Integrated hub omnidirectional wheel

Abstract

The utility model discloses an all-directional wheel with an integrated hub, and belongs to the field of all-directional wheels. The integrated hub omnidirectional wheel comprises a rolling body assembly and a hub assembly, the rolling body assembly is circumferentially distributed and installed on the periphery of the hub assembly, the hub assembly comprises a first hub disc body and a second hub disc body, the first hub disc body is provided with a first connecting disc and an integrated shaft sleeve integrally arranged on the first connecting disc, and the second hub disc body is provided with a second connecting disc. One side of the bearing support of each rolling body assembly is fixedly installed on the side, close to the integrated shaft sleeve, of the first connecting disc through a hub fastener, the second hub disc body is provided with a second connecting disc, and the second connecting disc is fixedly connected with the other side of the bearing support of each rolling body assembly through a hub fastener. And the middle part of the second connecting disc is sleeved and fixed with the free end of the integrated shaft sleeve. The hub assembly is formed by combining the first hub disc body and the second hub disc body, and the first hub disc body is provided with the integrated shaft sleeve fixedly connected with the second hub disc body in a sleeved mode.

Description

Technical Field

[0001] The utility model relates to an omnidirectional wheel, more specifically, to an integrated hub omnidirectional wheel. Background Art

[0002] An omnidirectional wheel is a wheel that can move in different directions. It can roll axially like a normal wheel, or move laterally using the rolling elements on the wheel, achieving two degrees of freedom of movement: axial rotation and lateral movement. It has the advantages of flexible movement and small turning radius. It is widely used in walking robots, carts, electric wheelchairs, etc. to achieve small radius turning.

[0003] Common omnidirectional wheels include Mecanum wheels, double-row omnidirectional wheels and single-row omnidirectional wheels. Mecanum wheels are composed of small wheels at a certain angle to form a large wheel. The main disadvantage is that the small wheels (rolling bodies) are arranged at an inclined interval, which makes it easy to vibrate during axial rotation. Double-row omnidirectional wheels are two rows of staggered rollers (rolling bodies) arranged on the wheel hub. The outer circle of the two rows of rollers is also a polygonal structure, which also causes bumps when moving. In addition, the structure is relatively complex, the thickness is relatively thick, and it occupies a large space. Single-row omnidirectional wheels use small wheels (rolling bodies) on the outer periphery of the wheel hub to envelop a complete circle. The structure is relatively compact, the vibration of axial rotation movement is small, and the lateral movement is more flexible. It has been widely used, especially in electric wheelchairs and other occasions with high requirements for comfort and steering flexibility.

[0004] Chinese patent number is ZL202321296511.3, the authorization announcement date is November 21, 2023, and the name of the invention is: an omnidirectional wheel that is easy to assemble with a hub and a mobile tool with the omnidirectional wheel. The application case involves an omnidirectional wheel, which includes a hub assembly and a plurality of rolling element assemblies that are circumferentially distributed and installed on the periphery of the hub assembly. The rolling element assembly includes rolling elements and a bearing bracket. The hub assembly includes a hub mounting sleeve and flange plates arranged at both ends of the hub mounting sleeve. One end or both ends of the hub mounting sleeve and the flange plate at the corresponding end are positioned and matched by axial hole sleeves, and the outer periphery of the flange plate is connected to the bearing bracket of the corresponding rolling element assembly by fasteners. It uses the flange plate to realize the assembly of each rolling element assembly, and uses the hub mounting sleeve to axially position and support the flange plate, so that the hub mounting sleeve, the flange plates at both ends and each group of rolling element assemblies can be assembled together simply and quickly. However, the structure of the flange plate is relatively thin, and it is easy to deform to a certain extent when the load-bearing capacity of the omni-directional wheel is large, which easily causes contact friction between adjacent rolling elements, thereby affecting the normal rolling of the omni-directional wheel.

