Supporting seat for omnidirectional wheel, omnidirectional wheel and vehicle

Abstract

The utility model discloses a supporting seat for an omnidirectional wheel, the omnidirectional wheel and a vehicle, the supporting seat is arranged in the side direction of a roller and is rotatably connected with the roller, the roller is provided with an annular groove, the supporting seat is provided with an inner surface facing one side of the roller, and the inner surface protrudes towards the direction of the roller to form a protruding part; at least part of the protruding part extends into the annular groove and can slide along the annular groove. According to the utility model, the bulge part partially or completely extends into the annular groove of the roller, and when the roller rotates relative to the supporting seat, the bulge part slides in the annular groove, so that foreign matters accumulated in the annular groove can be swept, the due depth of the annular groove is kept, and the road holding force, the drainage property and the like of the roller are ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to steering wheel group technical field especially relates to a kind of support seat for omni-directional wheel, omni-directional wheel and vehicle. BACKGROUND

[0002] Omni-directional wheel is a kind of wheel group installed on vehicle to move along its direction of travel and can be transversely moved to realize multidirectional steering. The omni-directional wheel comprises a hub and a plurality of rollers arranged on the outer contour of the hub. The rollers can rotate relative to the hub. Rotation of the hub can drive the vehicle to move along the direction of travel. Rotation of the rollers relative to the hub can realize transverse movement of the omni-directional wheel.

[0003] As disclosed in the patent with publication number "CN107364279A" and patent name "Vehicle and omni-directional wheel thereof", the omni-directional wheel comprises a rotating member capable of rotating about an axle and a plurality of rollers mounted on the rotating member. The rollers are capable of freely rotating about their own central axes. The central axes of the rollers are arranged in a plane orthogonal to the axle. The central axes of the rollers intersect with the radial direction of the rotating member at an acute angle. The rollers have a large-diameter end and a small-diameter end. The diameter of the rollers gradually decreases from the large-diameter end to the small-diameter end. The large-diameter end of the rollers is provided with a recess. Two adjacent rollers are respectively referred to as a first roller and a second roller. A portion of the small-diameter end of the first roller extends into the recess of the large-diameter end of the second roller. The outer contours of the rollers are arranged on the same circumference with the axle as the center.

[0004] As disclosed in the above patent, in order to enhance the various performances such as grip and drainage of the rollers, a plurality of ring grooves with inward recesses are formed on the rollers. With rotation of the rollers, various foreign matters such as dirt on the road are likely to accumulate in the ring grooves and cannot be removed, which leads to a decrease in the various performances such as grip and drainage of the rollers. SUMMARY

[0005] In view of the above problems of the prior art, the technical problem to be solved by the utility model is to provide a support seat for omni-directional wheel, omni-directional wheel and vehicle, so as to solve the problem that foreign matters accumulate in the ring grooves and lead to a decrease in the performance of the rollers.

[0006] The utility model solves the technical problem by adopting the following technical scheme: a support seat for omni-directional wheel is provided. The support seat is arranged on the side of the roller and is rotatably connected with the roller. The roller is provided with a ring groove. The support seat has an inner surface on the side facing the roller. The inner surface is protruded to form a protruding part in the direction facing the roller. The protruding part is at least partially inserted into the ring groove and can slide along the ring groove.

[0007] Further, the support seat is provided with a plurality of protruding parts along the length direction thereof. The outer wall of the roller is provided with a plurality of ring grooves along the axial direction thereof. At least one protruding part is inserted into each ring groove.

[0008] Further, the support base comprises an end plate for rotatably connecting with the roller, and a surrounding plate on the lateral side of the roller, the surrounding plate is provided with a plurality of protrusions on the side facing the roller, and the length of the surrounding plate is greater than or equal to the length of the outer wall of the roller.

[0009] Further, the two side edges of the support base are symmetrical about the protrusions.

[0010] Further, each ring groove has two protrusions extending into it, and the two protrusions are respectively on the two sides of the support base.

[0011] Further, each ring groove has at least three protrusions extending into it, and the at least three protrusions are uniformly spaced along the width direction of the support base.

