Omnidirectional wheel and moving device

Abstract

The utility model discloses an omnidirectional wheel and a moving device, and belongs to the technical field of omnidirectional wheels. First roller assemblies and second roller assemblies of the omni-directional wheel are connected with a hub support through a roller support, and the first roller assemblies and the second roller assemblies are alternately arranged in the circumferential direction of the hub support to jointly form a whole circle of roller structure. A plurality of mounting grooves are formed in a wheel disc of the hub support in the circumferential direction, and first mounting parts and second mounting parts are arranged in the mounting grooves. The roller bracket is connected with the first mounting part and the second mounting part through the first fastener and the second fastener respectively, so that the roller bracket and the hub bracket are fixed; the first roller assembly is rotatably installed on a single roller support, and the second roller assembly is rotatably installed between two adjacent roller supports. According to the utility model, the high-load adaptability, the movement stability and continuity and the damping adjustment precision of the omnidirectional wheel can be better improved.

Description

Technical Field

[0001] This utility model relates to the field of omnidirectional wheel technology, and in particular to an omnidirectional wheel and a moving device. Background Technology

[0002] An omni-wheel is a special wheel structure capable of multi-directional movement. Its core design concept involves multiple driven roller assemblies distributed across the wheel surface, allowing the wheel to move axially and slide laterally via the free rotation of the rollers during rolling, thus creating a motion trajectory in any direction. A typical omni-wheel structure includes a hub, circumferentially distributed driven rollers, a support frame, and a connecting shaft. The driven rollers are usually evenly arranged around the circumference of the main wheel at an inclined or vertical angle.

[0003] The working principle of omnidirectional wheels is based on a vector synthesis mechanism. When the drive shaft rotates the main hub, the wheel body generates an active driving force along the axial direction. Simultaneously, the driven rollers distributed on the wheel rim can rotate freely according to changes in the ground contact point, providing lateral sliding freedom. Through multi-wheel coordinated control, the omnidirectional wheel system can achieve 360° translation without blind spots in a plane, in-situ turning, and complex curved motion, significantly improving the mobility of mobile devices. Currently, omnidirectional wheels are widely used in logistics and warehousing AGVs, service robots, automated production lines, medical transport equipment, and other fields, especially in confined spaces or high-precision path planning scenarios, where they have irreplaceable advantages.

[0004] Although omnidirectional wheels perform well in terms of movement flexibility, there is still considerable room for improvement in practical applications in terms of high load adaptability, smooth and continuous movement, and roller damping adjustment accuracy.

[0005] A search revealed several existing technologies that improve omnidirectional wheels from different perspectives. For example, patent publication number CN115257231A, titled "Omnidirectional Wheel," designs an omnidirectional wheel by alternating small-diameter and large-diameter rollers. It employs a structure where the first and second arms of adjacent support sections respectively fix the ends of the small-diameter rollers and jointly support the large-diameter rollers, strengthening the axial fixation of the rollers and improving weight reduction. The core solution addresses the problems of traditional omnidirectional wheels being prone to deformation and structural redundancy under high loads. However, the alternating layout of the small-diameter and large-diameter rollers in this application may cause stress concentration at the arm connection points, easily leading to fatigue fracture under long-term high loads. The difference in roller diameters causes intermittent power transmission, easily resulting in speed jumps during steering, affecting continuity. Furthermore, this application does not mention damping adjustment design; mismatched rolling resistance of irregularly shaped rollers may cause vibration or irregular movement. Utility Model Content

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

[0007] In view of the technical problems existing in the prior art of omnidirectional wheels, the present invention provides an omnidirectional wheel and a moving device, which can better improve the high load adaptability, smooth and continuous movement, and damping adjustment accuracy of the omnidirectional wheel.

[0008] 2. Technical Solution

[0009] To achieve the above objectives, the technical solution provided by this utility model is as follows:

[0010] As a first aspect of this utility model, the omnidirectional wheel includes a hub bracket, a roller bracket, a plurality of first roller assemblies and a plurality of second roller assemblies. The first roller assemblies and the second roller assemblies are connected to the hub bracket through the roller bracket. The first roller assemblies and the second roller assemblies are arranged alternately along the circumference of the hub bracket to form a complete roller structure.

