Wheel structure frame, wheel structure and omnidirectional wheel

Abstract

The invention provides a wheel structure frame, a wheel structure and an omnidirectional wheel, and relates to the technical field of wheels. The wheel structure frame comprises an annular framework and a hub part wrapping the annular framework. The annular framework comprises a plurality of rod-shaped structures, connecting structures for connecting two adjacent rod-shaped structures, and attachment structures connected with the connecting structures; the hub portion covers at least a portion of the attachment structure and the hub portion covers at least a portion of the connection structure.

Description

Technical Field

[0001] This specification relates to the field of wheels, and in particular to a wheel frame, wheel structure, and omnidirectional wheel. Background Technology

[0002] Omnidirectional wheels can move longitudinally, laterally, and diagonally, and even turn in place, without changing the wheel's orientation or only slightly changing it, thereby improving the mobility and spatial adaptability of the mobile platform. An omnidirectional wheel may include a central main wheel and multiple small rollers evenly distributed around the outer perimeter of the central main wheel. Summary of the Invention

[0003] This specification provides one or more embodiments of a wheel structure frame, including: an annular frame and a hub portion covering the annular frame; the annular frame includes: a plurality of rod-shaped structures, a connecting structure connecting two adjacent rod-shaped structures, and an attachment structure connected to the connecting structure; the hub portion covers at least a portion of the attachment structure, and the hub portion covers at least a portion of the connecting structure.

[0004] In some embodiments, the hub portion is configured such that, when the hub portion is formed, the material of the hub portion covers at least a portion of the attachment structure, and the material of the hub portion covers at least a portion of the connection structure.

[0005] In some embodiments, the hub portion is a one-piece structure.

[0006] In some embodiments, the hub portion also covers a portion of the rod-like structure.

[0007] In some embodiments, the hub portion is configured such that, when the hub portion is formed, the material of the hub portion covers at least a portion of the attachment structure, the material of the hub portion covers at least a portion of the connecting structure, and the material of the hub portion covers a portion of the rod-like structure.

[0008] In some embodiments, the wheel structure frame is composed of a first material forming the annular skeleton and a second material forming the hub portion.

[0009] In some embodiments, the rod-like structures and the connecting structures are arranged alternately to form a ring structure; the attachment structure extends from the connecting structure toward the center of the ring skeleton.

[0010] In some embodiments, each of the connection structures is provided with a corresponding attachment structure.

[0011] In some embodiments, the attachment structures are arranged in a ring array.

[0012] In some embodiments, the width of the attachment structure near the center of the annular skeleton is greater than the width of the attachment structure near the connecting structure, wherein the width is the width along the axial direction of the annular skeleton.

[0013] In some embodiments, the length of the attachment structure near the center of the annular skeleton is less than the length of the attachment structure near the connecting structure, wherein the length is the length along the circumferential direction of the annular skeleton.

[0014] In some embodiments, the attachment structure has one or more grooves for material to enter the hub portion, and / or the attachment structure has one or more protrusions.

[0015] This specification provides one or more embodiments of a wheel structure, including the wheel structure frame described in any one of the above claims, the wheel structure further including: a roller and a rubber coating covering the roller; the roller is configured to rotate about the rod-like structure, the roller including a first bearing and a second bearing connected to each other, a groove formed between the first bearing and the second bearing for the rod-like structure to pass through; both ends of the roller protrude from the rubber coating; the rubber coating is an integral structure.

[0016] In some embodiments, both the first bearing and the second bearing include: a first insertion portion, a first insertion groove located on one side of the first insertion portion, a second insertion portion, and a second insertion groove located on one side of the second insertion portion; the first insertion portion of the first bearing matches the first insertion groove of the second bearing, and the second insertion portion of the first bearing matches the second insertion groove of the second bearing; the first insertion portion of the second bearing matches the first insertion groove of the first bearing, and the second insertion portion of the second bearing matches the second insertion groove of the first bearing.

[0017] In some embodiments, the roller includes one or more fasteners, and the first bearing and the second bearing are fixedly connected by one or more of the fasteners.

[0018] This specification provides one or more embodiments of an omnidirectional wheel, including: an inner wheel structure and an outer wheel structure connected to each other, wherein the inner wheel structure and the outer wheel structure are wheel structures as described in any one of the above-mentioned embodiments; wherein the rod-shaped structure of the inner wheel structure and the connecting structure of the outer wheel structure are arranged opposite to each other, and the connecting structure of the inner wheel structure and the rod-shaped structure of the outer wheel structure are arranged opposite to each other.

[0019] In some embodiments, the hub portion of the inner wheel structure has an accommodating space for mounting a hub motor; the hub portion of the outer wheel structure has a shielding surface that covers a portion of the accommodating space.

[0020] This specification provides one or more embodiments of a method for preparing a wheel structure frame, used to prepare the wheel structure frame described in any one of the above-mentioned embodiments. The method for preparing the wheel structure frame includes: obtaining the annular skeleton; injection molding the wheel hub portion onto the annular skeleton; when the wheel hub portion is injection molded, the material of the wheel hub portion melts, covers at least a portion of the attachment structure, and covers at least a portion of the connecting structure.

