Omnidirectional wheel and mobile equipment

Abstract

The utility model relates to the technical field of omni-directional wheels, in particular to an omni-directional wheel and a mobile device, the omni-directional wheel comprises a hub, a plurality of supports, a large roller and a small roller, the two opposite sides of each support are respectively provided with a large wheel supporting position and a small wheel supporting position, and the supports are alternately arranged around the circumference of the hub in a positive and negative mode. The large wheel supporting position of any support is coaxially opposite to the large wheel supporting position of the adjacent support on one side, and the small wheel supporting position of any support is coaxially opposite to the small wheel supporting position of the adjacent support on the other side, so that large wheel mounting positions and small wheel mounting positions which are alternately arranged are formed among the supports; the large rollers and the small rollers are installed on the large wheel installation positions and the small wheel installation positions in a one-to-one correspondence mode and supported through the supports on the two sides of the large rollers and the small rollers. The omni-directional wheel is convenient to assemble, good in part interchangeability, low in manufacturing and mounting cost, good in tire tread coherence, not prone to generating noise and vibration in use, good in structural strength, operation stability and bearing capacity and long in service life.

Description

Technical Field

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

[0002] An omnidirectional wheel is a wheel that can roll in two directions. Its common structure is that it is formed by multiple rollers. The omnidirectional wheel as a whole can rotate around its central axis, and each roller can also rotate around its own central axis, so that a mobile device equipped with multiple sets of such omnidirectional wheels can achieve 360-degree omnidirectional movement and reduce the turning radius of the mobile device.

[0003] Existing omnidirectional wheels are mainly divided into single-row omnidirectional wheels and multi-row omnidirectional wheels. Multi-row omnidirectional wheels have a tire surface that is projected and connected by multiple rows of rollers arranged in an interlaced manner. The tire surface is large in size and has high requirements for the flatness of the road surface. However, due to the misalignment of the tread, it causes severe bumps during high-speed operation. In addition, the structure is complex, the cost is high, and the installation is difficult. Single-row omnidirectional wheels have a tire surface composed of alternating rows of large and small rollers, which to some extent solves the defects of multi-row omnidirectional wheels. However, the traditional single-row omnidirectional wheels have large gaps between the rollers, resulting in poor continuity of the omnidirectional wheels, which will generate relatively large noise and vibration.

[0004] In order to solve the problem of poor continuity of single-row omni-directional wheels, two small roller brackets are usually used to fix the large roller. However, in actual production and application, there are problems such as difficulty in assembly, noise and vibration during use, and poor operating stability. In order to solve the problem of difficult assembly, some single-row omni-directional wheels currently set each roller as a two-section or multi-section split structure and suspend it from both sides of the corresponding bracket. However, this split roller will cause poor continuity of the tire surface and easily generate noise and vibration during use. In addition, due to the single-sided suspension installation, the connection end between the roller shaft and the bracket needs to withstand a large bending moment, which will affect the structural strength, operating stability, load-bearing capacity and service life of the omni-directional wheel. Utility Model Content

[0005] In order to overcome the defects existing in the prior art, one of the tasks of the utility model is to provide an omnidirectional wheel which is easy to assemble, has good parts interchangeability, low manufacturing and installation costs, good tire surface continuity, is not prone to noise and vibration during use, and has good structural strength, operating stability, load-bearing capacity and service life; the second task is to provide a mobile device using the omnidirectional wheel.

[0006] One of the tasks of the utility model is achieved through the following technical solutions:

[0007] An omnidirectional wheel comprises a wheel hub, and a plurality of brackets, a large roller and a small roller. The outer diameter of the large roller is larger than the outer diameter of the small roller. A large wheel support position and a small wheel support position are respectively arranged on opposite sides of the bracket. The positions of the large wheel support position and the small wheel support position are staggered and their axes are not parallel. The brackets are alternately arranged in positive and negative directions around the circumference of the wheel hub and are directly or indirectly fixedly connected thereto. The large wheel support position of any bracket is coaxially opposite to the large wheel support position of an adjacent bracket on one side, and the small wheel support position is coaxially opposite to the small wheel support position of an adjacent bracket on the other side, thereby forming alternating large wheel mounting positions and small wheel mounting positions between the brackets. The large rollers and small rollers are respectively mounted on the large wheel mounting position and the small wheel mounting position in a one-to-one correspondence and supported by the brackets on both sides thereof.