[0011] The wheel hub bracket has multiple mounting slots around the wheel disc, and the mounting slots are provided with a first mounting part and a second mounting part.

[0012] The roller bracket is connected to the first mounting part and the second mounting part respectively by the first fastener and the second fastener, thereby fixing the roller bracket to the hub bracket;

[0013] The first roller assembly is rotatably mounted on a single roller bracket, and the second roller assembly is rotatably mounted between two adjacent roller brackets.

[0014] As a further improvement, the depth of the mounting groove is greater than the thickness of the wheel, forming an insert-type assembly structure; the first mounting part and the second mounting part are spaced apart on the bottom plate of the mounting groove, and the bottom plate forms the axial positioning surface of the roller bracket; the side wall of the mounting groove forms the radial constraint surface of the roller bracket.

[0015] As a further improvement, the opening end of the mounting groove is chamfered, and the sidewall adopts a stepped structure to form a composite limiting surface.

[0016] As a further improvement, the wheel is provided with a transverse support beam and a longitudinal support beam, which intersect to form a grid-like reinforcing structure; the central bushing of the hub bracket is interference-fitted with the wheel, and a central bearing is installed inside the central bushing.

[0017] As a further improvement, the roller bracket includes a first connecting arm and a second connecting arm, the first connecting arm having a first fixing hole and a second fixing hole; the two ends of the second connecting arm having a first connecting hole and a second connecting hole respectively.

[0018] As a further improvement, an arc-shaped clearance groove is provided along the length direction of the second connecting arm, and the curvature of the arc-shaped clearance groove matches the surface clearance of the adjacent roller.

[0019] As a further improvement, a reinforcing rib is provided in the arc-shaped clearance groove, and the wall thickness of the second connecting arm is thinnest in the transition area between the root of the reinforcing rib and the side of the second connecting arm close to the first connecting arm.

[0020] As a further improvement, the first connecting arm of the roller bracket is provided with a third fixing hole, which is located at the connection between the first connecting arm and the second connecting arm.

[0021] As a further improvement, the first roller assembly includes a first roller, a first connecting shaft, and a first bearing, wherein the first roller is rotatably mounted on the first connecting shaft via the first bearing; the first connecting shaft passes through two second connecting holes of the roller bracket;

[0022] The second roller assembly includes a second roller, a second connecting shaft, and a second bearing. The second roller is rotatably mounted on the second connecting shaft via the second bearing. The second connecting shaft passes through the first connecting holes of two adjacent roller brackets.

[0023] As a further improvement, the roller bracket has two second connecting holes, one of which is an axial through hole and the other is a threaded hole. One end of the first connecting shaft is inserted into the axial through hole, and the other end is engaged with the threaded hole, with a tooth-fixing adhesive layer provided at the interface.

[0024] As a further improvement, the roller bracket has two first connecting holes, one of which is a guide through hole and the other is a locking threaded hole. One end of the second connecting shaft is inserted into the guide through hole, and the other end is threaded to the locking threaded hole.

[0025] As a further improvement, the threaded connection end of the second connecting shaft is provided with an elastic washer, which abuts against the second bearing and the first connecting part.

[0026] As a further improvement, the assembly end of the second connecting shaft is provided with an external hexagonal assembly head, which is located between the second bearing and the first connecting part.

[0027] As a second aspect of this utility model, a mobile device includes a mobile device body and an omnidirectional wheel mounted on the mobile device body.

[0028] 3. Beneficial effects

[0029] Compared with existing known technologies, the technical solution provided by this utility model has the following significant advantages:

[0030] (1) The omnidirectional wheel of this utility model reduces the shear stress on the fasteners by a dual-point layout design of the first fastener and the second fastener, effectively suppresses the lateral displacement of the roller bracket, enhances the fatigue resistance of the threaded connection structure, eliminates the risk of thread stripping caused by traditional single-point fixing, and improves the load-bearing reliability of the omnidirectional wheel.