[0021] This specification provides one or more embodiments of a wheel structure preparation method for preparing the wheel structure described in any one of the above-mentioned embodiments. The wheel structure preparation method includes: obtaining the annular skeleton; injection molding the hub portion onto the annular skeleton, wherein when the hub portion is injection molded, the material of the hub portion melts, covers at least a portion of the attachment structure, and covers at least a portion of the connecting structure; sleeves the first bearing and the second bearing on the rod-shaped structure of the annular skeleton, thereby fixing the first bearing and the second bearing; covering the outside of the first bearing and the second bearing with a pre-made adhesive, wherein the pre-made adhesive includes a first edge and a second edge, and an mounting groove is formed between the first edge and the second edge for mounting the pre-made adhesive to the outside of the first bearing and the second bearing; and fusion bonding the first edge and the second edge; or, injection molding the adhesive onto the first bearing and the second bearing, wherein when the adhesive is injection molded, the material of the adhesive melts, covers a portion of the first bearing, and covers a portion of the second bearing.

[0022] In some embodiments, obtaining the annular skeleton includes: providing a rod, bending the rod and fixing the two ends of the rod together to form the annular skeleton, wherein the rod is a solid structure or a hollow structure.

[0023] The beneficial effects that the embodiments of this specification may bring include, but are not limited to: (1) The wheel structure frame has a ring skeleton and an integral hub portion covering the ring skeleton, which allows for the use of a combination of two materials, which ensures the strength of the overall structure and reduces the weight of the overall structure; (2) The integrally injection-molded hub portion has greater strength than the multi-piece spliced ​​hub portion and does not involve weak structural positions such as splicing seams; (3) The wheel structure frame provides a complete rod-like structure as the pivot of the small roller, which can completely prevent the small roller from coming off the wheel structure frame; (4) The attachment structure can increase the connection area between itself and the connecting structure, and at the same time increase the bonding area between the annular frame and the hub part, and increase the bonding strength between the hub part and the annular frame; (5) The grooves and / or protrusions on the attachment structure can further strengthen the engagement between the injection-molded hub part and the annular frame; (6) The separate structure of the first bearing and the second bearing facilitates the installation of the roller onto the annular frame; (7) The rubber coating can be installed onto the roller by integral injection molding or by overmolding; (8) The integral rubber coating can assist in the fixation of the first bearing and the second bearing. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced can be any one or a combination of the above, or any other possible beneficial effects. Attached Figure Description

[0024] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. The same numbers in the drawings denote the same structures or steps.

[0025] Figure 1 This is a schematic diagram of the annular skeleton of the wheel structure frame according to some embodiments of this specification.

[0026] Figure 2 , Figure 3 This is a schematic diagram of a wheel structure frame according to some embodiments of this specification.

[0027] Figure 4 , Figure 5 This is a schematic diagram of a wheel structure frame according to other embodiments of this specification.

[0028] Figure 6 This is a schematic diagram of a wheel structure according to some embodiments of this specification.

[0029] Figure 7 yes Figure 6 A magnified view of a portion of the image.

[0030] Figure 8 This is a schematic diagram of the first and second bearing bushes of a wheel structure according to some embodiments of this specification.

[0031] Figure 9 , Figure 10 This is a schematic diagram of an omnidirectional wheel according to some embodiments of this specification.

[0032] Figure 11 This is a front view of an omnidirectional wheel as shown in some embodiments of this specification.

[0033] Figure 12 This is a rear view of the omnidirectional wheel as shown in some embodiments of this specification.

[0034] Figure 13 This is a side view of an omnidirectional wheel as shown in some embodiments of this specification.

[0035] Figure 14 This is an injection molding schematic diagram of the hub portion according to some embodiments of this specification.

[0036] Figure 15 This is a schematic diagram of the injection molding process for the hub portion according to some embodiments of this specification.

[0037] Figure 16 This is a schematic diagram of overmolding injection according to some embodiments of this specification.

[0038] Figure 17 yes Figure 16 A magnified view of a portion of the image.

[0039] Figure 18 This is a schematic diagram of the overmolding injection process according to some embodiments of this specification.

[0040] Figure 19 This is a schematic diagram of the injection molding process for the hub portion according to other embodiments of this specification.

[0041] The markings in the diagram are: 1 Ring frame; 11 Rod-like structure; 12 Connecting structure; 13 Attachment structure; 131 Groove; 2 Hub section; 3 Roller; 31 First bearing shell; 32 Second bearing shell; 40 Groove; 41 First insertion part; 42 Second insertion part; 43 First insertion groove; 44 Second insertion groove; 45 First support structure; 46 Second support structure; 5 Rubber coating; 6 Inner wheel structure; 61 First accommodating space; 7 Outer wheel structure; 71 Covering surface. Detailed Implementation

[0042] To more clearly illustrate the technical solutions of the embodiments in this specification, the embodiments will be described in detail below with reference to the accompanying drawings. Obviously, the content described below are some examples or embodiments of this specification. For those skilled in the art, without creative effort, the technical solutions or means disclosed in this specification can be applied to other scenarios based on this technical content.

[0043] It should be understood that the terms "system," "device," "equipment," "part" and / or "component," "unit" and / or "module" used in this specification are a method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other words can achieve the same purpose, they may be replaced by other expressions.

