Mounting framework, wheel set and omnidirectional wheel

Abstract

The utility model provides a mounting skeleton, a wheel set and an omnidirectional wheel, the mounting skeleton comprises a wheel skeleton, the middle of the wheel skeleton is a driving mounting position, the periphery of the wheel skeleton is provided with a plurality of roller mounting positions, the roller mounting positions comprise first mounting positions and second mounting positions which are arranged in a staggered manner, the first mounting positions are used for mounting large wheels, and the second mounting positions are used for mounting small wheels; the inner side of the first mounting position is closer to the driving mounting position than the inner side of the second mounting position, and the included angle formed by the two ends of the inner side of the first mounting position and the center of the driving mounting position is overlapped with the included angle formed by the two ends of the inner side of the second mounting position and the center of the driving mounting position. According to the universal wheel, the outer side gap between the large wheel and the small wheel is as small as possible, so that the pause feeling caused by the gap between the two rolling wheels during overall rotation is reduced, and the overall rotation of the universal wheel is smoother and more stable.

Description

Technical Field

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

[0002] An omnidirectional wheel is a special wheel that can roll freely in multiple directions. It can be widely used in the fields of robotics, smart wheelchairs, medical equipment, etc.

[0003] One basic structure of an omnidirectional wheel is to evenly distribute lateral rolling wheels around its entire circumference. These rolling wheels include large and small wheels arranged in an interlaced pattern, enabling lateral rolling at any position, significantly reducing friction and increasing mobility. Therefore, to maintain smooth and stable rotation of the omnidirectional wheel, the outer clearance between the large and small wheels needs to be reduced. However, in the prior art, the large and small wheels are mounted via a central fixing plate and welded shafts on either side. This creates a gap between the large and small wheels corresponding to the central fixing plate, which affects the smooth and stable rotation of the omnidirectional wheel.

[0004] Therefore, there is an urgent need to improve the framework for installing the large wheel and the small wheel on the omnidirectional wheel. Utility Model Content

[0005] In order to solve the above problems in the prior art, the utility model provides a mounting frame, a wheel set and an omni-directional wheel to reduce the outer clearance between the large wheel and the small wheel and keep the overall rotation of the omni-directional wheel smooth and stable.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] In a first aspect, the present invention provides a mounting frame, comprising a wheel frame, wherein the middle of the wheel frame is a drive mounting position, and a plurality of roller mounting positions are arranged around the wheel frame, wherein the roller mounting positions include a first mounting position and a second mounting position arranged alternately, wherein the first mounting position is used to mount a large wheel, and the second mounting position is used to mount a small wheel;

[0008] The inner side of the first mounting position is closer to the drive mounting position than the inner side of the second mounting position, and the angle formed by the inner ends of the first mounting position and the center of the drive mounting position overlaps with the angle formed by the inner ends of the second mounting position and the center of the drive mounting position.

[0009] The beneficial effect of the present invention is that the present invention limits the inner angles of the two mounting positions to overlap, that is, the part of the small wheel end near the drive mounting position is located inside the part of the large wheel end near the drive mounting position, so that the outer gap between the large wheel and the small wheel is as small as possible, thereby reducing the sense of frustration caused by the gap between the two rolling wheels during overall rotation, and making the overall rotation of the omnidirectional wheel smoother and more stable.

[0010] Optionally, the wheel frame includes an annular portion in the middle and a plurality of U-shaped lateral portions extending uniformly outward from the periphery of the annular portion, and each of the lateral portions is provided with lateral mounting holes arranged front to back on one side, and all the lateral mounting holes located in the front and all the mounting holes located in the rear are respectively on the same circumference;

[0011] The second installation position is formed inside the lateral portion, and the first installation position is formed between adjacent lateral portions.

[0012] Optionally, the lateral portion includes a supporting section, an extending section, and a clamping section, one end of the extending section is connected to the middle position of the supporting section, and the other end is connected to the annular section, and one clamping section is provided at each end of the supporting section and extends in a direction away from the annular section;

[0013] Each clamping section is provided with lateral mounting holes arranged front to back.

[0014] Optionally, the opposing surfaces of the two clamping sections on each lateral portion are parallel to each other, and a surface of the supporting section facing away from the extending section is a concave arc surface;

[0015] The first sections located on the inner sides of the opposite surfaces of the two adjacent clamping sections on the adjacent lateral portions are parallel to each other and the second sections located on the outer sides are away from each other. The angle between the second section and the first section is -10 to 10 degrees greater than the angle between the surface of the support section close to the extension section and the first section. The area on the annular portion located at the first mounting position is a concave arc surface.

