Omnidirectional wheel and assembling method thereof

Abstract

The invention relates to the technical field of omni-directional wheels, and discloses an omni-directional wheel and an assembling method thereof, and the omni-directional wheel comprises a plurality of single wheel assemblies, an assembling bracket, spacing columns and end covers. The spacing columns of the flexible parts are adopted, the flexible parts can cancel assembling gaps and play a buffering role, and abnormal sound generated by the assembling gaps in the wheel walking process can be effectively reduced. In addition, a wheel set is endowed with certain movement allowance during assembly, assembly is facilitated, and the problems that in the prior art, due to the fact that the number of parts of an omnidirectional wheel is large, matching is tedious, the assembly process is complex, accumulated assembly gaps or dimensional deviation is extremely prone to being generated during assembly, the omnidirectional wheel cannot be assembled finally due to the accumulated dimensional deviation, and the assembly efficiency is low are solved. And the problem that the assembled part is easy to break due to too large internal stress during assembly can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of omnidirectional wheels, and in particular to an omnidirectional wheel and an assembly method thereof. Background Art

[0002] An omnidirectional wheel is a wheel that can achieve all-round movement, allowing a device or robot to move in any direction on a horizontal plane, including forward and backward, left and right, and rotation. The structure of an omnidirectional wheel usually includes a central hub and multiple driven wheels, which are installed perpendicular to the hub, allowing the omnidirectional wheel to provide power in multiple directions. The design of omnidirectional wheels makes them very suitable for use in situations where space is limited or the direction of movement needs to be precisely controlled, such as automated warehouses, service robots, medical equipment, etc. They can provide extremely high flexibility and maneuverability, allowing robots or other devices to move in any direction without changing their own direction.

[0003] However, since the omnidirectional wheel has many parts, its coordination is cumbersome and its assembly process is complicated. It is very easy to produce cumulative assembly gaps or dimensional deviations during assembly. The existence of cumulative dimensional deviations will cause the omnidirectional wheel to fail to be assembled in the end. Even if it can be assembled, there may be excessive internal stress, which may cause the parts to break easily after assembly.

[0004] SUMMARY OF THE INVENTION

[0005] The technical problem solved by the present invention is: how to add side extension legs and middle extension legs, increase the contact area of ​​the pallet body by the side extension legs and middle extension legs, improve the stability of the pallet body, and prevent the pallet body from tilting or tipping over.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] An omnidirectional wheel comprising

[0008] Several single wheel assemblies, each of which includes a wheel core, a rubber coating layer is disposed on the outside of the wheel core, the size of one end of the single wheel assembly is larger than the size of the other end, and the end with the larger size forms an arc cavity, wherein a through hole is provided on the side of some of the single wheel assemblies for assembling a single wheel, an assembly hole is provided coaxially with the central axis direction of the single wheel assembly, and the outer contour shape of each cross section of the single wheel assembly perpendicular to the axis of the single wheel assembly is circular;

[0009] An assembly bracket, the assembly bracket comprises a bracket body, one end of the bracket body is provided with two spaced connection heads, a connection hole is opened on the connection head along the width direction of the bracket body, the size of the two connection heads along the width direction of the bracket body is half of the width size of the bracket body, and the two connection heads are respectively arranged on both sides of the width direction of the bracket body, the other end of the bracket body is fixedly provided with a bending portion, the bending portion and the bracket body are set at an angle, an end of the bracket body close to the bending portion is fixedly provided with a mounting column 1, the direction of the mounting column 1 and the bending direction of the bending portion are respectively located on both sides of the bracket body, and an end of the bending portion away from the bracket body is fixedly provided with a mounting column 2, the mounting column 2 is located on a side surface where the bending direction of the bending portion is located, and the mounting column 1 and the mounting column 2 are set at an angle;

[0010] A spacer column, wherein the spacer column is a flexible member of a columnar structure, an axial hole is provided in the axial direction of the spacer column, and two ends of the spacer column are respectively provided with a sink groove, the sink groove is coaxially arranged with the axial hole, and the inner diameter of the sink groove is consistent with the outer diameter of the mounting column;

[0011] The end cover has a plurality of assembly holes formed in the circumference thereof, and the assembly holes are used to cooperate with the connection holes on the connection head on the assembly bracket during the assembly process and are locked by bolts.

