-detachable fixed connection with the second shaft body 2211 by bonding, welding, etc., and the limiting portion 2212 may also form a detachable fixed connection with the second shaft body 2211 by threaded connection, clamping, etc. Preferably, in order to facilitate processing and ensure structural reliability, the limiting portion 2212 and the second shaft body 2211 are an integral structure.

[0062] The first locking structure may be any structure capable of fastening the second shaft body 2211 to the first connection structure 2111. For example, in one embodiment, the second fastening structure includes a first screw 23, so that the second shaft body 2211 and the first connection structure 2111 are fastened together by the first screw 23. In a roller component 20, the first screw 23 may pass through the second shaft body 2211 from a side of the second shaft body 2211 away from the first roller 212 and be fixedly connected to the first connection structure 2111. In order to improve the connection reliability, preferably, as Figure 5 As shown, the first connection structure 2111 is provided with a connection hole 2112, and the first screw 23 passes through the roller bracket 211 from the side of the roller bracket 211 away from the second shaft body 2211 through the connection hole 2112 and is threadedly connected to the second shaft body 2211. In this way, the structural reliability is ensured and the space at each position in the roller component 20 can be fully utilized. Specifically, as Figure 5As shown, a portion of the structure of the first roller 212 extends into the second roller 222 , and the first connecting structure 2111 also extends into the second roller 222 to cooperate with the second shaft body 2211 in the second roller 222 .

[0063] In the above structure, part of the structure of the roller bracket 211 and part of the structure of the first roller 212 are nested in the second roller 222, making the structure of the roller component 20 more compact, effectively reducing the angle difference between the first roller 212 and the second roller 222 and the roundness tolerance of the entire wheel.

[0064] The connecting hole 2112 may be a straight hole, and the rod of the first screw 23 passes through the straight hole to be fixed to the second shaft body 2211. In order to make the structure more compact, preferably, Figure 8 is a three-dimensional diagram of the roller bracket, such as Figure 5 and Figure 8 As shown, the connecting hole 2112 includes a first hole segment 2112a, a second hole segment 2112b and a third hole segment 2112c which are connected in sequence. The first hole segment 2112a accommodates the screw head of the first screw 23, the second hole segment 2112b allows the rod of the first screw 23 to pass through, and one end of the second shaft body 2211 passes through the third hole segment 2112c. In this way, not only can the structure be made more compact, but the roller bracket 211 can also be used to form a good positioning and support for the second shaft 221.

[0065] Of course, it is understandable that the third hole section 2112 c may not be provided, and the first connecting structure 2111 may be directly abutted against the end surface of the second shaft body 2211 .

[0066] Further preferably, the axis of the first screw 23 coincides with the axis of the second shaft body 2211, thereby ensuring balanced force at the connection position between the second shaft body 2211 and the first connecting structure 2111 during assembly and use, further ensuring the smooth operation of the omnidirectional wheel.

[0067] Of course, it can be understood that the first locking structure may not adopt the above-mentioned screw structure. In another preferred embodiment, the second shaft 221 is a screw (similar to the structure of the first shaft 214 in the figure), the second shaft 221 includes a second head and a second rod, the second rod is provided with an external thread structure, the second rod passes through the inner ring of the second bearing 223 and is threadedly connected with the first connecting structure 2111. In this way, the second head constitutes a limiter, the second rod constitutes the second shaft body, and the second shaft 221 itself constitutes the first locking structure. In the process of the second shaft 221 being continuously screwed into the first connecting structure 2111, the second head of the second shaft 221 gradually presses the inner ring of the second bearing 223. In order to cooperate with the second connecting structure 2113 (detailed description later), it is further preferred that in this embodiment, the second shaft 221 is provided with an extended shaft section protruding on the side of the second head away from the second rod, and the extended shaft section cooperates with the second connecting structure 2113 of the adjacent roller component to further ensure the reliability of the second roller 222.

[0068] In another preferred embodiment, the second shaft 221 includes a screw, which includes a second head and a second rod, and the limiting portion 2212 can be connected with the threaded structure on the second rod. The second rod passes through the first connection structure 2111 and the second roller structure (for example, the inner ring of the second bearing 223), and the second head is locked and connected with the first connection structure 2111, for example, directly locked and connected with the first connection structure 2111 through a threaded structure, or fixedly connected with the first connection structure 2111 through other fasteners, and the limiting portion 2212 passes through the second rod and limits the second roller structure between the limiting portion 2212 and the first connection structure 2111, for example, the limiting portion 2212 and the first connection structure 2111 are pressed against both sides of the inner ring of the second bearing 223.

