Universal wheel and cleaning device having the same

Abstract

The application discloses a universal wheel and cleaning equipment with the same, the universal wheel comprising: a shell, a roller and a plurality of balls, the roller is rollably arranged in the shell, a circulating raceway is defined between the roller and the shell, the circulating raceway comprises a first raceway section and a second raceway section which are connected in a loop, the plurality of balls are rollably arranged in the circulating raceway, the balls are switchable between a contact state and a non-contact state in the process of circulating movement in the circulating raceway, when the balls are in the contact state, the balls are located in the first raceway section and are in contact with the roller, when the balls are in the non-contact state, the balls are located in the second raceway section and are separated from the roller. According to the universal wheel, the wear degree of the plurality of balls is basically consistent after long-time use of the universal wheel, the overwear of the balls at a certain position is avoided, the stability of the rolling of the universal wheel is ensured, and the service life of the universal wheel is prolonged.

Description

Technical Field

[0001] This invention relates to the field of caster wheel technology, and in particular to a caster wheel and a cleaning device having the same. Background Technology

[0002] In related technologies, the ball bearings of the caster wheel are fixed inside the caster wheel's housing cavity and in contact with the roller, thus realizing the function of a driven wheel. However, since the ball bearings are set in a fixed position, they wear out severely after prolonged use, causing the roller to wobble during movement. This results in poor stability of the caster wheel and affects its service life. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a caster wheel in which, after prolonged use, the wear of multiple balls is basically uniform, avoiding excessive wear of balls in a certain position, thereby ensuring the smooth rolling of the caster wheel and improving its service life.

[0004] Another object of the present invention is to provide a cleaning device including the aforementioned casters.

[0005] According to a first aspect of the present invention, a caster wheel includes: a housing; a roller rotatably disposed on the housing, a circulating raceway defining a space between the roller and the housing, the circulating raceway including a first raceway segment and a second raceway segment connected end to end; and a plurality of balls rotatably disposed within the circulating raceway, wherein during the cyclic movement of the plurality of balls within the circulating raceway, the balls can switch between a contact state and a non-contact state, wherein when a ball is in the contact state, the ball is located within the first raceway segment and in contact with the roller, and when a ball is in the non-contact state, the ball is located within the second raceway segment and is no longer in contact with the roller.

[0006] According to the present invention, the caster wheel is constructed by cyclically distributing multiple balls within a circulating raceway. The balls are in contact with the roller when located in the first raceway section and separate from the roller when located in the second raceway section. Therefore, after prolonged use, the wear of the multiple balls is essentially uniform, preventing excessive wear of any particular ball and ensuring the smooth rolling of the caster wheel, thus extending its service life.

[0007] According to some embodiments of the present invention, one of the first raceway segment and the second raceway segment is located above the roller, and the other of the first raceway segment and the second raceway segment is located on the outer periphery of the roller.

[0008] According to some embodiments of the present invention, the plane containing one of the first raceway segment and the second raceway segment is parallel to a longitudinal section passing through the center of the caster wheel; and / or the other of the first raceway segment and the second raceway segment is located on a concentric circle centered on the center of the caster wheel and is arranged horizontally.

[0009] According to some embodiments of the present invention, the other of the first raceway segment and the second raceway segment includes a first sub-raceway segment, a second sub-raceway segment, and a third sub-raceway segment connected in sequence. The first sub-raceway segment and the third sub-raceway segment are respectively connected to both ends of one of the first raceway segment and the second raceway segment. The movement direction of the balls in the first sub-raceway segment and the third sub-raceway segment is opposite to the movement direction of the balls in the second sub-raceway segment.

[0010] According to some embodiments of the present invention, the width of the first sub-raceway segment gradually increases along the direction toward the second sub-raceway segment; and / or the width of the third sub-raceway segment gradually decreases along the direction away from the second sub-raceway segment.

[0011] According to some embodiments of the present invention, the width of the second sub-raceway segment is greater than the width of either the first raceway segment or the second raceway segment.

[0012] According to some embodiments of the present invention, there are multiple circulating raceways, and the multiple circulating raceways are symmetrically distributed about the longitudinal section passing through the center of the omnidirectional wheel.