[0012] Further, the minimum distance from the plurality of protrusions to the bottom surface of the ring groove gradually decreases from the two side edges to the middle of the support base.

[0013] Further, the protrusions are protruding columns or protruding strips provided on the support base.

[0014] Further, the protrusions are protruding strips provided on the support base, and the two ends of the protruding strips are respectively connected with the two side edges of the support base.

[0015] Further, the bottom surface of the ring groove is a first arc surface; the end of the protrusion facing the first arc surface is provided with a second arc surface, the second arc surface is spaced apart from the first arc surface, and the minimum distance from any point on the second arc surface to the first arc surface is equal.

[0016] Further, a plurality of ground contact surfaces are provided on the roller, and the ground contact surfaces are arranged between adjacent two ring grooves.

[0017] A plurality of recesses are provided on the support base, the protrusions are arranged between adjacent two recesses, the bottom surface of the recess is spaced apart from the ground contact surface, and the minimum distance from any point on the bottom surface of the recess to the ground contact surface is equal.

[0018] Further, the minimum distance from any point on the second arc surface to the first arc surface is equal to the minimum distance from any point on the bottom surface of the recess to the ground contact surface.

[0019] Another technical scheme adopted by the present application is to provide an omnidirectional wheel, which comprises a hub, a plurality of the above-mentioned support bases, the plurality of support bases are uniformly arranged along the circumferential direction of the hub, and one roller is rotatably connected to each support base, and the outer contours of the plurality of rollers are arranged on the same circumferential surface coaxial with the hub.

[0020] Still another technical scheme adopted by the present application is to provide a vehicle comprising a plurality of the above-mentioned omnidirectional wheels.

[0021] Compared with the prior art, the utility model has at least the following beneficial effects:

[0022] 1. setting up support seat, rotatable installation in support seat on the one side of support seat towards the ring groove of protruding portion in the ring groove is set, makes protruding portion part extends or completely extends. When the roller rotates relative to the support seat, the protruding portion slides in the ring groove, and then the accumulated foreign matter in the ring groove can be cleaned to maintain the depth of the ring groove and ensure the performance of the ground adhesion and drainage of the roller.

[0023] 2. The gap between the plurality of protruding portions and the ring groove gradually decreases from outside to inside, the gap between the protruding portion closer to the outside and the ring groove is larger, and the gap between the protruding portion closer to the middle and the ring groove is smaller, so that the protruding portion on the outside can preliminarily clean the foreign matter in the ring groove, the protruding portion in the middle thoroughly cleans the foreign matter in the ring groove, and then the foreign matter is cleaned step by step, so as to reduce the stress of a single protruding portion and avoid damage due to excessive stress.

[0024] 3. A recess is arranged between any two adjacent protruding portions, and the recess is arranged to be spaced apart from the ground surface, so that when the roller rotates, the recess can strip the impurities carried on the ground surface, so as to improve the friction between the ground surface and the working surface, and then improve the ground adhesion of the whole omnidirectional wheel. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the specific embodiments of the utility model or the technical solutions in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0026] Figure 1 It is a structural schematic view of the omnidirectional wheel in the embodiment;

[0027] Figure 2 It is a structural schematic view of the hub and the plurality of support seats in the embodiment;

[0028] Figure 3 It is a structural schematic view of the omnidirectional wheel after removing part of the roller in the embodiment;

[0029] Figure 4 It is a structural schematic view of the support seat and the roller from one angle in the embodiment;

[0030] Figure 5 It is a structural schematic view of the support seat and the roller from another angle in the embodiment;

[0031] Figure 6 It is a sectional view of the support seat and the roller in the embodiment;

[0032] Figure 7 This is a schematic diagram of the support base in the embodiment;

[0033] Figure 8 This is a schematic diagram of the roller structure in the embodiment.