[0016] Optionally, the wheel frame includes two symmetrically arranged half frames, which are detachably connected to each other, and the half frames further include a large frame and a small frame, which are detachably connected to each other and are integrally formed parts;

[0017] The separation position of the two half-frames is located in the middle of the first installation position, and the small frame is one of the side parts.

[0018] As can be seen from the above description, the detachable design of the frame enables the rolling wheel to be quickly disassembled, making assembly and maintenance easier.

[0019] Optionally, a first locking hole with a vertical bottom is opened at the bottom of the small frame, and a through hole is passed through the large frame from the inside to the outside at a position corresponding to the first locking hole, and the corresponding locking accessory passes through the through hole and is detachably connected to the first locking hole.

[0020] Optionally, a plurality of second locking holes penetrating vertically are evenly distributed on the middle annular portion of the wheel frame.

[0021] In the second aspect, the utility model provides a wheel set, including a rolling wheel and the mounting frame of the first aspect, the rolling wheel including a large wheel and a small wheel, the large wheel being mounted on the first mounting position through the lateral mounting hole and the corresponding locking accessory, and the small wheel being mounted on the second mounting position through the lateral mounting hole and the corresponding locking accessory.

[0022] Optionally, the surface of the scroll wheel has patterns.

[0023] In the third aspect, the utility model provides an omnidirectional wheel, including the wheel set of the second aspect, wherein the connecting member is a hub cover respectively provided on both sides of the wheel frame, the hub cover is positioned and assembled with both sides of the wheel frame and is coaxially arranged with the wheel frame, and the middle of the upper and lower hub covers is a drive mounting position.

[0024] Among them, the technical effects corresponding to the wheel set provided in the second aspect and the technical effects corresponding to the omnidirectional wheel provided in the third aspect refer to the relevant description of the mounting frame provided in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a three-dimensional schematic diagram of a mounting frame according to an embodiment of the present utility model;

[0026] Figure 2 This is a front view of a mounting frame according to an embodiment of the present utility model;

[0027] Figure 3 This is a schematic diagram of a disassembly of a mounting frame according to an embodiment of the present utility model;

[0028] Figure 4 This is a schematic diagram of secondary disassembly of a mounting frame according to an embodiment of the present utility model;

[0029] Figure 5 This is a schematic diagram of the coordination of the large frame and the small frame involved in an embodiment of the present utility model;

[0030] Figure 6 This is a disassembly diagram of a wheel set according to an embodiment of the present utility model;

[0031] Figure 7 for Figure 6 A magnified schematic diagram of area A in the middle;

[0032] Figure 8 This is a schematic cross-sectional view of a small wheel of a wheel set according to an embodiment of the present utility model;

[0033] Figure 9 This is a schematic cross-sectional view of a large wheel in a wheel set according to an embodiment of the present invention, which is not in a position where the half-frame is separated;

[0034] Figure 10 This is a schematic cross-sectional view of a large wheel in a wheel set in an embodiment of the present invention in a position where the half-frame is separated;

[0035] Figure 11 This is a front view of an omnidirectional wheel according to an embodiment of the present invention;

[0036] Figure 12 This is a disassembled schematic diagram of an omnidirectional wheel according to an embodiment of the present utility model;

[0037] Figure 13 This is a schematic diagram of the coordination of an omnidirectional wheel frame, a mounting flange, and an annular shock-absorbing pad according to an embodiment of the present utility model.

[0038] Description of reference numerals:

[0039] 100, omnidirectional wheels;

[0040] 1. Wheel frame; 11. Half frame; 111. Large frame; 1111. Through hole; 1112. Slot; 112. Small frame; 1121. First locking hole; 1122. Flange; 12. Annular portion; 121. Drive mounting position; 122. Second locking hole; 123. First groove; 13. Lateral portion; 131. First mounting position; 132. Second mounting position; 133. Lateral mounting hole; 1331. Large hole; 1332. Small hole; 134. Extension section; 135. Support section; 136. Clamping section.

