Damping omnidirectional wheel

Abstract

The invention provides a damping omnidirectional wheel, and relates to the technical field of omnidirectional wheels, and the damping omnidirectional wheel comprises a first wheel body, a second wheel body and a third wheel body which are coaxially connected together; the first wheel body, the second wheel body and the third wheel body cannot rotate relative to one another. The first wheel body, the second wheel body and the third wheel body are each composed of an omnidirectional wheel base and an olive wheel. The damping omni-directional wheel has the beneficial effects that the connecting distance between every two olive wheels on the circumference in the projection direction of the bottom face of the cylinder is A, A is larger than zero, when the damping omni-directional wheel rotates, the number of points where the damping omni-directional wheel makes contact with the horizon is not smaller than two, and the omni-directional wheel makes contact with the olive wheel of the first wheel body and then makes contact with the olive wheel of the third wheel body when going straight; the first wheel body makes contact with the first wheel body and then makes contact with the olive wheel of the second wheel body, impact force and vibration in the driving process are effectively dispersed, and therefore vibration can be restrained through the configuration mode, and the stability and comfort of the AGV in the straight moving process can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of omnidirectional wheels, in particular to a shock-absorbing omnidirectional wheel. Background Art

[0002] With the development of technology, AGVs are used to transport materials in many occasions. The most prominent problem in the use of AGVs is how to ensure the progress of the AGVs. Some AGVs also need to travel on uneven roads during use, which requires the AGVs to be able to operate stably in fields with vibration characteristics. At present, some AGVs on the market use omnidirectional wheels to achieve steering and walking. The unique design of omnidirectional wheels enables AGVs to move in any direction within a plane, rather than being limited to the traditional four directions of front, back, left, and right. This multi-directional movement capability greatly improves the flexibility and maneuverability of AGVs, allowing them to shuttle and operate more freely in complex working environments. In terms of shock absorption, the omnidirectional wheels on the market have not yet shown obvious advantages over traditional wheels.

[0003] The technical content disclosed in the Chinese patent document (publication number: CN113942341A, patent name: omnidirectional wheel) is: the omnidirectional wheel of the present application is arranged in two layers, one of which is provided with a first support plate and a first wheel, and the first wheel is rotatably connected to the first support plate; the other layer is provided with a second support plate and a second wheel, and the second wheel is rotatably connected to the second support plate. The first support plate is provided with a polygonal mounting hole, and the second support plate is provided with a polygonal first boss. The first boss cooperates with the mounting hole so that the first boss is positioned circumferentially to prevent the first support plate from sliding circumferentially relative to the second support plate, thereby achieving circumferential connection reliability between the first support plate and the second support plate. The second support plate is provided with a connecting hole, and the cross-section of the connecting hole is a non-circular structure to prevent the output shaft of the drive mechanism from rotating relative to the connecting hole.

[0004] From the above implementation scheme, it can be seen that the scheme sets up two layers of omnidirectional wheels. The use of omnidirectional wheels can solve the accuracy problem to a certain extent. The unique design of the omnidirectional wheel enables it to move in any direction within the plane without the need for large rotations like steering wheels. This allows the AGV to control the direction and position more accurately during driving, reducing the error caused by steering. However, the omnidirectional wheel is not perfect. Although it has advantages in solving accuracy problems, it will produce vibrations when driving straight. The structural characteristics of the omnidirectional wheel determine that the force between the wheels is more complicated during the straight driving process, and it is easy to produce unbalanced forces, which leads to vibrations. This vibration will not only affect the driving stability and comfort of the AGV, but may also cause damage to the goods and equipment on the vehicle. At the same time, it will also interfere with the navigation system and control system of the AGV, further affecting its accuracy and reliability. Summary of the invention

[0005] The invention overcomes the shortcomings of the prior art and provides a first wheel body, a second wheel body and a third wheel body. The olive wheels of the first wheel body, the second wheel body and the third wheel body are staggered with each other. The connection spacing between each two olive wheels at the circumference in the bottom projection direction of the cylinder is A, and A is greater than zero. When the shock-absorbing omnidirectional wheel rotates, the shock-absorbing omnidirectional wheel contacts the horizon at no less than two points. When the omnidirectional wheel is moving straight, it first contacts the olive wheel of the first wheel body, then contacts the olive wheel of the third wheel body, and then contacts the olive wheel of the second wheel body. This sequential contact method effectively disperses the impact force and vibration during driving. Therefore, this configuration method can not only suppress vibration, but also improve the stability and comfort of the AGV during straight driving.