[0031] (2) The present invention provides an omnidirectional wheel with an insertion assembly structure formed by its mounting groove. The first mounting part and the second mounting part are spaced apart on the bottom plate of the mounting groove to form the axial positioning surface of the roller bracket. The side wall of the mounting groove forms the radial constraint surface of the roller bracket. At the same time, the opening end of the mounting groove is chamfered. Through the multi-dimensional positioning of axial positioning surface + radial constraint + pre-guided chamfer, the precision assembly of the roller bracket is realized, the cumulative error of the multi-part nested assembly of the omnidirectional wheel is reduced, the assembly efficiency is improved while ensuring the dynamic balance of the omnidirectional wheel.

[0032] (3) The omnidirectional wheel of this utility model has a chamfered mounting groove that forms a mechanical limit with the stepped side wall, which converts the shear load borne by the roller bracket into a safe stress, reduces thread engagement wear and lateral impact damage, and can significantly extend the service life of the fastener.

[0033] (4) An omnidirectional wheel of this utility model is provided with an arc-shaped clearance groove along the length direction of the second connecting arm. The curvature of the arc-shaped clearance groove matches the surface gap of the adjacent rollers. A reinforcing rib is provided in the arc-shaped clearance groove. The wall thickness of the second connecting arm is thinnest at the transition area between the root of the reinforcing rib and the side of the second connecting arm close to the first connecting arm. The thin-walled structure design of the second connecting arm can shorten the gap between the adjacent rollers, making the formed whole-circle roller structure closer to a circle, thus improving the running stability and continuity of the omnidirectional wheel. The reinforcing rib can ensure the structural rigidity of the second connecting arm and the load-bearing capacity of the second connecting arm.

[0034] (5) An omnidirectional wheel of this utility model is provided with a tooth-fixing rubber layer between the first connecting shaft and the threaded hole, and an elastic washer is provided at the threaded connection end of the second connecting shaft. The damping force of the roller can be adjusted more precisely by coordinating the tightening degree of the threads of the first connecting shaft and the second connecting shaft, so that the damping force of the roller can be matched with the requirements. Attached Figure Description

[0035] Figure 1 A three-dimensional structural diagram of an omnidirectional wheel provided in an embodiment of the present utility model;

[0036] Figure 2 A schematic diagram showing the connection between the roller bracket and roller assembly of an omnidirectional wheel according to an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the structure of a wheel hub bracket provided in one embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the structure of a roller bracket provided in an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram showing the connection between the roller bracket and the hub bracket according to an embodiment of the present invention;

[0040] Figure 6 A cross-sectional view of a roller assembly provided in an embodiment of the present invention;

[0041] Figure 7 A schematic diagram showing the state of an omnidirectional wheel after the rollers have been removed, according to an embodiment of the present invention.

[0042] Figure 8 A cross-sectional view of a first roller provided in an embodiment of the present utility model;

[0043] Figure 9 A cross-sectional view of the second roller provided in an embodiment of the present utility model;

[0044] Explanation of the labels in the diagram:

[0045] 1. Hub bracket; 11. Wheel disc; 111. Transverse support beam; 112. Longitudinal support beam; 12. Mounting groove; 121. Base plate; 122. First mounting part; 123. Second mounting part; 124. Chamfer; 125. Side wall; 13. Central bushing;

[0046] 2. Roller bracket; 21. First connecting arm; 211. First fixing hole; 212. Second fixing hole; 213. Third fixing hole; 22. Second connecting arm; 221. Reinforcing rib; 222. Arc-shaped clearance groove; 23. First connecting part; 231. First connecting hole; 24. Second connecting part; 241. Second connecting hole; 25. First fastener; 26. Second fastener;

[0047] 3. First roller assembly; 31. First roller; 311. First tire; 312. First wheel core; 321. First shaft hole; 322. First bearing mounting hole; 33. First connecting shaft; 34. First bearing;