[0069] The second bearing 223 may be one or more. When there is one second bearing 223, the limiting portion 2212 and the first connecting structure 2111 clamp the inner ring of the second bearing 223. In order to further improve the rotation stability of the second roller 222 and the connection reliability with the second shaft 221, in a preferred embodiment, as shown in FIG. Figure 5 As shown, two second bearings 223 are provided, and the inner rings of the two second bearings 223 are clamped together between the limiting portion 2212 and the first connecting structure 2111 .

[0070] Specifically, Figure 7 is a cross-sectional view of the second roller, such as Figure 7As shown, the inner hole of the second roller 222 includes a fourth hole section 2221 and a fifth hole section 2222 and a sixth hole section 2223 respectively connected to both ends of the fourth hole section 2221. The diameter of the fourth hole section 2221 is smaller than the diameters of the fifth hole section 2222 and the sixth hole section 2223, so that a first step surface 2224 is formed between the fourth hole section 2221 and the fifth hole section 2222, and a second step surface 2225 is formed between the fourth hole section 2221 and the sixth hole section 2223. A second bearing 223 is disposed in the fifth hole section 2222, and the outer ring of the second bearing 223 is connected to the hole wall of the fifth hole section 2222 by interference fit, for example, it can be pressed into the fifth hole section 2222 by hydraulic pressure, and the outer ring of the second bearing 223 abuts against the first step surface 2224. Another second bearing 223 is arranged in the sixth hole segment 2223. The outer ring of the second bearing 223 is connected with the hole wall of the sixth hole segment 2223 by interference fit. For example, it can be pressed into the sixth hole segment 2223 by hydraulic means, and the outer ring of the second bearing 223 abuts against the second step surface 2225.

[0071] Through the above-mentioned structural setting, the inner rings of the two second bearings 223 are clamped between the limiting portion 2212 and the first connecting structure 2111. The limiting portion 2212 can be directly pressed against the side of the inner ring of one of the second bearings 223 away from the first connecting structure 2111. In order to ensure the clamping effect, a washer or other structure can also be set between the limiting portion 2212 and the inner ring of the second bearing 223. The first connecting structure 2111 can be directly pressed against the side of the inner ring of the other second bearing 223 close to the first connecting structure 2111. Figure 5 In the illustrated embodiment, since the side area of ​​the first connection structure 2111 close to the second bearing 223 is relatively large, in order to ensure the clamping effect, preferably, a gasket 24 is provided between the second bearing 223 and the first connection structure 2111 .

[0072] With further reference to the figure, the first connecting structure 2111 is disposed at one circumferential end of the roller bracket 211. The "circumferential" mentioned here refers to the circumferential direction of the omnidirectional wheel. Since the first roller 212 and the second roller 222 are arranged alternately in the circumferential direction, the two circumferential ends of the roller bracket 211 refer to the ends of the roller bracket 211 close to the second roller 222 adjacent thereto. In order to achieve reliable splicing between adjacent roller components 20, it is further preferred that a second connecting structure 2113 is also disposed at the other circumferential end of the roller bracket 211, and the second connecting structure 2113 is used to be plugged into the end of the second shaft body 2211 in the adjacent roller component 20. In this way, Fig. 9 A cross-sectional view of an omnidirectional wheel provided in one embodiment of the present invention, Fig.10 for Fig. 9 The local enlarged view of point A in the middle is as follows: Fig. 9 and Fig.10 As shown, multiple roller components 20 are spliced ​​end to end along the circumferential direction to form a full circle roller structure in which the first roller 212 and the second roller 222 are alternately arranged. When multiple roller components 20 are spliced ​​together to form a full circle roller structure, the two ends of the second shaft body 2211 are respectively supported on the first connection structure 2111 and the second connection structure 2113 of the roller bracket 211 at both ends, thereby ensuring the structural reliability of the entire wheel after splicing. In addition, such an arrangement can make the second roller structure more evenly stressed, without disturbance and shaking, thereby further reducing noise and vibration, and can effectively extend the service life.

[0073] The assembled second connection structure 2113 can be spaced apart from the limiting portion 2212. In order to further improve the reliability of the assembled wheel structure, preferably, as Fig.10 As shown, the second connection structure 2113 and the limiting portion 2212 on the second shaft body 2211 plugged therein are fitted together or pressed against each other. The fitting arrangement means that the second connection structure 2113 is in contact with the limiting portion 2212, and the pressing means that the second connection structure 2113 is in contact with the limiting portion 2212 and there is a pressing force between them. In this way, the second connection structure 2113 can be used to further ensure the clamping effect of the limiting portion 2212 and the first connection structure 2111 on the inner ring of the second bearing 223, thereby further ensuring the position reliability of the second roller 222. The plug-in structure between the second connection structure 2113 and the second shaft body 2211 can be that an insertion portion is provided on the second connection structure 2113, a socket is provided on the second shaft body 2211, and the insertion portion is inserted into the socket. In order to simplify the structure, preferably, as Figure 8 and Fig.10 As shown, the second connection structure 2113 is provided with a socket 2114 for inserting the end of the second shaft body 2211 in the adjacent roller component 20, and the end of the second shaft body 2211 is inserted into the socket 2114 to achieve plug-in connection between the two.