[0006] In order to solve the above technical problems, the invention is implemented through the following technical solutions: A shock-absorbing omnidirectional wheel comprises a first wheel body, a second wheel body and a third wheel body which are coaxially connected together; the first wheel body, the second wheel body and the third wheel body are restricted from rotating relative to each other; The first wheel body, the second wheel body and the third wheel body are all composed of an omnidirectional wheel base and an olive wheel; The omnidirectional wheel base is provided with a plurality of circumferential connecting blocks distributed in a circumferential manner, and a first olive wheel groove is formed between every two circumferential connecting blocks, and the olive wheel is rotatably connected to the first olive wheel groove; The olive wheel of the first wheel body, the olive wheel of the second wheel body, and the olive wheel of the third wheel body are staggered with each other in the generatrix direction of the cylinder formed by the shock-absorbing omnidirectional wheel; Viewed from the bottom projection direction of the cylinder formed by the shock-absorbing omnidirectional wheels, the connection spacing between every two olive wheels at the circumference in the bottom projection direction of the cylinder is A, and A is greater than zero. When the shock-absorbing omnidirectional wheels rotate, there are no less than two points at which the shock-absorbing omnidirectional wheels contact the horizon.

[0007] Furthermore, the first wheel body and the second wheel body are connected together via a connecting pin, and the second wheel body and the third wheel body are connected together via a connecting pin.

[0008] Furthermore, the omnidirectional wheel base is provided with a pin hole, and the connecting pin is inserted into the pin hole.

[0009] Furthermore, a first avoidance hole and a second avoidance hole are provided on two side surfaces of the omnidirectional wheel base, the omnidirectional wheel base of the first wheel body is plugged into the first avoidance hole of the omnidirectional wheel base of the second wheel body, and the omnidirectional wheel base of the second wheel body is plugged into the second avoidance hole of the omnidirectional wheel base of the third wheel body; A bearing is arranged in the first avoidance hole of the omnidirectional wheel base of the first wheel body, and a bearing is arranged in the first avoidance hole of the omnidirectional wheel base of the second wheel body; Both bearings are connected to the connecting rod.

[0010] Furthermore, the circumferential connecting block is provided with two symmetrical roller grooves; The two ends of the olive wheel are respectively rotatably connected to two roller grooves facing each other on two adjacent circumferential connecting blocks.

[0011] Furthermore, a locking cover is connected to the omnidirectional wheel base, and the locking cover is provided with a plurality of connecting block cover plates, a second olive wheel groove is formed between two adjacent connecting block cover plates, and the first olive wheel groove and the second olive wheel groove are arranged to overlap.

[0012] Furthermore, the olive wheel includes an olive wheel body, which is in the shape of an olive with a middle cross-sectional area larger than cross-sectional areas at both ends.

[0013] Furthermore, an inner bearing is arranged inside the olive wheel body, the inner bearing is connected to the rotating shaft, and the rotating shaft protrudes from both ends of the olive wheel body.

[0014] Furthermore, buffer end covers are provided at both ends of the olive wheel body.