[0048] 4. Second roller assembly; 41. Second roller; 411. Second tire; 412. Second wheel core; 421. Second shaft hole; 422. Second bearing mounting hole; 43. Second connecting shaft; 44. Second bearing; 45. Elastic washer; 46. External hexagonal mounting head;

[0049] 5. Center bearing. Detailed Implementation

[0050] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0051] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0052] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0053] Example 1

[0054] The distributed layout of the driven rollers in an omnidirectional wheel reduces the contact area between the wheel and the ground. Under heavy load conditions, the connection structure between the roller and the main hub is prone to fatigue wear due to frequent alternating stress, which leads to a reduction in wheel life.

[0055] Combination Figure 1 , Figure 2 , Figure 3 and Figure 5 An omnidirectional wheel according to this embodiment includes a hub bracket 1, a roller bracket 2, a plurality of first roller assemblies 3 and a plurality of second roller assemblies 4. The first roller assembly 3 is rotatably mounted on a single roller bracket 2, and the second roller assembly 4 is rotatably mounted between two adjacent roller brackets 2.

[0056] Adjacent first roller assembly 3, second roller assembly 4, and single roller bracket 2 form, as shown in the figure Figure 2The roller module shown has multiple roller modules arranged in a circular structure along the circumference of the hub bracket 1. That is, the first roller assembly 3 and the second roller assembly 4 are connected to the hub bracket 1 via the roller bracket 2, and the first roller assembly 3 and the second roller assembly 4 are arranged alternately along the circumference of the hub bracket 1, together forming a circular structure. Figure 1 The diagram shows a complete circular roller structure.

[0057] In this embodiment, the hub bracket 1 includes a wheel disc 11, a mounting groove 12, and a central bushing 13. The wheel disc 11 is provided with a transverse support beam 111 and a longitudinal support beam 112. The transverse support beam 111 and the longitudinal support beam 112 intersect to form a grid-like reinforcing structure. The central bushing 13 of the hub bracket 1 is interference-fitted with the wheel disc 11. A central bearing 5 is provided inside the central bushing 13. The drive shaft of the moving device drives the entire omnidirectional wheel to rotate through the central bearing 5.

[0058] The wheel 11 has multiple mounting grooves 12 circumferentially arranged, the depth of which is greater than the thickness of the wheel 11, forming an insert-type assembly structure for the roller bracket 2. Each mounting groove 12 has a first mounting portion 122 and a second mounting portion 123, which are spaced apart on a base plate 121 of the mounting groove 12. This base plate 121 forms the axial positioning surface of the roller bracket 2. Specifically, in this embodiment, both the first mounting portion 122 and the second mounting portion 123 are configured as threaded holes.

[0059] The opening end of the mounting groove 12 is chamfered 124, and the sidewall 125 of the mounting groove 12 has a stepped structure, forming the radial constraint surface of the roller bracket 2. The first connecting arm 21 of the roller bracket 2 can be inserted along the sidewall 125 of the mounting groove 12, and is connected to the first mounting part 122 and the second mounting part 123 respectively by the first fastener 25 and the second fastener 26, realizing the assembly of the roller bracket 2 and the hub bracket 1. In order to cooperate with the first mounting part 122 and the second mounting part 123, in this embodiment, both the first fastener 25 and the second fastener 26 are bolts.

[0060] Omnidirectional wheels bear multi-directional alternating loads under complex road conditions, and traditional single-bolt fixing is prone to thread stripping due to stress concentration. This embodiment uses a dual-point positioning system with a first mounting part 122 and a second mounting part 123. The first mounting part 122 uses high-strength bolts for primary fixing, while the second mounting part 123 uses anti-loosening bolts for auxiliary constraint. This dual-point layout reduces the peak shear stress of the bolts, effectively preventing lateral displacement of the roller bracket 2 during sharp turns. This structure significantly improves the fatigue life of the bolts.