[0005] In order to overcome the above problems, it is necessary to improve the hub support structure of the above omnidirectional wheel to improve the stability and reliability of the omnidirectional wheel. Summary of the invention

[0006] 1. Technical problems to be solved by the utility model

[0007] The purpose of the utility model is to overcome the above-mentioned shortcomings of the hub structure of the existing omnidirectional wheel, and to provide an integrated hub omnidirectional wheel. By adopting the technical solution of the utility model, the hub assembly is composed of a first hub disc body and a second hub disc body, the first hub disc body has an integrated shaft sleeve which is sleeved and fixed with the second hub disc body, and the disc body structure is connected with the bearing bracket of each rolling element assembly, which is not only simple and convenient to assemble, but also has a higher strength of the hub structure and is not easy to deform, and can ensure the normal and smooth rolling of the omnidirectional wheel under a larger load-bearing capacity, thereby improving the stability and reliability of the omnidirectional wheel.

[0008] 2. Technical solution

[0009] In order to achieve the above-mentioned purpose, the technical solution provided by the utility model is:

[0010] The utility model provides an integrated hub omnidirectional wheel, comprising

[0011] A rolling element assembly, the rolling element assembly comprising a rolling element and a bearing bracket, the rolling element being rotatably mounted on the bearing bracket; and

[0012] The wheel hub assembly, wherein the rolling element assemblies are circumferentially distributed and installed on the outer circumference of the wheel hub assembly, the bearing brackets of each rolling element assembly are installed on the wheel hub assembly, and the rolling elements of adjacent rolling element assemblies are connected end to end;

[0013] The hub assembly includes a first hub disc body and a second hub disc body, the first hub disc body having a first connecting disc and an integrated shaft sleeve integrally arranged on the first connecting disc, one side of the bearing bracket of each rolling element assembly is fixedly installed on the side of the first connecting disc close to the integrated shaft sleeve through a hub fastener, the second hub disc body has a second connecting disc, the second connecting disc is fixedly connected to the other side of the bearing bracket of each rolling element assembly through the hub fastener, and the middle part of the second connecting disc is fixedly sleeved with the free end of the integrated shaft sleeve.

[0014] Furthermore, a plurality of limiting ribs are disposed on the outer side of the one-piece sleeve, a plurality of limiting teeth are disposed on the inner side of the second connecting plate, and tooth grooves are formed between adjacent limiting teeth to position and cooperate with the ends of the limiting ribs.

[0015] Furthermore, the free end of the one-piece shaft sleeve is further provided with a sleeve section, and the middle portion of the second connecting plate is provided with a sleeve hole capable of being sleeved and fixed with the sleeve section.

[0016] Furthermore, the sleeve section and the sleeve hole both have a taper, the sleeve hole is sleeved on the sleeve section, and the contact surfaces of the two are subjected to an interference fit through the lateral locking force of the hub fastener.

[0017] Furthermore, the supporting bracket has a connecting part connected to the first hub disc body and the second hub disc body, and positioning grooves are provided on both sides of the connecting part; the inner side of the first connecting disc is circumferentially distributed with first positioning blocks that are embedded and matched with the positioning grooves on one side of the corresponding connecting part, and the inner side of the second connecting disc is circumferentially distributed with second positioning blocks that are embedded and matched with the positioning grooves on the other side of the corresponding connecting part.

[0018] Furthermore, a cantilever shaft is fixedly provided on the bearing bracket, and the rolling body and the cantilever shaft are rotatably matched via a bearing.

[0019] Furthermore, the bearing is a pair of ball bearings, the two ball bearings are respectively arranged at both ends of the cantilever shaft, and the inner rings of the two ball bearings are limited by a spacer sleeve mounted on the cantilever shaft, and the free end of the cantilever shaft is provided with an axial fastener for locking and fixing the ball bearing on the outside.

[0020] Furthermore, the outer diameter of the rolling body gradually increases from one end to the other end along the axial direction, and a plug is installed at the small diameter end of the rolling body.

