Omnidirectional wheel and moving device

Abstract

The invention discloses an omnidirectional wheel and a moving device, and belongs to the technical field of omnidirectional wheels. First rolling wheel assemblies and second rolling wheel assemblies of the omnidirectional wheel are connected with a hub support through rolling wheel supports, and the first rolling wheel assemblies and the second rolling wheel assemblies are alternately arranged in the circumferential direction of the hub support to jointly form a whole circle of rolling wheel structure. A plurality of mounting grooves are formed in a wheel disc of the hub support in the circumferential direction, and first mounting parts and second mounting parts are arranged in the mounting grooves. The roller bracket is connected with the first mounting part and the second mounting part through the first fastener and the second fastener respectively, so that the roller bracket and the hub bracket are fixed; the first roller assembly is rotatably installed on a single roller support, and the second roller assembly is rotatably installed between two adjacent roller supports. According to the invention, the high-load adaptability, the movement stability and continuity and the damping adjustment precision of the omnidirectional wheel can be better improved.

Description

Technical Field

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

[0002] Omni-wheel is a special wheel structure that can achieve multi-directional movement. Its core design concept is to use multiple driven roller components distributed on the wheel surface to enable the wheel to move axially during rolling and to achieve lateral sliding through the free rotation of the rollers, thereby synthesizing a motion trajectory in any direction. The typical structure of an omni-wheel includes a hub, circumferentially distributed driven wheels, a support frame and a connecting shaft, in which the driven wheels are usually evenly arranged on the circumference of the main wheel at an inclined or vertical angle.

[0003] The working principle of the omnidirectional wheel is based on the vector synthesis mechanism. When the driving shaft drives the main wheel hub to rotate, the wheel body generates active driving force along the axial direction; at the same time, the driven rollers distributed on the wheel rim can rotate freely with the change of the ground contact point, providing lateral sliding freedom. Through multi-wheel collaborative control, the omnidirectional wheel system can achieve 360° non-dead-angle translation, on-the-spot turning and complex curve movement in the plane, significantly improving the maneuverability of the mobile device. At present, omnidirectional wheels have been widely used in logistics and warehousing AGV carts, service robots, automated production lines, medical transport equipment and other fields, especially in small spaces or high-precision path planning scenarios. It has irreplaceable advantages.

[0004] Although omnidirectional wheels have excellent performance in terms of movement flexibility, in actual applications, there is still much room for improvement in terms of high load adaptability, movement smoothness and continuity, and roller damping adjustment accuracy.

[0005] After searching, there are many technical solutions in the prior art that improve omnidirectional wheels from different angles, such as patent publication number CN115257231A, patent name: patent for omnidirectional wheels. This application designs an omnidirectional wheel, which alternately arranges small-diameter rollers and large-diameter rollers, and adopts a structure in which the first arm and the second arm of adjacent supporting parts respectively fix the two ends of the small-diameter roller and jointly support the large-diameter roller, thereby strengthening the axial fixation of the roller and improving the lightweight. The core solution is the problem that traditional omnidirectional wheels are easy to deform under high loads and have redundant structures. However, the alternating layout of small-diameter rollers and large-diameter rollers in this application may cause stress concentration at the connection of the arms, which may easily cause fatigue fracture under long-term high loads; the difference in roller diameters causes intermittent power transmission, which is prone to speed steps when turning, affecting continuity; and the application does not mention the damping adjustment design, and the mismatch of rolling resistance of special-shaped rollers may cause vibration or irregular movement. Summary of the invention

[0006] 1. Technical problem to be solved by the invention

[0007] In view of the technical problems existing in the omnidirectional wheels in the above-mentioned prior art, the present invention provides an omnidirectional wheel and a moving device, which can better improve the high load adaptability, movement stability and continuity, and damping adjustment accuracy of the omnidirectional wheel.