[0061] To address the challenge of assembling multiple nested components of the omnidirectional wheel, this embodiment employs a triple positioning system in the mounting groove 12. The base plate 121 features a first mounting portion 122 and a second mounting portion 123 providing an axial reference surface, while the sidewall 125 forms a radial constraint. A chamfer 124 provides pre-guidance, improving the assembly accuracy of the roller bracket 2. The chamfer 124 and the stepped sidewall 125 create a dual mechanical limit, transforming the bolt shear load in traditional structures into structural safety stress. When the omnidirectional wheel experiences lateral impact, the shear force on the bolts is significantly reduced. Simultaneously, the stress-buffering design of the chamfer 124 reduces thread wear. Furthermore, the grid structure formed by the transverse support beam 111 and the longitudinal support beam 112 enhances the overall bending stiffness of the omnidirectional wheel, while the interference fit design of the central bushing 13 ensures transmission accuracy.

[0062] The entire omnidirectional wheel structure disperses shear stress through double fasteners, and the stepped sidewalls and chamfers form mechanical limits. The grid support beams enhance the overall rigidity, effectively solving the problem of easy damage to the connection structure of traditional omnidirectional wheels under high loads.

[0063] Example 2

[0064] During the movement of an omnidirectional wheel, the driven roller needs to frequently switch its contact state with the ground. The gap between adjacent rollers of existing omnidirectional wheels is often large, which leads to intermittent power transmission and poor stability and continuity of the wheel's movement. This not only generates significant noise and vibration, but also easily causes wheel shaking, path deviation, or even temporary stalling when the rollers switch during high-speed movement or complex terrain (such as uneven ground or slopes).

[0065] Based on the above problems, this embodiment provides an omnidirectional wheel based on embodiment 1. The roller bracket 2 of the omnidirectional wheel includes a first connecting arm 21 and a second connecting arm 22 arranged vertically. The first connecting arm 21 and the second connecting arm 22 form a Y-shaped roller bracket 2.

[0066] The first connecting arm 21 is provided with a first fixing hole 211 and a second fixing hole 212. The first fixing hole 211 and the second fixing hole 212 are threaded holes, which cooperate with the first mounting part 122 and the second mounting part 123 described in Embodiment 1, and are assembled by the first fastener 25 and the second fastener 26.

[0067] The second connecting arm 22 has a first connecting part 23 and a second connecting part 24 at both ends. Specifically, the first connecting parts 23 at both ends of the second connecting arm 22 are arranged opposite to each other, and the second connecting parts 24 at both ends of the second connecting arm 22 are arranged opposite to each other. A first connecting hole 231 is opened on the first connecting part 23, and a second connecting hole 241 is opened on the second connecting part 24.

[0068] It is worth emphasizing that, in this embodiment, an arc-shaped clearance groove 222 is provided along the length of the second connecting arm 22, and the curvature of the arc-shaped clearance groove 222 matches the surface clearance of the adjacent rollers. A reinforcing rib 221 is provided inside the arc-shaped clearance groove 222, and the wall thickness of the second connecting arm 22 is thinnest at the transition zone between the root of the reinforcing rib 221 and the side of the second connecting arm 22 closer to the first connecting arm 21.

[0069] When the omnidirectional wheel moves at high speed, the discontinuity of the contact surface between adjacent rollers causes the tire surface to form a polygonal trajectory, resulting in periodic vibration. This embodiment compresses the thickness of the second connecting arm 22 by setting an arc-shaped clearance groove 222, particularly making the wall thickness of the second connecting arm 22 thinnest in the transition zone between the root of the reinforcing rib 221 and the side of the second connecting arm 22 closest to the first connecting arm 21. Combined with... Figure 2 This transition zone is the position where the distance between adjacent rollers is the smallest. Setting this transition zone to its thinnest value can shorten the center distance between adjacent rollers, reduce the diameter difference between adjacent rollers, reduce the roundness error of the tire envelope surface, and improve the continuity of the omnidirectional wheel's movement trajectory.

