Mounting framework, wheel set, omnidirectional wheel and assembling method

Abstract

The invention provides a mounting framework, a wheel set, an omnidirectional wheel and an assembling method, the mounting framework comprises a wheel framework, the middle of the wheel framework is a driving mounting position, the periphery of the wheel framework is provided with a plurality of roller mounting positions, the roller mounting positions comprise first mounting positions and second mounting positions which are staggered, the first mounting positions are used for mounting large wheels, and the second mounting positions are used for mounting small wheels. The second mounting position is used for mounting a small wheel; lateral mounting holes are formed in two sides of the rolling wheel mounting position of the wheel framework; the inner side of the first mounting position is closer to the driving mounting position than the inner side of the second mounting position, and the included angle formed by the two ends of the inner side of the first mounting position and the center of the driving mounting position is overlapped with the included angle formed by the two ends of the inner side of the second mounting position and the center of the driving mounting position. According to the omni-directional wheel, the outer side gap between the large wheel and the small wheel is as small as possible, so that the pause feeling caused by the gap between the two rolling wheels during overall rotation is reduced, and overall rotation of the omni-directional wheel is smoother and more stable.

Description

Technical Field

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

[0002] An omnidirectional wheel is a special wheel that can roll freely in multiple directions. It can be widely used in the fields of robotics, smart wheelchairs, medical equipment, etc.

[0003] One basic structure of an omnidirectional wheel is to evenly arrange rolling wheels that can roll laterally on the entire circumference of the omnidirectional wheel, and the rolling wheels include large wheels and small wheels that are staggered to achieve lateral rolling at any position, greatly reducing friction and increasing mobility. Therefore, in order to maintain the smooth and stable rotation of the omnidirectional wheel as a whole, it is necessary to reduce the outer clearance between the large wheel and the small wheel. However, in the prior art, the large wheel and the small wheel are installed through an intermediate fixing plate and welding shafts on both sides, so that there is a clearance between the large wheel and the small wheel corresponding to the intermediate fixing plate, thereby affecting the smooth and stable rotation of the omnidirectional wheel as a whole.

[0004] Therefore, there is an urgent need to improve the framework for installing the large wheel and the small wheel on the omnidirectional wheel. Summary of the invention

[0005] In order to solve the above problems in the prior art, the present invention provides a mounting frame, a wheel set, an omni-directional wheel and an assembly method to reduce the outer clearance between the large wheel and the small wheel and keep the overall rotation of the omni-directional wheel smooth and stable.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] In a first aspect, the present invention provides a mounting frame, including a wheel frame, wherein the middle of the wheel frame is a driving mounting position, and a plurality of roller mounting positions are arranged around the wheel frame, wherein the roller mounting positions include a first mounting position and a second mounting position arranged alternately, wherein the first mounting position is used to mount a large wheel, and the second mounting position is used to mount a small wheel;

[0008] The wheel frame is provided with lateral mounting holes on both sides of the roller mounting position;

[0009] The inner side of the first mounting position is closer to the drive mounting position than the inner side of the second mounting position, and the angle formed by the inner ends of the first mounting position and the center of the drive mounting position overlaps with the angle formed by the inner ends of the second mounting position and the center of the drive mounting position.

[0010] The beneficial effect of the present invention is that the present invention limits the inner angles of the two installation positions to overlap, that is, the part on the end of the small wheel close to the drive installation position is located inside the part on the end of the large wheel close to the drive installation position, so that the outer gap between the large wheel and the small wheel is as small as possible, so as to reduce the frustration caused by the gap between the two rolling wheels during the overall rotation, so that the overall rotation of the omnidirectional wheel is smoother and more stable.

[0011] Optionally, the wheel frame includes an annular portion in the middle and a plurality of U-shaped lateral portions extending uniformly outward from the periphery of the annular portion, and one side of each of the lateral portions is provided with lateral mounting holes arranged front and back, and all the lateral mounting holes located in the front and all the mounting holes located in the back are respectively on a circumference;

[0012] The second installation position is formed inside the lateral portion, and the first installation position is formed between adjacent lateral portions.

[0013] Optionally, the lateral portion includes a supporting section, an extending section and a clamping section, one end of the extending section is connected to the middle position of the supporting section, and the other end is connected to the annular section, and one clamping section is respectively provided at both ends of the supporting section and extends in a direction away from the annular section;

[0014] Each clamping section is provided with lateral mounting holes arranged front and back.

[0015] Optionally, the opposite surfaces of the two clamping sections on each lateral portion are parallel to each other and a surface of the supporting section facing away from the extending section is a concave arc surface;

[0016] On the opposite surfaces of two adjacent clamping sections on the adjacent lateral portions, the first sections located on the inner sides are parallel to each other and the second sections located on the outer sides are away from each other. The angle between the second section and the first section is -10 to 10 degrees greater than the angle between the surface of the supporting section close to the extension section and the first section. The area on the annular portion located at the first mounting position is a concave arc surface.

[0017] Optionally, the wheel frame includes two symmetrically arranged half frames, the two half frames are detachably connected to each other, and the separation position of the two half frames is located in the middle of the roller mounting position.

[0018] Optionally, the semi-frame further includes a large frame and a small frame, and the large frame and the small frame are detachably connected and are integrally formed parts;

[0019] The separation position of the two half-frames is located in the middle of the first installation position, and the small frame is one of the lateral parts.