[0008] 2. Technical solution

[0009] In order to achieve the above object, the technical solution provided by the present invention is:

[0010] As a first aspect of the present invention, the omnidirectional wheel comprises a hub bracket, a roller bracket, a plurality of first roller assemblies and a plurality of second roller assemblies, wherein the first roller assemblies and the second roller assemblies are connected to the hub bracket through the roller bracket, and the first roller assemblies and the second roller assemblies are alternately arranged along the circumferential direction of the hub bracket to form a full circle of roller structures together;

[0011] The wheel disc of the hub bracket is provided with a plurality of mounting grooves in the circumference thereof, and the first mounting portion and the second mounting portion are provided in the mounting grooves;

[0012] The roller bracket is connected to the first mounting portion and the second mounting portion respectively through the first fastener and the second fastener, so as to fix the roller bracket and the wheel hub bracket;

[0013] The first roller assembly is rotatably mounted on a single roller bracket, and the second roller assembly is rotatably mounted between two adjacent roller brackets.

[0014] As a further improvement, the depth of the mounting groove is greater than the thickness of the wheel disc, forming an inserted assembly structure; the first mounting portion and the second mounting portion are spaced apart on the bottom plate of the mounting groove, and the bottom plate forms an axial positioning surface of the roller bracket; the side wall of the mounting groove forms a radial constraint surface of the roller bracket.

[0015] As a further improvement, the opening end of the mounting groove is provided with a chamfer, and the side wall adopts a stepped structure to form a composite limiting surface.

[0016] As a further improvement, the wheel disc is provided with a transverse support beam and a longitudinal support beam, and the transverse support beam and the longitudinal support beam intersect to form a grid-like reinforcement structure; the central sleeve of the hub bracket is interference fit with the wheel disc, and a central bearing is arranged in the central sleeve.

[0017] As a further improvement, the roller bracket includes a first connecting arm and a second connecting arm, the first connecting arm is provided with a first fixing hole and a second fixing hole; the two ends of the second connecting arm are respectively provided with a first connecting hole and a second connecting hole.

[0018] As a further improvement, an arc-shaped avoidance groove is provided along the length direction of the second connecting arm, and the curvature of the arc-shaped avoidance groove matches the surface gap of the adjacent rollers.

[0019] As a further improvement, a reinforcing rib is arranged in the arc-shaped avoidance groove, and the wall thickness of the second connecting arm is thinnest in the transition zone between the root of the reinforcing rib and the second connecting arm close to the first connecting arm.

[0020] As a further improvement, a third fixing hole is provided on the first connecting arm of the roller bracket, and the third fixing hole is located at the connection between the first connecting arm and the second connecting arm.

[0021] As a further improvement, the first roller assembly includes a first roller, a first connecting shaft and a first bearing, the first roller is rotatably mounted on the first connecting shaft through the first bearing; the first connecting shaft passes through two second connecting holes of the roller bracket;

[0022] The second roller assembly includes a second roller, a second connecting shaft and a second bearing. The second roller is rotatably mounted on the second connecting shaft via the second bearing. The second connecting shaft passes through the first connecting holes of two adjacent roller brackets.

[0023] As a further improvement, the two second connecting holes of the roller bracket are one axial through hole and the other a threaded hole. One end of the first connecting shaft is inserted into the axial through hole, and the other end cooperates with the threaded hole and a solid tooth rubber layer is provided on the interface.

[0024] As a further improvement, the two first connecting holes of the roller bracket are one guide through hole and the other a locking threaded hole. One end of the second connecting shaft is inserted into the guide through hole and the other end is threadedly connected to the locking threaded hole.

[0025] As a further improvement, the threaded connection end of the second connecting shaft is provided with an elastic gasket, and the elastic gasket abuts between the second bearing and the first connecting portion.

[0026] As a further improvement, an external hexagonal assembly head is provided at the assembly end of the second connecting shaft, and the external hexagonal assembly head is provided between the second bearing and the first connecting portion.

[0027] As a second aspect of the present invention, a mobile device of the present invention includes a mobile device body and the omnidirectional wheel installed on the mobile device body.