[0013] According to some embodiments of the present invention, the angle between the highest point of one of the first raceway segment and the second raceway segment of the circulating raceway located on both sides of the longitudinal section at the center of the omnidirectional wheel and the line connecting the center of the roller is γ, wherein γ satisfies: 60°≤γ≤120°.

[0014] According to some embodiments of the present invention, the included angle between the two ends of the first raceway section is φ, wherein φ satisfies: 120°≤φ≤180°.

[0015] According to some embodiments of the present invention, the included angle between the plane containing the first raceway segment and the plane containing the second raceway segment is µ, wherein µ satisfies: 90°≤µ≤120°.

[0016] According to some embodiments of the present invention, the length of the circulating raceway is greater than the sum of the diameters of all the balls; and / or the maximum distance between two adjacent balls located in the first raceway segment is greater than the maximum distance between two adjacent balls located in the second raceway segment.

[0017] According to some embodiments of the present invention, both the first raceway section and the second raceway section are formed in the housing, the side of the first raceway section facing the roller is open, and the second raceway section is isolated from the outer surface of the roller.

[0018] A cleaning device according to a second aspect of the present invention includes casters according to the first aspect of the present invention described above.

[0019] According to some embodiments of the present invention, the first roller section of the omnidirectional wheel extends in the same direction as the travel direction of the cleaning equipment.

[0020] According to some embodiments of the present invention, when the cleaning device moves along the travel direction, the multiple balls of the universal wheel circulate within the circulating raceway; when the cleaning device rotates in place, the balls of the universal wheel only rotate in place.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of a caster wheel according to an embodiment of the present invention; Figure 2 yes Figure 1 An exploded view of the omnidirectional wheel shown; Figure 3 yes Figure 1 Another schematic diagram of the caster wheel is shown, in which the first sub-shell is not shown; Figure 4 yes Figure 1 A schematic diagram of the first sub-shell, bracket, and ball bearings of the omnidirectional wheel; Figure 5 yes Figure 1 A schematic diagram of the caster wheel, bracket, and ball bearings shown; Figure 6 yes Figure 1 A schematic diagram of the caster wheel, bracket, and ball bearings from another angle; Figure 7 This is a schematic diagram of the first sub-shell of the omnidirectional wheel according to an embodiment of the present invention; Figure 8 yes Figure 7 Side view of the first sub-casing of the omnidirectional wheel shown; Figure 9 yes Figure 8 Cross-sectional view along the middle AA.

[0023] Figure label: 100: Casters; 10: Housing; 110: First sub-housing; 111: First groove; 112: Second groove; 120: Second sub-housing; 130: Support; 131: Third groove; 20: Roller; 30: Circulating raceway; 310: First raceway section; 320: Second raceway section; 321: First sub-raceway section; 322: Second sub-raceway section; 323: Third sub-raceway section; 40: Ball bearing. Detailed Implementation

[0024] The following is for reference. Figures 1-9 A caster wheel 100 according to a first aspect embodiment of the present invention is described. The description takes the application of the caster wheel 100 to a cleaning device as an example, but is not limited thereto.

[0025] like Figures 1-9 As shown, the caster wheel 100 according to a first aspect embodiment of the present invention includes a housing 10, a roller 20, and a plurality of balls 40. In the description of the present invention, "a plurality of" means two or more.

[0026] Specifically, the roller 20 is rotatably disposed on the housing 10, and a circulating raceway 30 is defined between the roller 20 and the housing 10. The circulating raceway 30 includes a first raceway section 310 and a second raceway section 320 that are connected end to end. A plurality of balls 40 are rotatably disposed within the circulating raceway 30. During the circulation movement of the plurality of balls 40 within the circulating raceway 30, the balls 40 can switch between a contact state and a non-contact state. When the balls 40 are in the contact state, the balls 40 are located within the first raceway section 310 and are in contact with the roller 20. When the balls 40 are in the non-contact state, the balls 40 are located within the second raceway section 320 and are no longer in contact with the roller 20.