[0020] It can be seen from the above description that the detachable design of the frame enables the rolling wheel to be quickly disassembled, which is convenient for assembly and maintenance.

[0021] Optionally, a first locking hole with a vertical bottom is opened at the bottom of the small frame, and a through hole is penetrated from the inside to the outside of the large frame at a position corresponding to the first locking hole, and a corresponding locking accessory passes through the through hole and is detachably connected to the first locking hole.

[0022] Optionally, the lateral mounting holes on the roller mounting position located on the working side are distributed along the direction from the separation position of the two half-frames to the small frame.

[0023] Optionally, a plurality of second locking holes penetrating vertically are evenly distributed on the middle annular portion of the wheel frame;

[0024] The second locking hole is located between two adjacent roller installation positions.

[0025] In a second aspect, the present invention provides a wheel set, comprising a rolling wheel and the mounting frame of the first aspect, wherein the rolling wheel comprises a large wheel and a small wheel, wherein the large wheel is mounted on a first mounting position via the lateral mounting hole and a corresponding locking accessory, and the small wheel is mounted on a second mounting position via the lateral mounting hole and a corresponding locking accessory.

[0026] Optionally, the left and right ends of the large wheel are truncated cone-like grooves, the upper bottom surface of which is located on the inner side and the diameter is greater than the thickness of the adjacent frame.

[0027] Optionally, it further comprises a connecting piece, and the two half frames of the wheel frame are detachably connected through the connecting piece, and the rolling wheel comprises bearings arranged on both sides of the interior and a rotating shaft arranged in the bearing, and the rolling wheel is installed in the corresponding lateral mounting hole through a corresponding locking accessory;

[0028] Only at the roller installation position at the separation position of the two half-frames, a bearing and a rotating shaft arranged in the bearing are respectively arranged on both sides, and a gap is arranged between the two rotating shafts.

[0029] Optionally, the surface of the rolling wheel has patterns.

[0030] In the third aspect, the present invention provides an omnidirectional wheel, comprising a mounting flange and the wheel set of the second aspect, wherein a hub cover is respectively provided on both sides of the wheel frame as a connecting piece, the hub cover is positioned and assembled with both sides of the wheel frame and is coaxially arranged with the wheel frame, the middle aperture of the upper and lower hub covers is smaller than the middle aperture of the wheel frame, the outer edge of the mounting flange is fixed between the upper and lower hub covers, and the middle chassis of the mounting flange is provided with a drive component mounting hole.

[0031] Optionally, an annular shock-absorbing pad is further included, which is located between the upper and lower wheel hub covers and is tightly attached between the wheel frame and the mounting flange in front and back.

[0032] Optionally, a plurality of first grooves are evenly distributed along the circumferential direction in the middle area of ​​the wheel frame, a plurality of first protrusions are evenly distributed on the outer circumference of the annular shock-absorbing pad, a plurality of second protrusions are also evenly distributed on the inner circumference of the annular shock-absorbing pad, and a second groove is arranged on the outer circumference of the mounting flange, the first protrusions and the first grooves are matched, and the second protrusions and the second grooves are matched.

[0033] In a fourth aspect, the present invention provides an assembly method for assembling an omnidirectional wheel according to the third aspect, comprising the following steps:

[0034] S1. Install the large wheel on the first installation position through the lateral installation hole, install the small wheel on the second installation position, and pre-install the rolling wheel at the separation position of the two half-frames on one of the half-frames;

[0035] S2, assembling by aligning the separation positions of the two half frames to complete the assembly of all the rolling wheels;

[0036] S3. The two half frames are fixed by positioning and assembling the hub cover and the two sides of the wheel frame, and the annular shock-absorbing pad and the mounting flange are fixed between the two hub covers to realize the assembly of the entire omnidirectional wheel.

[0037] Among them, the technical effect corresponding to a wheel set provided in the second aspect, the technical effect corresponding to an omnidirectional wheel provided in the third aspect, and the technical effect corresponding to an assembly method provided in the fourth aspect refer to the relevant description of an installation frame provided in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A three-dimensional schematic diagram of a mounting frame according to an embodiment of the present invention;

[0039] Figure 2 It is a front schematic diagram of a mounting frame according to an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of a disassembly of a mounting frame according to an embodiment of the present invention;

[0041] Figure 4 A schematic diagram of secondary disassembly of a mounting frame according to an embodiment of the present invention;

[0042] Figure 5 A schematic diagram of the coordination of a large frame and a small frame involved in an embodiment of the present invention;

[0043] Figure 6 This is a disassembly schematic diagram of a wheel set according to an embodiment of the present invention;

[0044] Figure 7 for Figure 6 A magnified schematic diagram of the middle A area;

[0045] Figure 8 A schematic cross-sectional view of a small wheel of a wheel set according to an embodiment of the present invention;

[0046] Fig. 9 It is a schematic cross-sectional view of a large wheel in a wheel set not in a semi-frame separation position in an embodiment of the present invention;

[0047] Fig.10 It is a schematic cross-sectional view of a large wheel in a wheel set in an embodiment of the present invention at a position where the semi-frame is separated;

[0048] Fig.11 is a front schematic diagram of an omnidirectional wheel according to an embodiment of the present invention;

[0049] Fig.12 This is a disassembly schematic diagram of an omnidirectional wheel according to an embodiment of the present invention;

[0050] Fig.13 The figure is a schematic diagram of the coordination of an omnidirectional wheel-in-wheel frame, a mounting flange, and an annular shock-absorbing pad according to an embodiment of the present invention.