[0028] 3. Beneficial effects

[0029] Compared with the existing known technologies, the technical solution provided by the present invention has the following significant effects:

[0030] (1) The omnidirectional wheel of the present invention reduces the shear stress on the fasteners through the double-point layout design of the first fastener + the second fastener, effectively suppresses the lateral displacement of the roller bracket, enhances the fatigue resistance of the threaded connection structure, eliminates the risk of thread slippage caused by traditional single-point fixation, and improves the load-bearing reliability of the omnidirectional wheel;

[0031] (2) An omnidirectional wheel of the present invention has a mounting groove forming an insert-type assembly structure, a first mounting portion and a second mounting portion are arranged at intervals on the bottom plate of the mounting groove to form an axial positioning surface of the roller bracket, and a side wall of the mounting groove forms a radial constraint surface of the roller bracket, and a chamfer is provided at the opening end of the mounting groove; through multi-dimensional positioning of the axial positioning surface + radial constraint + pre-guide chamfer, precise assembly of the roller bracket is achieved, the cumulative error of the nested assembly of multiple components of the omnidirectional wheel is reduced, the assembly efficiency is improved, and the dynamic balance of the omnidirectional wheel is ensured;

[0032] (3) In the omnidirectional wheel of the present invention, the chamfer of the mounting groove and the stepped side wall form a mechanical limit, converting the shear load borne by the roller bracket into a safety stress, reducing thread engagement wear and lateral impact damage, and significantly extending the service life of the fastener;

[0033] (4) An omnidirectional wheel of the present invention has an arc-shaped avoidance groove arranged along the length direction of the second connecting arm, the curvature of the arc-shaped avoidance groove matches the surface gap of the adjacent rollers, a reinforcing rib is arranged in the arc-shaped avoidance groove, and the wall thickness of the second connecting arm is arranged to be the thinnest at the transition zone between the root of the reinforcing rib and the second connecting arm close to the first connecting arm. The thin-walled structure design of the second connecting arm can shorten the gap between adjacent rollers, so that the formed full-circle roller structure is closer to a circular surface, thereby improving the running stability and continuity of the omnidirectional wheel; the reinforcing rib can ensure the structural rigidity of the second connecting arm and ensure the bearing capacity of the second connecting arm;

[0034] (5) An omnidirectional wheel of the present invention has a solid tooth rubber layer between the first connecting shaft and the threaded hole, and an elastic gasket is provided at the threaded connection end of the second connecting shaft. The damping force of the roller can be more accurately adjusted by coordinating the tightening degree of the threads of the first connecting shaft and the second connecting shaft, so that the damping force of the roller can be matched with the demand. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of the three-dimensional structure of an omnidirectional wheel provided in one embodiment of the present invention;

[0036] Figure 2 A schematic diagram of the connection between the roller bracket and the roller assembly of an omnidirectional wheel provided in one embodiment of the present invention;

[0037] Figure 3 A schematic structural diagram of a hub bracket provided by an embodiment of the present invention;

[0038] Figure 4 A schematic diagram of the structure of a roller bracket provided in one embodiment of the present invention;

[0039] Figure 5 A schematic diagram of the connection between the roller bracket and the hub bracket provided in one embodiment of the present invention;

[0040] Figure 6 A cross-sectional view of a roller assembly provided in one embodiment of the present invention;

[0041] Figure 7 A schematic diagram of a state where a portion of the rollers of an omnidirectional wheel provided by an embodiment of the present invention are removed;

[0042] Figure 8 A cross-sectional view of a first roller provided in one embodiment of the present invention;

[0043] Fig. 9 A cross-sectional view of a second roller provided in one embodiment of the present invention;

[0044] Explanation of the symbols in the schematic diagram:

[0045] 1. hub bracket; 11. wheel disc; 111. transverse support beam; 112. longitudinal support beam; 12. mounting groove; 121. bottom plate; 122. first mounting portion; 123. second mounting portion; 124. chamfer; 125. side wall; 13. center sleeve;

[0046] 2. Roller bracket; 21. First connecting arm; 211. First fixing hole; 212. Second fixing hole; 213. Third fixing hole; 22. Second connecting arm; 221. Reinforcing rib; 222. Arc-shaped avoidance groove; 23. First connecting part; 231. First connecting hole; 24. Second connecting part; 241. Second connecting hole; 25. First fastener; 26. Second fastener;

[0047] 3. First roller assembly; 31. First roller; 311. First tire; 312. First wheel core; 321. First shaft hole; 322. First bearing mounting hole; 33. First connecting shaft; 34. First bearing;

[0048] 4. Second roller assembly; 41. Second roller; 411. Second tire; 412. Second wheel core; 421. Second shaft hole; 422. Second bearing mounting hole; 43. Second connecting shaft; 44. Second bearing; 45. Elastic gasket; 46. External hexagonal assembly head;

[0049] 5. Center bearing. DETAILED DESCRIPTION

[0050] 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.