[0074] In order to facilitate the insertion of the end of the second shaft body 2211 into the insertion hole 2114, it is further preferred that the end of the second shaft body 2211 is provided with a guide surface 2213 for guiding the insertion movement. Specifically, Figure 5 As shown, the end of the second shaft body 2211 is provided with a large angle chamfer, and the chamfered surface constitutes a guide surface 2213, so that the second shaft body 2211 can be quickly and smoothly inserted into the plug hole 2114, thereby effectively improving the assembly efficiency. Of course, it can be understood that the guide surface can also be provided on the plug hole 2114, that is, a guide chamfer is provided on the hole wall on the insertion side of the plug hole 2114, which can also play a guiding role for the second shaft body 2211. Alternatively, guide surfaces for guiding are provided on both the plug hole 2114 and the second shaft body 2211.

[0075] The first connection structure 2111 and the second connection structure 2113 may be any structure that can achieve the above-mentioned connection with the second shaft body 2211. The first connection structure 2111 and the second connection structure 2113 of a specific embodiment are described below in conjunction with the roller bracket 211. Figure 8 As shown, the roller bracket 211 includes a first supporting portion 2115 and a second supporting portion 2116 arranged opposite to each other, a first connecting portion 2117 connecting the first supporting portion 2115 and the second supporting portion 2116, and a second connecting portion 2118 connecting the first connecting portion 2117 and the hub bracket 10. The first supporting portion 2115 and the second supporting portion 2116 are used to support the first roller 212.

[0076] The first connection structure 2111 is disposed at the intersection of the first connection portion 2117 and the second support portion 2116. Specifically, the first connection structure 2111 is formed by the intersection of the first connection portion 2117 and the second support portion 2116 protruding in a direction away from the first roller 212. The first connection structure 2111 is n-shaped, and includes a first plate portion 2111a, a second plate portion 2111b opposite to the first plate portion 2111a, and a third plate portion 2111c connected to the first plate portion 2111a and the second plate portion 2111b. The third plate portion 2111c is substantially perpendicular to the first plate portion 2111a and the second plate portion 2111b, so that the first plate portion 2111a, the second plate portion 2111b, and the third plate portion 2111c form an n-shaped structure. The connection hole 2112 is provided on the third plate portion 2111c, the end of the second shaft body 2211 is inserted into the third plate portion 2111c, and the third plate portion 2111c is fixedly connected to the second shaft body 2211 by the first screw 23. The first connection structure 2111 is provided in an n-shape, which not only facilitates the connection between the second shaft body 2211 and the third plate portion 2111c, but also allows the partial space of the n-shaped structure (i.e., the partial space between the first plate portion 2111a and the second plate portion 2111b) to accommodate the partial structure of the first roller 212, and the first roller 212 is provided closer to the second roller 222, thereby making the structure of the roller component 20 more compact.

[0077] The second connection structure 2113 is disposed at the intersection of the first connection portion 2117 and the first support portion 2115. Specifically, the second connection structure 2113 is formed by the intersection of the first connection portion 2117 and the first support portion 2115 protruding in a direction away from the first roller 212. The second connection structure 2113 is n-shaped, and includes a fourth plate portion 2113a, a fifth plate portion 2113b opposite to the fourth plate portion 2113a, and a sixth plate portion 2113c connected to the fourth plate portion 2113a and the fifth plate portion 2113b. The sixth plate portion 2113c is substantially perpendicular to the fourth plate portion 2113a and the fifth plate portion 2113b, so that the fourth plate portion 2113a, the fifth plate portion 2113b, and the sixth plate portion 2113c form an n-shaped structure. The insertion hole 2114 is provided on the sixth plate portion 2113c, and the end of the second shaft body 2211 in the adjacent roller component 20 is inserted into the sixth plate portion 2113c. The second connection structure 2113 is provided in an n-shape, so that the second connection structure 2113 is symmetrical with the first connection structure 2111, which is more convenient for structural design, and the n-shaped structure is also used to accommodate part of the structure of the first roller 212.