[0015] Compared with the prior art, the invention has the following beneficial effects: 1. A first wheel body, a second wheel body and a third wheel body are provided. The olive wheels of the first wheel body, the second wheel body and the third wheel body are staggered with each other. The connection spacing between each two olive wheels at the circumference in the bottom projection direction of the cylinder is A, and A is greater than zero. When the shock-absorbing omnidirectional wheel rotates, the shock-absorbing omnidirectional wheel contacts the horizon at no less than two points. When the omnidirectional wheel is moving straight, it first contacts the olive wheel of the first wheel body, then contacts the olive wheel of the third wheel body, and then contacts the olive wheel of the second wheel body. This sequential contact method effectively disperses the impact force and vibration during driving. Therefore, this configuration method can not only suppress vibration, but also improve the stability and comfort of the AGV during straight driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the invention and are used together with the embodiments of the invention to explain the invention, but do not constitute a limitation of the invention. In the accompanying drawings: Figure 1 is a general schematic diagram of an omnidirectional wheel according to an embodiment of the present invention; Figure 2 is a side view of an omnidirectional wheel according to an embodiment of the present invention; Figure 3 is a front view of an omnidirectional wheel according to an embodiment of the present invention; Figure 4 is a cross-sectional view of an omnidirectional wheel according to an embodiment of the present invention; Figure 5 is an exploded schematic diagram of an omnidirectional wheel according to an embodiment of the present invention; Figure 6 1. It is a schematic diagram of the structure of the omnidirectional wheel base, the lock cover and the olive wheel according to an embodiment of the present invention; Figure 7 is a schematic structural diagram of an omnidirectional wheel base according to an embodiment of the present invention; Figure 8 is a cross-sectional view of an omnidirectional wheel base according to an embodiment of the present invention; Fig. 9 is a cross-sectional view of an olive wheel according to an embodiment of the present invention; Fig.10 is a half-section view of an olive wheel according to an embodiment of the present invention; Fig.11 It is a schematic diagram of the explosion of the olive wheel according to an embodiment of the present invention.

[0017] In the figure: 1. first wheel body; 2. second wheel body; 3. third wheel body; 4. connecting pin; 5. connecting rod; 6. bearing; B1. omnidirectional wheel base; B11. circumferential connecting block; B111. roller groove; B12. first olive wheel groove; B13. first avoidance hole; B14. second avoidance hole; B15. latch hole; B2. lock cover; B21. connecting block cover; B22. second olive wheel groove; B3. olive wheel; B31. rotating shaft; B32. olive wheel body; B33. inner bearing; B34. buffer end cover. DETAILED DESCRIPTION

[0018] The preferred embodiments of the invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the invention, and are not used to limit the invention.

[0019] like Figures 1 to 11 As shown, a shock-absorbing omnidirectional wheel comprises a first wheel body 1, a second wheel body 2 and a third wheel body 3 connected together coaxially; the first wheel body 1, the second wheel body 2 and the third wheel body 3 are restricted from rotating relative to each other; the first wheel body 1, the second wheel body 2 and the third wheel body 3 are all formed by an omnidirectional wheel base B1 and an olive wheel B3 Composition: There are several circumferential connecting blocks B11 distributed in a circle on the omnidirectional wheel base B1, and a first olive wheel groove B12 is formed between every two circumferential connecting blocks B11, and the olive wheel B3 is rotatably connected in the first olive wheel groove B12; the olive wheel B3 of the first wheel body 1, the olive wheel B3 of the second wheel body 2, and the olive wheel B3 of the third wheel body 3 are staggered with each other in the generatrix direction of the cylinder formed by the shock-absorbing omnidirectional wheel; from the bottom projection direction of the cylinder formed by the shock-absorbing omnidirectional wheel, the connection spacing between every two olive wheels B3 at the circumference in the bottom projection direction of the cylinder is A, and A is greater than zero. When the shock-absorbing omnidirectional wheel rotates, the shock-absorbing omnidirectional wheel contacts the horizon C at no less than two points. When the omnidirectional wheel is moving straight, it first contacts the olive wheel B3 of the first wheel body 1, then contacts the olive wheel B3 of the third wheel body 3, and then contacts the olive wheel B3 of the second wheel body 2. This sequential contact method effectively disperses the impact force and vibration during driving. Therefore, this configuration method can not only suppress vibration, but also improve AGV Stability and comfort during straight-ahead driving.

[0020] Due to the structural characteristics of the omnidirectional wheel, the AGV can control the direction more accurately when turning. Compared with traditional steering wheels, the omnidirectional wheel can move in all directions without changing the direction of the vehicle body, thereby greatly reducing the error and uncertainty in the steering process. This is of vital importance for application scenarios that require high-precision operations, such as automated production lines, warehousing and logistics, so the omnidirectional wheel can ensure the precise steering of the AGV.