[0070] The stiffness loss caused by the thin-walled design of the second connecting arm 22 is solved by the reinforcing rib 221. Under the condition of thinning the wall thickness, the reinforcing rib 221 makes the bending stiffness of the second connecting arm 22 higher, while ensuring that the gap between adjacent rollers is maintained within the optimal range.

[0071] refer to Figure 1 , Figure 2 and Figure 5 In this embodiment, a third fixing hole 213 is also provided on the first connecting arm 21 of the roller bracket 2. The third fixing hole 213 is located at the connection between the first connecting arm 21 and the second connecting arm 22. Traditionally, the fixing point of the decorative panel is usually set on a single connecting arm, most commonly on the first connecting arm 21, which is prone to resonance under centrifugal force. In this embodiment, the third fixing hole 213 is set on the mechanical neutral axis of the first connecting arm 21 and the second connecting arm 22, which can form a more stable support structure and make the decorative panel less likely to fall off.

[0072] Example 3

[0073] The design of roller damping force typically relies on passive adjustments to bearing friction and roller material, leading to a mismatch between roller damping force and requirements. When the roller damping force is too large, the roller's rotational resistance increases significantly, hindering lateral sliding. Conversely, if the roller damping force is too small, the roller has too much freedom. During longitudinal drive, frequent switching of the roller's contact point with the ground can cause "overshoot" due to inertia, resulting in wheel slippage or vibration.

[0074] Combination Figures 6-9This embodiment, based on Embodiment 1, provides an omnidirectional wheel. The first roller assembly 3 of the omnidirectional wheel includes a first roller 31, a first connecting shaft 33, and a first bearing 34. The first roller 31 includes a first tire 311 and a first wheel core 312, which are assembled as a single unit. The first wheel core 312 has a first shaft hole 321 and a first bearing mounting hole 322 along its axial direction, and a step is provided between the first shaft hole 321 and the first bearing mounting hole 322. The first bearing 34 is disposed in the first bearing mounting hole 322, with one end abutting against the step.

[0075] The first connecting shaft 33 passes through the two second connecting holes 241 of the roller bracket 2 and the first shaft hole 321. The first roller 31 is rotatably mounted on the first connecting shaft 33 through the first bearing 34 and is connected to the roller bracket 2.

[0076] The second roller assembly 4 includes a second roller 41, a second connecting shaft 43, and a second bearing 44. The second roller 41 includes a second tire 411 and a second wheel core 412, which are assembled as a single unit. The second wheel core 412 has a second shaft hole 421 and a second bearing mounting hole 422 along its axial direction. A step is provided between the second shaft hole 421 and the second bearing mounting hole 422. The second bearing 44 is disposed in the second bearing mounting hole 422, with one end abutting against the step.

[0077] The second connecting shaft 43 passes through the first connecting hole 231 of two adjacent roller brackets 2 and the second shaft hole 421. The second roller 41 is rotatably mounted on the second connecting shaft 43 through the second bearing 44 and is connected to the adjacent roller bracket 2.

[0078] Regarding the bearing mounting structure of the first roller assembly 3 and the second roller assembly 4, those skilled in the art can choose whether or not to install a bearing sleeve according to actual needs. For example... Figure 8 As shown, when the bearing sleeve is not provided, the first bearing mounting hole 322 of the first wheel core 312 forms an axial limit on the first bearing 34 through the internal stepped structure, at which time the first bearing 34 directly abuts against the stepped surface. Similarly, Figure 9 The second roller 41 shown can also use the same step-limiting method.

[0079] In another embodiment, a bearing sleeve can be added inside the first shaft hole 321 of the first wheel core 312. The two ends of the bearing sleeve abut against the inner ring of the first bearing 34, thereby controlling the bearing spacing. Similarly, the second wheel core 412 can also employ a bearing sleeve limiting structure. Whether using stepped limiting or sleeve limiting, accurate bearing positioning can be achieved, and both methods fall within the protection scope of this utility model.