[0078] To simplify the structure, the first connecting portion 2117 between the first connecting structure 2111 and the second connecting structure 2113 is preferably a plate-shaped structure, for example, a flat plate structure, or an arc plate or a wavy plate structure. To improve the structural reliability and better adapt to the first roller 212, preferably, as Figure 8 As shown, the portion of the first connecting portion 2117 between the first connecting structure 2111 and the second connecting structure 2113 is an arc-shaped plate structure adapted to the outer contour of the first roller 212 .

[0079] The second connection part 2118 can be set to any structure that can facilitate the connection between the first connection part 2117 and the hub bracket 10, for example, a connection block protruding radially inward from the first connection part 2117. In order to allow more structures of the first roller 212 to extend into the second roller 222, preferably, the second connection part 2118 is located in the middle of the first connection part 2117 in the circumferential direction, and is a thick plate structure extending radially inward from the first connection part 2117. The thick plate structure extends in the axial direction of the omnidirectional wheel to be flush with the axial end surfaces of the first connection part 2117. The second connection part 2118 is provided with a fixing hole for fixing to the hub bracket 10. In a preferred embodiment, the second connecting portion 2118 is provided with a second pin hole 2118a and a second fixing hole 2118b, and the second pin hole 2118a and the second fixing hole 2118b both penetrate the second connecting portion 2118 along the axial direction of the omnidirectional wheel, and the axes of the two are parallel to each other and located in the same radial direction of the omnidirectional wheel, so as to cooperate with the structure on the hub bracket 10 to realize a reliable fixed connection between the second connecting portion 2118 and the hub bracket 10 (detailed introduction will be provided later).

[0080] Furthermore, if Figure 5 As shown, the first roller assembly 21 also includes a first shaft 214, the first roller 212 is mounted on the first shaft 214, and the first support portion 2115, the second support portion 2116, and the first shaft 214 are locked and connected. For example, the first support portion 2115, the second support portion 2116, and the first shaft 214 are locked by the second locking structure, so that the first roller structure is limited between the first support portion and the second support portion, that is, the first support portion 2115 and the second support portion 2116 are used to form an axial limit on the first roller structure to ensure that the first roller 212 will not shake or move during the travel of the omni-directional wheel, thereby further reducing the vibration and noise of the omni-directional wheel and improving the stability of operation and the comfort of use. In addition, by adjusting the locking degree of the second locking structure, the axial position of the first roller structure can also be fine-tuned to further improve the vibration and noise problems of the omni-directional wheel.

[0081] Among them, the first roller structure can be that only the first roller 212 is included, and the first roller 212 is directly sleeved on the first shaft 214, that is, the first roller 212 is directly and smoothly connected to the first shaft 214. At this time, the first roller 212 is limited between the first support part 2115 and the second support part 2116. The first support part 2115 and the second support part 2116 can have a very small gap with the first roller 212, or the first support part 2115 and the second support part 2116 are only in contact with the first roller 212 without any axial force between them, or the first support part 2115 and the second support part 2116 are in contact with the first roller 212 with a small axial force between them, as long as it does not affect the normal rotation of the first roller 212.

[0082] In other embodiments, the first roller structure includes a first roller 212 and a first sleeve, the first sleeve is disposed between the first roller 212 and the first shaft 214 and is tightly matched with the first roller 212, and the first shaft 214 and the first sleeve can rotate relative to each other. At this time, the first sleeve is limited between the first support portion 2115 and the second support portion 2116, and the first support portion 2115 and the second support portion 2116 may have a very small gap with the first sleeve, or the first support portion 2115 and the second support portion 2116 may only contact with the first sleeve without an axial force between them, or the first support portion 2115 and the second support portion 2116 may have a small axial force with the first sleeve, as long as it does not affect the normal rotation of the first roller 212. The first sleeve is preferably a copper sleeve.

[0083] In order to further improve the rotation reliability of the first roller 212, in a preferred embodiment, the first roller structure includes the first roller 212 and the first bearing 213, and the first roller 212 is rotatably mounted on the first shaft 214 through the first bearing 213, that is, the first roller 212 is supported on the first shaft 214 through the first bearing 213 and can rotate relative to the first shaft 214 (the first roller 212 is connected to the first shaft 214 in a fixed axial position and the first roller 212 can rotate relative to the first shaft 214). The inner ring of the first bearing 213 is clamped on the first support portion 2115 and the second support portion 2116.