[0027] For example, in Figures 1-4 In the example, the housing 10 has a receiving cavity, and a portion of the roller 20 is located within the receiving cavity. Specifically, the surface of the housing 10 facing the roller 20 is recessed in a direction away from the ball 40 to form a first groove 111 and a second groove 112 that are connected end-to-end. In the vertical direction, the first groove 111 is opposite to the roller 20 to define a first raceway segment 310, and the second groove 112 can be a second raceway segment 320.

[0028] During the rolling process of the caster wheel 100, multiple balls 40 circulate within the recirculating raceway 30. When a ball 40 rolls into the first raceway section 310, it contacts the roller 20. The roller 20 then drives the balls 40 in the first raceway section 310 to roll. At this time, the balls 40 in the first raceway section 310 move towards the second raceway section 320. When the balls 40 roll into the second raceway section 320, they separate from the roller 20. Therefore, during the rolling process of the caster wheel 100, multiple balls 40 in the recirculating raceway 30 can circulate in contact with the roller 20, resulting in relatively uniform wear on the multiple balls 40. This prevents excessive wear on any particular ball 40, ensuring the smooth rolling of the caster wheel 100 and improving its service life.

[0029] According to an embodiment of the present invention, the caster wheel 100 is configured such that multiple balls 40 are cyclically rolled within a circulating raceway 30. When the balls 40 are located within the first raceway section 310 of the circulating raceway 30, they contact the roller 20; when the balls 40 are located within the second raceway section of the circulating raceway 30, they separate from the roller 20. Therefore, after prolonged use, the wear degree of the multiple balls 40 is essentially uniform, preventing excessive wear of any particular ball 40, thus ensuring the smooth rolling of the caster wheel 100 and improving its service life.

[0030] According to some embodiments of the present invention, one of the first raceway section 310 and the second raceway section 320 is located above the roller 20, and the other of the first raceway section 310 and the second raceway section 320 is located on the outer peripheral side of the roller 20. Optionally, referring to... Figures 4-7 The first raceway section 310 is located above the roller 20, and the second raceway section 320 is located on the outer periphery of the roller 20. Both the first raceway section 310 and the second raceway section 320 extend circumferentially along the roller 20, making both the first raceway section 310 and the second raceway section 320 arc-shaped. With this configuration, when the roller 20 rolls, it can effectively drive the balls 40 in the first raceway section 310 to roll into the second raceway section 320, allowing the balls 40 to switch between contact and non-contact states. Furthermore, the circulating raceway 30 has a simple structure and is easy to manufacture.

[0031] Further, the plane containing one of the first raceway section 310 and the second raceway section 320 is parallel to the longitudinal section passing through the center of the caster wheel 100; and / or, the other of the first raceway section 310 and the second raceway section 320 is located on a concentric circle centered on the center of the roller 20 and is arranged horizontally. This can include the following three cases: the plane containing only the first raceway section 310 above the roller 20 may be parallel to the longitudinal section passing through the center of the caster wheel 100; or, the second raceway section 320 located only on the outer periphery of the roller 20 may be located on a concentric circle centered on the center of the roller 20 and is arranged horizontally; or, the plane containing the first raceway section 310 above the roller 20 may be parallel to the longitudinal section passing through the center of the caster wheel 100, while the second raceway section 320 located on the outer periphery of the roller 20 may be located on a concentric circle centered on the center of the roller 20 and is arranged horizontally (e.g., Figure 5 and Figure 6 As shown in the figure, in the longitudinal section passing through the center of the universal wheel 100, the first raceway section 310 and the second raceway section 320 are roughly L-shaped.

[0032] Specifically, such as Figure 5 As shown, the plane of the first raceway section 310 located above the roller 20 is parallel to the longitudinal section passing through the center of the caster wheel 100, so that the multiple balls 40 of the first raceway section 310 are located in the same longitudinal plane, and the first raceway section 310 extends along the traveling direction of the roller 20. Therefore, when the roller 20 travels, the multiple balls 40 in the first raceway section 310 can fully support the roller 20, preventing the roller 20 from shaking, and the multiple balls 40 can roll smoothly within the first raceway section 310.