[0021] The three-row olive wheel B3 configuration of the shock-absorbing omnidirectional wheel effectively reduces the vibration of the AGV during driving. Vibration is one of the important factors affecting the performance and stability of the AGV. It not only affects the safe transportation of goods, but also damages the mechanical structure and electronic equipment of the AGV. Through this special arrangement, the vibration can be dispersed to the first wheel body 1, the second wheel body 2 and the third wheel body 3, thereby reducing the impact on the overall AGV. In addition, reducing vibration can also improve the driving speed and efficiency of the AGV, reduce energy consumption and equipment wear.

[0022] Since the three-row olive wheel B3 configuration of the omnidirectional wheel can effectively suppress the vibration of the AGV, the AGV can travel more stably when traveling straight, thereby increasing the straight travel speed. A higher straight travel speed means that the AGV can complete the task in a shorter time, improving production efficiency and logistics distribution speed. At the same time, stable straight travel also helps to reduce energy consumption and equipment wear, and extend the service life of the AGV.

[0023] The first wheel body 1 and the second wheel body 2 are connected together by a connecting pin 4, and the second wheel body 2 and the third wheel body 3 are connected together by a connecting pin 4. A pin hole B15 is provided on the omnidirectional wheel base B1, and the connecting pin 4 is inserted into the pin hole B15, so the first wheel body 1, the second wheel body 2 and the third wheel body 3 cannot rotate relative to each other.

[0024] A bearing 6 is arranged in the first avoidance hole B13 of the omnidirectional wheel base B1 of the first wheel body 1, and a bearing 6 is arranged in the first avoidance hole B13 of the omnidirectional wheel base B1 of the second wheel body 2; both bearings 6 are connected to the connecting rod 5. A first avoidance hole B13 and a second avoidance hole B14 are arranged on the two side surfaces of the omnidirectional wheel base B1, and the omnidirectional wheel base B1 of the first wheel body 1 is inserted into the first avoidance hole B13 of the omnidirectional wheel base B1 of the second wheel body 2, and the omnidirectional wheel base B1 of the second wheel body 2 is inserted into the second avoidance hole B14 of the omnidirectional wheel base B1 of the third wheel body 3. Since the first wheel body 1, the second wheel body 2 and the third wheel body 3 are interlocked and plugged together, the structures among the three are stable.

[0025] The circumferential connecting block B11 is provided with two symmetrical roller grooves B111; the two ends of the olive wheel B3 are rotatably connected to the two opposite roller grooves B111 on the two adjacent circumferential connecting blocks B11, so that the olive wheel B3 can be distributed along the circumference of the omnidirectional wheel base B1.

[0026] The omnidirectional wheel base B1 is connected with a lock cover B2, which is provided with a plurality of connection block cover plates B21. A second olive wheel groove B22 is formed between two adjacent connection block cover plates B21, and the first olive wheel groove B12 is overlapped with the second olive wheel groove B22.

[0027] The olive wheel B3 includes an olive wheel body B32, which is in the shape of an olive with a middle cross-sectional area larger than the cross-sectional areas at both ends. Since the olive shape has smaller ends, it can prevent the two ends of the olive wheel B3 from being damaged by friction with the ground when the shock-absorbing omnidirectional wheel rolls forward.

[0028] An inner bearing B33 is arranged inside the olive wheel body B32, and the inner bearing B33 is connected to the rotating shaft B31, and the rotating shaft B31 protrudes from both ends of the olive wheel body B32, and buffer end covers B34 are arranged at both ends of the olive wheel body B32. The buffer end covers B34 prevent dust from entering the olive wheel body B32, ensure the stable operation of the inner bearing B33, and improve the service life of the inner bearing B33.

[0029] Finally, it should be noted that the above are only preferred embodiments of the invention and are not intended to limit the invention. Although the invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. However, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the invention should be included in the protection scope of the invention.