[0080] It is worth noting that, in this embodiment, the two second connecting holes 241 of the roller bracket 2 are, one is an axial through hole and the other is a threaded hole. One end of the first connecting shaft 33 is inserted into the axial through hole, and the other end is engaged with the threaded hole and the interface is provided with a tooth-fixing adhesive layer.

[0081] The roller bracket 2 has two first connecting holes 231, one of which is a guide through hole and the other is a locking threaded hole. One end of the second connecting shaft 43 is inserted into the guide through hole, and the other end is threaded into the locking threaded hole. The threaded connection end of the second connecting shaft 43 is provided with an elastic washer 45, which abuts against the second bearing 44 and the first connecting part 23. The assembly end of the second connecting shaft 43 is provided with an external hexagonal assembly head 46, which is located between the second bearing 44 and the first connecting part 23.

[0082] Traditional omnidirectional wheels often experience movement jamming or slippage due to improper control of friction between the roller and the roller bracket 2. This embodiment innovatively employs an asymmetrical hole design (through hole + threaded hole) for the roller bracket 2. One end of the first connecting shaft 33 is inserted into the axial through hole, while the other end mates with the threaded hole, with a tooth-fixing adhesive layer at the interface. This ensures that after the first connecting shaft 33 is screwed into the threaded hole, the first bearing 34 has appropriate damping force, while the tooth-fixing adhesive layer inside the threaded hole ensures that the first connecting shaft 33 is firmly fixed and not easily slipped or dislodged. Unlike traditional double-threaded locking structures, the single-sided threaded design with tooth-fixing adhesive avoids excessive constraint leading to excessive bearing damping force and uneven bearing wear.

[0083] In complex terrain maneuvers, traditional omnidirectional wheels often suffer from trajectory deviations due to differences in damping between the two rollers. This embodiment uses an elastic shim 45 to control the axial preload of the second roller assembly 4. The first roller assembly 3 employs rigid adjustment, while the second roller assembly 4 employs elastic adjustment, achieving more precise adjustment of the damping force of the two rollers and better matching the requirements.

[0084] Furthermore, this embodiment also provides an external hexagonal assembly head 46 at the assembly end of the second connecting shaft 43. During the assembly of the entire wheel, a standard internal hexagonal wrench can be used to engage the external hexagonal assembly head 46 to adjust the axial preload of the second roller assembly 4. By coordinating with the rotation of the locking threaded hole, the damping force can be finely adjusted, which is particularly suitable for the assembly and maintenance of omnidirectional wheel enclosed structures.

[0085] Example 4

[0086] This embodiment of a mobile device includes a mobile device body and omnidirectional wheels as described in embodiments 1-3, mounted on the mobile device body. At least two omnidirectional wheels are symmetrically arranged at the bottom of the mobile device body, and each omnidirectional wheel is connected to the output shaft of a drive motor via a central bearing 5. The omnidirectional wheels can move axially and also slide laterally through the free rotation of the rollers, thus creating a motion trajectory in any direction.

[0087] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An omnidirectional wheel, comprising a hub bracket (1), a roller bracket (2), a plurality of first roller assemblies (3) and a plurality of second roller assemblies (4), wherein the first roller assemblies (3) and the second roller assemblies (4) are connected to the hub bracket (1) via the roller bracket (2), and the first roller assemblies (3) and the second roller assemblies (4) are alternately arranged along the circumference of the hub bracket (1) to form a complete circumferential roller structure; characterized in that: The wheel hub bracket (1) has a plurality of mounting slots (12) circumferentially arranged on the wheel disc (11), and the mounting slots (12) are provided with a first mounting part (122) and a second mounting part (123); The roller bracket (2) is connected to the first mounting part (122) and the second mounting part (123) respectively by the first fastener (25) and the second fastener (26) to fix the roller bracket (2) and the hub bracket (1); The first roller assembly (3) is rotatably mounted on a single roller bracket (2), and the second roller assembly (4) is rotatably mounted between two adjacent roller brackets (2).