[0044] Unless otherwise specified, the technical terms used to describe components, elements, etc. in this specification are not singular but may include plural. Generally speaking, terms such as "comprising" or "including" only indicate that explicitly identified steps, elements, or components are included, and these steps, elements, and components do not constitute an exclusive list, as the described method or apparatus may also include other steps or components.

[0045] In the description of this specification, it should be understood that the descriptions of orientation, such as up, down, front, back, left, and right, are based on the orientations or positional relationships shown in the accompanying drawings. These descriptions are for the convenience of describing this application and for simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In the description of this specification, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of these terms in this specification in conjunction with the specific content of the technical solution.

[0046] Omnidirectional wheels enable longitudinal, lateral, and diagonal movements, and even in-situ rotations, without changing the wheel's orientation or with only slight changes, thereby enhancing the mobility and spatial adaptability of mobile platforms. An omnidirectional wheel can include a central main wheel and multiple smaller rollers evenly distributed around its outer circumference. The main wheel can include a cylindrical hub made of high-strength aluminum alloy or engineering plastics, connected to a power system via a drive shaft, or have a built-in hub motor to provide the primary propulsion. On the circumferential surface of the main wheel, several (e.g., 8 to 16) freely rotating lateral rollers can be embedded at equal angular intervals. The axes of these smaller rollers intersect or are perpendicular to the axis of the main wheel, and their outer edges contact the ground. When the main wheel rotates, the smaller rollers transmit lateral forces through a combination of rolling and sliding motion, thus supporting the equipment in lateral displacement.

[0047] In some applications, alloy wheels are heavier, while engineering plastic wheels are weaker. In other applications, wheels made of both alloys and engineering plastics also suffer from weak joints at the interface between the two materials.

[0048] In some applications, the outer circumference of the central main wheel can be provided with multiple accommodating spaces for small rollers. Each side surface of one accommodating space can have a short shaft, and each end of the small roller has a shaft hole that matches the short shaft, or a through shaft hole, allowing the small roller to rotate around the axis containing the two short shafts. The gap between the two short shafts allows for the assembly of the small rollers. However, under radial impact, due to deformation of the shaft or the small roller, the small roller may detach from the accommodating space.

[0049] Based on this, one or more embodiments of this specification provide a wheel structure frame suitable for omnidirectional wheels. It is made of alloy materials and engineering plastics, possessing the advantages of being lightweight and having high strength. Furthermore, the engineering plastic portion is integrally injection-molded onto the alloy material, and the joint also exhibits excellent structural strength. The wheel structure frame provided in one or more embodiments of this specification further allows the small rollers to be mounted on a single, complete axle instead of two short axles with a gap, preventing the small rollers from detaching from the accommodating space.

[0050] Figure 1 This is a schematic diagram of the annular skeleton of the wheel structure frame according to some embodiments of this specification. Figure 2 , Figure 3 This is a schematic diagram of a wheel structure frame according to some embodiments of this specification. Figure 4 , Figure 5 This is a schematic diagram of a wheel structure frame according to other embodiments of this specification. See also Figures 1 to 3 , combined Figure 4 , Figure 5 As shown, in one or more embodiments of this specification, the wheel structure frame may include: an annular frame 1 and a hub portion 2 covering the annular frame 1. In some embodiments, the annular frame 1 includes: a plurality of rod-shaped structures 11, a connecting structure 12 connecting two adjacent rod-shaped structures 11, and an attachment structure 13 connected to the connecting structure 12. In some embodiments, the hub portion 2 covers at least a portion of the attachment structure 13, and the hub portion 2 covers at least a portion of the connecting structure 12.

[0051] In some embodiments, the rod-like structure 11 serves to provide the pivot for the small roller. An included angle exists between two adjacent rod-like structures 11. In some embodiments, the rod-like structure 11 may be cylindrical. In some embodiments, the rod-like structure 11 may also be of other shapes. Exemplarily, the diameter of the rod-like structure 11 may be the same or different at various points. Exemplarily, the diameter at the middle of the rod-like structure 11 may be larger than the diameters at its ends. Exemplarily, the diameter at the middle of the rod-like structure 11 may be smaller than the diameters at its ends. In some embodiments, the rod-like structure 11 may be columnar, and the generatrix of the rod-like structure 11 may be a straight line or a curve, such as an alternating convex-concave curve or a wavy curve. In some use cases where the generatrix of the rod-like structure 11 is not a straight line, the rod-like structure 11 can provide auxiliary limiting for the small roller. In some use cases where the generatrix of the rod-like structure 11 is a complex curve, the rod-like structure 11 can form a labyrinth seal, reducing the intrusion of external dirt and preventing obstruction of the rotation of the small roller.

[0052] In some embodiments, the connecting structure 12 is used to provide a connection between adjacent rod-shaped structures 11. The connecting structure 12 restricts the positional relationship between two adjacent rod-shaped structures 11, so that the two adjacent rod-shaped structures 11 are in the same plane, and further so that all rod-shaped structures 11 are in the same plane. In some application scenarios, the connecting structure 12, or the connecting structure 12 that is injection molded inside the hub portion 2, also provides a certain degree of bending resistance.