[0084] Specifically, there is a gap between the inner ring of the first bearing 213 and the first shaft 214, and the outer ring of the first bearing 213 and the first roller 212 are interference fit. It can be understood that the size of the gap between the inner ring of the first bearing 213 and the first shaft 214 described herein is not specifically limited, and can be a larger gap or a smaller gap, as long as the inner ring of the first bearing 213 and the first shaft 214 can move relative to each other.

[0085] The first support portion 2115, the second support portion 2116 and the first shaft 214 are locked by the second locking structure to clamp the inner ring of the first bearing 213 between the first support portion 2115 and the second support portion 2116. Since there is a gap between the inner ring of the first bearing 213 and the first shaft 214, they can move relative to each other before being locked. And just because the inner ring of the first bearing 213 and the first shaft 214 can move relative to each other, when the second locking structure locks the first shaft 214 with the first support portion 2115 and the second support portion 2116, the inner ring of the first bearing 213 is clamped by the first support portion 2115 and the second support portion 2116, ensuring that the first roller 212 will not shake or move during the travel of the omni-directional wheel, thereby further reducing the vibration and noise of the omni-directional wheel and improving the stability of operation and the comfort of use.

[0086] It can be understood that the “clamping the inner ring of the first bearing 213 between the first support portion 2115 and the second support portion 2116” mentioned here means that the inner ring of the first bearing 213 is not only located between the first support portion 2115 and the second support portion 2116, but also the inner ring of the first bearing 213 is subjected to a certain clamping force, and the size of the clamping force is not specifically limited.

[0087] In the subsequent embodiments, the omnidirectional wheel provided by the present invention is mainly introduced by taking the example that the first roller structure includes the first roller 212 and the first bearing 213, and the inner ring of the first bearing 213 is clamped between the first support part 2115 and the second support part 2116. It can be understood that, in the absence of conflict, the structures of the subsequent embodiments are also suitable for the case where the first roller structure only includes the first roller 212 and includes the first roller 212 and the first sleeve.

[0088] In order to ensure that there is a certain relative displacement margin between the first support portion 2115 and the second support portion 2116 in the unlocked state, Figure 8 In the illustrated embodiment, the first support portion 2115, the second support portion 2116, and the first connecting portion 2117 of the roller bracket 211 form an integrated plate-like structure, so that the roller bracket 211 has a certain elasticity to ensure that the first support portion 2115 and the second support portion 2116 can perform a certain relative movement when locking, thereby better clamping the inner ring of the first bearing 213.

[0089] When the roller bracket 211 is in an unstressed state (i.e., an unassembled parts state), the distance between the first support portion 2116 and the second support portion 2117 may be equal to or unequal to the size of the inner ring of the first bearing 213 in the axial direction of the first roller 212. In the embodiment where the first screw 23 passes through the first connection structure 2111 from one side of the roller bracket 211 and is threadedly connected to the second shaft body 2211, preferably, when the roller bracket 211 is in an unstressed state, the distance between the first support portion 2115 and the second support portion 2116 is slightly smaller than the size of the inner ring of the first bearing 213 in the axial direction of the first roller 212. In this way, when the inner ring of the first bearing 213 is installed between the first support portion 2115 and the second support portion 2116, the first support portion 2115 and the second support portion 2116 will be separated, so that the first connection structure 2111 further tightens the first screw 23, thereby further improving the clamping effect on the inner ring of the second bearing 223.

[0090] Of course, it is understandable that the first support portion 2115, the second support portion 2116, and the first connecting portion 2117 may not be configured as the above-mentioned integrated plate-like structure. In another embodiment, the roller bracket 211 is configured as a split structure, that is, a two-half structure, the first support portion 2115, a part of the first connecting portion 2117, and a part of the second connecting portion 2118 constitute half of the roller bracket 211, the second support portion 2116, another part of the first connecting portion 2117, and another part of the second connecting portion 2118 constitute the other half of the roller bracket 211, and the two-half structure is fastened together by fasteners.

[0091] The second locking structure may be any structure capable of fastening the first shaft 214 to the first support portion 2115 and the second support portion 2116. Figure 5 In the illustrated embodiment, the first shaft 214 is a screw, and the first shaft 214 includes a first head 2141 and a first rod 2142. The first rod 2142 is provided with an external thread structure. The first rod 2142 passes through the first support portion 2115 and the first roller structure (for example, the inner ring of the first bearing 213) and is threadedly connected with the second support portion 2116. The first head 2141 is pressed against the first support portion 2115. The first shaft 214 thus constitutes a second locking structure. During assembly, the end of the first shaft 214 is passed through the first support portion 2115 and the inner ring of the first bearing 213, and is continuously screwed into the second support portion 2116. During the screwing process, the first head 2141 gradually presses the first support portion 2115, so that the first support portion 2115 and the second support portion 2116 clamp the inner ring of the first bearing 213.