[0051] Fig.14 The figure is a flow chart of an assembly method according to an embodiment of the present invention.

[0052] Description of reference numerals:

[0053] 100. Omnidirectional wheels;

[0054] 1. wheel frame; 11. half frame; 111. large frame; 1111. through hole; 1112. slot; 112. small frame; 1121. first locking hole; 1122. flange; 12. annular portion; 121. drive mounting position; 122. second locking hole; 123. first groove; 13. lateral portion; 131. first mounting position; 132. second mounting position; 133. lateral mounting hole; 1331. large hole; 1332. small hole; 134. extension section; 135. support section; 136. clamping section.

[0055] 2. Big wheel; 21. Bearing; 22. Rotating shaft; 23. Pattern;

[0056] 3. Small wheel;

[0057] 4. Hub cover; 41. Mounting groove; 42. Disassembly notch; 43. Positioning protrusion;

[0058] 5. Lock accessories;

[0059] 6. Mounting flange; 61. Second groove;

[0060] 7. annular shock-absorbing pad; 71. first protrusion; 72. second protrusion. DETAILED DESCRIPTION

[0061] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0062] Embodiment 1

[0063] Please refer to Figures 1 to 13 The present invention provides a mounting frame, including a wheel frame 1, wherein the middle of the wheel frame 1 is a driving mounting position 121, and a plurality of roller mounting positions are arranged around the wheel frame 1, wherein the roller mounting positions include a first mounting position 131 and a second mounting position 132 which are staggered, wherein the first mounting position 131 is used to mount a large wheel 2, and the second mounting position 132 is used to mount a small wheel 3, that is, the plurality of roller mounting positions are installed with staggered large wheels 2 and small wheels 3, so that the omnidirectional wheel 100 can achieve lateral rolling at any position.

[0064] like Figure 1 As shown, the first installation positions 131 and the second installation positions 132 of this embodiment are six respectively, so six large wheels 2 and six small wheels 3 can be installed. In other embodiments, the number of the first installation positions 131 and the second installation positions 132 can be determined according to the size of the entire omnidirectional wheel 100, such as five or eight respectively.

[0065] In this embodiment, the wheel frame 1 is provided with lateral mounting holes 133 on both sides of the roller mounting position for lateral mounting of the rolling wheel. The lateral mounting hole 133 on the working side refers to the side where the work is performed during assembly or maintenance and disassembly. In this embodiment, one of the lateral mounting holes 133 on the left and right sides is a large hole 1331, and the other is a small hole 1332. The large hole 1331 is the lateral mounting hole 133 on the working side. For example, if the locking accessory 5 corresponding to the lateral mounting hole 133 is a semi-bright rod bolt, the lateral mounting hole 133 where the head of the semi-bright rod bolt is located is the lateral mounting hole 133 on the working side, that is, the head of the semi-bright rod bolt is located in the large hole 1331.

[0066] like Figure 2It can be seen that the inner side of the first mounting position 131 is closer to the driving mounting position 121 than the inner side of the second mounting position 132, that is, the mounting position of the large wheel 2 is closer to the inner side than the mounting position of the small wheel 3. Moreover, the angle b formed by the inner ends of the first mounting position 131 and the center of the driving mounting position 121 overlaps with the angle a formed by the inner ends of the second mounting position 132 and the center of the driving mounting position 121. Among them, due to the fact that the space from the outside to the inside of the circumference is gradually reduced, therefore, this embodiment limits the inner angles of the two mounting positions to overlap, that is, the part of the end of the small wheel 3 close to the driving mounting position 121 is located in the part of the end of the large wheel 2 close to the driving mounting position 121, so that the outer gap between the large wheel 2 and the small wheel 3 is as small as possible, so as to reduce the frustration caused by the gap between the two rolling wheels during the overall rotation, so that the overall rotation of the omnidirectional wheel 100 is smoother and more stable.

[0067] Embodiment 2

[0068] Please refer to Figures 1 to 13 The present invention provides a mounting frame. Based on the above-mentioned embodiment 1, the overall shape of the wheel frame 1 is further defined as follows:

[0069] like Figure 1 As shown, the wheel frame 1 includes an annular portion 12 located in the middle and a plurality of U-shaped lateral portions 13 extending uniformly outward from the periphery of the annular portion 12 , and each lateral portion 13 is provided with lateral mounting holes 133 arranged front to back on one side, a second mounting position 132 is formed inside the lateral portion 13 , and a first mounting position 131 is formed between adjacent lateral portions 13 .

[0070] Reference Figure 1 It can be seen that the lateral portion 13 includes a support section 135, an extension section 134 and a clamping section 136. One end of the extension section 134 is connected to the middle position of the support section 135, and the other end is connected to the annular portion 12. The clamping section 136 is provided at each end of the support section 135 and extends in a direction away from the annular portion 12. Each clamping section 136 is provided with lateral mounting holes 133 arranged front and back. As described in the first embodiment above, the mounting position of the large wheel 2 is closer to the inner side than the mounting position of the small wheel 3. Therefore, the lateral mounting holes 133 on the front of the two sides of the lateral portion 13 are used to mount the small wheel 3, and the lateral mounting holes 133 on the back of the two adjacent sides of the adjacent lateral portions 13 are used to mount the large wheel 2.