[0033] like Figure 6 As shown, the second raceway section 320 located on the outer periphery of the roller 20 is located on a concentric circle with the center of the roller 20 as the center and is arranged horizontally. That is, the multiple balls 40 of the second raceway section 320 are located in the same transverse plane. The force between the balls 40 can effectively push the balls 40 to roll in the second raceway section 320, so that the multiple balls 40 can roll smoothly in the second raceway section 320.

[0034] According to some specific embodiments of the present invention, refer to Figure 3 and combined Figure 4The other of the first raceway segment 310 and the second raceway segment 320 includes a first sub-raceway segment 321, a second sub-raceway segment 322 and a third sub-raceway segment 323 connected in sequence. The first sub-raceway segment 321 and the third sub-raceway segment 323 are respectively connected to both ends of one of the first raceway segment 310 and the second raceway segment 320. The movement direction of the balls 40 in the first sub-raceway segment 321 and the third sub-raceway segment 323 is opposite to the movement direction of the balls 40 in the second sub-raceway segment 322.

[0035] For example, in Figure 3 and Figure 4 In the example, the second raceway segment 320 located on the outer periphery of the roller 20 includes a first sub-raceway segment 321, a second sub-raceway segment 322, and a third sub-raceway segment 323 connected in sequence. The first sub-raceway segment 321 and the third sub-raceway segment 323 are respectively located between the two ends of the second sub-raceway segment 322 and the first raceway segment 310. The first sub-raceway segment 321, the second sub-raceway segment 322, and the third sub-raceway segment 323 are all arc-shaped raceways, and the first sub-raceway segment 321 and the third sub-raceway segment 323 smoothly transition with the second sub-raceway segment 322.

[0036] As the roller 20 moves, the balls 40 in the first raceway section 310 can flow from the first sub-raceway section 321 to the second sub-raceway section 322, while the balls 40 in the second sub-raceway section 322 can flow from the third sub-raceway section 323 back to the first raceway section 310. This arrangement allows multiple balls 40 to circulate and roll within the circulating raceway 30.

[0037] Furthermore, both the first sub-raceway segment 321 and the third sub-raceway segment 323 are tangent to the second sub-raceway segment 322, and the second sub-raceway segment 322 is also tangent to the first raceway segment 310. Thus, the length of the circulating raceway 30 can be controlled within a reasonable range, ensuring that the ball bearings 40 can roll smoothly within the circulating raceway 30 while reducing the weight and cost of the omnidirectional wheel 100.

[0038] It should be noted that the length of the first sub-roller section 321 and the length of the third sub-roller section 323 can be the same or different. When the length of the first sub-roller section 321 and the length of the third sub-roller section 323 are the same, the lengths of the first sub-roller section 321 and the third sub-roller section 323 are set symmetrically about the center of the second sub-roller section 322.

[0039] In some optional embodiments, the width of the first sub-raceway segment 321 gradually increases along the direction toward the second sub-raceway segment 322. That is, the width of the end of the first sub-raceway segment 321 adjacent to the second sub-raceway segment 322 is larger, and the width of the end of the first sub-raceway segment 321 away from the second sub-raceway segment 322 is smaller. Since the ball 40 turns at the junction of the first sub-raceway segment 321 and the second sub-raceway segment 322, by setting the width of the end of the first sub-raceway segment 321 adjacent to the second sub-raceway segment 322 to be larger, it is beneficial for the ball 40 to roll smoothly at the junction of the first sub-raceway segment 321 and the second sub-raceway segment 322.

[0040] And / or, the width of the third sub-raceway segment 323 gradually decreases in the direction away from the second sub-raceway segment 322. That is, the width of the third sub-raceway segment 323 is larger at the end adjacent to the second sub-raceway segment 322, and smaller at the end of the third sub-raceway segment 323 away from the second sub-raceway segment 322. Since the ball 40 turns at the junction of the third sub-raceway segment 323 and the second sub-raceway segment 322, by setting the width of the end of the third sub-raceway segment 323 adjacent to the second sub-raceway segment 322 to be larger, it is beneficial for the ball 40 to roll smoothly at the junction of the third sub-raceway segment 323 and the second sub-raceway segment 322.