[0051] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0052] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0053] Example 1

[0054] The decentralized layout of the driven rollers of the omnidirectional wheel reduces the contact area between the wheel body and the ground. Under heavy load conditions, the connection structure between the roller and the main hub is prone to fatigue wear due to frequent alternating stress, which reduces the life of the wheel body.

[0055] Combination Figure 1 , Figure 2 , Figure 3 and Figure 5 An omnidirectional wheel of this embodiment includes a hub bracket 1, a roller bracket 2, a plurality of first roller assemblies 3 and a plurality of second roller assemblies 4, wherein the first roller assembly 3 is rotatably mounted on a single roller bracket 2, and the second roller assembly 4 is rotatably mounted between two adjacent roller brackets 2.

[0056] The adjacent first roller assembly 3, the second roller assembly 4 and the single roller bracket 2 form a Figure 2The roller modules shown in the figure are arranged along the circumference of the hub bracket 1 to form a full circle structure. That is, the first roller assembly 3 and the second roller assembly 4 are connected to the hub bracket 1 through the roller bracket 2, and the first roller assembly 3 and the second roller assembly 4 are alternately arranged along the circumference of the hub bracket 1, forming a complete circle structure. Figure 1 The full circle roller structure is shown.

[0057] In this embodiment, the wheel hub bracket 1 includes a wheel disc 11, a mounting groove 12 and a center sleeve 13. The wheel disc 11 is provided with a transverse support beam 111 and a longitudinal support beam 112. The transverse support beam 111 and the longitudinal support beam 112 intersect to form a grid-like reinforcement structure. The center sleeve 13 of the wheel hub bracket 1 is interference fit with the wheel disc 11. A center bearing 5 is arranged in the center sleeve 13. The driving shaft of the moving device drives the entire omnidirectional wheel to rotate through the center bearing 5.

[0058] The wheel disc 11 is provided with a plurality of mounting grooves 12 in the circumference, and the depth of the mounting grooves 12 is greater than the thickness of the wheel disc 11, forming an insertion-type assembly structure of the roller bracket 2. The mounting groove 12 is provided with a first mounting portion 122 and a second mounting portion 123, and the first mounting portion 122 and the second mounting portion 123 are arranged at intervals on a bottom plate 121 of the mounting groove 12, and the bottom plate 121 forms an axial positioning surface of the roller bracket 2. Specifically in this embodiment, the first mounting portion 122 and the second mounting portion 123 are both arranged as threaded holes.

[0059] The opening end of the mounting groove 12 is provided with a chamfer 124, and the side wall 125 of the mounting groove 12 adopts a stepped structure to form a radial constraint surface of the roller bracket 2. The first connecting arm 21 of the roller bracket 2 can be inserted along the side wall 125 of the mounting groove 12, and is connected to the first mounting portion 122 and the second mounting portion 123 through the first fastener 25 and the second fastener 26 respectively, so as to realize the assembly of the roller bracket 2 and the hub bracket 1. In order to form a match with the first mounting portion 122 and the second mounting portion 123, the first fastener 25 and the second fastener 26 in this embodiment are both bolts.

[0060] Omnidirectional wheels are subjected to multi-directional alternating loads under complex road conditions, and traditional single-bolt fixing is prone to thread slippage due to stress concentration. In this embodiment, a double-point positioning is formed by the first mounting portion 122 and the second mounting portion 123. The first mounting portion 122 uses high-strength bolts to achieve the main fixation, and the second mounting portion 123 uses anti-loosening bolts to form auxiliary constraints. The double-point layout can reduce the peak shear stress of the bolts, effectively avoiding lateral displacement of the roller bracket 2 during sharp turns. This structure can significantly improve the fatigue life of the bolts.