[0008] As a preferred technical solution, the bracket is an integrated Z-shaped bending structure, wherein the inner end of the bracket faces the axis of the wheel hub, the small wheel support position is provided at the outer end of the bracket, the large wheel support position is provided at the first corner near the outer end of the bracket, and the axial ends of the large roller are provided with concave spaces that can accommodate the outer end of the bracket and the first corner, so that the small roller can partially extend into the concave space.

[0009] As a preferred technical solution, the inner end of the bracket is provided with an arc surface, and the arc surface is fitted with the outer circumference of the hub.

[0010] As a preferred technical solution, two connecting plates are positioned and installed at both ends of the wheel hub through a stop structure, and the part of the bracket close to the inner end is the connecting part. The connecting part of each bracket is located between the two connecting plates and is provided with at least one first mounting hole for the rivet to pass through, and a corresponding second mounting hole is provided on the connecting plate. Each bracket is fixedly connected to the connecting plates on both sides by at least one rivet.

[0011] As an optimal technical solution, the large roller includes a large tire tread, a large wheel core, a large wheel axle and a first bearing, the large tire tread is fixedly connected to the large wheel core, and the large wheel axle is rotatably connected to the large wheel core through the first bearing, and the large wheel core is rotatably connected to the large wheel core through the first bearing, and the large wheel core is provided with a first axial hole for matching the large wheel axle at the large wheel support position, and the two ends of the large wheel axle respectively pass through the first axial holes on the two adjacent brackets and are fixedly connected to the two brackets through the first screw, and the two ends of the large wheel axle are also provided with a step structure for axially limiting the bracket; the small roller includes a small tire tread, a small wheel core, a small wheel axle and a second bearing, the small tire tread is fixedly connected to the small wheel core, and the small wheel axle is rotatably connected to the small wheel core through the second bearing, and the two ends of the small wheel axle are respectively provided with a notch structure, and the small wheel support position is provided with a second axial hole matching the small wheel axle, and the two ends of the small wheel axle respectively pass through the second axial holes on the two adjacent brackets, and the small wheel axle is circumferentially and axially positioned through the notch structure.

[0012] As a preferred technical solution, one of the small rollers is a compressible small roller, and the small wheel shaft of the compressible small roller is a split design, including a left small wheel shaft, a right small wheel shaft and a compression spring. One end of the left small wheel shaft and / or the right small wheel shaft is provided with an axis hole and is sleeved, the compression spring is placed in the axis hole and the two ends elastically press against the left small wheel shaft and the right small wheel shaft respectively.

[0013] As a preferred technical solution, the omnidirectional wheel also includes a main shaft, the wheel hub is rotatably connected to one end of the main shaft through two third bearings, a spacer sleeve is installed between the two third bearings for axial positioning, and a washer and a second screw are installed at the end of the main shaft to axially fix the wheel hub and the main shaft.

[0014] The second task of the utility model is achieved through the following technical solutions:

[0015] A mobile device comprises a mobile device body and the above-mentioned omnidirectional wheel installed on the mobile device body.