[0012] In one solution of the present invention: a threaded hole is formed in the first mounting column, and a through hole penetrating the bent portion is formed in the second mounting column.

[0013] In one embodiment of the present invention, the wheel core is made of aluminum alloy, and the rubber coating is made of rubber.

[0014] In one solution of the present invention: the connector and the bending portion are integrally arranged with the bracket body.

[0015] The present application also provides an omnidirectional wheel assembly method, comprising the following steps:

[0016] Step 1: Install the spacer column and bearing into the assembly hole of the single wheel assembly;

[0017] Step 2: Divide the omnidirectional wheels into multiple wheel groups and complete the assembly of each wheel group; the specific process is as follows:

[0018] First, select the assembly single wheel as the starting end;

[0019] Insert a screw into the second mounting column of an assembly bracket as a pre-embedded screw, and then insert the first mounting column of the assembly bracket from the rear end of the single wheel assembly into the corresponding bearing hole;

[0020] Take another assembly bracket, insert the second mounting column of the assembly bracket into the inner hole of the bearing at the front end of the single wheel assembly, then take a screw and pass it through the second mounting column of the assembly bracket, the first bearing, the spacer column, and the second bearing in sequence, and insert the other end of the screw into the threaded hole of the first mounting column of the previous assembly bracket, and tighten the screw to complete the assembly and fixation of the second single wheel assembly; then repeat this process until the assembly of the last single wheel assembly of the wheel set is completed, at this time, the last single wheel assembly can be inserted into the front end of the previous single wheel assembly through the second mounting column, or the single wheel assembly can be inserted into the rear end of the assembly single wheel as the starting end through the first mounting column;

[0021] Step 3: Assemble the assembled multiple wheel sets, and lock the screws at the corresponding positions through the reserved through holes of the assembled single wheel to complete the full circle assembly of the omnidirectional wheel;

[0022] Step 4: Place the two end caps on both sides of the full-circle wheel assembly and lock them with bolts to complete the assembly of the entire omnidirectional wheel.

[0023] In one solution of the present invention: in step 2, the omnidirectional wheels are divided into two groups for assembly.

[0024] In one solution of the present invention, each wheel set uses only one assembled single wheel as the starting end.

[0025] In one solution of the present invention: when tightening the screws to assemble and fix the single wheel assembly in step 2, it is necessary to ensure that the spacer columns in the single wheel assembly are fully compressed and sufficient pressure is generated inside and outside the bearing.

[0026] Beneficial effects of the present invention:

[0027] The present application adopts a flexible part spacer column, which can eliminate the assembly gap and play a buffering role, and can effectively reduce the abnormal noise caused by the assembly gap during the wheel walking process. In addition, a certain amount of activity margin is given to the wheel set during assembly, which is convenient for assembly, and solves the problem that the omni-directional wheel has many parts in the prior art, and its matching is cumbersome, and its assembly process is complicated. It is very easy to generate cumulative assembly gaps or dimensional deviations during assembly. The existence of cumulative dimensional deviations will cause the omni-directional wheel to fail to be assembled in the end. If it can be assembled, there may be excessive internal stress, which will cause the parts to break easily after assembly.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0030] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0031] Figure 2 The present invention Figure 1 Schematic diagram of the structure from the front view;

[0032] Figure 3 The present invention Figure 1 Schematic diagram of the structure of the section;

[0033] Figure 4 It is a schematic diagram of the three-dimensional structure of the assembly bracket of the present invention with pre-installed screws;

[0034] Figure 5 The present invention Figure 4 Schematic diagram of the structure in the middle section;

[0035] Figure 6 It is a structural schematic diagram of the cross section of the spacer column of the present invention;

[0036] Figure 7 It is a three-dimensional structural schematic diagram of a single wheel assembly during the assembly process of the present invention;

[0037] Figure 8 It is a structural schematic diagram of the cooperation between the single wheel assembly and the assembly bracket during the assembly process of the present invention;

[0038] Fig. 9 The present invention Figure 8 Schematic diagram of the structure of the section;

[0039] Fig.10 It is a schematic diagram of the structure of two single wheel assemblies during the assembly process of the present invention;

[0040] Fig.11 It is a schematic diagram of the structure of a wheel set during the assembly process of the present invention;

[0041] Fig.12 It is a 3D structural schematic diagram of two wheel sets docking during the assembly process of the present invention;

[0042] Fig.13 It is a schematic diagram of the 3D structure of the end cover assembly of the present invention.