[0041] 2. Big wheel; 21. Bearing; 22. Rotating shaft; 23. Pattern;

[0042] 3. Small wheel;

[0043] 4. Hub cover; 41. Mounting slot; 42. Assembly and disassembly notch; 43. Positioning protrusion;

[0044] 5. Lock accessories;

[0045] 6. Mounting flange; 61. Second groove;

[0046] 7. Annular shock-absorbing pad; 71. First protrusion; 72. Second protrusion. DETAILED DESCRIPTION

[0047] To better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0048] Example 1

[0049] Please refer to Figures 1 to 13 The present invention provides a mounting frame, including a wheel frame 1, the middle of the wheel frame 1 is a drive mounting position 121, and a plurality of roller mounting positions are arranged around the wheel frame 1, and the roller mounting positions include a first mounting position 131 and a second mounting position 132 arranged in an alternating manner. The first mounting position 131 is used to install a large wheel 2, and the second mounting position 132 is used to install a small wheel 3. That is, the large wheels 2 and the small wheels 3 arranged in an alternating manner are installed on the plurality of roller mounting positions to ensure that the omnidirectional wheel 100 can achieve lateral rolling at any position.

[0050] like Figure 1 As shown, in this embodiment, there are six first mounting positions 131 and six second mounting positions 132, respectively, so six large wheels 2 and six small wheels 3 can be installed. In other embodiments, the number of first mounting positions 131 and second mounting positions 132 can be determined according to the size of the entire omnidirectional wheel 100, such as five or eight first mounting positions 131 and second mounting positions 132.

[0051] In this embodiment, the wheel frame 1 is provided with lateral mounting holes 133 on both sides of the roller mounting position for lateral mounting of the rolling wheel. The lateral mounting hole 133 on the working side refers to the side where work is performed during assembly, maintenance, or disassembly. In this embodiment, one of the left and right lateral mounting holes 133 is a large hole 1331, and the other is a small hole 1332. The large hole 1331 is the lateral mounting hole 133 on the working side. For example, if the locking accessory 5 corresponding to the lateral mounting hole 133 is a semi-polished bolt, the lateral mounting hole 133 where the head of the semi-polished bolt is located is the lateral mounting hole 133 on the working side, that is, the head of the semi-polished bolt is located within the large hole 1331.

[0052] like Figure 2It can be seen that the inner side of the first mounting position 131 is closer to the drive mounting position 121 than the inner side of the second mounting position 132, that is, the mounting position of the large wheel 2 is closer to the inner side than the mounting position of the small wheel 3. Moreover, the angle b formed by the inner ends of the first mounting position 131 and the center of the drive mounting position 121 overlaps with the angle a formed by the inner ends of the second mounting position 132 and the center of the drive mounting position 121. However, due to the fact that the space from the outside to the inside of a circle gradually decreases, this embodiment limits the inner angles of the two mounting positions to overlap. That is, the portion of the end of the small wheel 3 near the drive mounting position 121 is located within the portion of the end of the large wheel 2 near the drive mounting position 121. This minimizes the outer gap between the large wheel 2 and the small wheel 3, thereby reducing the sense of frustration caused by the gap between the two rolling wheels during overall rotation, making the overall rotation of the omnidirectional wheel 100 smoother and more stable.

[0053] Example 2

[0054] Please refer to Figures 1 to 13 The present invention provides a mounting frame. Based on the above embodiment 1, the overall shape of the wheel frame 1 is further defined as follows:

[0055] like Figure 1 As shown, the wheel frame 1 includes an annular portion 12 located in the middle and a plurality of U-shaped lateral portions 13 extending evenly outward from the periphery of the annular portion 12. Each side of the lateral portion 13 is provided with lateral mounting holes 133 arranged front to back on one side. A second mounting position 132 is formed inside the lateral portion 13, and a first mounting position 131 is formed between adjacent lateral portions 13.

[0056] Reference Figure 1 As can be seen, the lateral portion 13 includes a support section 135, an extension section 134, and a clamping section 136. One end of the extension section 134 is connected to the middle position of the support section 135, and the other end is connected to the annular portion 12. A clamping section 136 is provided at each end of the support section 135 and extends away from the annular portion 12. Each clamping section 136 is provided with lateral mounting holes 133 arranged in a front-to-back manner. As described in the first embodiment above, the mounting position of the large wheel 2 is closer to the inside than the mounting position of the small wheel 3. Therefore, the lateral mounting holes 133 on the front of the two sides of the lateral portion 13 are used to mount the small wheel 3, and the lateral mounting holes 133 on the adjacent two rear sides of adjacent lateral portions 13 are used to mount the large wheel 2.