[0053] In some embodiments, the hub portion 2 is a one-piece structure. In some embodiments, the hub portion 2 is integrally formed on the annular frame 1. In some embodiments, the surface of the hub portion 2 may have one or more grooves (or hollow structures), for example, weight-reducing grooves for weight reduction, or grooves for mounting fastening components. In some embodiments, the hub portion 2 may have one or more through holes. In some embodiments, the hub portion 2 is a solid structure, for example, it does not have closed cavities formed by design inside. In some embodiments, air bubbles may exist inside the hub portion 2 due to manufacturing processes. In some embodiments, the interior of the hub portion 2 is dense.

[0054] In some embodiments, the hub portion 2 is an integral component covering the rod-shaped structure 11. In some embodiments, the hub portion 2 is an integral component covering the rod-shaped structure 11. In some embodiments, the hub portion 2 is a single integral component (or a one-piece component), which is not formed by two or more parts being connected to each other by means of bonding, welding, fasteners, etc. In some embodiments, the hub portion 2 is formed of the same material.

[0055] In some embodiments, the hub portion 2 is configured such that, when the hub portion 2 is formed, the material of the hub portion 2 covers at least a portion of the attachment structure 13, and the material of the hub portion 2 covers at least a portion of the connecting structure 12. Exemplarily, the material of the hub portion 2 is melted, flows, and covers the attachment structure 13 and the connecting structure 12. Exemplarily, the powder material of the hub portion 2 covers the attachment structure 13 and the connecting structure 12, and is integrally die-cast. In some embodiments, the attachment structure 13 may be entirely located inside the hub portion 2. In other embodiments, a portion of the attachment structure 13 may also protrude beyond the hub portion 2. In some embodiments, the connecting structure 12 may be entirely located inside the hub portion 2. In other embodiments, a portion of the connecting structure 12 may also protrude beyond the hub portion 2.

[0056] In some embodiments, the hub portion 2 further covers a portion of the rod-shaped structure 11. In some embodiments, the hub portion 2 is configured such that, when the hub portion 2 is formed, the material of the hub portion 2 covers at least a portion of the attachment structure 13, at least a portion of the connecting structure 12, and a portion of the rod-shaped structure 11. Exemplarily, after the material of the hub portion 2 melts, flows, and covers the attachment structure 13 and the connecting structure 12, it further flows to the rod-shaped structure 11 and covers a portion of the rod-shaped structure 11 near the connecting structure 12. Exemplarily, the powder material of the hub portion 2 covers the attachment structure 13, the connecting structure 12, and a portion of the rod-shaped structure 11, and is integrally die-cast.

[0057] In some embodiments, the wheel frame is composed of a first material forming the annular skeleton 1 and a second material forming the hub portion 2. The first material can be a metal. The second material can be a plastic.

[0058] In some embodiments, the rod-like structure 11 and the connecting structure 12 are arranged alternately to form a ring structure. In some embodiments, the rod-like structure 11 is a straight structure. In some embodiments, the connecting structure 12 is a straight structure, or the connecting structure 12 is an arc-shaped structure, or the two ends of the connecting structure 12 have arc-shaped structures.

[0059] In some embodiments, the ring-shaped skeleton 1 can be formed by bending a rod-shaped or tubular structure and fixing the two ends together (e.g., welding, fusion, etc.).

[0060] In some embodiments, the attachment structure 13 extends from the connecting structure 12 toward the center of the annular frame 1. In other embodiments, the attachment structure 13 includes a first attachment structure and a second attachment structure, wherein the first attachment structure extends from the connecting structure 12 toward the center of the annular frame 1 (i.e., extends inward along the radial direction of the annular frame 1, for example...). Figure 1(in the positive direction of the X-axis), the second attachment structure extends from the connecting structure 12 in a direction away from the center of the ring skeleton 1 (i.e., the ring skeleton 1 extends outward in the radial direction, for example...). Figure 1 (The negative direction of the X-axis direction in the above), the hub portion 2 covers at least a portion of the first attachment structure and at least a portion of the second attachment structure. In some other embodiments, the attachment structure 13 further includes a third attachment structure and / or a fourth attachment structure, wherein the third attachment structure and the fourth attachment structure extend in a direction perpendicular to the side of the annular frame 1 (i.e., extend along one and / or both sides of the axial direction of the annular frame 1, the axial direction of the annular frame 1 being perpendicular to any radial direction of the annular frame 1, or in other words, the axial direction of the annular frame 1 being perpendicular to the radial plane of the annular frame 1). In one or more of the above embodiments, the radial direction of the annular frame 1 refers to the direction of its outer edge, that is, the direction from the center to the outer edge of the radial plane of the annular frame, that is, the direction in which the radius of the annular frame 1 is located. In one or more of the above embodiments, the axial direction of the annular frame 1 refers to the direction perpendicular to its radial plane. In one or more of the above embodiments, see Figure 1 As shown, the X-axis and Y-axis directions are two radial directions of the annular frame 1, and the XY plane is the radial plane of the annular frame 1. The radial direction of the annular frame 1 can be any direction within the XY plane. In one or more of the above embodiments, see... Figure 1 As shown, the Z-axis direction is the axial direction of the ring skeleton 1.