[0043] The reference numerals in the figure are: 1, single wheel assembly; 2, assembly bracket; 3, spacer column; 4, end cover; 5, connector; 6, bending portion; 7, mounting column one; 8, mounting column two. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0045] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0046] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0047] See also Figure 1-13 The present invention is an omnidirectional wheel, comprising a plurality of single wheel assemblies 1, an assembly bracket 2, a spacer column 3 and an end cover 4. The single wheel assembly 1 comprises a wheel core, which may be made of aluminum alloy, and a rubber coating is arranged on the outside of the wheel core, which may be made of rubber. The size of one end of the single wheel assembly 1 (the end with a larger size is the rear end) is larger than the size of the other end (the end with a smaller size is the front end), and the end with a larger size forms an arc-shaped cavity for subsequent assembly and matching. A through hole is provided on the side of some of the single wheel assemblies 1, and the single wheel assemblies 1 with a through hole are used as assembled single wheels. An assembly hole is provided coaxially in the direction of the central axis of the single wheel assembly 1, which is used to subsequently install the spacer column 3, and bearings are installed at both ends of the spacer column 3. The outer contour shape of the single wheel assembly 1 on each cross section perpendicular to the axis of the single wheel assembly 1 is circular.

[0048] See also Figure 4-5In one embodiment of the present invention, the assembly bracket 2 includes a bracket body, one end of which is integrally provided with two spaced connectors 5, the connectors 5 are provided with connection holes along the width direction of the bracket body, the dimensions of the two connectors 5 along the width direction of the bracket body are half of the width dimension of the bracket body, and the two connectors 5 are respectively provided on both sides of the width direction of the bracket body, so as to respectively cooperate with a connector 5 on another assembly bracket 2. A bending portion 6 is fixedly provided at the other end of the bracket body, and the bending portion 6 can be integrally provided with the bracket body. The bending portion 6 is set at an angle with the bracket body so as to support the rotation space of the single wheel assembly 1 after the subsequent assembly is completed. A mounting column 17 (with a threaded hole provided therein) is fixedly provided at one end of the bracket body close to the bending portion 6, and the direction of the mounting column 17 and the bending direction of the bending portion 6 are respectively located on both sides of the bracket body. A mounting post 2 8 (with a through hole penetrating the bending part 6) is fixedly provided at one end of the bending part 6 away from the bracket body, and the mounting post 2 8 is located on a side surface where the bending direction of the bending part 6 is located. The mounting post 1 7 and the mounting post 2 8 are arranged at an angle so that the inner hole of the bearing located in the assembly hole of the single wheel assembly 1 forms the rotating shaft of the single wheel assembly 1 in the subsequent assembly process. In the integral omnidirectional wheel, the mounting post 1 7 on one assembly bracket 2 and the mounting post 2 8 on another assembly bracket 2 are respectively located at the two ends of the assembly hole of a single wheel assembly 1, and together constitute the rotation support center of the corresponding single wheel assembly 1.

[0049] See also Figure 6 In one embodiment of the present invention, the spacer column 3 is a cylindrical structure, and an axial hole is provided in the axial direction thereof, and the size of the axial hole is consistent with the outer diameter of the bolt structure used for subsequent assembly and connection. The two ends of the spacer column 3 are respectively provided with a countersunk groove, and the countersunk groove is coaxially arranged with the axial hole, and the inner diameter size of the countersunk groove is consistent with the outer diameter size of the mounting column, so that the end of the mounting column can be extended into the countersunk groove during the assembly process. The spacer column 3 is a flexible member, and the flexible member is selected from a material that will deform when subjected to external force and cannot automatically return to its original state after the force disappears. The spacer column 3 is used for the installation between the assembly bracket 2 (mounting column) and the single wheel assembly 1, and has both support stiffness and a certain amount of deformation.

[0050] See also Figure 1 In one embodiment of the present invention, a plurality of assembly holes are provided around the end cover 4, and the assembly holes are used to cooperate with the connection holes on the connector 5 on the assembly bracket 2 during the assembly process and are locked by bolts. A through hole is provided in the center of the end cover 4 for subsequent assembly of bearings, etc.