[0057] Specifically, the opposing surfaces of the two clamping segments 136 on each lateral portion 13 are parallel to each other, and the surface of the support segment 135 facing away from the extension segment 134 is a concave arc surface. The former provides a mounting axial surface for the small wheel 3, while the latter is designed to accommodate the slightly convex arc surface in the middle of the small wheel 3 to ensure the overall circular motion. The inner first sections of the opposing surfaces of two adjacent clamping segments 136 on adjacent lateral portions 13 are parallel to each other, while the outer second sections face away from each other. The angle between the second section and the first section is -10 to 10 degrees greater than the angle between the surface of the support segment 135 near the extension segment 134 and the first section. In this embodiment, the former is 125° and the latter is 128°, which is -3° greater than the latter. This means that the two sides of the first section are essentially symmetrically arranged. Alternatively, the three sections of the opposing surfaces of two adjacent clamping segments 136—the inner first section, the outer second section, and the side of the support segment 135 proximal to the extension 134—form an arch. The central portions are parallel and face each other, providing a mounting axial surface for the large wheel 2. The two sides flare outward to accommodate the inner end surface of the frustoconical groove of the large wheel 2. Furthermore, the area of ​​the annular portion 12 at the first mounting position 131 is a concave arc surface, similarly to accommodate the slightly convex arc surface in the center of the large wheel 2, ensuring overall circular motion.

[0058] In order to reduce the weight as much as possible while ensuring the overall mechanical performance, in this embodiment, at most only one of the two lateral mounting holes 133 arranged in front and behind on the same side of the U-shaped lateral portion 13 is a large hole 1331, that is, on the same side of the lateral portion 13, there is only a combination of a small hole 1332 and a large hole 1331 or a combination of two small holes 1332.

[0059] Therefore, this embodiment provides a specific implementation structure of the mounting frame, on this basis, the first mounting position 131 and the second mounting position 132 share the lateral portion 13, which not only realizes the overlapping design of the large and small wheels to reduce the outer gap between the two, but also reduces the weight and complexity of the frame, reducing production costs.

[0060] Example 3

[0061] Please refer to Figures 1 to 13 The present invention provides a mounting frame. Based on the above embodiment 2, the detachable structure of the wheel frame is further described as follows:

[0062] In this embodiment, the wheel frame 1 includes two symmetrically arranged half frames 11, which are detachably connected to each other. In this way, the two symmetrically arranged half frames 11 form a wheel frame 1 after assembly, which facilitates the subsequent assembly and maintenance of the omnidirectional wheel 100.

[0063] Among them, since the diameters of the large wheel 2 and the small wheel 3 are different, and in order to ensure that the outer sides of the large wheel 2 and the small wheel 3 are on the same circumference to realize the overall rotation of the omnidirectional wheel 100, the installation position of the large wheel 2 is closer to the inner side than the installation position of the small wheel 3, that is, the skeletons corresponding to the first installation position 131 and the second installation position 132 are different. At this time, the first installation position 131 and the second installation position 132 are staggered. Therefore, in this embodiment, the separation position of the two half skeletons 11 is located in the middle of the roller installation position, and the roller installation position can be as follows Figure 3 What is shown is the first installation position 131, which can also be the second installation position 132 not shown in the figure, so that the two half-skeletons 11 are symmetrical on the left and right, which not only ensures the overall stability of the omnidirectional wheel 100, but also the rolling wheel located at the separated position of the two half-skeletons 11 is disassembled as the two half-skeletons 11 are disassembled, thereby opening an opening for lateral assembly.

[0064] At this time, the wheel frame 1 is provided with lateral mounting holes 133 on both sides of the roller mounting position. The lateral mounting holes 133 on the working side of the roller mounting position are distributed toward the middle along the separation position of the two half-frames 11, so that the rolling wheels can be disassembled laterally in sequence starting from the separation position of the two half-frames 11, and all the rolling wheels can be disassembled, and vice versa, all the rolling wheels can be assembled, thereby realizing the rapid assembly and maintenance of the rolling wheels.

[0065] In this embodiment, each half-frame 11 has five complete roller mounting locations and two half roller mounting locations. Thus, each half-frame 11 has two upper and lower separation locations. Even if you reach the roller mounting location in the middle of the half-frame 11, disassembly only requires three steps. That is, the number of steps required to disassemble all rollers is only one-fourth the number of steps required for the roller mounting locations.