[0061] In some embodiments, each connection structure 12 is provided with a corresponding attachment structure 13. In other embodiments, one or more of the connection structures 12 are provided with corresponding attachment structures 13, for example, one of every two adjacent connection structures 12 is provided with a corresponding attachment structure 13. In some embodiments, a plurality of attachment structures 13 are arranged in a circular array.

[0062] In one or more embodiments of this specification, see Figure 1 As shown, the width L1 of the attachment structure 13 near the center of the annular frame 1 is greater than the width L2 of the attachment structure 13 near the connecting structure 12, where the width is the width along the axial direction (Z-axis direction) of the annular frame 1. The attachment structure 13 is used to increase the overall structural strength of the wheel frame and increase the bonding area between the hub portion 2 and the annular frame 1. The attachment structure 13 is thicker near the center of the annular frame 1, which can accommodate the bulging shape of the hub portion 2 near the center of the wheel frame, and based on this shape, increases the structural strength and bonding area while minimizing the mass of the metal parts.

[0063] In some embodiments, see Figure 1As shown, the length L3 of the attachment structure 13 near the center of the annular frame 1 is less than the length L4 of the attachment structure 13 near the connecting structure 12, where the length is the length along the circumferential direction of the annular frame 1. The circumferential direction refers to the direction tangent to the edge of the annular frame 1, for example, the direction perpendicular to the radial and axial directions of the annular frame 1. Since the attachment structure 13 extends from the annular structure based on the rod-like structure 11 and the connecting structure 12, and is directly connected to the connecting structure 12, the longer attachment structure 13 near the connecting structure 12 can increase the area of ​​the connection between the attachment structure 13 and the connecting structure 12, avoid the attachment structure 13 from bending or deforming relative to the connecting structure 12, further increase the overall strength of the wheel structure frame, and at the same time, do not affect the thinning of the wheel structure frame at its edge.

[0064] In some embodiments, the attachment structure 13 has one or more grooves 131 for material of the hub portion 2 to enter. During the formation of the hub portion 2, the material of the hub portion 2 enters the grooves 131 and is shaped so that the hub portion 2 engages with the attachment structure 13.

[0065] In other embodiments, the attachment structure 13 has one or more protrusions. During the formation of the hub portion 2, the material of the hub portion 2 covers the protrusions and forms grooves for the protrusions to enter, so that the hub portion 2 engages with the attachment structure 13. In these other embodiments, gaps are formed between the protrusions on the attachment structure 13. During the formation of the hub portion 2, the material of the hub portion 2 enters the gaps and is shaped to engage the hub portion 2 with the attachment structure 13.

[0066] Figure 6 This is a schematic diagram of a wheel structure according to some embodiments of this specification. Figure 7 yes Figure 6 A magnified view of a portion of the image. See also... Figure 6 , Figure 7 , combined Figure 15 As shown, one or more embodiments of this specification provide a wheel structure that may include: a wheel structure frame, a roller 3, and a rubber coating 5. In some embodiments, the roller 3 is configured to rotate about a rod-shaped structure 11. In some embodiments, the rubber coating 5 covers the roller 3. The rubber coating 5 may be a one-piece structure. In some embodiments, the roller 3 and the rubber coating 5 form the small roller described above.

[0067] In some embodiments, see Figure 8As shown, the roller 3 includes a first bearing 31 and a second bearing 32 connected to each other, with a groove 40 formed between the first bearing 31 and the second bearing 32 for the rod-shaped structure 11 to pass through. In some embodiments, the groove 40 may include a first half-groove formed in the first bearing 31 and a second half-groove formed in the second bearing 32. The first half-groove and the second half-groove together form the groove 40.

[0068] In some embodiments, the first half-groove may be formed by the arcuate surface inside the first bearing 31 (such as...). Figure 8 The first bearing bush 31 (shown as an example) has two arcuate surfaces inside, and the second half-groove can be provided by an arcuate surface inside the second bearing bush 32. In other embodiments, the first half-groove can also be provided by a wall of a support structure inside the first bearing bush 31, and the second half-groove can also be provided by a wall of a support structure inside the second bearing bush 32.

[0069] In some embodiments, see Figure 8 As shown, both the first bearing shell 31 and the second bearing shell 32 include: a first insertion portion 41, a first insertion groove 43 located on one side of the first insertion portion 41, a second insertion portion 42, and a second insertion groove 44 located on one side of the second insertion portion 42.

[0070] In some embodiments, the first insertion portion 41 of the first bearing 31 matches the first insertion groove 43 of the second bearing 32, and the second insertion portion 42 of the first bearing 31 matches the second insertion groove 44 of the second bearing 32. The first insertion portion 41 of the first bearing 31 can be inserted into the first insertion groove of the second bearing 32, and the second insertion portion 42 of the first bearing 31 can be inserted into the second insertion groove 44 of the second bearing 32 to achieve insertion positioning.

[0071] In some embodiments, the first insertion portion 41 of the second bearing 32 matches the first insertion groove 43 of the first bearing 31, and the second insertion portion 42 of the second bearing 32 matches the second insertion groove 44 of the first bearing 31. The first insertion portion 41 of the second bearing 32 can be inserted into the first insertion groove 43 of the first bearing 31, and the second insertion portion 42 of the second bearing 32 can be inserted into the second insertion groove 44 of the first bearing 31 to achieve insertion positioning.