[0051] See also Figure 7-13In one embodiment of the present invention, a method for assembling an omnidirectional wheel comprises the following steps:

[0052] Step 1: Install the spacer column 3 and the bearing into the assembly hole of the single wheel assembly 1; the spacer column 3 is located in the middle, and the two bearings are located at both ends of the spacer column 3. The three are coaxially arranged, and steps can be set at both ends of the assembly hole for the assembly of the bearings.

[0053] Step 2: Divide the omnidirectional wheel into multiple wheel groups and complete the assembly of each wheel group; in the attached figure, the omnidirectional wheel includes 12 single wheel components 1 as an example, and the entire omnidirectional wheel is divided into two wheel groups for assembly as an example. Each wheel group only uses one assembled single wheel as the starting end.

[0054] First, select the assembly single wheel as the starting end;

[0055] Insert a screw into the mounting column 28 of an assembly bracket 2 as a pre-embedded screw (such as Figure 4 ), then insert the mounting column 7 of the mounting bracket 2 from the rear end (larger end) of the single wheel assembly 1 (initially assembled single wheel) into the corresponding bearing hole (such as Figure 7 );

[0056] Take another assembly bracket 2, insert the second mounting column 8 of the assembly bracket 2 into the inner hole of the bearing at the front end of the single wheel assembly 1, and then use a screw to pass through the second mounting column 8 of the assembly bracket 2, the bearing 1, the spacer column 3, and the bearing 2 in sequence, and insert the other end of the screw into the threaded hole of the first mounting column 7 of the previous assembly bracket 2, and tighten the screw to complete the assembly and fixation of the second single wheel assembly 1 (such as Figure 8 , 9 )(Because the installation position here involves the inner dimension chain, the middle dimension chain and the outer dimension chain, the matching tolerances of the inner, outer and middle dimension chains will have inner, outer and middle side gap problems. After the gap appears, the internal parts of the omni-directional wheel will shake in a certain activity space, and the wheel will produce vibration and abnormal noise during walking. Therefore, when tightening the screw, it is necessary to ensure that the spacer column 3 in the single wheel assembly 1 is fully compressed and a certain pressure is generated inside and outside the bearing. By adopting a flexible spacer column 3, which has both support stiffness and a certain deformation, the size chain matching gap can be eliminated by the deformation of the spacer column 3, so as to achieve the purpose of reducing vibration and eliminating abnormal noise); then repeat the process (10, 11) until the assembly of the last single wheel assembly 1 of the wheel set is completed. At this time, the last single wheel assembly 1 can be inserted into the front end of the previous single wheel assembly 1 through the installation column 8 (such as Fig.11 ) or insert the single wheel assembly 1 into the rear end of the assembly single wheel as the starting end through the mounting column 17;

[0057] Step 3: Assemble the assembled multiple wheel sets, and lock the screws at the corresponding positions through the reserved through holes of the assembled single wheel to complete the full circle assembly of the omnidirectional wheel (such as Fig.12 );

[0058] Step 4: Place the two end caps 4 on both sides of the full-circle wheel set and lock them with bolts to complete the assembly of the entire omnidirectional wheel (such as Fig.13 ).

[0059] Working principle of the present invention:

[0060] The present application adopts a flexible part spacer column 3, which can eliminate the assembly gap and play a buffering role, and can effectively reduce the abnormal noise caused by the assembly gap during the wheel walking process. In addition, a certain amount of activity margin is given to the wheel set during assembly, which is convenient for assembly, and solves the problem that the omni-directional wheel has many parts in the prior art, its coordination is cumbersome, and its assembly process is complicated, and it is very easy to generate cumulative assembly gaps or dimensional deviations during assembly. The existence of cumulative dimensional deviations will cause the omni-directional wheel to fail to be assembled in the end, and even if it can be assembled, there may be excessive internal stress, which will cause the parts to break easily after assembly.

[0061] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of application of the present invention should still fall within the scope of the claims of the present invention.