[0041] In some alternative embodiments, the width of the second sub-raceway segment 322 is greater than the width of either the first raceway segment 310 or the second raceway segment 320. (Refer to...) Figure 3 and Figure 4 The width of the second sub-raceway section 322 is greater than the width of the first raceway section 310. Since the balls 40 in the second sub-raceway section 322 are separated from the rollers 20, setting the width of the second sub-raceway section 322 to be larger allows the balls 40 to fit within the second sub-raceway section 322 with a clearance, thereby reducing the contact between the balls 40 and the inner wall of the second sub-raceway section 322, reducing the wear of the balls 40, and thus extending the service life of the caster wheel 100. At the same time, it allows the balls 40 to roll more smoothly within the second sub-raceway section 322.

[0042] According to some embodiments of the present invention, there are multiple circulating raceways 30, and the multiple circulating raceways 30 are symmetrically distributed about the longitudinal section passing through the center of the caster wheel 100. For example... Figures 1-7 As shown, there are two circulating raceways 30, which are symmetrically distributed about the longitudinal section passing through the center of the caster wheel 100, that is, the two circulating raceways 30 are arranged in parallel. Therefore, when the caster wheel 20 moves, the caster wheel 20 can be evenly stressed, preventing the caster wheel 20 from swaying left and right.

[0043] Furthermore, such as Figure 6As shown, the angle between the highest point of one of the first raceway segment 310 and the second raceway segment 320 of the circulating raceway 30 located on both sides of the longitudinal section at the center of the caster wheel 100 and the line connecting the center of the roller 20 is γ, where γ satisfies: 60°≤γ≤120°.

[0044] Reference Figure 6 The angle between the lines connecting the highest points of the two first raceway sections 310 and the center of the roller 20 is γ. When γ < 60°, the distance between the two first raceway sections 310 is small, which reduces the support of the balls 40 within the first raceway section 310 to the roller 20, causing the roller 20 to wobble easily. When γ > 120°, the distance between the two first raceway sections 310 is large, which also reduces the support of the balls 40 within the first raceway section 310 to the roller 20, causing the roller 20 to wobble easily. Therefore, by controlling the angle between the lines connecting the highest points of the two first raceway sections 310 and the center of the roller 20 between 60° and 120°, the balls 40 within the first raceway section 310 can effectively support the roller 20 and prevent the roller 20 from wobble.

[0045] According to some embodiments of the present invention, such as Figure 5 and Figure 9 As shown, the included angle between the two ends of the first raceway section 310 is φ, where φ satisfies: 120°≤φ≤180°. When φ<120°, the length of the first raceway section 310 is relatively short, which reduces the support of the balls 40 within the first raceway section 310 for the roller 20, causing the roller 20 to wobble easily. Therefore, by controlling the included angle between the two ends of the first raceway section 310 between 120° and 180°, the length of the first raceway section 310 can be effectively controlled, preventing the roller 20 from wobble while reducing the weight and cost of the caster wheel 100.

[0046] According to some embodiments of the present invention, the included angle between the plane containing the first raceway section 310 and the plane containing the second raceway section 320 is µ, wherein µ satisfies: 90°≤µ≤120°. That is, the included angle between the plane containing the first raceway section 310 and the plane containing the second raceway section 320 can be a right angle (e.g., ...). Figure 6 (as shown); or, the angle between the plane containing the first raceway segment 310 and the plane containing the second raceway segment 320 can also be an obtuse angle (not shown in the figure). This setting allows the ball 40 to circulate more smoothly within the circulating raceway 30.

[0047] According to some embodiments of the present invention, with reference to Figure 2 and Figure 3The length of the circulating raceway 30 is greater than the sum of the diameters of all the balls 40, which prevents the balls 40 from squeezing against each other and causing the caster wheel 100 to jam when they circulate in the section of the circulating raceway 30. At the same time, by controlling the difference between the length of the circulating raceway 30 and the sum of the diameters of all the balls 40 within a reasonable range, the balls 40 in the circulating raceway 30 are prevented from becoming stationary or jammed, allowing the balls 40 to circulate more smoothly in the section of the circulating raceway 30.