[0016] Compared with the prior art, the omnidirectional wheel provided by the utility model mainly has the following innovative features: ① A plurality of brackets with completely identical structures are arranged alternately in forward and reverse directions around the circumference of the wheel hub, thereby forming alternating large wheel mounting positions and small wheel mounting positions around the circumference of the wheel hub, and each large roller and small roller can be supported by the brackets on both sides. The structural design makes the assembly extremely flexible and convenient, and each roller can be a pre-assembled modular structure. During assembly, each roller and bracket can be assembled one by one in sequence, with low assembly difficulty and high efficiency; moreover, the parts have good interchangeability and low manufacturing and installation costs; in addition, compared with the single-sided suspension installation, it has better structural strength, operating stability, load-bearing capacity and service life; further, each roller does not need to adopt a split structure, the tire surface has good continuity, and it is not easy to generate noise and vibration during use. ②The bracket is an integrated Z-shaped bending structure, and the small wheel support position and the large wheel support position are respectively set at the outer end and the first corner of the bracket, so that the outer end of the bracket, the first corner and part of the small roller can extend into the concave space at both ends of the large roller, so that the gap between the large roller and the small roller is smaller, the structure of the omnidirectional wheel is more compact, and the continuity of the tire surface is better. ③By setting an arc surface at the inner end of the bracket to fit the outer circumference of the hub, and using the circumference of the hub to radially position each bracket, each bracket can be kept concentric with the hub, ensuring the assembly roundness of the outer circle walking surface of the omnidirectional wheel, and reducing the difficulty of assembly, improving the efficiency and quality of assembly. ④By setting two connecting plates to fix the bracket and the hub, and using rivets to fix all the brackets and the connecting plates on both sides together, the installation gap of each roller can be eliminated, the roller loosening phenomenon can be avoided, and the difficulty of assembly can be reduced, and the efficiency and quality of assembly can be improved. ⑤ By designing one of the small rollers as a compressible small roller, the small wheel shaft of the compressible small roller is designed to be split and installed in two sections. The small roller is used as the last roller to be installed. After alignment, the compressible small roller is pressed down along the guide inclined groove of the bracket. The length of the small wheel shaft shrinks. After being pressed to the position of the second shaft hole, the two ends of the small wheel shaft are stretched by the force of the compression spring and inserted into the second shaft hole of the bracket. The small wheel shaft and the bracket are assembled, thereby effectively solving the problem of the difficulty in installing the last small roller.

[0017] The concept, specific structure and effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, features and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the three-dimensional structure of the omnidirectional wheel in Example 1;

[0019] Figure 2 is a cross-sectional view of the omnidirectional wheel in Embodiment 1 along the vertical hub axis;

[0020] Figure 3 is a cross-sectional view of the omnidirectional wheel rim passing through the hub axis in Embodiment 1;

[0021] Figure 4 It is a schematic diagram of the assembly of the small roller and the large rollers on both sides;

[0022] Figure 5 It is a schematic diagram of the assembly of the compressible small roller and the large rollers on both sides thereof;

[0023] Figure 6 It is a schematic diagram of the structure of the bracket.

[0024] Among them, the main shaft 1, the third bearing 101, the spacer 102, the washer 103, the second screw 104, the small roller 2, the small tire tread 201, the small wheel core 202, the small wheel axle 203, the second bearing 204, the left small wheel axle 205, the right small wheel axle 206, the compression spring 207, the large roller 3, the large tire tread 301, the large wheel core 302, the first bearing 303, the large wheel axle 304, the connecting plate 4, the rivet 5, the bracket 6, the first shaft hole 601, the second shaft hole 602, the first mounting hole 603, and the wheel hub 7. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model is further described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model. In addition, it should be understood that the "first", "second" and similar words used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components; "one" or "one" and other similar words do not indicate quantity restrictions, but indicate that there is at least one; "several", "multiple" and other similar words indicate two or more. Unless otherwise specified, "front", "rear", "bottom", "upper" and other similar words are only for the convenience of explanation and are not limited to one position or one spatial orientation. "Installation", "connection", "pivot" and other similar words should be understood in a broad sense, and can be directly connected or indirectly connected through an intermediate element. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood in specific circumstances.

[0026] Embodiment 1:

[0027] like Figure 1-6As shown, this embodiment provides an omnidirectional wheel, including a wheel hub 7, and a plurality of brackets 6, a large roller 3 and a small roller 2. The outer diameter of the large roller 3 is larger than the outer diameter of the small roller 2. A large wheel support position and a small wheel support position are respectively provided on opposite sides of the bracket 6. The positions of the large wheel support position and the small wheel support position are staggered and their axes are not parallel. Each bracket 6 is alternately arranged in positive and negative directions around the wheel hub 7 and is directly or indirectly fixedly connected thereto. The large wheel support position of any bracket 6 is coaxially opposite to the large wheel support position of the adjacent bracket 6 on one side, and the small wheel support position is coaxially opposite to the small wheel support position of the adjacent bracket 6 on the other side, thereby forming alternating large wheel mounting positions and small wheel mounting positions between each bracket 6, and each large roller 3 and small roller 2 is respectively installed in the large wheel mounting position and the small wheel mounting position in a one-to-one correspondence and supported by the brackets 6 on both sides thereof.