[0021] Furthermore, a decorative cover is fixedly mounted on the outer side of the first hub body or the second hub body via a cover fastener.

[0022] 3. Beneficial effects

[0023] Compared with the existing known technologies, the technical solution provided by the utility model has the following beneficial effects:

[0024] (1) The utility model discloses an integrated wheel hub omnidirectional wheel, which comprises a rolling element assembly and a wheel hub assembly. The wheel hub assembly is composed of a first wheel hub disc body and a second wheel hub disc body. The first wheel hub disc body has an integrated shaft sleeve which is sleeved and fixed with the second wheel hub disc body. The disc body structure is connected with the bearing bracket of each rolling element assembly. The assembly is simple and convenient, and the wheel hub structure has higher strength and is not easy to deform. The omnidirectional wheel can also ensure normal and smooth rolling under a greater load-bearing capacity, thereby improving the stability and reliability of the omnidirectional wheel.

[0025] (2) The utility model is an integrated hub omnidirectional wheel, wherein the outer side of the integrated shaft sleeve is provided with a plurality of limiting ribs, the inner side of the second connecting disk is provided with a plurality of limiting teeth, and tooth grooves are formed between adjacent limiting teeth to be positioned and matched with the ends of the above-mentioned limiting ribs. The mutual engagement of the limiting ribs and the tooth grooves makes the combination of the first hub disc body and the second hub disc body more firm and reliable; at the same time, the free end of the integrated shaft sleeve is also provided with a sleeve section, and the middle part of the second connecting disk is provided with a sleeve hole that can be sleeved and fixed with the above-mentioned sleeve section. The two hub disc body shaft holes are matched together, and the integrity is stronger and the coaxiality is good, which further improves the stability of the omnidirectional wheel hub structure;

[0026] (3) The utility model is an integrated hub omnidirectional wheel, wherein the bearing bracket has a connecting portion connected to the first hub disc body and the second hub disc body, and positioning grooves are provided on both sides of the connecting portion; the inner side of the first connecting disc is circumferentially distributed with first positioning blocks that are embedded and matched with the positioning grooves on one side of the corresponding connecting portion, and the inner side of the second connecting disc is circumferentially distributed with second positioning blocks that are embedded and matched with the positioning grooves on the other side of the corresponding connecting portion; the positioning blocks are positioned and matched with the positioning grooves of the bearing bracket, so that the corresponding bearing bracket can be conveniently positioned and assembled, and the shear force is borne by the positioning blocks, which can prevent the hub fasteners from being broken by the shear force, thereby improving the connection firmness between the bearing bracket and the hub disc body and ensuring the reliability of the omnidirectional wheel;

[0027] (4) The utility model is an integrated hub omnidirectional wheel, on which a cantilever shaft is fixedly provided on the bearing bracket, and the rolling body and the cantilever shaft are rotatably matched through the bearing, the bearings rotate smoothly, the load-bearing capacity is strong, and the working noise is low; the bearing is a pair of ball bearings, the two ball bearings are respectively arranged at the two ends of the cantilever shaft, and the inner rings of the two ball bearings are limited by a spacer sleeve mounted on the cantilever shaft, and the free end of the cantilever shaft is provided with an axial fastener for locking and fixing the ball bearing on the outside, so that the assembly between the rolling body and the cantilever shaft is more convenient;

[0028] (5) The utility model is an integrated hub omnidirectional wheel, the outer diameter of the rolling body of which gradually increases from one end to the other end along the axial direction, and a plug is installed at the small diameter end of the rolling body. The plug can prevent dust, rainwater and other pollutants from entering the bearing and affecting its rotation performance, thereby increasing the service life of the bearing;

[0029] (6) In the utility model, an integrated hub omnidirectional wheel is provided with a decorative cover fixedly mounted on the outer side of the first hub disc body or the second hub disc body by means of a cover fastener, which can improve the cleanliness of the outer side of the omnidirectional wheel on the one hand, and shield and protect the hub fastener and the shaft hole on the other hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a three-dimensional structural schematic diagram of an integrated hub omnidirectional wheel of the utility model;