[0061] In order to solve the problem of nested assembly of multiple components of the omnidirectional wheel, this embodiment constructs a triple positioning in the mounting groove 12. The base plate 121 is provided with a first mounting portion 122 and a second mounting portion 123 to provide an axial reference surface, the side wall 125 forms a radial constraint, and the chamfer 124 realizes pre-guiding, which can improve the assembly accuracy of the roller bracket 2. The chamfer 124 and the stepped side wall 125 form a double mechanical limit, and the bolt shear load in the traditional structure is converted into a structural safety stress. When the omnidirectional wheel is subjected to a lateral impact, the shear force on the bolt is significantly reduced. At the same time, the stress buffering design of the chamfer 124 can reduce the thread engagement wear. The grid structure formed by the transverse support beam 111 and the longitudinal support beam 112 can improve the overall bending stiffness of the omnidirectional wheel, and the interference fit design of the center sleeve 13 can ensure the transmission accuracy.

[0062] The entire omnidirectional wheel structure disperses shear stress through double fasteners, the stepped side walls and chamfers form mechanical limits, and the grid support beam improves the overall rigidity, effectively solving the problem of fragile connection structure of traditional omnidirectional wheels under high loads.

[0063] Example 2

[0064] During the movement of the omnidirectional wheel, the driven roller needs to frequently switch its contact state with the ground. The gaps between adjacent rollers of existing omnidirectional wheels are often large, which will cause intermittent power transmission, resulting in poor movement stability and continuity of the entire wheel. Not only will it generate relatively large noise and vibration, but it will also easily cause wheel shaking, path deviation, and even temporary stalling when the rollers are switched under high-speed movement or complex terrain (such as uneven ground and slopes).

[0065] Based on the above problems, this embodiment provides an omnidirectional wheel on the basis of embodiment 1, and the roller bracket 2 of the omnidirectional wheel includes a first connecting arm 21 and a second connecting arm 22 which are vertically arranged, and the first connecting arm 21 and the second connecting arm 22 form a Y-shaped roller bracket 2 as a whole.

[0066] The first connecting arm 21 is provided with a first fixing hole 211 and a second fixing hole 212 , which are threaded holes and cooperate with the first mounting portion 122 and the second mounting portion 123 described in Example 1, and are assembled by the first fastener 25 and the second fastener 26 .

[0067] The second connecting arm 22 has a first connecting portion 23 and a second connecting portion 24 at both ends, respectively. Specifically, the first connecting portions 23 at both ends of the second connecting arm 22 are arranged opposite to each other, and the second connecting portions 24 at both ends of the second connecting arm 22 are arranged opposite to each other. A first connecting hole 231 is provided on the first connecting portion 23, and a second connecting hole 241 is provided on the second connecting portion 24.

[0068] It is worth emphasizing that in this embodiment, an arc-shaped avoidance groove 222 is provided along the length direction of the second connecting arm 22, and the curvature of the arc-shaped avoidance groove 222 matches the surface gap of the adjacent rollers. A reinforcing rib 221 is provided in the arc-shaped avoidance groove 222, and the wall thickness of the second connecting arm 22 is the thinnest in the transition zone between the root of the reinforcing rib 221 and the second connecting arm 22 close to the first connecting arm 21.

[0069] When the omnidirectional wheel is moving at high speed, the discontinuity of the contact surface between adjacent rollers will cause the tire surface to form a polygonal track, causing periodic vibration. In this embodiment, the thickness of the second connecting arm 22 is compressed by setting an arc-shaped avoidance groove 222, especially the wall thickness of the second connecting arm 22 is set to be the thinnest in the transition zone between the root of the reinforcing rib 221 and the second connecting arm 22 close to the first connecting arm 21. Figure 2 The transition zone is the position where the distance between adjacent rollers is the smallest. By setting this transition zone to the thinnest, the center distance between adjacent rollers can be shortened, the difference in diameters of adjacent rollers can be reduced, the roundness error of the tire envelope surface can be reduced, and the continuity of the motion trajectory of the omnidirectional wheel can be improved.