[0072] In some embodiments, see Figure 8 As shown, both the first bearing shell 31 and the second bearing shell 32 include a first support structure 45 and a second support structure 46. The first support structure 45 and the second support structure 46 are arranged alternately to support the interior of the first bearing shell 31 or the second bearing shell 32. In some embodiments, the first support structure 45 can be an axial support structure (e.g., a support structure parallel to the axial direction of the first bearing shell 31 or the second bearing shell 32, i.e., along...). Figure 8The second support structure 46 can be a radial support structure (for example, a support structure perpendicular to the axial direction of the first bearing 31 or the second bearing 32, i.e., along the A-axis direction). Figure 8 (A support structure in the B-axis direction). In other embodiments, the first support structure 45 and the second support structure 46 may both be support structures arranged at an angle relative to the axial direction of the first bearing 31 or relative to the axial direction of the second bearing 32. In some applications, the sidewalls of the first support structure 45 and the second support structure 46 may provide the aforementioned grooves 40 through which the rod-like structure 11 passes.

[0073] In some embodiments, the overlay 5 covers the outside of the first bearing shell 31 and the second bearing shell 32.

[0074] In some embodiments, the two ends of the roller 3 protrude beyond the rubber coating 5. For example, the two ends of the first bearing 31 protrude beyond the rubber coating 5, and the two ends of the second bearing 32 protrude beyond the rubber coating 5.

[0075] In some embodiments, the first bearing shell 31 and the second bearing shell 32 can be connected by snap-fit. In other embodiments, the first bearing shell 31 and the second bearing shell 32 can be fixedly connected by bonding, welding, fusion, or other methods. In still other embodiments, the roller 3 includes one or more fasteners, and the first bearing shell 31 and the second bearing shell 32 are fixedly connected by one or more fasteners.

[0076] Figure 9 , Figure 10 This is a schematic diagram of an omnidirectional wheel according to some embodiments shown in this specification. Figure 11 This is a front view of the omnidirectional wheel shown in some embodiments of this specification. Figure 12 This is a rear view of the omnidirectional wheel according to some embodiments shown in this specification. Figure 13 This is a side view of an omnidirectional wheel according to some embodiments shown in this specification. See also Figures 9 to 13 As shown, one or more embodiments of this specification provide an omnidirectional wheel, which may include: an inner wheel structure 6 and an outer wheel structure 7 connected to each other. Both the inner wheel structure 6 and the outer wheel structure 7 are wheel structures as described above, and the wheel structures have the wheel structure frame described above. The rod-like structure 11 of the inner wheel structure 6 and the connecting structure 12 of the outer wheel structure 7 are arranged opposite to each other.

[0077] In some embodiments, the inner wheel structure 6 includes, for example, Figure 5 , Figure 6 The wheel structure frame is shown. In some embodiments, the outer wheel structure 7 includes, as shown in the figure, a wheel frame with a wheel structure ... frame with a wheel structure frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame Figure 2 , Figure 3 The wheel structure frame shown.

[0078] In some embodiments, the hub portion 2 of the inner wheel structure 6 has a first accommodating space 61 for mounting a hub motor. In some embodiments, the hub portion 2 of the outer wheel structure 7 also has a second accommodating space for mounting a hub motor, and the second accommodating space is connected to the first accommodating space 61.

[0079] In some embodiments, the hub portion 2 of the outer wheel structure 7 has a shielding surface 71 that shields a portion of the accommodating space.

[0080] Figure 14 This is an injection molding schematic diagram of the hub portion according to some embodiments of this specification. Figure 15 This is a schematic diagram of the injection molding process for the wheel hub portion according to some embodiments of this specification. See also... Figure 14 , Figure 15 As shown, in one or more embodiments of this specification, a method for preparing a wheel structure frame is provided, which may include the following steps.

[0081] Step 1100: Obtain the ring skeleton 1.

[0082] Step 1200: Injection mold the hub portion 2 onto the annular frame 1. When the hub portion 2 is injection molded, the material of the hub portion 2 melts, covers at least a portion of the attachment structure 13, and covers at least a portion of the connecting structure 12.

[0083] Figure 16 These are injection molding schematic diagrams illustrating overmolding according to some embodiments of this specification. Figure 17 yes Figure 16 A magnified view of a portion of the diagram. Figure 18 This is a schematic diagram of the overmolding injection process according to some embodiments of this specification. See also Figures 16 to 18 As shown, in one or more embodiments of this specification, a method for preparing a wheel structure is provided, which may include the following steps.

[0084] Step 2100: Obtain the ring skeleton 1.

[0085] Step 2200: Injection mold the hub portion 2 onto the annular frame 1. When the hub portion 2 is injection molded, the material of the hub portion 2 melts, covers at least a portion of the attachment structure 13, and covers at least a portion of the connecting structure 12.

[0086] Step 2300: The first bearing shell 31 and the second bearing shell 32 are fitted onto the rod-shaped structure of the annular frame, so that the first bearing shell 31 and the second bearing shell 32 are fixed.