[0092] Of course, the second locking structure can also be another structure. For example, the second locking structure is two second screws, and the two second screws respectively fasten the first support part 2115 and the second support part 2116 to the end of the first shaft 214, so as to achieve the clamping of the first support part 2115 and the second support part 2116 on the inner ring of the first bearing 213.

[0093] The first bearing 213 may be one bearing or multiple bearings. When the first bearing 213 has one inner ring 213, the first support portion 2115 and the second support portion 2116 clamp the inner ring of the first bearing 213. In order to further improve the rotation stability of the first roller 212 and the reliability of the connection with the first shaft 214, in a preferred embodiment, as shown in FIG. Figure 5 As shown, two first bearings 213 are provided, and the inner rings of the two first bearings 213 are clamped together between the first support portion 2115 and the second support portion 2116 .

[0094] Specifically, Figure 6 is a cross-sectional view of the first roller, such as Figure 6As shown, the inner hole of the first roller 212 includes a seventh hole segment 2121 and an eighth hole segment 2122 and a ninth hole segment 2123 respectively connected to both ends of the seventh hole segment 2121. The diameter of the seventh hole segment 2121 is smaller than the diameters of the eighth hole segment 2122 and the ninth hole segment 2123, so that a third step surface 2124 is formed between the seventh hole segment 2121 and the eighth hole segment 2122, and a fourth step surface 2125 is formed between the seventh hole segment 2121 and the ninth hole segment 2123. One of the first bearings 213 is disposed in the eighth hole segment 2122, and the outer ring of the first bearing 213 is connected to the hole wall of the eighth hole segment 2122 by interference fit, for example, it can be pressed into the eighth hole segment 2122 by hydraulic pressure, and the outer ring of the first bearing 213 abuts against the third step surface 2124. Another first bearing 213 is arranged in the ninth hole segment 2123, and the outer ring of the first bearing 213 is connected with the hole wall of the ninth hole segment 2123 by interference fit, for example, it can be pressed into the ninth hole segment 2123 by hydraulic means, and the outer ring of the first bearing 213 abuts against the fourth step surface 2125.

[0095] Through the above-mentioned structural arrangement, the two inner rings of the first bearing 213 are clamped together between the first support portion 2115 and the second support portion 2116. The first support portion 2115 can be directly pressed against the inner ring of one of the first bearings 213. At this time, in order to ensure the pressing effect, the first support portion 2115 is preferably provided with a protruding structure adapted to the inner ring of the first bearing 213 on the side close to the first bearing 213. Alternatively, in another embodiment, a gasket is provided between the first support portion 2115 and the inner ring of the first bearing 213.

[0096] Similarly, the second support portion 2116 can be directly pressed against the inner ring of another first bearing 213. At this time, in order to ensure the pressing effect, the second support portion 2116 is preferably provided with a protrusion structure adapted to the inner ring of the first bearing 213 on the side close to the first bearing 2134. Alternatively, in another embodiment, a gasket is provided between the second support portion 2116 and the inner ring of the first bearing 213.

[0097] The first roller 212 and the second roller 222 each include a rigid portion in the middle and an elastic buffer portion disposed on the periphery of the rigid portion. In order to prevent the omnidirectional wheel from slipping, the surface of the elastic buffer portion is provided with anti-slip textures. Specifically, Figure 6 As shown, a plurality of first anti-slip ring grooves 2126 arranged along the axial direction of the elastic buffer portion of the first roller 212 are provided. Figure 7As shown, a plurality of second anti-skid ring grooves 2226 arranged along the axial direction are provided on the elastic buffer portion of the second roller 222. In order to ensure the running stability of the omnidirectional wheel during the travel, preferably, the size of the notch of the first anti-skid groove 2126 in the circumferential direction is substantially the same as the size of the notch of the second anti-skid groove 2226 in the circumferential direction, and further, the size of the gap between the adjacent first roller 212 and the second roller 222 in the circumferential direction is also set to be substantially the same as the above two sizes, so that the omnidirectional wheel can always maintain regular movement connection during the entire rotation process, thereby ensuring the movement stability of the omnidirectional wheel.

[0098] The first roller 212 can be a large roller of an omnidirectional wheel, and the second roller 222 can be a small roller of an omnidirectional wheel, or Figure 5 As shown, the first roller 212 is a small roller of the omnidirectional wheel, and the second roller 222 is a large roller of the omnidirectional wheel. The number of the first roller 212 and the second roller 222 is not limited, for example, each of them can be set as follows Figure 2 The five shown may also be provided with six or other numbers.