[0034] Explanation of reference numerals in the attached drawings: 100, support base; 110, surrounding plate; 111, protrusion; 112, recess; 120, end plate; 121, first rotating part; 122, second rotating part; 123, first connecting hole; 124, second connecting hole; 200, roller; 210, rotating shaft; 220, annular groove; 230, ground contact surface; 300, hub. Detailed Implementation

[0035] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0036] Please refer to Figures 4-7 This utility model discloses a support base for an omnidirectional wheel. The support base 100 is disposed on the side of the roller 200 and rotatably connected to the roller 200. The roller 200 is provided with an annular groove 220. The support base 100 has an inner surface facing the side of the roller 200. The inner surface protrudes in the direction of the roller 200 to form a protrusion 111. The protrusion 111 extends at least partially into the annular groove 220 and can slide along the annular groove 220.

[0037] In this embodiment, a support base 100 is provided, on which the roller 200 is rotatably mounted to achieve rotation of the roller 200, thereby enabling lateral movement of the omnidirectional wheel. A protrusion 111 is provided on the side of the support base 100 facing the roller 200, extending partially or completely into the annular groove 220 of the roller 200. When the roller 200 rotates relative to the support base 100, the protrusion 111 slides within the annular groove 220, thereby removing accumulated foreign matter from the annular groove 220, maintaining the proper depth of the annular groove 220, and ensuring the roller 200's grip and drainage performance.

[0038] Further, please refer to Figure 7 The support base 100 has a plurality of protrusions 111 along its length direction; the outer wall of the roller 200 has a plurality of annular grooves 220 along its axial direction, and each annular groove 220 has at least one protrusion 111 extending into it.

[0039] Specifically, each annular groove 220 has at least one protrusion 111 extending into it, so that when the roller 200 rotates, each annular groove 220 has a protrusion 111 that simultaneously cleans foreign objects in the annular groove 220.

[0040] Furthermore, the support base 100 includes an end plate 120 for rotatably connecting with the roller 200, and a surrounding plate 110 located on the side of the roller 200. The side of the surrounding plate 110 facing the roller 200 is provided with a plurality of protrusions 111, and the length of the surrounding plate 110 is greater than or equal to the length of the outer wall of the roller 200.

[0041] Specifically, the end plate 120 is approximately perpendicular to the surrounding plate 110. The end plate 120 is rotatably connected to the rotating shaft 210 on the roller 200, and the surrounding plate 110 is positioned to the side of the roller 200. The protrusion 111 on the surrounding plate 110 extends into the annular groove 220 on the roller 200 to clean foreign objects in the annular groove 220.

[0042] Furthermore, the two sides of the support 100 are symmetrical about the protrusion 111.

[0043] In this embodiment, only one protrusion 111 extends into a single annular groove 220, and this protrusion 111 is positioned in the middle of the support base 100 (i.e., the two sides of the support base 100 are symmetrical about the protrusion 111). When the roller 200 rotates forward, one side of the protrusion 111 pushes and cleans foreign objects within the annular groove 220. When the roller 200 rotates in the reverse direction, the other opposite side of the protrusion 111 pushes and cleans foreign objects within the annular groove 220. That is, with only one protrusion 111 extending into a single annular groove 220, the protrusion 111 can clean foreign objects within the annular groove 220 regardless of whether the roller 200 rotates forward or backward.

[0044] Furthermore, each annular groove 220 has two protrusions 111 extending into it, and the two protrusions 111 are respectively located on both sides of the support base 100.

[0045] Specifically, this embodiment can also include two protrusions 111 extending simultaneously into an annular groove 220. When the roller 200 rotates clockwise, one of the protrusions 111 pushes and cleans foreign objects in the annular groove 220; when the roller 200 rotates counterclockwise, the other protrusion 111 pushes and cleans foreign objects in the annular groove 220. The two protrusions 111 are located on opposite sides of the support base 100, ensuring that regardless of whether the roller 200 rotates clockwise or counterclockwise, one of the protrusions 111 will always push and clean the foreign objects in the annular groove 220. This prevents foreign objects from entering the gap between the support base 100 and the roller 200, thus avoiding the roller 200 from getting stuck or even jammed due to foreign objects entering the gap between the support base 100 and the roller 200.

[0046] Furthermore, each annular groove 220 has at least three protrusions 111 extending therein, and the at least three protrusions 111 are evenly spaced along the width direction of the support 100.