[0087] Step 2400: The pre-made rubber coating is applied to the outside of the first bearing shell 31 and the second bearing shell 32. The pre-made rubber coating includes a first edge and a second edge. An installation groove is formed between the first edge and the second edge for the pre-made rubber coating to be installed on the outside of the first bearing shell 31 and the second bearing shell 32. The first edge and the second edge are fused and bonded. Alternatively, the rubber coating is injection molded onto the first bearing shell 31 and the second bearing shell 32. When the rubber coating 5 is injection molded, the material of the rubber coating 5 melts, covers a portion of the first bearing shell 31, and covers a portion of the second bearing shell 32.

[0088] In some embodiments, obtaining the annular frame 1 in step 1100 or step 2100 includes: providing a rod, bending the rod, and fixing the two ends of the rod together to form the annular frame 1. In some embodiments, the provided rod is a solid structure or a hollow structure.

[0089] In some embodiments, see Figure 14 As shown, in step 2100 or step 2200, the annular skeleton 1 (for example, as shown) is placed... Figure 1 The annular skeleton 1 shown is placed in a first mold. The first mold has a first mold support portion for supporting the annular skeleton 1 and a hub portion cavity for casting the hub portion 2. A portion of the annular skeleton 1 (e.g., a connecting structure 12, an attachment structure 13, or, for example, a portion of the connecting structure 12, the attachment structure 13, and the rod-like structure 11) is placed inside the hub portion cavity. In some embodiments, after the material for preparing the hub portion 2 enters the hub portion cavity, it covers a portion of the annular skeleton 1 suspended inside the hub portion cavity, for example, covering the connecting structure 12 and the attachment structure 13, thereby achieving integral molding.

[0090] In some embodiments, in step 2100 or step 2200, the middle portion of each rod-shaped structure 11 of the annular frame 1 is not connected to the wheel hub cavity, so that the material of the wheel hub 2 cannot extend to the middle portion of the rod-shaped structure 11, thereby exposing the middle portion of the rod-shaped structure 11 of the injection-molded wheel structure frame.

[0091] In some embodiments, fixing the first bearing shell 31 and the second bearing shell 32 in step 2300 includes: bonding or welding the first bearing shell 31 and the second bearing shell 32. Fixing the first bearing shell 31 and the second bearing shell 32 also includes: connecting the first bearing shell 31 and the second bearing shell 32 with fasteners.

[0092] In some embodiments, see Figure 16As shown, in step 2400, the annular frame 1, on which the first bearing shell 31 and the second bearing shell 32 are mounted, is placed in the second mold. The second mold has a second mold support portion for supporting the annular frame 1 and the hub portion 2, and a coating cavity for casting the coating 5. A portion (e.g., the middle part) of the first bearing shell 31 and the second bearing shell 32 is placed in the coating cavity. In some embodiments, the material for preparing the coating 5 enters the coating cavity and covers the middle part of the first bearing shell 31 and the second bearing shell 32, thereby achieving integral molding.

[0093] In some embodiments, the two ends of the first bearing 31 or the two ends of the second bearing 32 are supported at the second mold support portion. The material used to prepare the overlay 5 does not contact the two ends of the first bearing 31 or the two ends of the second bearing 32, so the overlay 5 does not extend to the two ends of the first bearing 31 or the two ends of the second bearing 32. Furthermore, the overlay 5 does not extend and cover the rod-shaped structure 11, thereby avoiding any impact on the rotation of the roller 3 formed by the first bearing 31 and the second bearing 32.

[0094] Figure 19 This is a schematic diagram of the injection molding process for the hub portion according to other embodiments of this specification. See also Figure 19 As shown, in one or more embodiments of this specification, a method for preparing a wheel structure is provided, which may include the following steps.

[0095] Step 3100: Obtain the annular skeleton 1 equipped with roller 3 and rubber coating 5.

[0096] Step 3200: Injection mold the hub portion 2 onto the annular frame 1. When the hub portion 2 is injection molded, the material of the hub portion 2 melts, covers at least a portion of the attachment structure 13, and covers at least a portion of the connecting structure 12.

[0097] In some embodiments, in step 3100, obtaining the annular frame 1 equipped with rollers 3 and rubber coating 5 includes: providing a rod, installing rollers 3 (e.g., rollers 3 including the two ends of the first bearing 31 or the second bearing 32, or rollers 3 with an integral structure) onto the rod (each roller 3 is assembled to a preset position of a rod-shaped structure 11), installing the rubber coating 5 onto the rollers 3 (e.g., sleeved on the outside of the rollers 3 or bonded after covering the rollers 3), bending the rod and fixing the two ends of the rod to form an annular frame 1 with rollers 3 and rubber coating 5.

[0098] In some embodiments, in step 3100, obtaining the annular frame 1 equipped with the roller 3 and the rubber coating 5 includes: providing a rod, bending the rod and fixing the two ends of the rod to form the annular frame 1, fitting the first bearing 31 and the second bearing 32 onto the rod-like structure of the annular frame to fix the first bearing 31 and the second bearing 32, and installing the rubber coating 5 on the first bearing 31 and the second bearing 32. In some embodiments, installing the rubber coating 5 on the first bearing 31 and the second bearing 32 is similar to step 2400 above, and therefore will not be described again.