[0031] Figure 2 This is a schematic diagram of the axial cross-sectional structure of an integrated hub omnidirectional wheel of the utility model;

[0032] Figure 3 It is a schematic diagram of the disassembled structure of an integrated hub omnidirectional wheel of the utility model;

[0033] Figure 4 It is a schematic diagram of the envelope structure of each group of rolling element assemblies in an integrated hub omnidirectional wheel of the utility model;

[0034] Figure 5 This is a schematic diagram of an angled split structure of a hub assembly in an integrated hub omnidirectional wheel of the utility model;

[0035] Figure 6 It is a schematic diagram of the split structure of the hub assembly in the one-piece hub omnidirectional wheel of the utility model from another angle;

[0036] Figure 7 It is a structural schematic diagram of a first hub disc body in an integrated hub omnidirectional wheel of the utility model;

[0037] Figure 8 It is a structural schematic diagram of a second hub disc body in an integrated hub omnidirectional wheel of the utility model;

[0038] Fig. 9 It is a structural schematic diagram of a rolling element assembly in an integrated hub omnidirectional wheel of the utility model;

[0039] Fig.10 It is a cross-sectional structural schematic diagram of a rolling element assembly in an integrated hub omnidirectional wheel of the utility model;

[0040] Fig.11 The utility model is a schematic diagram of the disassembled structure of a rolling element assembly in an integrated hub omnidirectional wheel.

[0041] Explanation of the symbols in the schematic diagram:

[0042] 10. Rolling element assembly; 11. Rolling element; 12. Load-bearing bracket; 12-1. Connecting part; 12-2. Positioning groove; 13. Plug; 14. Cantilever shaft; 15. Bearing; 16. Spacer; 17. Axial fastener;

[0043] 20. Hub assembly; 21. Hub fastener; 22. First hub body; 22-1. First connection disk; 22-2. First positioning block; 22-3. Integrated sleeve; 22-4. Position-limiting rib; 22-5. Sleeve section; 23. Second hub body; 23-1. Second connection disk; 23-2. Second positioning block; 23-3. Sleeve hole; 23-4. Position-limiting tooth; 23-5. Tooth groove;

[0044] 30. Decorative cover; 31. Cover fastener. DETAILED DESCRIPTION

[0045] In order to further understand the content of the utility model, the utility model is described in detail in conjunction with the drawings and embodiments.

[0046] [Example]

[0047] Combination Figures 1 to 3As shown, the integrated hub omnidirectional wheel of this embodiment includes a rolling element assembly 10 and a hub assembly 20. The rolling element assembly 10 is circumferentially distributed and installed on the outer periphery of the hub assembly 20. The rolling element assembly 10 includes a rolling element 11 and a bearing bracket 12. The rolling element 11 is freely rotatably installed on the bearing bracket 12. The bearing bracket 12 of each rolling element assembly 10 is installed on the hub assembly 20. The rolling elements 11 of adjacent rolling element assemblies 10 are connected end to end, so that the outer contour generatrix of each rolling element 11 is located on the same envelope circle, forming an omnidirectional wheel with a circular structure as a whole. The omnidirectional wheel can roll around the axial direction of the hub assembly 20, and can also use the rolling element 11 to move laterally. In this embodiment, the above-mentioned hub assembly 20 includes a first hub disc body 22 and a second hub disc body 23. The first hub disc body 22 and the second hub disc body 23 are both disc structures. The first hub disc body 22 has a first connecting disc 22-1 and an integrated shaft sleeve 22-3 integrally arranged on the first connecting disc 22-1. The structural strength of the first hub disc body 22 with an integrated structure is high. One side of the load-bearing bracket 12 of each rolling body assembly 10 is fixedly installed on the side of the first connecting disc 22-1 close to the integrated shaft sleeve 22-3 through the hub fastener 21. The second hub disc body 23 has a second connecting disc 23-1. The second connecting disc 23-1 is fixedly connected to the other side of the load-bearing bracket 12 of each rolling body assembly 10 through the hub fastener 21. The middle part of the second connecting disc 23-1 is socketed and fixed with the free end of the integrated shaft sleeve 22-3, so that the first hub disc body 22 and the second hub disc body 23 are combined together. The hub fasteners 21 mentioned above are preferably screws, such as self-tapping screws, etc. Each supporting bracket 12 is preferably fixed with two hub fasteners 21 and corresponding connecting plates.