[0066] In a further improvement based on this, the end of the large wheel 2 is partially surrounded by the periphery of the end of the small wheel 3, which is easy to interfere with the skeleton of the small wheel 3, thereby affecting the disassembly of the large wheel 2. Figure 4 As shown, the half-frame 11 in this embodiment also includes a large frame 111 and a small frame 112. The large frame 111 and the small frame 112 are detachably connected. The separation position of the two half-frames 11 is located in the middle of the first mounting position 131, and the small frame 112 is one of the lateral portions 13. In this embodiment, the large frame 111 and the small frame 112 are respectively integrally formed parts. As a result, after disassembly, the small frame 112 is pushed outward, and the space on both sides is sufficient for the two large wheels 2 to be disassembled. This ensures that the omnidirectional wheel 100, while ensuring smooth and stable rotation of the omnidirectional wheel 100, can also be easily assembled and maintained based on the wheel frame 1.

[0067] At this time, the working side of the lateral mounting holes 133 is distributed along the separation position of the two half-frames 11 to the direction of the small frame 112, so as to achieve rapid disassembly of the large wheel 2.

[0068] like Figure 5 As shown, the small frame 112 is provided with a flange 1122 on the end surface connected to the large frame 111, and the flange 1122 is provided on the extension section 134 of the lateral portion 13. Correspondingly, the large frame 111 is provided with a slot 1112 on the end surface connected to the small frame 112, and rapid positioning is performed through the flange 1122 and the slot 1112. On this basis, a first locking hole 1121 with a vertical bottom is provided at the bottom of the small frame 112, and a through hole 1111 is passed from the inside to the outside of the large frame 111 at the position corresponding to the first locking hole 1121, and the corresponding locking accessory 5 passes through the through hole 1111 and is detachably connected to the first locking hole 1121. Combined Figure 1 It can be seen that the inside of the large frame 111 is the middle of the wheel frame 1, so that the small frame 112 can be disassembled from the inside out without disassembling the rolling wheel, releasing the first installation position 131 of the large wheel 2, and completing the rapid disassembly of the large wheel 2.

[0069] Therefore, considering that the separation position of the small frame 112 and the large frame 111 is the part between the two adjacent first mounting positions 131 in the half frame 11, and the separation position of the two half frames 11 is located in the middle of the first mounting position 131, the separation positions of the two half frames 11 are a pair, and the two adjacent separation positions of the small frame 112 and the large frame 111 are also a pair. Therefore, the number of first mounting positions 131 is preferably an even number, and the number of roller mounting positions is preferably 4N, where N is a positive integer greater than 1, such as 8, 12, 16, etc. The above number can be determined according to the size of the entire omnidirectional wheel 100. For example, the wheel frame 1 of the 10-inch omnidirectional wheel 100 in this embodiment is designed with 12 roller mounting positions.

[0070] Therefore, this embodiment realizes the rapid assembly and maintenance of the omnidirectional wheel 100 while ensuring that the overall rotation of the omnidirectional wheel 100 is smoother and more stable through the detachable assembly method of the two half-skeletons 11 and the design of further disassembling the half-skeleton 11 into a small skeleton 112 and a large skeleton 111.

[0071] In this embodiment, a plurality of second locking holes 122 are evenly distributed on the annular portion 12 in the middle of the wheel frame 1 and pass through the wheel frame 1, so as to cooperate with the connecting piece to realize the assembly of the two half frames 11.

[0072] In this embodiment, the second locking hole 122 is located between two adjacent roller mounting positions, specifically between two first mounting positions 131. Figure 5It can be seen that the through hole 1111 on the large frame 111 passes through the second locking hole 122. Since the hole position of the second locking hole 122 is larger, the through hole 1111 can be allowed to be shared. The two holes are interconnected, which can reduce the opening space of the large frame 111 and ensure the mechanical strength and mechanical stability of the large frame 111.

[0073] Example 4

[0074] Please refer to Figures 1 to 10 The present invention provides a wheel set, including a rolling wheel, a connecting piece and a wheel frame 1 of any one of embodiments one to three. The two half frames 11 of the wheel frame 1 are detachably connected by a connecting piece. The rolling wheel includes a large wheel 2 and a small wheel 3. The large wheel 2 is installed on the first mounting position 131 through the lateral mounting hole 133 and the corresponding locking accessory 5. The small wheel 3 is installed on the second mounting position 132 through the lateral mounting hole 133 and the corresponding locking accessory 5.