[0071] Specifically, on each lateral part 13, the opposite faces of the two clamping segments 136 are parallel to each other, and the face of the support segment 135 facing away from the extension segment 134 is a concave arc surface. The former provides an installation shaft surface for the small wheel 3, and the latter is to adapt to the arc surface with a slightly convex middle of the small wheel 3 to ensure the circular motion of the overall rotation. Among them, on the opposite faces of the adjacent two clamping segments 136 on the adjacent lateral parts 13, the first segment on the inner side is parallel to each other, and the second segment on the outer side deviates from each other. The included angle between the second segment and the first segment is 10 degrees larger than the included angle between the face of the support segment 135 close to the extension segment 134 and the first segment. In this embodiment, the former is 125°, the latter is 128°, and the former is 3° larger than the latter, that is, the two sides of the first segment are basically symmetrically arranged. It can also be said that the first segment on the inner side, the second segment on the outer side, and the face of the support segment 135 close to the extension segment 134 on the opposite faces of the adjacent two clamping segments 136 form a bow shape, with the middle part parallel and opposite to each other, providing an installation shaft surface for the large wheel 2, and the two sides opening outwards to adapt to the inner end surface of the circular truncated cone-shaped groove of the large wheel 2. At the same time, the area of the annular part 12 located at the first installation position 131 is a concave arc surface, which is also to adapt to the arc surface with a slightly convex middle of the large wheel 2 to ensure the circular motion of the overall rotation.

[0072] Among them, in order to reduce the weight as much as possible while ensuring the overall mechanical performance, at most one of the two lateral mounting holes 133 arranged front and back on the same side of the U-shaped lateral part 13 in this embodiment is a large hole 1331, that is, on the same side of the lateral part 13, there is only a combination of a small hole 1332 and a large hole 1331 or a combination of two small holes 1332.

[0073] Thus, this embodiment provides a specific implementation structure of the mounting skeleton. On this basis, the first installation position 131 and the second installation position 132 share the lateral part 13, which not only realizes the overlapping design of the large and small wheels to reduce the outer gap between the two, but also reduces the weight and complexity of the skeleton and the production cost.

[0074] Embodiment III

[0075] Please refer to Figures 1 to 13 , the present invention provides a mounting skeleton. On the basis of the above Embodiment II, the detachable structure of the wheel skeleton is further described as follows:

[0076] In this embodiment, the wheel skeleton 1 includes two symmetrically arranged half skeletons 11, and the two half skeletons 11 are detachably connected. In this way, a wheel skeleton 1 is formed after the two symmetrically arranged half skeletons 11 are assembled, which is convenient for the subsequent assembly and maintenance of the omnidirectional wheel 100.

[0077] Among them, since the diameters of the large wheel 2 and the small wheel 3 are different, and in order to ensure that the outer sides of the large wheel 2 and the small wheel 3 are on the same circumference to realize the overall rotation of the omnidirectional wheel 100, the installation position of the large wheel 2 is closer to the inner side than the installation position of the small wheel 3, that is, the skeletons corresponding to the first installation position 131 and the second installation position 132 are not the same, and at this time, the first installation position 131 and the second installation position 132 are staggered. Therefore, in this embodiment, the separation position of the two half skeletons 11 is located in the middle of the roller installation position, and the roller installation position can be as follows Figure 3 What is shown is the first installation position 131, which may also be the second installation position 132 not shown in the figure, so that the two half-skeletons 11 are symmetrical on the left and right, which not only ensures the overall stability of the omnidirectional wheel 100, but also the rolling wheel located at the separation position of the two half-skeletons 11 is disassembled as the two half-skeletons 11 are disassembled, thereby opening an opening for lateral assembly.

[0078] At this time, the wheel frame 1 is provided with lateral mounting holes 133 on both sides of the roller mounting position, and the lateral mounting holes 133 on the working side of the roller mounting position are distributed along the separation position of the two half-frames 11 toward the middle direction, so that the rolling wheels can be disassembled laterally in sequence starting from the separation position of the two half-frames 11, and all the rolling wheels can be disassembled, and vice versa, all the rolling wheels can be assembled, thereby realizing the rapid assembly and maintenance of the rolling wheels.

[0079] In this embodiment, each half frame 11 has five complete roller installation positions and two half roller installation positions. Therefore, each half frame 11 has two upper and lower separation positions. Even if the roller installation position in the middle of the half frame 11 is reached, only three disassembly steps are required, that is, the steps required to disassemble all the rollers are only one-fourth of the number of roller installation positions.

[0080] In a further improvement scheme based on this, the end of the large wheel 2 is partially surrounded by the periphery of the end of the small wheel 3, which is easy to interfere with the skeleton at the small wheel 3, thereby affecting the disassembly of the large wheel 2. Figure 4 As shown, the half frame 11 in this embodiment also includes a large frame 111 and a small frame 112, and the large frame 111 and the small frame 112 are detachably connected. The separation position of the two half frames 11 is located in the middle of the first installation position 131, and the small frame 112 is one of the lateral parts 13. In this embodiment, the large frame 111 and the small frame 112 are respectively one-piece molded parts. Therefore, after the disassembly, the small frame 112 is pushed outward, and the space on both sides is enough for the two large wheels 2 to be disassembled, thereby ensuring that the omnidirectional wheel 100 assembled based on the wheel frame 1 can also be easy to assemble and maintain on the basis of satisfying the smooth and stable rotation of the omnidirectional wheel 100.