[0048] Reference Figure 3 , Figures 5 to 8As shown, in this embodiment, the outer side of the integrated sleeve 22-3 is provided with a plurality of limiting ribs 22-4, the inner side of the second connecting disk 23-1 is provided with a plurality of limiting teeth 23-4, and a tooth groove 23-5 is formed between adjacent limiting teeth 23-4 to be positioned and matched with the end of the above-mentioned limiting ribs 22-4. After assembly, the limiting teeth 23-4 are embedded between adjacent limiting ribs 22-4, and the limiting ribs 22-4 are embedded in the corresponding tooth grooves 23-5, and the two form a mutual bite effect, so that the first hub disc body 22 and the second hub disc body 23 are more firmly and reliably combined. The above-mentioned limiting ribs 22-4 are evenly distributed on the outer side of the integrated sleeve 22-3, and the limiting teeth 23-4 are evenly distributed on the inner side of the second connecting disk 23-1, so that the free end of the integrated sleeve 22-3 and the second connecting disk 23-1 can be better engaged together in the circumferential direction, thereby improving the combination stability of the first hub disc body 22 and the second hub disc body 23. In addition, the free end of the integrated shaft sleeve 22-3 is also provided with a sleeve section 22-5, and the middle part of the second connecting disk 23-1 is provided with a sleeve hole 23-3 that can be sleeved and fixed with the sleeve section 22-5. The two hub disc shaft holes are matched together, and the integrity is stronger and the coaxiality is good, which further improves the stability of the omnidirectional wheel hub structure. Specifically, the sleeve section 22-5 and the sleeve hole 23-3 are both tapered, so that the outer dimensions of the sleeve section 22-5 and the sleeve hole 23-3 are slightly smaller than the dimensions close to the inner side. The sleeve hole 23-3 is sleeved on the sleeve section 22-5, and the contact surfaces of the two are made to have an interference fit through the lateral locking force of the hub fastener 21, which further improves the connection firmness.

[0049] catch Figures 3 to 8 As shown, in this embodiment, the bearing bracket 12 has a connecting portion 12-1 connected to the first hub disc body 22 and the second hub disc body 23, and positioning grooves 12-2 are provided on both sides of the connecting portion 12-1. The inner side of the first connecting disc 22-1 is circumferentially distributed with first positioning blocks 22-2 that are embedded and matched with the positioning groove 12-2 on one side of the corresponding connecting portion 12-1, and the inner side of the second connecting disc 23-1 is circumferentially distributed with second positioning blocks 23-2 that are embedded and matched with the positioning groove 12-2 on the other side of the corresponding connecting portion 12-1. The first positioning block 22-2 is integrally formed on the first connecting disc 22-1, and the second positioning block 23-2 is also integrally formed on the second connecting disc 23-1. The positioning block is positioned and matched with the positioning groove 12-2 of the bearing bracket 12, which can facilitate the positioning and assembly with the corresponding bearing bracket 12, and the positioning block bears the shear force, which can prevent the hub fastener 21 from being broken by the shear force, thereby improving the connection firmness between the bearing bracket 12 and the hub disc body and ensuring the reliability of the omnidirectional wheel.