[0028] The omnidirectional wheel provided in the present embodiment utilizes a plurality of brackets 6 with completely identical structures to be alternately arranged in forward and reverse directions around the wheel hub 7, thereby forming alternating large wheel mounting positions and small wheel mounting positions around the wheel hub 7, and each large roller 3 and small roller 2 can be supported by the brackets 6 on both sides. This structural design makes assembly extremely flexible and convenient, and each roller can be a pre-assembled modular structure. During assembly, each roller and the bracket 6 can be assembled one by one in sequence, with low assembly difficulty and high efficiency; moreover, the parts have good interchangeability and low manufacturing and installation costs; in addition, compared with the single-sided suspension installation, it has better structural strength, operating stability, load-bearing capacity and service life; further, each roller does not need to adopt a split structure, the tire surface has good continuity, and it is not easy to generate noise and vibration during use.

[0029] As a preferred solution of this embodiment, Figure 6 As shown, the bracket 6 is an integrated Z-shaped bending structure, wherein the inner end of the bracket 6 faces the axis of the wheel hub 7, the small wheel support position is provided at the outer end of the bracket 6, the large wheel support position is provided at the first corner near the outer end of the bracket 6, and the axial ends of the large roller 3 are provided with a concave space capable of accommodating the outer end of the bracket 6 and the first corner, so that the small roller 2 can partially extend into the concave space. In this solution, by designing the bracket 6 as an integrated Z-shaped bending structure, the small wheel support position and the large wheel support position are respectively provided at the outer end and the first corner, so that the outer end of the bracket 6, the first corner and part of the small roller 2 can extend into the concave space at both ends of the large roller 3, so that the gap between the large roller 3 and the small roller 2 is smaller, the structure of the omnidirectional wheel is more compact, and the continuity of the tire surface is better.

[0030] As a preferred solution of this embodiment, the inner end of the bracket 6 is provided with an arc surface, and the arc surface is fitted with the outer circumference of the hub 7. In this solution, the circumference of the hub 7 can be used to radially position each bracket 6, so that each bracket 6 can be kept concentric with the hub 7, ensuring the assembly roundness of the outer circular walking surface of the omnidirectional wheel, reducing the difficulty of assembly, and improving assembly efficiency and quality.

[0031] As a preferred solution of this embodiment, two connecting plates 4 are positioned and installed at both ends of the wheel hub 7 through a stop structure (not shown in the drawings), and the part of the bracket 6 close to the inner end is a connecting portion. The connecting portion of each bracket 6 is located between the two connecting plates 4, and is provided with two first mounting holes 603 for rivets 5 to pass through, and the connecting plate 4 is provided with corresponding second mounting holes, and each bracket 6 is fixedly connected to the connecting plates 4 on both sides through two rivets 5. In this solution, by providing two connecting plates 4 to fix the bracket 6 and the wheel hub 7, and by using rivets 5 to fix all the brackets 6 and the connecting plates 4 on both sides together, the installation gap of each roller can be eliminated, the roller loosening phenomenon can be avoided, and the assembly difficulty can also be reduced, and the assembly efficiency and quality can be improved.