[0081] At this time, the working side of the lateral mounting hole 133 is distributed along the direction from the separation position of the two half-frames 11 to the small frame 112 to achieve rapid disassembly of the large wheel 2.

[0082] like Figure 5 As shown, the small frame 112 is provided with a flange 1122 on the end surface connected to the large frame 111, and the flange 1122 is provided on the extension section 134 of the lateral portion 13. Correspondingly, the large frame 111 is provided with a slot 1112 on the end surface connected to the small frame 112, and quick positioning is performed through the flange 1122 and the slot 1112. On this basis, a first locking hole 1121 with a vertical bottom is provided at the bottom of the small frame 112, and a through hole 1111 is penetrated from the inside to the outside of the large frame 111 at a position corresponding to the first locking hole 1121, and the corresponding locking accessory 5 passes through the through hole 1111 and is detachably connected to the first locking hole 1121. Combined with Figure 1 It can be seen that the inside of the large frame 111 is the middle of the wheel frame 1, so that the small frame 112 can be disassembled from the inside out without disassembling the rolling wheel, releasing the first installation position 131 of the large wheel 2, and completing the rapid disassembly of the large wheel 2. The locking attachment 5 here is a screw, which is threadedly connected to the first locking hole 1121.

[0083] Therefore, considering that the separation position of the small frame 112 and the large frame 111 is the part between two adjacent first mounting positions 131 in the half frame 11, and the separation position of the two half frames 11 is located in the middle of the first mounting position 131, therefore, the separation position of the two half frames 11 is a pair, and the two adjacent separation positions of the small frame 112 and the large frame 111 are also a pair. Therefore, the number of first mounting positions 131 is preferably an even number, and the number of roller mounting positions is preferably 4N, where N is a positive integer greater than 1, such as 8, 12, 16, etc. The above number can be determined according to the size of the entire omnidirectional wheel 100. For example, the wheel frame 1 of the 10-inch omnidirectional wheel 100 in this embodiment is designed with 12 roller mounting positions.

[0084] Therefore, this embodiment realizes the rapid assembly and maintenance of the omnidirectional wheel 100 while ensuring that the overall rotation of the omnidirectional wheel 100 is smoother and more stable through the detachable assembly method of the two half-skeletons 11 and the design in which the half-skeleton 11 is further disassembled into a small skeleton 112 and a large skeleton 111.

[0085] In this embodiment, a plurality of second locking holes 122 penetrating vertically are evenly distributed on the middle annular portion 12 of the wheel frame 1 to cooperate with the connecting piece to realize the assembly of the two half frames 11 .

[0086] In this embodiment, the second locking hole 122 is located between two adjacent roller mounting positions, specifically between two first mounting positions 131. Figure 5 It can be seen that the through hole 1111 on the large frame 111 passes through the second locking hole 122. Since the hole position of the second locking hole 122 is larger, the through hole 1111 can be allowed to be shared. The holes of the two are interconnected, which can reduce the opening space of the large frame 111 and ensure the mechanical strength and mechanical stability of the large frame 111.

[0087] Embodiment 4

[0088] Please refer to Figures 1 to 10 The present invention provides a wheel set, including a rolling wheel, a connecting piece and a wheel frame 1 of any one of embodiments one to three, wherein the two half frames 11 of the wheel frame 1 are detachably connected via a connecting piece, the rolling wheel includes a large wheel 2 and a small wheel 3, the large wheel 2 is installed on a first installation position 131 via a lateral installation hole 133 and a corresponding locking accessory 5, and the small wheel 3 is installed on a second installation position 132 via a lateral installation hole 133 and a corresponding locking accessory 5.

[0089] like Fig. 9 and 10 It can be seen that the left and right ends of the large wheel 2 are quasi-conical grooves, whose upper bottom surfaces are located inside and whose diameters are greater than the thickness of the adjacent frame. That is, the upper bottom surfaces of the quasi-conical grooves at the left and right ends of the large wheel 2 are located inside and whose diameters are greater than the thickness of the adjacent frame, and can be directly wrapped around the lateral portion 13 of the adjacent frame, just matching the arched area on the lateral portion 13, thereby wrapping around the small wheel 3 located on the lateral portion 13, so that the outer sides of the large wheel 2 and the small wheel 3 are flat and the gap between them is as small as possible.

[0090] In this embodiment, the connecting member can be arranged on the connecting end surface of the two half-skeletons 11, and when the wheel skeleton 1 has multiple second locking holes 122 running through the upper and lower parts as in the above-mentioned embodiment three, the connecting member is arranged on both sides of the wheel skeleton 1 and the connecting members on both sides are respectively an integral part, and the locking component 5 passes through the opening on the connecting member, the second locking hole 122, and then is locked and connected to the connection on the other side, thereby realizing the positioning and assembly of the two half-skeletons 11.

[0091] In this embodiment, the rolling wheel includes bearings 21 arranged on both sides of the interior and a rotating shaft 22 arranged in the bearing 21, and the rolling wheel is installed in the corresponding lateral mounting hole 133 through the corresponding locking accessory 5; only on the roller mounting position at the separation position of the two half-skeletons 11, there are a bearing 21 and a rotating shaft 22 arranged in the bearing 21 on both sides, and a gap is provided between the two rotating shafts 22, so that the rolling wheel at this position can be assembled by insertion, and when disassembling, the two half-skeletons 11 can be pulled out by pulling out so that the rolling wheel here can be pulled out. Of course, in other embodiments, the roller mounting position at the separation position of the two half-skeletons 11 can also be designed with a rotating shaft 22. In this case, the locking accessory 5 is a component that can be disassembled by pulling, such as a cylindrical locating pin.