[0075] like Figure 9 and 10 As can be seen, the left and right ends of the large wheel 2 are truncated cone-like grooves, with their upper bottom surfaces located inward and their diameter greater than the thickness of the adjacent frame. In other words, the upper bottom surfaces of the truncated cone-like grooves on the left and right ends of the large wheel 2 are located inward and their diameter is greater than the thickness of the adjacent frame. This allows the large wheel 2 to directly wrap around the lateral portion 13 of the adjacent frame, precisely matching the arched area on the lateral portion 13, thus wrapping around the small wheel 3 located on the lateral portion 13, ensuring that the outer sides of the large wheel 2 and the small wheel 3 are flush and the gap between them is as small as possible.

[0076] In this embodiment, the connecting member can be arranged on the connecting end surface of the two half-skeletons 11, and when the wheel skeleton 1 has multiple second locking holes 122 running through the upper and lower parts as in the above-mentioned embodiment three, the connecting member is arranged on both sides of the wheel skeleton 1 and the connecting members on both sides are respectively an integral part, and the locking component 5 passes through the opening on the connecting member, the second locking hole 122, and then is locked to the connection on the other side to realize the positioning and assembly of the two half-skeletons 11.

[0077] In this embodiment, the scroll wheel includes bearings 21 arranged on both sides of the interior and a rotating shaft 22 arranged in the bearing 21. The scroll wheel is installed in the corresponding lateral mounting hole 133 through the corresponding locking accessory 5. Only on the roller mounting position at the separation position of the two half-skeletons 11, there are a bearing 21 and a rotating shaft 22 arranged in the bearing 21 on both sides, and a gap is provided between the two rotating shafts 22, so that the scroll wheel at this position can be assembled by insertion, and when disassembling, the two half-skeletons 11 can be pulled out to allow the scroll wheel here to be pulled out. Of course, in other embodiments, the roller mounting position at the separation position of the two half-skeletons 11 can also be designed with a rotating shaft 22. In this case, the locking accessory 5 is a component that can be disassembled by pulling, such as a cylindrical locating pin.

[0078] This embodiment is described with the separation position of the two half frames 11 being located at the first installation position 131. Figure 8 As shown, the small wheel 3 is installed on the second installation position 132 through its bearing 21, rotating shaft 22 and corresponding locking accessory 5, as shown in FIG. Figure 9 As shown, the large wheel 2 is not in the separation position of the two half-frames 11 and is installed on the first installation position 131 through its bearing 21, rotating shaft 22 and corresponding locking accessory 5, and the reference Figure 10 It can be seen that when in the first installation position 131 where the two half-frames 11 are separated, the large wheel 2 is supported on the bearings 21 , the rotating shaft 22 and the locking attachment 5 on both sides.

[0079] The surface of the rolling wheel has a pattern 23, such as a wavy pattern arranged along the overall rotation direction of the omnidirectional wheel 100 in this embodiment, which can reduce vibration and noise during forward and sideways walking without affecting the grip of walking.

[0080] Example 5

[0081] Please refer to Figures 1 to 13 The present invention provides an omnidirectional wheel 100, referring to Figure 12 It can be seen that it also includes a mounting flange 6, an annular shock-absorbing pad 7 and the wheel set in Example 4. The connecting part is a hub cover 4 provided on both sides of the wheel frame 1. The hub cover 4 is positioned and assembled with both sides of the wheel frame 1 and is coaxially arranged with the wheel frame 1. The middle aperture of the upper and lower hub covers 4 is smaller than the middle aperture of the wheel frame 1, and an assembly space will be formed inside. The outer edges of the annular shock-absorbing pad 7 and the mounting flange 6 are fixed between the upper and lower hub covers 4, and the annular shock-absorbing pad 7 is tightly attached between the wheel frame 1 and the mounting flange 6 front and back, thereby playing a shock-absorbing role by adding the shock-absorbing pad design. The shock-absorbing pad can be made of rubber shock-absorbing material, foam material, polyurethane material, etc.

[0082] In this embodiment, the middle chassis of the mounting flange 6 is provided with a drive connection member, such as Figure 13 As shown, the mounting flange 6 in this embodiment is provided with a connection hole as a drive connection member. In other embodiments, the mounting flange 6 is provided with a bearing member and a keyway as a drive connection member.