Claims

1. An omnidirectional wheel, characterized in that: include: Several single wheel assemblies, each of which includes a wheel core, a rubber coating layer is disposed on the outside of the wheel core, the size of one end of the single wheel assembly is larger than the size of the other end, and the end with the larger size forms an arc cavity, wherein a through hole is provided on the side of some of the single wheel assemblies for assembling a single wheel, an assembly hole is provided coaxially with the central axis direction of the single wheel assembly, and the outer contour shape of each cross section of the single wheel assembly perpendicular to the axis of the single wheel assembly is circular; An assembly bracket, the assembly bracket comprises a bracket body, one end of the bracket body is provided with two spaced connection heads, a connection hole is opened on the connection head along the width direction of the bracket body, the size of the two connection heads along the width direction of the bracket body is half of the width size of the bracket body, and the two connection heads are respectively arranged on both sides of the width direction of the bracket body, the other end of the bracket body is fixedly provided with a bending portion, the bending portion and the bracket body are set at an angle, an end of the bracket body close to the bending portion is fixedly provided with a mounting column 1, the direction of the mounting column 1 and the bending direction of the bending portion are respectively located on both sides of the bracket body, and an end of the bending portion away from the bracket body is fixedly provided with a mounting column 2, the mounting column 2 is located on a side surface where the bending direction of the bending portion is located, and the mounting column 1 and the mounting column 2 are set at an angle; A spacer column, wherein the spacer column is a flexible part with a cylindrical structure, an axial hole is provided in the axial direction of the spacer column, and two ends of the spacer column are respectively provided with a sink groove, the sink groove is coaxially arranged with the axial hole, and the inner diameter of the sink groove is consistent with the outer diameter of the mounting column; The end cover has a plurality of assembly holes formed in the circumference thereof, and the assembly holes are used to cooperate with the connection holes on the connection head on the assembly bracket during the assembly process and are locked by bolts.

2. An omnidirectional wheel according to claim 1, characterized in that: A threaded hole is provided in the first installation column, and a through hole penetrating the bent portion is provided in the second installation column.

3. The omnidirectional wheel according to claim 1, characterized in that: The wheel core is made of aluminum alloy, and the rubber coating is made of rubber.

4. The omnidirectional wheel according to claim 1, characterized in that: The connecting head and the bending portion are integrally arranged with the bracket body.

5. A method for assembling an omnidirectional wheel, characterized in that: The steps include: Step 1: Install the spacer column and bearing into the assembly hole of the single wheel assembly; Step 2: Divide the omnidirectional wheels into several groups of wheels and complete the assembly of each wheel group; the specific process is as follows: First, select the assembly single wheel as the starting end; Insert a screw into the second mounting column of an assembly bracket as a pre-embedded screw, and then insert the first mounting column of the assembly bracket from the rear end of the single wheel assembly into the corresponding bearing hole; Take another assembly bracket, insert the second mounting column of the assembly bracket into the inner hole of the bearing at the front end of the single wheel assembly, then take a screw and pass it through the second mounting column of the assembly bracket, the first bearing, the spacer column, and the second bearing in sequence, and insert the other end of the screw into the threaded hole of the first mounting column of the previous assembly bracket, and tighten the screw to complete the assembly and fixation of the second single wheel assembly; then repeat this process until the assembly of the last single wheel assembly of the wheel set is completed, at this time, the last single wheel assembly can be inserted into the front end of the previous single wheel assembly through the second mounting column, or the single wheel assembly can be inserted into the rear end of the assembly single wheel as the starting end through the first mounting column; Step 3: Assemble the assembled multiple wheel sets, and lock the screws at the corresponding positions through the reserved through holes of the assembled single wheel to complete the full circle assembly of the omnidirectional wheel; Step 4: Place the two end caps on both sides of the full-circle wheel assembly and lock them with bolts to complete the assembly of the entire omnidirectional wheel.

6. The method for assembling an omnidirectional wheel according to claim 5, characterized in that: In step 2, the omnidirectional wheels are divided into two groups for assembly.

7. The method for assembling an omnidirectional wheel according to claim 6, characterized in that: Each wheel set uses only one assembled single wheel as the starting end.

8. The method for assembling an omnidirectional wheel according to claim 7, characterized in that: When tightening the screws to assemble and fix the single wheel assembly in step 2, it is necessary to ensure that the spacer columns in the single wheel assembly are fully compressed and sufficient pressure is generated inside and outside the bearing.

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