[0048] And / or, refer to Figure 5 The maximum distance between two adjacent balls 40 in the first raceway section 310 is greater than the maximum distance between two adjacent balls 40 in the second raceway section 320. Since the balls 40 in the first raceway section 310 are in contact with the roller 20, the roller 20 can roll with the balls 40 in this raceway section. Setting a larger maximum distance between two adjacent balls 40 in the first raceway section 310 can prevent adjacent balls 40 from squeezing together, further reducing wear on the balls 40. The balls 40 in the second raceway section 320 are separated from the roller 20. The balls 40 in this raceway section roll within the second raceway section 320 through the force between two balls 40. Setting a smaller maximum distance between two adjacent balls 40 in the second raceway section 320 can ensure that all balls 40 in the second raceway section 320 can roll smoothly when the roller 20 is moving.

[0049] According to some specific embodiments of the present invention, both the first raceway section 310 and the second raceway section 320 are formed in the housing 10. The side of the first raceway section 310 facing the roller 20 is open, and the second raceway section 320 is isolated from the outer surface of the roller 20. For example, in Figures 2-4 and Figures 7-9 In the example, the housing 10 may include a first sub-housing 110, a second sub-housing 120, and a support 130. The first sub-housing 110, the second sub-housing 120, and the support 130 are arranged vertically, with the support 130 positioned between the first sub-housing 110 and the second sub-housing 120. The surface of the first sub-housing 110 facing the roller 20 is recessed in a direction away from the ball 40 to form a first groove 111 and a second groove 112 that connect end to end. The surface of the support 130 facing the first sub-housing 110 is recessed in a direction towards the second sub-housing 120 to form a third groove 131. The first groove 111 is open on the side facing the roller 20. The first groove 111 and the roller 20 together define a first raceway section 310, and the second groove 112 and the third groove 131 together define a second raceway section 320. Therefore, the circulating raceway 30 has a simple structure and is easy to manufacture.

[0050] Optionally, the second sub-shell 120 and / or the bracket 130 may be provided with a plurality of support balls on the side facing the roller 20. The plurality of support balls are spaced apart along the circumference of the roller 20 and the support balls are in rolling contact with the roller 20. Through the clamping force between the support balls, the roller 20 is fitted into the receiving cavity of the shell 10 to prevent the roller 20 from falling off the shell 10.

[0051] Optionally, a brush may be provided on the side of the second sub-shell 120 and / or the bracket 130 facing the roller 20. The brush extends obliquely toward the side where the roller 20 is located, so that the brush contacts the surface of the roller 20. The brush removes dirt from the surface of the roller 20, preventing dirt from rolling between the roller 20 and the ball 40 and damaging the ball 40 or the roller 20.

[0052] Optionally, the ball bearing 40 can be a self-lubricating ball bearing, which can reduce the use of lubricating oil and prevent lubricating oil from adhering to the roller 20 and contaminating the ground.

[0053] A cleaning device (not shown) according to a second aspect embodiment of the present invention includes a caster wheel 100 according to the first aspect embodiment of the present invention described above. The cleaning device may be a sweeper, etc.

[0054] According to the embodiments of the present invention, by employing the aforementioned caster wheel 100, the maintenance cost of the cleaning equipment can be reduced and the service life of the cleaning equipment can be extended.

[0055] According to some embodiments of the present invention, the first raceway section 310 of the caster wheel 100 extends in the same direction as the travel direction of the cleaning device. Thus, when the cleaning device is traveling, the balls 40 within the first raceway section 310 roll and contact the roller 20, ensuring that the wear of the balls 40 is uniform.

[0056] According to some embodiments of the present invention, when the cleaning equipment moves in the direction of travel, the plurality of balls 40 of the caster wheel 100 circulate within the circulation track 30. When the cleaning equipment rotates in place, the balls 40 of the caster wheel 100 only rotate in place. This arrangement ensures that when the cleaning equipment is moving, the plurality of balls 40 circulate within the circulation track 30, allowing them to alternately contact the roller 20, thus guaranteeing uniform wear on the balls 40. When the cleaning equipment rotates in place, the travel of the caster wheel 100 is shorter, allowing the balls 40 to rotate in place, which reduces wear on the balls 40.