[0047] Specifically, in this embodiment, three or more protrusions 111 may be inserted into an annular groove 220 at the same time. At least three protrusions 111 are evenly spaced. The protrusions 111 on the outside of the support 100 first clean the foreign objects in the annular groove 220, and then the protrusions 111 on the inside of the support 100 continue to clean the remaining foreign objects, so that the foreign objects in the annular groove 220 can be cleaned more thoroughly after multiple cleanings.

[0048] Furthermore, the minimum distance between the multiple protrusions 111 and the bottom surface of the annular groove 220 gradually decreases from both sides of the support base 100 toward the center.

[0049] Specifically, the gap between the multiple protrusions 111 and the annular groove 220 gradually decreases from the outside to the inside. That is, the gap between the protrusions 111 closer to the outside and the annular groove 220 is larger, and the gap between the protrusions 111 closer to the middle and the annular groove 220 is smaller. This allows the outer protrusions 111 to perform preliminary cleaning of foreign objects in the annular groove 220, while the middle protrusions 111 thoroughly clean the foreign objects in the annular groove 220. This achieves step-by-step cleaning of foreign objects, thereby reducing the force on individual protrusions 111 and preventing them from being damaged due to excessive force.

[0050] Furthermore, the side of the individual protrusion 111 facing the annular groove 220 can be made inclined or stepped, so that the gap between the outer region of the protrusion 111 and the bottom surface of the annular groove 220 is greater than the gap between the inner region of the protrusion 111 and the bottom surface of the annular groove 220. In this way, foreign objects in the annular groove 220 can be cleaned step by step by extending the individual protrusion 111 into the annular groove 220.

[0051] Furthermore, the protrusion 111 is a protruding column or protruding strip provided on the support base 100.

[0052] When the protrusion 111 is columnar, one protruding column can be inserted into an annular groove 220 and positioned in the middle of the support 100, with the two sides of the support 100 symmetrical about the protruding column; two protruding columns can also be inserted into an annular groove 220 and positioned on opposite sides of the support 100; or three or more protruding columns can be inserted into an annular groove 220 simultaneously, with the height of the protruding column in the middle being higher than the height of the protruding column on the outer side.

[0053] When the protrusion 111 is provided as a convex strip, a convex strip can be inserted into an annular groove 220 and the convex strip is located in the middle of the support 100, so that the two sides of the support 100 are symmetrical about the center of the convex strip; two convex strips can also be inserted into the same annular groove 220 at the same time, and the two convex strips are located on the two sides of the support 100 respectively.

[0054] Three or more protrusions can also be inserted into the same annular groove 220, with the protrusions spaced apart, and the height of the protrusion in the middle being higher than the height of the protrusion on the outer side.

[0055] Furthermore, the protrusion 111 is a protrusion provided on the support base 100, and the two ends of the protrusion are respectively connected to the two sides of the support base 100.

[0056] Specifically, the two ends of the protrusion are connected to the two sides of the support 100, that is, the length of the protrusion is equal to the width of the support 100. This can also improve the strength of the protrusion and prevent foreign objects from entering the gap between the support 100 and the roller 200, causing the roller 200 to jam.

[0057] Furthermore, the bottom surface of the annular groove 220 is a first arc surface; the end of the protrusion 111 facing the first arc surface is provided with a second arc surface, the second arc surface and the first arc surface are spaced apart, and the minimum distance from any point on the second arc surface to the first arc surface is equal. Setting the distance from any position on the first arc surface to the second arc surface to be the same can avoid the accumulation of foreign objects in some positions due to large gaps, which could cause the roller 200 to jam.

[0058] Further, please refer to Figure 8 The roller 200 is provided with multiple ground surfaces 230, and the ground surfaces 230 are located between two adjacent annular grooves 220;

[0059] Multiple recesses 112 are provided on the support base 100, and protrusions 111 are provided between two adjacent recesses 112. The bottom surface of the recess 112 is spaced apart from the ground surface 230, and the minimum distance from any point on the bottom surface of the recess 112 to the ground surface 230 is equal.