[0099] The wheel hub bracket 10 may be any structure that can fix the roller components 20 together. For example, the wheel hub bracket may be two clamping plates, and the two clamping plates are respectively fixed to the roller component 20 from both sides of the roller component 20. For another example, the wheel hub bracket 10 may also be an integrated structure. In a specific embodiment, Fig.11 A three-dimensional diagram of a hub bracket of an omnidirectional wheel provided in one embodiment of the present invention, as shown in FIG. Fig.11 As shown, the hub bracket 10 includes an intermediate sleeve 11, a plurality of mounting portions 12 disposed outside the intermediate sleeve 11 and evenly arranged along the outer circumference of the intermediate sleeve 11, a first connecting rib 13 connecting the intermediate sleeve 11 and the mounting portions 12, and a second connecting rib 14 connecting adjacent mounting portions 12. The intermediate sleeve 11 is used to connect the omnidirectional wheel to the mobile device, and the plurality of mounting portions 12 are respectively used to connect to the second connecting portions 2118 of each roller component 20. This frame structure can further improve the vibration buffering effect of the omnidirectional wheel, thereby ensuring the running stability of the omnidirectional wheel.

[0100] In order to facilitate the installation of the roller component, it is further preferred that the mounting portion 12 includes a guide groove for guiding and limiting the second connecting portion 2118 when it is installed into the mounting portion 12. Fig.11In the illustrated embodiment, the mounting portion 12 includes a mounting plate portion 121, and the mounting plate portion 121 is provided with a first pin hole 1211 and a first fixing hole 1212. A guide plate 122 is provided on a portion of the periphery of the mounting plate portion 121, and the guide plate 122 forms a guide groove, and the second connecting portion 2118 is inserted into the guide groove, so that the second pin hole 2118a of the second connecting portion 2118 is aligned with the first pin hole 1211 on the mounting plate portion 121, and the second fixing hole 2118b on the second connecting portion 2118 is aligned with the first fixing hole 1212 on the mounting plate portion 121, so that it is convenient for the pin shaft 30 to pass through the first pin hole 1211 and the second pin hole 2118a to position the second connecting portion 2118 and the mounting plate portion 121, and it is convenient for the fastener 40 to pass through the first fixing hole 1212 and the second fixing hole 2118b to fix the second connecting portion 2118 and the mounting plate portion 122.

[0101] The roller component 20 and the hub bracket 10 are connected in a detachable manner, which is convenient for assembly and effectively improves the yield rate of the product. The roller component 20 can be replaced separately after being damaged, which is convenient for maintenance and effectively reduces costs.

[0102] Figure 3 The assembly process of the omnidirectional wheel provided in the embodiment is as follows:

[0103] Assemble the individual roller components 20:

[0104] Install the two second bearings 223 into the second roller 222;

[0105] The second shaft 221 is inserted into the inner rings of the two second bearings 223, and the end portion is inserted into the third hole section 2111c of the first connecting structure 2111 of the roller bracket 211;

[0106] The first screw 23 is passed through the first hole section 2111a and the second hole section 2111b of the first connecting structure 2111, and is threadedly fastened to the second shaft 221. At this time, the limiting portion 2212 presses against the inner ring of one of the second bearings 223, and the first connecting structure 2111 presses against the inner ring of the other second bearing 223;

[0107] Install two first bearings 213 into the first roller 212;

[0108] Place the first roller 212 equipped with the first bearing 213 between the first support portion 2115 and the second support portion 2116;

[0109] The first shaft 214 is passed through the first support portion 2115 and the inner ring of the first bearing 213 and is threadedly connected and fixed to the second support portion 2116 , thereby completing the assembly of a roller component 20 .

[0110] The roller components 20 are assembled to form an omnidirectional wheel:

[0111] Each roller component 20 is connected to the hub bracket 10 respectively and nested with each other to form a complete omnidirectional wheel. The adjacent roller components 20 are matched in such a way that the exposed end of the first roller 212 is nested in the second roller 222 in the adjacent roller component 20, and the exposed end of the second shaft 221 is installed in the second connecting structure 2113 in the adjacent roller component 20.

[0112] In the process of assembling the roller components 20 to form the omnidirectional wheel, the guide plate 122 of the hub bracket 10 plays a role in guiding and fixing the assembly process of the roller components 20. The roller brackets 211 of the roller components 20 are restricted and guided to nest with each other by the guide plate 122, and finally form a complete and coherent tire surface. In addition, in the process of the roller components 20 nesting with each other, the guide surface 2213 plays a good guiding role, helping the second shaft 221 to be smoothly inserted into the second connecting structure 2113, so that the assembly is smoother.