[0092] This embodiment is described by assuming that the separation position of the two half-frames 11 is located at the first installation position 131. Figure 8 As shown, the small wheel 3 is installed on the second installation position 132 through its bearing 21, the rotating shaft 22 and the corresponding locking accessory 5, as shown in FIG. Fig. 9 As shown, the large wheel 2 which is not in the separation position of the two half-frames 11 is installed on the first installation position 131 through its bearing 21, rotating shaft 22 and corresponding locking accessory 5, and the reference Fig.10 It can be seen that when in the first installation position 131 where the two half-frames 11 are separated, the large wheel 2 is supported on the bearings 21 , the rotating shaft 22 and the locking attachment 5 on both sides.

[0093] The surface of the rolling wheel has a pattern 23, such as a wavy pattern arranged along the overall rotation direction of the omnidirectional wheel 100 in this embodiment, which can reduce the vibration and noise of forward and lateral walking without affecting the grip of walking.

[0094] Embodiment 5

[0095] Please refer to Figures 1 to 13 The present invention provides an omnidirectional wheel 100, referring to Fig.12 It can be seen that it also includes a mounting flange 6, an annular shock-absorbing pad 7 and the wheel assembly in Example 4. The connecting part is a hub cover 4 provided on both sides of the wheel frame 1. The hub cover 4 is positioned and assembled with both sides of the wheel frame 1 and is coaxially arranged with the wheel frame 1. The middle aperture of the upper and lower hub covers 4 is smaller than the middle aperture of the wheel frame 1, and an assembly space is formed inside. The outer edges of the annular shock-absorbing pad 7 and the mounting flange 6 are fixed between the upper and lower hub covers 4, and the annular shock-absorbing pad 7 is tightly attached between the wheel frame 1 and the mounting flange 6 front and back, so as to play a shock-absorbing role by adding the shock-absorbing pad design. The shock-absorbing pad can be made of rubber shock-absorbing material, foam material, polyurethane material, etc.

[0096] In this embodiment, the middle chassis of the mounting flange 6 is provided with a drive connection member, such as Fig.13 As shown, the mounting flange 6 in this embodiment is provided with a connecting hole as a driving connecting member. In other embodiments, the mounting flange 6 is provided with a bearing member and a keyway as a driving connecting member.

[0097] like Fig.13 It can be seen that the middle area of ​​the wheel frame 1 is evenly distributed with a plurality of first grooves 123 along the circumferential direction, and the corresponding outer circumference of the annular shock-absorbing pad 7 is evenly distributed with a plurality of first protrusions 71, and the first protrusions 71 and the first grooves 123 are matched one by one. At the same time, the inner circumference of the annular shock-absorbing pad 7 is also evenly distributed with a plurality of second protrusions 72, and the outer circumference of the corresponding mounting flange 6 is provided with a second groove 61, and the second protrusions 72 and the second grooves 61 are matched one by one, thereby, the cooperation of the protrusions and the grooves is used to transmit torque, thereby achieving a better shock-absorbing effect. On this basis, the number of the first protrusions 71 is less than the number of the second protrusions 72, that is, the distribution of the protrusions on the annular shock-absorbing pad 7 is loose on the outside and tight on the inside, thereby better transmitting torque.

[0098] Therefore, the mounting flange 6 and the annular shock-absorbing pad 7 are both detachably placed in the omnidirectional wheel 100, and both can be replaced to meet the customized needs of different customers.

[0099] like Figure 7 It can be seen that the hub cover 4 in this embodiment serves as a connecting piece. The hub cover 4 is provided with a disassembly notch 42 on the surface of the hub cover 4 corresponding to each second locking hole 122 on the fitting surface with the wheel frame 1, so that the disassembly tool can be inserted into and lift the hub cover 4 to achieve rapid disassembly and maintenance. At the same time, the hub cover 4 is provided with a positioning protrusion 43 on the surface of the hub cover 4 corresponding to the second locking hole 122 on the fitting surface with the wheel frame 1, and a mounting groove 41 is provided on the surface corresponding to the cylindrical protrusion. The shape of the mounting groove 41 is adapted to the fastener of the locking accessory 5. The fastener has an edge and is clamped with the mounting groove 41. In this way, only one tool is needed to operate the operating part of the locking accessory 5 for easy disassembly and assembly. At this time, an opening at the bottom of the mounting groove 41 passes through the positioning protrusion 43, and the positioning protrusion 43 and the second locking hole 122 are interference-fitted to achieve the pre-fixation of the hub cover 4 and the wheel frame 1. In this embodiment, the operating member of the locking accessory 5 here is a semi-bright bolt, whose head is a round head with an inner hexagon, and the fastener is a hexagonal nut, which is located in a hexagonal countersunk groove-shaped mounting groove 41 on one of the wheel hub covers 4. The semi-bright bolt passes through the second locking hole 122 and the hexagonal nut from the mounting groove 41 of the other wheel hub cover 4 and is locked. After locking, the head of the semi-bright bolt is located in the mounting groove 41 of the other wheel hub cover 4.