[0099] In some embodiments, step 3200 is similar to step 2200, so it will not be described again.

[0100] The basic concepts have been described above. It is obvious that the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, various modifications, improvements, and corrections may be made to this specification by those skilled in the art. Such modifications, improvements, and corrections are taught in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

Claims

1. A wheel structure frame, characterized in that, include: A ring-shaped frame and a hub portion covering the ring-shaped frame; The ring-shaped skeleton includes: a plurality of rod-shaped structures, a connecting structure connecting two adjacent rod-shaped structures, and an attachment structure connected to the connecting structure; The hub portion covers at least a portion of the attachment structure, and the hub portion covers at least a portion of the connection structure.

2. The wheel structure frame according to claim 1, characterized in that, The hub portion is configured such that, when the hub portion is formed, the material of the hub portion covers at least a portion of the attachment structure, and the material of the hub portion covers at least a portion of the connection structure.

3. The wheel structure frame according to claim 1, characterized in that, The rod-like structures and the connecting structures are arranged alternately to form a ring structure; the attachment structure extends from the connecting structure toward the center of the ring skeleton.

4. The wheel structure frame according to claim 1, characterized in that, The width of the attachment structure near the center of the annular skeleton is greater than the width of the attachment structure near the connecting structure, wherein the width is the width along the axial direction of the annular skeleton.

5. The wheel structure frame according to claim 1, characterized in that, The length of the attachment structure near the center of the annular skeleton is less than the length of the attachment structure near the connecting structure, wherein the length is the length along the circumferential direction of the annular skeleton.

6. The wheel structure frame according to any one of claims 3 to 5, characterized in that, The attachment structure has one or more slots for material to enter the hub portion, and / or the attachment structure has one or more protrusions.

7. A wheel structure, characterized in that, The wheel structure frame includes any one of claims 1 to 6, wherein the wheel structure further includes: a roller and a rubber coating covering the roller; The roller is configured to rotate around the rod-like structure, and the roller includes a first bearing and a second bearing connected to each other, with a groove formed between the first bearing and the second bearing for the rod-like structure to pass through. The two ends of the roller protrude beyond the rubber coating; The coating is a one-piece structure.

8. The wheel structure according to claim 7, characterized in that, Both the first bearing and the second bearing include: a first insertion portion, a first insertion groove located on one side of the first insertion portion, a second insertion portion, and a second insertion groove located on one side of the second insertion portion; The first insertion portion of the first bearing bush matches the first insertion groove of the second bearing bush, and the second insertion portion of the first bearing bush matches the second insertion groove of the second bearing bush; The first insertion portion of the second bearing bush matches the first insertion groove of the first bearing bush, and the second insertion portion of the second bearing bush matches the second insertion groove of the first bearing bush.

9. The wheel structure according to claim 7 or 8, characterized in that, The roller includes one or more fasteners, and the first bearing and the second bearing are fixedly connected by one or more of the fasteners.

10. An omnidirectional wheel, characterized in that, include: An inner wheel structure and an outer wheel structure are interconnected, wherein both the inner wheel structure and the outer wheel structure are wheel structures as described in any one of claims 7 to 9; The rod-shaped structure of the inner wheel structure and the connecting structure of the outer wheel structure are arranged opposite to each other.

11. The omnidirectional wheel according to claim 10, characterized in that, The hub portion of the inner wheel structure has an accommodating space for mounting a hub motor; The hub portion of the outer wheel structure has a shielding surface that covers a portion of the accommodating space.

12. A method for manufacturing a wheel structure frame, characterized in that, A method for preparing a wheel structure frame according to any one of claims 1 to 6, wherein the method for preparing the wheel structure frame comprises: Obtain the ring-shaped skeleton; The hub portion is injection molded onto the annular frame. When the hub portion is injection molded, the material of the hub portion melts, covers at least a portion of the attachment structure, and covers at least a portion of the connecting structure.

13. A method for preparing a wheel structure, characterized in that, A method for preparing the wheel structure according to any one of claims 7 to 9, wherein the method for preparing the wheel structure comprises: Obtain the ring-shaped skeleton; The hub portion is injection molded on the annular frame. When the hub portion is injection molded, the material of the hub portion melts, covers at least a portion of the attachment structure, and covers at least a portion of the connecting structure. The first bearing and the second bearing are sleeved on the rod-shaped structure of the annular frame, so that the first bearing and the second bearing are fixed. A pre-formed adhesive is applied to the exterior of the first and second bearing bushes. The pre-formed adhesive includes a first edge and a second edge, and an mounting groove is formed between the first edge and the second edge for the pre-formed adhesive to be installed on the exterior of the first and second bearing bushes. The first edge and the second edge are fused and bonded together. Alternatively, the adhesive is injection molded onto the first and second bearing bushes. When the adhesive is injection molded, the material of the adhesive melts, covers a portion of the first bearing bush, and covers a portion of the second bearing bush.

14. The method for preparing the wheel structure according to claim 13, characterized in that, The process of obtaining the annular skeleton includes: providing a rod, bending the rod and fixing the two ends of the rod to form the annular skeleton, wherein the rod is a solid structure or a hollow structure.

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