[0032] As a preferred solution of this embodiment, Figure 4As shown, the large roller 3 includes a large tire tread 301, a large wheel core 302, a large wheel axle 304 and two first bearings 303. The large tire tread 301 is fixedly connected to the large wheel core 302. Two bearing holes are designed in the middle of the large wheel core 302 to install the first bearings 303. The large wheel axle 304 is rotatably connected to the large wheel core 302 through the first bearings 303. The large wheel support position is provided with a first axial hole 601 for matching the large wheel axle 304. The two ends of the large wheel axle 304 respectively pass through the first axial holes 601 on the two adjacent brackets 6 and are fixedly connected to the two brackets 6 through the first screws 305. The two ends of the large wheel axle 304 are also provided with a axial hole 601 for the bracket 6. The small roller 2 comprises a small wheel tread 201, a small wheel core 202, a small wheel shaft 203 and a second bearing 204. The small wheel tread 201 is fixedly connected to the small wheel core 202. Two bearing holes are designed at both ends of the small wheel core 202 to install the second bearing 204. The small wheel shaft 203 is rotatably connected to the small wheel core 202 through the second bearing 204. Notch structures are respectively provided at both ends of the small wheel shaft 203. A second axial hole 602 matching the small wheel shaft 203 is provided at the small wheel support position. The two ends of the small wheel shaft 203 respectively pass through the second axial holes 602 on the two adjacent brackets 6, and the small wheel shaft 203 is circumferentially positioned and axially positioned through the notch structure. In the present solution, the wheel axles, wheel cores and tire treads of the large roller 3 and the small roller 2 are all pre-assembled modular structures and do not need to be assembled when assembling the omni-directional wheel. This can reduce the number of parts when assembling the omni-directional wheel, simplify the assembly process, and make the assembly faster. By providing a stepped structure on the large wheel axle 304, it can prevent the bracket 6 from squeezing the first bearing 303 and causing it to rotate poorly when the first screw is over-tightened, thereby ensuring that the large roller 3 can rotate smoothly. By providing a notch structure to perform circumferential and axial positioning of the small wheel axle 203, the stability of the assembly of the small roller 2 can be enhanced, and the structure is simple and easy to assemble.

[0033] As a preferred solution of this embodiment, Figure 5As shown, one of the small rollers 2 is a compressible small roller, and the small wheel shaft 203 of the compressible small roller is a split design, including a left small wheel shaft 205, a right small wheel shaft 206 and a compression spring 207. One end of the left small wheel shaft 205 and the right small wheel shaft 206 is provided with an axis hole and is sleeved, and the compression spring 207 is placed in the axis hole and the two ends elastically press against the left small wheel shaft 205 and the right small wheel shaft 206 respectively. In the present solution, one of the small rollers 2 is designed to be a compressible small roller, and the small wheel shaft 203 of the compressible small roller is designed to be split and installed in two sections. The small roller is used as the last roller to be installed. After alignment, the compressible small roller is pressed down along the guide inclined groove of the bracket 6. The length of the small wheel shaft 203 is contracted. After being pressed to the position of the second axial hole 602, the two ends of the small wheel shaft 203 are extended by the force of the compression spring 207 and inserted into the second axial hole 602 of the bracket 6. The small wheel shaft 203 and the bracket 6 are assembled, thereby effectively solving the problem of the difficulty in installing the last small roller 2.

[0034] As a preferred solution of this embodiment, the large tire tread 301 and the small tire tread 201 are both made of rubber with good vibration reduction performance, which can effectively reduce the vibration of the omni-directional wheel when it is walking; the outer diameters of the large roller 3 and the small roller 2 are gradually reduced from the middle to the two ends so that the tire tread of the omni-directional wheel is a continuous circle.

[0035] As a preferred solution of this embodiment, the omnidirectional wheel also includes a main shaft 1, and the hub 7 is rotatably connected to one end of the main shaft 1 through two third bearings 101, a spacer sleeve 102 is installed between the two third bearings 101 for axial positioning, and a washer 103 and a second screw 104 are installed at the end of the main shaft 1 to axially fix the hub 7 and the main shaft 1.

[0036] As a preferred solution of this embodiment, in order to reduce the vibration of the omnidirectional wheel when walking, the tread of the large roller 3 and the small roller 2 is made of rubber with good vibration reduction performance.

[0037] Embodiment 2:

[0038] A mobile device includes a mobile device body and an omnidirectional wheel installed on the mobile device body. The omnidirectional wheel adopts the omnidirectional wheel in Example 1, so it has the aforementioned beneficial effects, which will not be repeated here, and the drawings of Example 2 are omitted.