[0070] The stiffness loss caused by the thin-wall design of the second connecting arm 22 is solved by the reinforcing rib 221. The reinforcing rib 221 makes the bending stiffness of the second connecting arm 22 higher under the condition of thinning the wall thickness, while ensuring that the gap between adjacent rollers is maintained within the optimal range.

[0071] refer to Figure 1 , Figure 2 and Figure 5 In this embodiment, a third fixing hole 213 is further provided on the first connecting arm 21 of the roller bracket 2, and the third fixing hole 213 is located at the connection between the first connecting arm 21 and the second connecting arm 22. The fixing point of the traditional decorative panel is often set on a single connecting arm, and the most common one is set on the first connecting arm 21, which is easy to resonate under the action of centrifugal force. In this embodiment, the third fixing hole 213 is set on the mechanical neutral axis of the first connecting arm 21 and the second connecting arm 22, which can form a more stable support structure and prevent the decorative panel from falling off.

[0072] Example 3

[0073] The design of roller damping force usually relies on passive adjustment of bearing friction and roller material, which results in mismatch between roller damping force and demand. When the roller damping force is too large, the roller rotation resistance increases significantly, resulting in lateral slippage. On the contrary, if the roller damping force is too small and the roller freedom is too high, when the contact point between the roller and the ground switches frequently during the longitudinal drive process, "overshoot" will occur due to inertia, causing the wheel to slip or shake.

[0074] Combination Figure 6-Figure 9Based on the first embodiment, this embodiment provides an omnidirectional wheel, wherein the first roller assembly 3 of the omnidirectional wheel comprises a first roller 31, a first connecting shaft 33 and a first bearing 34, wherein the first roller 31 comprises a first tire 311 and a first wheel core 312, the first tire 311 and the first wheel core 312 are assembled as one, the first wheel core 312 is provided with a first shaft hole 321 and a first bearing mounting hole 322 along its axial direction, and a step is provided between the first shaft hole 321 and the first bearing mounting hole 322. The first bearing 34 is provided in the first bearing mounting hole 322, and one end of the first bearing 34 rests on the step.

[0075] The first connecting shaft 33 passes through the two second connecting holes 241 of the roller bracket 2 and the first shaft hole 321 . The first roller 31 is rotatably mounted on the first connecting shaft 33 through the first bearing 34 and is connected to the roller bracket 2 .

[0076] The second roller assembly 4 includes a second roller 41, a second connecting shaft 43 and a second bearing 44, wherein the second roller 41 includes a second tire 411 and a second wheel core 412, the second tire 411 and the second wheel core 412 are assembled as a whole, the second wheel core 412 is provided with a second shaft hole 421 and a second bearing mounting hole 422 along its axial direction, and a step is provided between the second shaft hole 421 and the second bearing mounting hole 422. The second bearing 44 is provided in the second bearing mounting hole 422, with one end resting on the step.

[0077] The second connecting shaft 43 passes through the first connecting holes 231 of two adjacent roller brackets 2 and the second shaft hole 421 . The second roller 41 is rotatably mounted on the second connecting shaft 43 via a second bearing 44 and is connected to the adjacent roller brackets 2 .

[0078] For the bearing installation structure of the first roller assembly 3 and the second roller assembly 4, those skilled in the art can choose whether to set a bearing sleeve according to actual needs. Figure 8 As shown, when the bearing sleeve is not provided, the first bearing mounting hole 322 of the first wheel core 312 forms an axial limit for the first bearing 34 through the internal step structure, and at this time, the first bearing 34 directly abuts against the step surface. Fig. 9 The second roller 41 shown can also adopt the same step limiting method.

[0079] In another embodiment, a bearing sleeve can be added to the first shaft hole 321 of the first wheel core 312, and the two ends of the bearing sleeve are respectively abutted against the inner ring of the first bearing 34, and the bearing spacing is controlled by the bearing sleeve. Similarly, the second wheel core 412 can also adopt a bearing sleeve limiting structure. Whether the step limiting or the sleeve limiting is adopted, the accurate positioning of the bearing can be achieved, and both methods belong to the protection scope of the present invention.