[0050] like Figures 9 to 11As shown, in the integrated hub omnidirectional wheel of this embodiment, a cantilever shaft 14 is fixedly provided on the bearing bracket 12, and the bearing bracket 12 can be an injection molded part or a die-casting part, and the cantilever shaft 14 is combined with the bearing bracket 12 by injection molding or die-casting as an insert. The cantilever shaft 14 can be obtained by machining alone. The rolling body 11 and the cantilever shaft 14 are rotatably matched through the bearing 15, and the bearings rotate smoothly, have strong load-bearing capacity, and have low working noise. Preferably, the bearing 15 is a pair of ball bearings, and the two ball bearings are respectively arranged at the two ends of the cantilever shaft 14, and the inner rings of the two ball bearings are limited by the spacer sleeve 16 sleeved on the cantilever shaft 14, and the free end of the cantilever shaft 14 is provided with an axial fastener 17 for locking and fixing the ball bearing on the outside. The inner ring of the ball bearing close to the root of the cantilever shaft 14 is limited by the step on the cantilever shaft 14, and the outer rings of the two ball bearings are limited by the step structure in the shaft hole of the rolling body 11. The above-mentioned bearing installation structure makes the assembly between the rolling body 11 and the cantilever shaft 14 more convenient. In addition, the outer diameter of the rolling body 11 gradually increases from one end to the other end along the axial direction, and a plug 13 is installed at the small diameter end of the rolling body 11. The plug 13 can be made of plastic parts, which are fixed at the end of the shaft hole of the rolling body 11 by interference fit, covering the internal axial fastener 17 and the bearing 15. The plug 13 can prevent dust, rainwater and other pollutants from entering the bearing and affecting its rotation performance, thereby increasing the service life of the bearing. The above-mentioned axial fastener 17 can adopt a screw cap head structure with a gasket, which can better limit the bearing.

[0051] In addition, in this embodiment, a decorative cover 30 is fixedly installed on the outer side of the first hub disc body 22 or the second hub disc body 23 through a cover body fastener 31, which can improve the cleanliness of the outer side of the omnidirectional wheel on the one hand, and can shield and protect the hub fastener and the shaft hole of the omnidirectional wheel on the other hand. The decorative cover 30 is a detachable design, and the decorative cover 30 can be selectively used according to different usage modes. The omnidirectional wheel can be used as a driven wheel or a driving wheel. When used as a driven wheel, the integrated shaft sleeve 22-3 is rotatably matched with the wheel shaft through a bearing. When used as a driving wheel, a transmission structure such as a keyway or an internal spline can be set in the inner hole of the integrated shaft sleeve 22-3 to achieve connection with the power mechanism.

[0052] As for other structures of the omnidirectional wheel, such as the number of rolling element assemblies 10 and the specific structure of the rolling element 11, they are similar to those in the prior art and will not be described in detail here.

[0053] The integrated hub omnidirectional wheel of the utility model can be used for walking robots, trolleys and electric wheelchairs, etc. The hub assembly of the omnidirectional wheel is composed of a first hub disc and a second hub disc. The first hub disc has an integrated shaft sleeve that is sleeved and fixed with the second hub disc. The disc structure is connected with the bearing bracket of each rolling element assembly. It is not only simple and convenient to assemble, but also has a higher hub structure strength and is not easy to deform. It can also ensure the normal and smooth rolling of the omnidirectional wheel under a greater load-bearing capacity, thereby improving the stability and reliability of the omnidirectional wheel.