[0060] Specifically, the contact surface 230 needs to contact the ground or other working surfaces, and is prone to trapping impurities such as gravel and mud. Therefore, in this embodiment, a recess 112 is provided between any two adjacent protrusions 111, so that the recess 112 is spaced apart from the contact surface 230. When the roller 200 rotates, the recess 112 can peel off the impurities trapped on the contact surface 230, thereby increasing the friction between the contact surface 230 and the working surface, and thus improving the grip of the entire omnidirectional wheel.

[0061] The gap between the bottom surface of the recess 112 and the ground surface 230 is equal everywhere, so that impurities on the ground surface 230 are not easy to accumulate in the larger gap, thus avoiding the roller 200 from getting stuck.

[0062] Furthermore, the minimum distance from any point on the second arc surface to the first arc surface is equal to the minimum distance from any point on the bottom surface of the recess 112 to the ground surface 230.

[0063] Specifically, the two gaps are equal. When the roller 200 rotates relative to the support 100, the protrusion 111 cleans the foreign objects in the annular groove 220, while the recess 112 peels off the impurities on the ground 230.

[0064] Further, please refer to Figures 1-3 The paper also discloses an omnidirectional wheel, including a hub 300 and multiple support seats 100. The multiple support seats 100 are evenly arranged along the circumference of the hub 300, and each support seat 100 is rotatably connected to a roller 200. The outer contours of the multiple rollers 200 are all arranged on the same circumferential surface coaxial with the roller.

[0065] Specifically, multiple support seats 100 are provided on the outer periphery of the hub 300, and a roller 200 is installed on each support seat 100, so that the outer edges of all rollers 200 are on a circumferential surface coaxial with the hub 300.

[0066] When the hub 300 rotates, it drives all the rollers 200 to rotate together, so that the omnidirectional wheel can move straight in the direction of travel. When the rollers 200 rotate relative to the support base 100, they can drive the omnidirectional wheel to move laterally.

[0067] Further, please refer to Figure 3 , Figure 7 and Figure 8 The support base 100 includes a surrounding plate 110 and an end plate 120, with the end plate 120 fixedly connected to one end of the surrounding plate 110; a protrusion 111 is provided on the side of the surrounding plate 110 facing the roller 200, and a connecting part for connecting with the hub 300 is provided on the side of the surrounding plate 110 away from the roller 200.

[0068] The end plate 120 is provided with a first rotating part 121 on the side facing the enclosure 110, and a second rotating part 122 is provided on the side of the end plate 120 away from the enclosure 110.

[0069] A rotating shaft 210 is rotatably provided on the roller 200. One end of the rotating shaft 210 is connected to the first rotating part 121, and the other end of the rotating shaft 210 is connected to the second rotating part 122 on the adjacent support 100.

[0070] Specifically, one end of the rotating shaft 210 is connected to the first rotating part 121 of the support 100 located on the side of the roller 200, and the other end of the rotating shaft 210 is connected to the second rotating part 122 of the adjacent support 100. That is, the rotating shaft 210 on each roller 200 is simultaneously connected to two adjacent support 100s, enabling two support 100s to support one roller 200 simultaneously. When a roller 200 contacts the working surface and experiences significant force, both support 100s bear the force simultaneously, preventing damage to a single support 100 due to excessive force.

[0071] Meanwhile, each support 100 has a first rotating part 121 and a second rotating part 122. The first rotating part 121 is connected to the roller 200 on the side of the support 100, and the second rotating part 122 is connected to the adjacent roller 200. The adjacent roller 200 is in turn connected to the adjacent support 100. By setting each support 100 in this way, multiple support 100s are connected to each other through rollers 200, and the overall integrity of all rollers 200 and support 100s is stronger. Each roller 200 has an indirect or direct connection relationship with each support 100. When one or more support 100s are detached from the hub 300, due to the connecting effect of the rollers 200, the support 100 will not fall directly from the hub 300, but will be suspended between two adjacent rollers 200, and can continue to work for a period of time.

[0072] Further, please refer to Figure 7 The end plate 120 is provided with a first protrusion on the side facing the enclosure 110, and a first connecting hole 123 is provided on the first protrusion; the end plate 120 is provided with a second protrusion on the side away from the enclosure 110, and a second connecting hole 124 is provided on the second protrusion.