[0113] The embodiment of the present invention also provides a mobile device, which includes a body and the omnidirectional wheels as described above mounted 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 with omnidirectional movement requirements, such as a robot, a cart, a transfer conveyor, a freight car, a suitcase, etc.

[0114] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0115] In the description of this specification, the description of reference terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An omnidirectional wheel, It is characterized in that The omnidirectional wheel comprises a hub bracket and a plurality of roller components respectively connected to the hub bracket; The roller component comprises a first roller assembly and a second roller assembly; The first roller assembly comprises a roller bracket and a first roller structure arranged on the roller bracket, and the roller bracket is provided with a first connecting structure; The second roller assembly includes a second shaft and a second roller structure installed on the second shaft, and the second shaft includes a second shaft body and a limiting portion protruding from the outer peripheral surface of the second shaft body; In one of the roller components, the second shaft body is locked to the first connection structure to limit the second roller structure to be located between the limiting portion and the first connection structure; The plurality of roller components are arranged along the circumference of the hub bracket, so that the first roller structure and the second roller structure in each roller component together form a full circle of roller structure.

2. The omnidirectional wheel according to claim 1, It is characterized in that The first connecting structure is arranged at one circumferential end of the roller bracket, and a second connecting structure is arranged at the other circumferential end of the roller bracket. The second connecting structure is used to be plugged into the end of the second shaft body in the adjacent roller component. The multiple roller components are spliced ​​end to end in the circumferential direction to form a full circle roller structure in which the first roller structure and the second roller structure are alternately arranged.

3. The omnidirectional wheel according to claim 2, It is characterized in that The second connecting structure and the limiting portion on the second shaft body plugged therein fit in or are pressed against each other; and / or, The second connecting structure is provided with a socket for inserting the end of the second shaft body in the adjacent roller component, and at least one of the socket and the end of the second shaft body plugged therein is provided with a guide surface for guiding the plugging movement.

4. The omnidirectional wheel according to claim 1, It is characterized in that The second shaft body and the first connecting structure are locked and connected via a first locking structure; The first locking structure includes a first screw, and the first screw fixes the first connection structure and the second shaft body; or, The second shaft is a screw, the second shaft includes a second head and a second rod, the second rod passes through the second roller structure and is threadedly connected to the first connecting structure, the second head constitutes the limiting portion, and the second shaft constitutes the first locking structure; or, The second shaft is a screw, and the second shaft includes a second head and a second rod. The second rod passes through the first connecting structure and the second roller structure. The second head is locked and connected to the first connecting structure. The limiting portion passes through the second rod to limit the second roller structure between the limiting portion and the first connecting structure.

5. The omnidirectional wheel according to any one of claims 1 to 4, It is characterized in that The second roller structure includes a second roller and a second bearing, the second roller is rotatably mounted on the second shaft through the second bearing, and the inner ring of the second bearing is clamped between the limiting portion and the first connecting structure.

6. The omnidirectional wheel according to any one of claims 1 to 4, It is characterized in that The roller bracket comprises a first supporting portion and a second supporting portion arranged opposite to each other, a first connecting portion connecting the first supporting portion and the second supporting portion, and a second connecting portion connecting the first connecting portion and the hub bracket, wherein the first connecting structure is arranged at a position where the first connecting portion and the second supporting portion intersect; The first roller assembly further includes a first shaft, and the first roller structure is mounted on the first shaft; The first support portion, the second support portion, and the first shaft are locked and connected to limit the first roller structure to be located between the first support portion and the second support portion.

7. The omnidirectional wheel according to claim 6, It is characterized in that The first shaft is a screw, and the first shaft includes a first head and a first rod. The first rod passes through the first support part and the first roller structure and is threadedly connected to the second support part. The first shaft constitutes a second locking structure.

8. The omnidirectional wheel according to claim 6, It is characterized in that The first roller structure includes a first roller and a first bearing. The first roller is rotatably mounted on the first shaft through the first bearing. The inner ring of the first bearing is clamped between the first support portion and the second support portion.

9. The omnidirectional wheel according to any one of claims 1 to 4, 7 to 8, It is characterized in that The roller bracket includes a second connecting portion for connecting the roller component to the hub bracket, and the hub bracket includes a plurality of mounting portions for connecting to the second connecting portions of each of the roller components, and the mounting portion includes a guide groove for guiding and limiting the second connecting portion when it is installed into the mounting portion.

10. A mobile device, It is characterized in that The invention comprises a main body, and an omnidirectional wheel as claimed in any one of claims 1 to 9 mounted on the main body.

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