[0080] It is worth noting that the two second connecting holes 241 of the roller bracket 2 of this embodiment are one axial through hole and the other a threaded hole. One end of the first connecting shaft 33 is inserted into the axial through hole, and the other end cooperates with the threaded hole and a solid tooth rubber layer is provided on the interface.

[0081] The two first connection holes 231 of the roller bracket 2 are one guide through hole and the other a locking threaded hole. One end of the second connection shaft 43 is inserted into the guide through hole, and the other end is threadedly connected to the locking threaded hole. The threaded connection end of the second connection shaft 43 is provided with an elastic gasket 45, which abuts between the second bearing 44 and the first connection part 23. The assembly end of the second connection shaft 43 is provided with an external hexagonal assembly head 46, which is arranged between the second bearing 44 and the first connection part 23.

[0082] Traditional omnidirectional wheels often get stuck or slip due to improper control of the friction between the roller and the roller bracket 2. This embodiment innovatively designs the roller bracket 2 with an asymmetric hole position (through hole + threaded hole). One end of the first connecting shaft 33 is inserted into the axial through hole, and the other end is matched with the threaded hole and a solid tooth rubber layer is provided on the interface. After the first connecting shaft 33 is screwed into the threaded hole, the first bearing 34 can have a suitable damping force. At the same time, the solid tooth rubber layer provided in the threaded hole can ensure that the first connecting shaft 33 is firmly fixed and not easy to slip and fall off. Different from the traditional double-thread locking structure, the design of single-side thread with solid tooth rubber avoids excessive bearing damping force and eccentric bearing wear caused by over-constraint.

[0083] In complex terrain, traditional omnidirectional wheels often cause deviations in motion trajectory due to the difference in damping of the dual rollers. In this embodiment, an elastic gasket 45 is provided to control the axial preload of the second roller assembly 4. The first roller assembly 3 adopts rigid adjustment, and the second roller assembly 4 adopts elastic adjustment, thereby achieving more precise adjustment of the dual roller damping force and better matching the needs.

[0084] In addition, this embodiment further provides an external hexagonal assembly head 46 at the assembly end of the second connecting shaft 43. When assembling the entire wheel, a standard internal hexagonal wrench can be used to engage the external hexagonal assembly head 46 to adjust the axial preload of the second roller assembly 4, and the damping force can be fine-tuned by rotating the locking threaded hole, and is particularly suitable for assembly and maintenance of the omni-directional wheel closed structure.

[0085] Example 4

[0086] A mobile device of this embodiment includes a mobile device body and an omnidirectional wheel as described in Embodiments 1-3 mounted on the mobile device body. At least two omnidirectional wheels are symmetrically arranged at the bottom of the mobile device body, and each omnidirectional wheel is connected to the output shaft of the drive motor through a central bearing 5. The omnidirectional wheel can move axially and can also slide laterally through the free rotation of the roller, thereby synthesizing a motion trajectory in any direction.

[0087] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An omnidirectional wheel, comprising a hub bracket (1), a roller bracket (2), a plurality of first roller assemblies (3) and a plurality of second roller assemblies (4), wherein the first roller assemblies (3) and the second roller assemblies (4) are connected to the hub bracket (1) via the roller bracket (2), and the first roller assemblies (3) and the second roller assemblies (4) are alternately arranged along the circumferential direction of the hub bracket (1) to form a full circle roller structure together; characterized in that: The wheel disc (11) of the wheel hub bracket (1) is provided with a plurality of mounting grooves (12) in the circumferential direction, and a first mounting portion (122) and a second mounting portion (123) are provided in the mounting grooves (12); The roller bracket (2) is connected to the first mounting portion (122) and the second mounting portion (123) respectively via a first fastener (25) and a second fastener (26), thereby achieving fixation of the roller bracket (2) and the wheel hub bracket (1); The first roller assembly (3) is rotatably mounted on a single roller bracket (2), and the second roller assembly (4) is rotatably mounted between two adjacent roller brackets (2).