[0039] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the utility model involved in the present application is not limited to the implementation method formed by a specific combination of the above technical features, but should also cover other implementation methods formed by any combination of the above technical features or their equivalent features without departing from the concept of the utility model. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. An omnidirectional wheel, characterized in that: It includes a wheel hub, and several brackets, large rollers and small rollers. The outer diameter of the large roller is larger than the outer diameter of the small roller. A large wheel support position and a small wheel support position are respectively provided on opposite sides of the bracket. The positions of the large wheel support position and the small wheel support position are staggered and their axes are not parallel. Each bracket is alternately arranged in positive and negative directions around the circumference of the wheel hub and is directly or indirectly fixedly connected thereto. The large wheel support position of any bracket is coaxially opposite to the large wheel support position of the adjacent bracket on one side, and the small wheel support position is coaxially opposite to the small wheel support position of the adjacent bracket on the other side, thereby forming alternating large wheel mounting positions and small wheel mounting positions between each bracket, and each large roller and small roller is respectively installed in the large wheel mounting position and the small wheel mounting position in a one-to-one manner and supported by the brackets on both sides thereof.

2. The omnidirectional wheel according to claim 1, characterized in that: The bracket is an integrated Z-shaped bending structure, wherein the inner end of the bracket faces the axis of the wheel hub, the small wheel support position is provided at the outer end of the bracket, the large wheel support position is provided at the first corner near the outer end of the bracket, and the axial ends of the large roller are provided with concave spaces that can accommodate the outer end of the bracket and the first corner, so that the small roller can partially extend into the concave space.

3. The omnidirectional wheel according to claim 1, characterized in that: The inner end of each bracket is provided with an arc surface, and the arc surface is fitted with the outer circumference of the hub.

4. The omnidirectional wheel according to claim 1, characterized in that: Two connecting plates are positioned and installed at both ends of the wheel hub through a stop structure. The part of the bracket close to the inner end is the connecting part. The connecting part of each bracket is located between the two connecting plates and is provided with at least one first mounting hole for the rivet to pass through. The connecting plate is provided with a corresponding second mounting hole. Each bracket is fixedly connected to the connecting plates on both sides by at least one rivet.

5. The omnidirectional wheel according to claim 1, characterized in that: The large roller comprises a large tire tread, a large wheel core, a large wheel axle and a first bearing, the large tire tread is fixedly connected to the large wheel core, and the large wheel axle is rotatably connected to the large wheel core through the first bearing, and the large wheel core is rotatably connected to the large wheel core through the first bearing, and the large wheel support position is provided with a first axial hole for matching the large wheel axle, and the two ends of the large wheel axle respectively pass through the first axial holes on the two adjacent brackets and are fixedly connected to the two brackets through the first screw, and the two ends of the large wheel axle are also provided with a step structure for axially limiting the bracket; the small roller comprises a small tire tread, a small wheel core, a small wheel axle and a second bearing, the small tire tread is fixedly connected to the small wheel core, and the small wheel axle is rotatably connected to the small wheel core through the second bearing, and the two ends of the small wheel axle are respectively provided with a notch structure, and the small wheel support position is provided with a second axial hole matching the small wheel axle, and the two ends of the small wheel axle respectively pass through the second axial holes on the two adjacent brackets, and the small wheel axle is circumferentially and axially positioned through the notch structure.

6. The omnidirectional wheel according to claim 1, characterized in that: One of the small rollers is a compressible small roller, and the small wheel shaft of the compressible small roller is a split design, including a left small wheel shaft, a right small wheel shaft and a compression spring. One end of the left small wheel shaft and / or the right small wheel shaft is provided with an axis hole and is sleeved, the compression spring is placed in the axis hole and the two ends elastically press against the left small wheel shaft and the right small wheel shaft respectively.

7. The omnidirectional wheel according to claim 1, characterized in that: The omnidirectional wheel also includes a main shaft, the wheel hub is rotatably connected to one end of the main shaft through two third bearings, a spacer is installed between the two third bearings for axial positioning, and a washer and a second screw are installed at the end of the main shaft to axially fix the wheel hub and the main shaft.

8. A mobile device, characterized in that: The device comprises a mobile device body and an omnidirectional wheel as claimed in any one of claims 1 to 7 mounted on the mobile device body.

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