[0100] Embodiment 6

[0101] Please refer to Fig.14, and combined with Figures 1 to 13 The present invention provides an omnidirectional wheel. The present invention provides an assembly method for assembling the omnidirectional wheel 100 in the fifth embodiment, comprising the following steps:

[0102] S1. First install the large wheel 2 on the first installation position 131 through the lateral installation hole 133, install the small wheel 3 on the second installation position 132, and pre-install the rolling wheel at the separated position of the two half-frames 11 on one of the half-frames.

[0103] For example, in this embodiment, the rolling wheels at the separated positions of the two half-skeletons 11 are large wheels 2 , and the remaining two large wheels 2 are pre-installed on one of the half-skeletons 11 .

[0104] S2. Assemble the two half-frames 11 by aligning the separated positions to complete the assembly of all the rolling wheels.

[0105] Since the rolling wheel in the separated position is pre-installed on one of the half-frames 11, when assembling the half, the assembly of all the rolling wheels can be completed by plugging in the rotating shaft 22 of the rolling wheel.

[0106] S3. The two half frames 11 are fixed by positioning and assembling the hub cover 4 and the two sides of the wheel frame 1, and the annular shock-absorbing pad 7 and the mounting flange 6 are fixed between the two hub covers 4 to realize the assembly of the entire omnidirectional wheel 100.

[0107] Among them, one side of the hub cover 4 can be positioned and assembled with one side of the wheel frame 1 first, and then the annular shock-absorbing pad 7 and the mounting flange 6 are placed, and then the other side of the hub cover 4 is covered to be positioned and assembled with the wheel frame 1, thereby completing the assembly of the entire omnidirectional wheel 100.

[0108] The following is a description of the assembly process of the omnidirectional wheel 100 consisting of six large wheels 2 and six small wheels 3:

[0109] (1) The small wheel 3 on the small frame 112 is first assembled on the lateral portion 13. For the large wheels 2 on both sides of the position corresponding to the small frame 112, the locking component 5 is first extended into the rotating shaft 22 of the large wheel 2 to fix it on the corresponding lateral portion 13. At this time, the small frame 112 installed with the small wheel 3 is inserted into the end surfaces with truncated cone grooves on the two large wheels 2. The locking component 5 is locked and connected with the first locking hole 1121 through the through hole 1111 to realize the connection between the small frame 112 and the large frame 111. Then, the locking component 5 on the large wheels 2 on both sides of the position corresponding to the small frame 112 is locked to the lateral mounting hole 133 of the small frame 112.

[0110] (2) Then, the small wheels 3 on the two side parts 13 on both sides of the large frame 111 are installed, completing the installation of the ten rolling wheels of the two half frames 11 except the separated positions.

[0111] (3) For the two large wheels 2 at the separated position of the half-skeleton 11, firstly lock the bearings 21 and the rotating shaft 22 to the lateral mounting holes 133 of the two half-skeletons 11 respectively through the locking parts 5, insert the large wheel 2 into one of the bearings 21 first, and then align the large wheel 2 with the other bearing 21 when closing the two half-skeletons 11, so as to realize the installation of the large wheel 2 here and the assembly of the two half-skeletons 11 at the same time.

[0112] (4) A hub cover 4 is pre-fixed on one side of the wheel frame 1 by aligning the positioning protrusion 43 and the second locking hole 122, and then the annular shock-absorbing pad 7 and the mounting flange 6 are placed one by one on the hub cover 4 on the inner side of the wheel frame 1, and then another hub cover 4 is covered, and finally locked by the locking accessory 5 to complete the assembly of the entire omnidirectional wheel 100.

[0113] On the contrary, first remove the hub cover 4, take out the annular shock-absorbing pad 7 and the mounting flange 6; pull the two half-skeletons 11 in half, and take out the two large wheels 2 at the separation position of the half-skeleton 11; take out the small wheels 3 on the two lateral parts 13 on both sides of the large skeleton 111 laterally; then unfasten the remaining two large wheels 2 on the half-skeleton 11, then unfasten the small skeleton 112, pull out the last small wheel 3, and then take out the remaining two large wheels 2, to complete the disassembly of the entire omnidirectional wheel 100.

[0114] In summary, the skeleton design of the present invention is more lightweight and integrated, which is convenient for assembly and maintenance of the omnidirectional wheel 100 and can also ensure smooth and stable rotation.

[0115] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0116] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0117] In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0118] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do 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. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0119] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A mounting frame, characterized in that: It comprises a wheel frame, wherein the middle of the wheel frame is a driving mounting position, and the periphery of the wheel frame is provided with a plurality of roller mounting positions, wherein the roller mounting positions include a first mounting position and a second mounting position which are staggered, wherein the first mounting position is used to mount a large wheel, and the second mounting position is used to mount a small wheel; The wheel frame is provided with lateral mounting holes on both sides of the roller mounting position; The inner side of the first mounting position is closer to the drive mounting position than the inner side of the second mounting position, and the angle formed by the inner ends of the first mounting position and the center of the drive mounting position overlaps with the angle formed by the inner ends of the second mounting position and the center of the drive mounting position.

2. A mounting frame according to claim 1, characterized in that: The wheel frame includes an annular portion in the middle and a plurality of U-shaped lateral portions extending uniformly outward from the periphery of the annular portion, and a side of each of the lateral portions is provided with lateral mounting holes arranged front and back, and all the lateral mounting holes located in the front and all the mounting holes located in the back are respectively on a circumference; The second installation position is formed inside the lateral portion, and the first installation position is formed between adjacent lateral portions.