2. The omnidirectional wheel according to claim 1, characterized in that: The depth of the mounting groove (12) is greater than the thickness of the wheel disc (11), forming an inserted assembly structure; the first mounting portion (122) and the second mounting portion (123) are arranged at intervals on a bottom plate (121) of the mounting groove (12), and the bottom plate (121) forms an axial positioning surface of the roller bracket (2); and the side wall (125) of the mounting groove (12) forms a radial constraint surface of the roller bracket (2).

3. The omnidirectional wheel according to claim 2, characterized in that: The opening end of the installation groove (12) is provided with a chamfer (124), and the side wall (125) adopts a stepped structure to form a composite limiting surface.

4. The omnidirectional wheel according to any one of claims 1 to 3, characterized in that: The wheel disc (11) is provided with a transverse support beam (111) and a longitudinal support beam (112), and the transverse support beam (111) and the longitudinal support beam (112) intersect to form a grid-like reinforcement structure; the central shaft sleeve (13) of the hub bracket (1) is interference-fitted with the wheel disc (11), and a central bearing (5) is arranged in the central shaft sleeve (13).

5. The omnidirectional wheel according to claim 1, characterized in that: The roller bracket (2) comprises a first connecting arm (21) and a second connecting arm (22); the first connecting arm (21) is provided with a first fixing hole (211) and a second fixing hole (212); and the second connecting arm (22) is provided with a first connecting hole (231) and a second connecting hole (241) at both ends thereof.

6. The omnidirectional wheel according to claim 5, characterized in that: An arc-shaped avoidance groove (222) is provided along the length direction of the second connecting arm (22), and the curvature of the arc-shaped avoidance groove (222) matches the surface gap of adjacent rollers.

7. The omnidirectional wheel according to claim 6, characterized in that: A reinforcing rib (221) is arranged in the arc-shaped avoidance groove (222), and the wall thickness of the second connecting arm (22) is thinnest in a transition zone between the root of the reinforcing rib (221) and the second connecting arm (22) close to the first connecting arm (21).

8. The omnidirectional wheel according to any one of claims 5 to 7, characterized in that: The first connecting arm (21) of the roller bracket (2) is provided with a third fixing hole (213), and the third fixing hole (213) is located at the connection between the first connecting arm (21) and the second connecting arm (22).

9. The omnidirectional wheel according to claim 1, characterized in that: The first roller assembly (3) comprises a first roller (31), a first connecting shaft (33) and a first bearing (34); the first roller (31) is rotatably mounted on the first connecting shaft (33) via the first bearing (34); the first connecting shaft (33) passes through two second connecting holes (241) of the roller bracket (2); The second roller assembly (4) comprises a second roller (41), a second connecting shaft (43) and a second bearing (44); the second roller (41) is rotatably mounted on the second connecting shaft (43) via the second bearing (44); the second connecting shaft (43) passes through the first connecting holes (231) of two adjacent roller brackets (2).

10. The omnidirectional wheel according to claim 9, characterized in that: The two second connection holes (241) of the roller bracket (2) are one axial through hole and the other a threaded hole. One end of the first connection shaft (33) is inserted into the axial through hole, and the other end is matched with the threaded hole and a solid tooth rubber layer is provided on the interface.

11. The omnidirectional wheel according to claim 9 or 10, characterized in that: The two first connection holes (231) of the roller bracket (2) are one guide through hole and the other a locking threaded hole; one end of the second connection shaft (43) is inserted into the guide through hole and the other end is threadedly connected to the locking threaded hole.

12. The omnidirectional wheel according to claim 11, characterized in that: The threaded connection end of the second connection shaft (43) is provided with an elastic gasket (45), and the elastic gasket (45) abuts between the second bearing (44) and the first connection portion (23).

13. The omnidirectional wheel according to claim 12, characterized in that: An external hexagonal assembly head (46) is provided at the assembly end of the second connecting shaft (43), and the external hexagonal assembly head (46) is arranged between the second bearing (44) and the first connecting portion (23).

14. A mobile device, characterized in that: It comprises a mobile device body, and an omnidirectional wheel as claimed in any one of claims 1 to 13 mounted on the mobile device body.

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