[0073] One end of the rotating shaft 210 extends into the first connecting hole 123 on one of the surrounding plates 110, and the other end of the rotating shaft 210 extends into the second connecting hole 124 on another adjacent surrounding plate 110.

[0074] Specifically, a first connecting hole 123 is opened on the first boss to form a first rotating part 121, and a second connecting hole 124 is opened on the second boss to form a second rotating part 122, so that one end of the rotating shaft 210 extends into one of the first connecting holes 123 and the other end extends into the second connecting hole 124 on the adjacent support 100, thereby realizing a rotatable connection between the roller 200 and the two adjacent support 100.

[0075] Furthermore, the central axes of the first connecting hole 123 and the second connecting hole 124 on the same end plate 120 intersect; the first connecting hole 123 on any end plate 120 and the second connecting hole 124 on the adjacent end plate 120 are coaxially arranged.

[0076] Furthermore, a vehicle comprising multiple omnidirectional wheels was also disclosed.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A support base for an omnidirectional wheel, the support base being disposed laterally to the wheel and rotatably connected to the wheel, the wheel having an annular groove, characterized in that, The support base has an inner surface facing the roller, the inner surface protruding in the direction of the roller to form a protrusion, the protrusion extending at least partially into the annular groove and being slidable along the annular groove.

2. The support base for an omnidirectional wheel according to claim 1, characterized in that, The support base is provided with a plurality of protrusions along its length; The outer wall of the roller is provided with a plurality of annular grooves along its axial direction, and each annular groove has at least one protrusion extending therein.

3. The support base for an omnidirectional wheel according to claim 2, characterized in that, The support base includes an end plate for rotatably connecting to the roller, and a surrounding plate located on the side of the roller. The surrounding plate has a plurality of protrusions on the side facing the roller, and the length of the surrounding plate is greater than or equal to the length of the outer wall of the roller.

4. The support base for an omnidirectional wheel according to claim 2, characterized in that, The two sides of the support base are symmetrical about the protrusion.

5. The support base for an omnidirectional wheel according to claim 2, characterized in that, Each of the annular grooves has two protrusions extending into it, and the two protrusions are respectively located on both sides of the support.

6. The support base for an omnidirectional wheel according to claim 2, characterized in that, Each of the annular grooves has at least three protrusions extending therein, and the at least three protrusions are evenly spaced along the width direction of the support.

7. The support base for an omnidirectional wheel according to claim 6, characterized in that, The minimum distance from the multiple protrusions to the bottom surface of the annular groove gradually decreases from both sides of the support seat towards the center.

8. The support base for an omnidirectional wheel according to any one of claims 1-7, characterized in that, The protrusion is a protruding column or protruding strip provided on the support base.

9. The support base for an omnidirectional wheel according to claim 2, characterized in that, The protrusion is a raised strip provided on the support base, and the two ends of the raised strip are respectively connected to the two sides of the support base.

10. The support base for an omnidirectional wheel according to claim 2, characterized in that, The bottom surface of the annular groove is a first arc surface; The protrusion has a second arc surface at one end facing the first arc surface. The second arc surface is spaced apart from the first arc surface, and the minimum distance from any point on the second arc surface to the first arc surface is equal.

11. The support base for an omnidirectional wheel according to claim 10, characterized in that, The roller is provided with multiple contact surfaces, which are disposed between two adjacent annular grooves; The support base has multiple recesses, and the protrusions are located between two adjacent recesses. The bottom surface of the recesses is spaced apart from the ground surface, and the minimum distance from any point on the bottom surface of the recesses to the ground surface is equal.

12. The support base for an omnidirectional wheel according to claim 11, characterized in that, The minimum distance from any point on the second arc surface to the first arc surface is equal to the minimum distance from any point on the bottom surface of the recess to the ground surface.

13. An omnidirectional wheel, comprising a hub, characterized in that, It also includes a plurality of support seats as described in any one of claims 1-12, the plurality of support seats being evenly arranged along the circumference of the hub, and each of the support seats being rotatably connected to a roller, and the outer contours of the plurality of rollers being arranged on the same circumferential surface coaxial with the hub.

14. A vehicle, characterized in that, It includes multiple omnidirectional wheels as described in claim 13.

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