[0054] The above schematically describes the present invention and its implementation methods, which are not restrictive. The drawings show only one implementation method of the present invention, and the actual structure is not limited thereto. Therefore, if ordinary technicians in the field are inspired by it and design structural methods and embodiments similar to the technical solution without creative design without departing from the purpose of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. Integrated hub omnidirectional wheel, including A rolling element assembly (10), the rolling element assembly (10) comprising a rolling element (11) and a bearing bracket (12), the rolling element (11) being mounted on the bearing bracket (12) in a freely rotatable manner; and A wheel hub assembly (20), wherein the rolling element assemblies (10) are installed on the outer circumference of the wheel hub assembly (20) in a circumferentially distributed manner, the bearing brackets (12) of each rolling element assembly (10) are installed on the wheel hub assembly (20), and the rolling elements (11) of adjacent rolling element assemblies (10) are connected end to end; Features: The hub assembly (20) comprises a first hub body (22) and a second hub body (23); the first hub body (22) comprises a first connecting disk (22-1) and an integral shaft sleeve (22-3) integrally arranged on the first connecting disk (22-1); one side of the bearing bracket (12) of each rolling element assembly (10) is fixedly mounted on a side of the first connecting disk (22-1) close to the integral shaft sleeve (22-3) via a hub fastener (21); the second hub body (23) comprises a second connecting disk (23-1); the second connecting disk (23-1) is fixedly connected to the other side of the bearing bracket (12) of each rolling element assembly (10) via the hub fastener (21); and the middle part of the second connecting disk (23-1) is sleeved and fixed to the free end of the integral shaft sleeve (22-3).

2. The one-piece hub omnidirectional wheel according to claim 1, characterized in that: The outer side of the integrated shaft sleeve (22-3) is provided with a plurality of limiting ribs (22-4), the inner side of the second connecting plate (23-1) is provided with a plurality of limiting teeth (23-4), and tooth grooves (23-5) are formed between adjacent limiting teeth (23-4) and are positioned to match the ends of the limiting ribs (22-4).

3. The one-piece hub omnidirectional wheel according to claim 2, characterized in that: The free end of the integrated shaft sleeve (22-3) is also provided with a sleeve section (22-5), and the middle part of the second connecting plate (23-1) is provided with a sleeve hole (23-3) capable of being sleeved and fixedly connected with the sleeve section (22-5).

4. The one-piece hub omnidirectional wheel according to claim 3, characterized in that: The sleeve section (22-5) and the sleeve hole (23-3) both have a taper, the sleeve hole (23-3) is sleeved on the sleeve section (22-5), and the contact surfaces of the two are interference-fitted through the lateral locking force of the hub fastener (21).

5. The one-piece hub omnidirectional wheel according to any one of claims 1 to 4, characterized in that: The bearing bracket (12) comprises a connecting portion (12-1) connected to a first hub disc body (22) and a second hub disc body (23), and positioning grooves (12-2) are provided on both sides of the connecting portion (12-1); first positioning blocks (22-2) are distributed circumferentially on the inner side of the first connecting disc (22-1) and are embedded in and matched with the positioning grooves (12-2) on one side of the corresponding connecting portion (12-1); and second positioning blocks (23-2) are distributed circumferentially on the inner side of the second connecting disc (23-1) and are embedded in and matched with the positioning grooves (12-2) on the other side of the corresponding connecting portion (12-1).

6. The one-piece hub omnidirectional wheel according to any one of claims 1 to 4, characterized in that: A cantilever shaft (14) is fixedly provided on the bearing bracket (12), and the rolling body (11) and the cantilever shaft (14) are rotatably matched via a bearing (15).

7. The one-piece hub omnidirectional wheel according to claim 6, characterized in that: The bearing (15) is a pair of ball bearings, the two ball bearings are respectively arranged at the two ends of the cantilever shaft (14), and the inner rings of the two ball bearings are limited by a spacer sleeve (16) sleeved on the cantilever shaft (14), and the free end of the cantilever shaft (14) is provided with an axial fastener (17) for locking and fixing the ball bearing on the outer side.

8. The one-piece hub omnidirectional wheel according to claim 7, characterized in that: The outer diameter of the rolling body (11) gradually increases from one end to the other end along the axial direction, and a plug (13) is installed at the small diameter end of the rolling body (11).

9. The one-piece hub omnidirectional wheel according to any one of claims 1 to 4, characterized in that: A decorative cover (30) is also fixedly mounted on the outer side of the first hub body (22) or the second hub body (23) via a cover fastener (31).

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