Claims

1. A shock-absorbing omnidirectional wheel, characterized in that: It comprises a first wheel body (1), a second wheel body (2) and a third wheel body (3) which are coaxially connected together; the first wheel body (1), the second wheel body (2) and the third wheel body (3) are restricted from rotating relative to each other; The first wheel body (1), the second wheel body (2) and the third wheel body (3) are all composed of an omnidirectional wheel base (B1) and an olive wheel (B3); The omnidirectional wheel base (B1) is provided with a plurality of circumferential connecting blocks (B11) distributed in a circumferential manner, a first olive wheel groove (B12) is formed between every two circumferential connecting blocks (B11), and the olive wheel (B3) is rotatably connected to the first olive wheel groove (B12); The olive wheel (B3) of the first wheel body (1), the olive wheel (B3) of the second wheel body (2), and the olive wheel (B3) of the third wheel body (3) are staggered with respect to each other in the generatrix direction of the cylinder formed by the shock-absorbing omnidirectional wheel; Viewed from the bottom projection direction of the cylinder formed by the shock-absorbing omnidirectional wheels, the connection spacing between every two olive wheels (B3) at the circumference in the bottom projection direction of the cylinder is A, and A is greater than zero. When the shock-absorbing omnidirectional wheels rotate, the shock-absorbing omnidirectional wheels contact the horizon C at no less than two points.

2. The shock-absorbing omnidirectional wheel according to claim 1, characterized in that: The first wheel body (1) and the second wheel body (2) are connected together via a connecting pin (4), and the second wheel body (2) and the third wheel body (3) are connected together via a connecting pin (4).

3. The shock-absorbing omnidirectional wheel according to claim 2, characterized in that: The omnidirectional wheel base (B1) is provided with a pin hole (B15), and the connecting pin (4) is inserted into the pin hole (B15).

4. The shock-absorbing omnidirectional wheel according to claim 3, characterized in that: A first avoidance hole (B13) and a second avoidance hole (B14) are provided on two side surfaces of the omnidirectional wheel base (B1); the omnidirectional wheel base (B1) of the first wheel body (1) is plugged into the first avoidance hole (B13) of the omnidirectional wheel base (B1) of the second wheel body (2); and the omnidirectional wheel base (B1) of the second wheel body (2) is plugged into the second avoidance hole (B14) of the omnidirectional wheel base (B1) of the third wheel body (3); A bearing (6) is arranged in the first avoidance hole (B13) of the omnidirectional wheel base (B1) of the first wheel body (1), and a bearing (6) is arranged in the first avoidance hole (B13) of the omnidirectional wheel base (B1) of the second wheel body (2); Both bearings (6) are connected to the connecting rod (5).

5. The shock-absorbing omnidirectional wheel according to any one of claims 1 to 4, characterized in that: The circumferential connecting block (B11) is provided with two symmetrical roller grooves (B111); The two ends of the olive wheel (B3) are respectively rotatably connected to two roller grooves (B111) facing each other on two adjacent circumferential connecting blocks (B11).

6. The shock-absorbing omnidirectional wheel according to claim 5, characterized in that: The omnidirectional wheel base (B1) is connected to a locking cover (B2), the locking cover (B2) is provided with a plurality of connecting block cover plates (B21), a second olive wheel groove (B22) is formed between two adjacent connecting block cover plates (B21), and the first olive wheel groove (B12) and the second olive wheel groove (B22) are arranged to overlap.

7. The shock-absorbing omnidirectional wheel according to any one of claims 1 to 4 and 6, characterized in that: The olive wheel (B3) comprises an olive wheel body (B32), and the olive wheel body (B32) is in the shape of an olive with a middle cross-sectional area larger than cross-sectional areas at both ends.

8. The shock-absorbing omnidirectional wheel according to claim 7, characterized in that: An inner bearing (B33) is arranged inside the olive wheel body (B32), and the inner bearing (B33) is connected to the rotating shaft (B31), and the rotating shaft (B31) protrudes from both ends of the olive wheel body (B32).

9. The shock-absorbing omnidirectional wheel according to claim 8, characterized in that: Buffer end covers (B34) are provided at both ends of the olive wheel body (B32).

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