2. The omnidirectional wheel according to claim 1, characterized in that: The depth of the mounting groove (12) is greater than the thickness of the wheel (11), forming an insert-type assembly structure; the first mounting part (122) and the second mounting part (123) are spaced apart on the bottom plate (121) of the mounting groove (12), and the bottom plate (121) forms the axial positioning surface of the roller bracket (2); the side wall (125) of the mounting groove (12) forms the radial constraint surface of the roller bracket (2).

3. The omnidirectional wheel according to claim 2, characterized in that: The opening end of the mounting groove (12) is provided with a chamfer (124), and the side wall (125) adopts a stepped structure to form a composite limiting surface.

4. The omnidirectional wheel according to any one of claims 1-3, characterized in that: The wheel (11) is provided with a transverse support beam (111) and a longitudinal support beam (112). The transverse support beam (111) and the longitudinal support beam (112) intersect to form a grid-like reinforcing structure. The central bushing (13) of the hub bracket (1) is interference-fitted with the wheel (11), and a central bearing (5) is provided inside the central bushing (13).

5. The omnidirectional wheel according to claim 1, characterized in that: The roller bracket (2) includes a first connecting arm (21) and a second connecting arm (22). The first connecting arm (21) is provided with a first fixing hole (211) and a second fixing hole (212). The two ends of the second connecting arm (22) are respectively provided with a first connecting hole (231) and a second connecting hole (241).

6. The omnidirectional wheel according to claim 5, characterized in that: An arc-shaped clearance groove (222) is provided along the length direction of the second connecting arm (22), and the curvature of the arc-shaped clearance groove (222) matches the surface clearance of the adjacent roller.

7. The omnidirectional wheel according to claim 6, characterized in that: The arc-shaped clearance groove (222) is provided with a reinforcing rib (221), and the wall thickness of the second connecting arm (22) is thinnest at the root of the reinforcing rib (221) and in the transition area between the second connecting arm (22) and the side of the second connecting arm (22) close to the first connecting arm (21).

8. The omnidirectional wheel according to any one of claims 5-7, characterized in that: The first connecting arm (21) of the roller bracket (2) is provided with a third fixing hole (213), which is located at the connection between the first connecting arm (21) and the second connecting arm (22).

9. The omnidirectional wheel according to claim 1, characterized in that: The first roller assembly (3) includes a first roller (31), a first connecting shaft (33) and a first bearing (34). The first roller (31) is rotatably mounted on the first connecting shaft (33) via the first bearing (34). The first connecting shaft (33) passes through two second connecting holes (241) of the roller bracket (2). The second roller assembly (4) includes a second roller (41), a second connecting shaft (43), and a second bearing (44). The second roller (41) is rotatably mounted on the second connecting shaft (43) via the second bearing (44). The second connecting shaft (43) passes through the first connecting hole (231) of two adjacent roller brackets (2).

10. The omnidirectional wheel according to claim 9, characterized in that: The roller bracket (2) has two second connecting holes (241), one of which is an axial through hole and the other is a threaded hole. One end of the first connecting shaft (33) is inserted into the axial through hole, and the other end is engaged with the threaded hole and the interface is provided with a tooth-fixing adhesive layer.

11. The omnidirectional wheel according to claim 9 or 10, characterized in that: The roller bracket (2) has two first connecting holes (231), one of which is a guide through hole and the other is a locking thread hole. One end of the second connecting shaft (43) is inserted into the guide through hole, and the other end is threaded to the locking thread hole.

12. The omnidirectional wheel according to claim 11, characterized in that: The threaded connection end of the second connecting shaft (43) is provided with an elastic washer (45), which abuts against the second bearing (44) and the first connecting part (23).

13. The omnidirectional wheel according to claim 12, characterized in that: The second connecting shaft (43) is provided with an external hexagonal assembly head (46) at its assembly end, which is located between the second bearing (44) and the first connecting part (23).

14. A mobile device, characterized in that: It includes a mobile device body and an omnidirectional wheel as described in any one of claims 1 to 13 mounted on the mobile device body.

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