3. A mounting frame according to claim 2, characterized in that: The lateral portion includes a supporting section, an extending section and a clamping section, one end of the extending section is connected to the middle position of the supporting section, and the other end is connected to the annular section, and one clamping section is respectively provided at both ends of the supporting section and extends in a direction away from the annular section; Each clamping section is provided with lateral mounting holes arranged front and back.

4. A mounting frame according to claim 3, characterized in that: The opposite surfaces of the two clamping sections on each lateral portion are parallel to each other, and the side of the supporting section facing away from the extending section is a concave arc surface; On the opposite surfaces of two adjacent clamping sections on the adjacent lateral portions, the first sections located on the inner sides are parallel to each other and the second sections located on the outer sides are away from each other. The angle between the second section and the first section is -10 to 10 degrees greater than the angle between the surface of the supporting section close to the extension section and the first section. The area on the annular portion located at the first mounting position is a concave arc surface.

5. A mounting frame according to any one of claims 2 to 4, characterized in that: The wheel frame includes two symmetrically arranged half frames, the two half frames are detachably connected, and the separation position of the two half frames is located in the middle of the roller installation position.

6. A mounting frame according to claim 5, characterized in that: The semi-frame also includes a large frame and a small frame, and the large frame and the small frame are detachably connected and are integrally formed parts; The separation position of the two half-frames is located in the middle of the first installation position, and the small frame is one of the lateral parts.

7. A mounting frame according to claim 6, characterized in that: The bottom of the small frame is provided with a first locking hole which is perpendicular to the bottom, and the large frame is penetrated with a through hole from inside to outside at a position corresponding to the first locking hole, and the corresponding locking accessory passes through the through hole and is detachably connected to the first locking hole.

8. A mounting frame according to claim 7, characterized in that: The lateral mounting holes on the roller mounting position located on the working side are distributed along the direction from the separation position of the two half-frames to the small frame.

9. The mounting frame according to claim 6, characterized in that: The annular portion in the middle of the wheel frame is evenly distributed with a plurality of second locking holes penetrating vertically; The second locking hole is located between two adjacent roller installation positions.

10. A wheel set, characterized in that: It comprises a rolling wheel and a mounting frame as described in any one of claims 1 to 9, wherein the rolling wheel comprises a large wheel and a small wheel, the large wheel is mounted on a first mounting position through the lateral mounting hole and a corresponding locking accessory, and the small wheel is mounted on a second mounting position through the lateral mounting hole and a corresponding locking accessory.

11. A wheel set according to claim 10, characterized in that: The left and right ends of the large wheel are truncated cone-like grooves, the upper bottom surface of which is located on the inner side and the diameter is greater than the thickness of the adjacent frame.

12. A wheelset according to claim 10, characterized in that: It also includes a connecting piece, through which the two half frames of the wheel frame are detachably connected, the rolling wheel includes bearings arranged on both sides of the interior and a rotating shaft arranged in the bearings, and the rolling wheel is installed in the corresponding lateral mounting hole through a corresponding locking accessory; Only at the roller installation position at the separation position of the two half-frames, a bearing and a rotating shaft arranged in the bearing are respectively arranged on both sides, and a gap is arranged between the two rotating shafts.

13. A wheelset according to claim 10, characterized in that: The surface of the rolling wheel has patterns.

14. An omnidirectional wheel, characterized in that: It comprises a mounting flange and a wheel assembly as claimed in any one of claims 10 to 13, wherein a hub cover is respectively arranged on both sides of the wheel frame as a connecting piece, the hub cover is positioned and assembled with both sides of the wheel frame and is coaxially arranged with the wheel frame, the middle aperture of the upper and lower hub covers is smaller than the middle aperture of the wheel frame, the outer edge of the mounting flange is fixed between the upper and lower hub covers, and the middle chassis of the mounting flange is provided with a drive component mounting hole.

15. The omnidirectional wheel according to claim 14, characterized in that: It also includes an annular shock-absorbing pad, which is located between the upper and lower wheel hub covers and is tightly attached between the wheel frame and the mounting flange in front and back.

16. The omnidirectional wheel according to claim 15, characterized in that: A plurality of first grooves are evenly distributed along the circumferential direction in the middle area of ​​the wheel frame, a plurality of first protrusions are evenly distributed on the outer circumference of the annular shock-absorbing pad, a plurality of second protrusions are also evenly distributed on the inner circumference of the annular shock-absorbing pad, and a second groove is arranged on the outer circumference of the mounting flange, the first protrusions are matched with the first grooves, and the second protrusions are matched with the second grooves.

17. An assembly method for assembling an omnidirectional wheel according to claims 14 to 16, characterized in that: The following steps are involved: S1. Install the large wheel on the first installation position through the lateral installation hole, install the small wheel on the second installation position, and pre-install the rolling wheel at the separation position of the two half-frames on one of the half-frames; S2, assembling by aligning the separation positions of the two half frames to complete the assembly of all the rolling wheels; S3. The two half frames are fixed by positioning and assembling the hub cover and the two sides of the wheel frame, and the annular shock-absorbing pad and the mounting flange are fixed between the two hub covers to realize the assembly of the entire omnidirectional wheel.

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