[0083] like Figure 13As can be seen, the central region of the wheel frame 1 has multiple first grooves 123 evenly distributed along the circumference. The corresponding annular shock-absorbing pad 7 has multiple first protrusions 71 evenly distributed on its outer circumference, with each of the first protrusions 71 matching the first grooves 123. Simultaneously, the inner circumference of the annular shock-absorbing pad 7 has multiple second protrusions 72 evenly distributed, with each of the corresponding second grooves 61 provided on the outer circumference of the mounting flange 6. The second protrusions 72 match the second grooves 61 one-to-one. Thus, the combination of the protrusions and grooves transmits torque, achieving a better shock-absorbing effect. Furthermore, the number of first protrusions 71 is smaller than the number of second protrusions 72, meaning that the protrusions on the annular shock-absorbing pad 7 are distributed loosely on the outside and tightly on the inside, thereby better transmitting torque.

[0084] Therefore, the mounting flange 6 and the annular shock-absorbing pad 7 are both detachably placed in the omnidirectional wheel 100 , and both can be replaced to meet the customized needs of different customers.

[0085] like Figure 7 As can be seen, the hubcap 4 in this embodiment serves as a connector. A disassembly notch 42 is provided on the surface of the hubcap 4 that mates with the wheel frame 1, corresponding to each second locking hole 122, for insertion of a disassembly tool into and lifting the hubcap 4 for quick disassembly and maintenance. Furthermore, the hubcap 4 is provided with a positioning protrusion 43 on the surface of the hubcap 4 that mates with the wheel frame 1, corresponding to the second locking hole 122, and a mounting groove 41 is provided on the surface corresponding to the cylindrical protrusion. The shape of the mounting groove 41 is adapted to the fastener of the locking attachment 5. The fastener has an edge that engages with the mounting groove 41, allowing only one tool to operate the operating member of the locking attachment 5 for easy assembly and disassembly. At this point, an opening at the bottom of the mounting groove 41 penetrates the positioning protrusion 43. The positioning protrusion 43 and the second locking hole 122 form an interference fit, pre-fixing the hubcap 4 to the wheel frame 1. In this embodiment, the operating part of the locking accessory 5 here is a semi-polished bolt, the head of which is a round head with an inner hexagon, and the fastener is a hexagonal nut. The hexagonal nut is located in the mounting groove 41 with a hexagonal countersunk groove on one of the wheel hub covers 4. The semi-polished bolt passes through the second locking hole 122 and is locked with the hexagonal nut from the mounting groove 41 of the other wheel hub cover 4. After locking, the head of the semi-polished bolt is located in the mounting groove 41 of the other wheel hub cover 4.

[0086] The following is a description of the assembly process of the omnidirectional wheel 100 consisting of six large wheels 2 and six small wheels 3:

[0087] (1) The small wheel 3 on the small frame 112 is first assembled on the lateral part 13. For the large wheels 2 on both sides of the position corresponding to the small frame 112, the locking component 5 is first extended into the rotating shaft 22 of the large wheel 2 to fix it on the corresponding lateral part 13. At this time, the small frame 112 with the small wheel 3 installed is inserted into the end surface with a frustum-like groove on the two large wheels 2. The locking component 5 is locked and connected with the first locking hole 1121 through the through hole 1111 to realize the connection between the small frame 112 and the large frame 111. Then, the locking component 5 on the large wheels 2 on both sides of the position corresponding to the small frame 112 is locked to the lateral mounting hole 133 of the small frame 112.

[0088] (2) Then, the small wheels 3 on the two side parts 13 on both sides of the large frame 111 are installed, completing the installation of the ten rolling wheels of the two half frames 11 except the separation position.

[0089] (3) For the two large wheels 2 at the separated position of the half-skeleton 11, first lock the bearings 21 and the rotating shaft 22 to the lateral mounting holes 133 of the two half-skeletons 11 respectively through the locking parts 5, first insert the large wheel 2 into one of the bearings 21, and then align the large wheel 2 with the other bearing 21 when closing the two half-skeletons 11, so that the installation of the large wheel 2 here can be realized, and the assembly of the two half-skeletons 11 can be realized at the same time.

[0090] (4) A hub cover 4 is pre-fixed on one side of the wheel frame 1 by aligning the positioning protrusion 43 and the second locking hole 122, and then the annular shock-absorbing pad 7 and the mounting flange 6 are placed one by one on the hub cover 4 on the inner side of the wheel frame 1, and then another hub cover 4 is covered, and finally locked by the locking accessory 5 to complete the assembly of the entire omnidirectional wheel 100.