[0057] Other configurations and operations of the cleaning equipment according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0058] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, 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 invention.

[0059] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0060] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0061] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A universal wheel, characterized in that, include: case; A roller is rotatably disposed on the housing, and a circulating raceway is defined between the roller and the housing. The circulating raceway includes a first raceway section and a second raceway section that are connected end to end. Multiple balls are rotatably disposed within the circulating raceway. During the cyclic movement of the multiple balls within the circulating raceway, the balls can switch between a contact state and a non-contact state. When a ball is in the contact state, it is located within the first raceway section and in contact with the roller. When a ball is in the non-contact state, it is located within the second raceway section and is no longer in contact with the roller.

2. The universal wheel according to claim 1, characterized in that, One of the first raceway section and the second raceway section is located above the roller, and the other of the first raceway section and the second raceway section is located on the outer periphery of the roller.

3. The universal wheel according to claim 2, characterized in that, The plane containing one of the first and second raceway sections is parallel to a longitudinal section passing through the center of the caster wheel; and / or The first raceway segment and the second raceway segment are located on concentric circles centered on the center of the roller and are arranged horizontally.

4. The universal wheel according to claim 2, characterized in that, The other of the first raceway segment and the second raceway segment includes a first sub-raceway segment, a second sub-raceway segment, and a third sub-raceway segment connected in sequence. The first sub-raceway segment and the third sub-raceway segment are respectively connected to both ends of one of the first raceway segment and the second raceway segment. The movement direction of the balls in the first sub-raceway segment and the third sub-raceway segment is opposite to the movement direction of the balls in the second sub-raceway segment.

5. The universal wheel according to claim 4, characterized in that, Along the direction toward the second sub-raceway segment, the width of the first sub-raceway segment gradually increases; and / or The width of the third sub-roller segment gradually decreases in the direction away from the second sub-roller segment.

6. The universal wheel according to claim 4, characterized in that, The width of the second sub-raceway segment is greater than the width of either the first raceway segment or the second raceway segment.

7. The universal wheel according to claim 2, characterized in that, There are multiple circulating raceways, and the multiple circulating raceways are symmetrically distributed about the longitudinal cross section passing through the center of the omnidirectional wheel.

8. The universal wheel according to claim 7, characterized in that, The angle between the highest point of one of the first and second raceway segments of the circulating raceway located on both sides of the longitudinal section at the center of the omnidirectional wheel and the line connecting the center of the roller is γ, wherein γ satisfies: 60°≤γ≤120°.

9. The universal wheel according to claim 1, characterized in that, The included angle between the two ends of the first raceway section is φ, wherein φ satisfies: 120°≤φ≤180°.

10. The universal wheel according to claim 1, characterized in that, The angle between the plane containing the first raceway segment and the plane containing the second raceway segment is µ, wherein µ satisfies: 90°≤µ≤120°.

11. The universal wheel according to claim 1, characterized in that, The length of the circulating raceway is greater than the sum of the diameters of all the balls; and / or The maximum distance between two adjacent balls located in the first raceway section is greater than the maximum distance between two adjacent balls located in the second raceway section.

12. The caster wheel according to any one of claims 1-11, characterized in that, Both the first raceway section and the second raceway section are formed in the housing. The side of the first raceway section facing the roller is open, and the second raceway section is isolated from the outer surface of the roller.

13. A cleaning device, characterized in that, Including the caster wheels according to any one of claims 1-12.

14. The cleaning equipment according to claim 13, characterized in that, The first track section of the omnidirectional wheel extends in the same direction as the direction of travel of the cleaning equipment.

15. The cleaning equipment according to claim 13 or 14, characterized in that, As the cleaning equipment moves in the direction of travel, the multiple balls of the caster wheel circulate within the circulation track. When the cleaning device rotates in place, the balls of the caster wheel only roll in place.

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