[0091] On the contrary, first remove the hub cover 4, take out the annular shock-absorbing pad 7 and the mounting flange 6; pull the two half-skeletons 11 in half, and take out the two large wheels 2 at the separation position of the half-skeleton 11; take out the small wheels 3 on the two lateral parts 13 on both sides of the large skeleton 111 laterally; then untie the remaining two large wheels 2 on the half-skeleton 11, then untie the small skeleton 112, pull out the last small wheel 3, and then take out the remaining two large wheels 2 to complete the disassembly of the entire omnidirectional wheel 100.

[0092] In summary, the skeleton design of the present invention is more lightweight and integrated, which facilitates the assembly and maintenance of the omnidirectional wheel 100 and can also ensure smooth and stable rotation.

[0093] In the description of this utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0094] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0095] In the present invention, unless otherwise expressly specified or limited, when a first feature is “above” or “below” a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above,” “above,” or “above” a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is “below,” “below,” or “below” a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0096] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0097] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A mounting frame, characterized in that: The wheel frame comprises a wheel frame, wherein the middle of the wheel frame is a drive mounting position, and a plurality of roller mounting positions are arranged around the wheel frame, wherein the roller mounting positions include a first mounting position and a second mounting position arranged alternately, wherein the first mounting position is used to mount a large wheel, and the second mounting position is used to mount a small wheel; The inner side of the first mounting position is closer to the drive mounting position than the inner side of the second mounting position, and the angle formed by the inner ends of the first mounting position and the center of the drive mounting position overlaps with the angle formed by the inner ends of the second mounting position and the center of the drive mounting position.

2. The mounting frame according to claim 1, wherein: The wheel frame includes an annular portion in the middle and a plurality of U-shaped lateral portions extending uniformly outward from the periphery of the annular portion, and each of the lateral portions is provided with lateral mounting holes arranged front to back on one side, and all the lateral mounting holes located in the front and all the mounting holes located in the rear are respectively on the same circumference; The second installation position is formed inside the lateral portion, and the first installation position is formed between adjacent lateral portions.

3. The mounting frame according to claim 2, wherein: The lateral portion includes a supporting section, an extending section, and a clamping section. One end of the extending section is connected to the middle position of the supporting section, and the other end is connected to the annular section. The clamping section is provided at each end of the supporting section and extends in a direction away from the annular section. Each clamping section is provided with lateral mounting holes arranged front to back.

4. The mounting frame according to claim 3, wherein: The opposing surfaces of the two clamping sections on each lateral portion are parallel to each other, and the side of the supporting section facing away from the extending section is a concave arc surface; The first sections located on the inner sides of the opposite surfaces of the two adjacent clamping sections on the adjacent lateral portions are parallel to each other and the second sections located on the outer sides are away from each other. The angle between the second section and the first section is -10 to 10 degrees greater than the angle between the surface of the support section close to the extension section and the first section. The area on the annular portion located at the first mounting position is a concave arc surface.

5. A mounting frame according to any one of claims 2 to 4, characterized in that: The wheel frame includes two symmetrically arranged half frames, which are detachably connected to each other. The half frames also include a large frame and a small frame, which are detachably connected to each other and are integrally formed parts. The separation position of the two half-frames is located in the middle of the first installation position, and the small frame is one of the side parts.

6. The mounting frame according to claim 5, characterized in that: The bottom of the small frame is provided with a first locking hole at the bottom vertically, and the large frame is penetrated by a through hole from inside to outside at a position corresponding to the first locking hole, and the corresponding locking accessory passes through the through hole and is detachably connected to the first locking hole.

7. The mounting frame according to claim 5, characterized in that: A plurality of second locking holes are evenly distributed on the annular portion in the middle of the wheel frame and pass through the wheel frame from top to bottom.

8. A wheel set, characterized in that: It includes a scroll wheel and the mounting frame according to claim 2 or 3, the scroll wheel includes a large wheel and a small wheel, the large wheel is installed on the first mounting position through the lateral mounting hole and the corresponding locking accessory, and the small wheel is installed on the second mounting position through the lateral mounting hole and the corresponding locking accessory.

9. The wheel set according to claim 8, characterized in that: The surface of the rolling wheel has patterns.

10. An omnidirectional wheel, characterized in that: The wheel set includes any one of claims 8 to 9, and the wheel set also includes a connecting member, wherein the connecting member is a hub cover provided on each side of the wheel frame, the hub cover is positioned and assembled with both sides of the wheel frame and is coaxially arranged with the wheel frame, and the middle of the upper and lower hub covers is a drive mounting position.

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