Roller support, roller assembly and omnidirectional wheel

Abstract

The utility model discloses a roller support, a roller assembly and an omnidirectional wheel, and belongs to the technical field of omnidirectional wheels. The idler wheel support comprises a first connecting arm and a second connecting arm which are arranged in a crossed mode, the second connecting arm is provided with an arc-shaped avoiding groove in the length direction of the second connecting arm, and the curvature of the arc-shaped avoiding groove is matched with the surface clearance of an adjacent idler wheel. A reinforcing rib is arranged in the arc-shaped receding groove, a first connecting part and a second connecting part are arranged at the two ends of the second connecting arm respectively, a first connecting hole is formed in the first connecting part, and a second connecting hole is formed in the second connecting part. Through the thin-wall structural design of the second connecting arms, the gap between the adjacent rollers can be shortened, so that the formed whole-circle roller structure is closer to a circular surface, and the running stability and continuity of the omnidirectional wheel are improved; the reinforcing ribs can guarantee the structural rigidity of the second connecting arm and guarantee the bearing capacity of the second connecting arm.

Description

Technical Field

[0001] This utility model relates to the field of omnidirectional wheel technology, and in particular to a roller bracket, roller assembly and omnidirectional wheel. Background Technology

[0002] Omnidirectional wheels, as a special wheeled mechanism capable of multi-degree-of-freedom motion, possess a core value in overcoming the directional limitations of traditional wheeled structures in planar movement. Based on the synergistic effect of the roller assembly, omnidirectional wheels, through the superposition and synthesis of the rotational speed vectors of each roller, can achieve translational and rotational motion in any direction within a plane without changing the wheel's orientation. This characteristic gives them an irreplaceable advantage in the fields of service robots and special mobile equipment. Especially in scenarios such as precise pose adjustment in confined spaces and high-dynamic path planning, omnidirectional wheels significantly improve the operational efficiency and spatial adaptability of equipment due to their mobility.

[0003] Existing omnidirectional wheels mostly adopt a structure combining a hub bracket and a circumferentially distributed roller assembly, where the roller assembly forms a continuous contact surface through spatial arrangement at a specific angle. However, as applications extend to high-speed, heavy-duty, and complex terrain operations, traditional omnidirectional wheels have gradually revealed technical bottlenecks in terms of motion stability, power transmission continuity, and structural reliability, thus restricting their widespread application.

[0004] As a key load-bearing component of the omnidirectional wheel, the roller bracket plays a crucial role: firstly, as the mechanical transmission hub between the hub bracket and the roller assembly, it must withstand complex alternating loads under dynamic conditions; secondly, through precise spatial layout design, it ensures that adjacent roller assemblies form a continuous envelope, thereby maintaining the continuity of the omnidirectional wheel's movement. The structural design of the roller bracket directly affects the overall load capacity, motion accuracy, and service life of the wheel, and is a vital factor determining the comprehensive performance of the omnidirectional wheel.

[0005] A search revealed patent publication number CN216423969U, which discloses an omnidirectional wheel. This application includes several treadles, an arc-shaped bracket, and a hub. The arc-shaped bracket is arranged circumferentially around the hub and fixed to it. Large and small treadles are alternately fixed to the arc-shaped bracket. The arc-shaped bracket in this application uses a bifurcated structure to fix the treadles. This bifurcated structure results in a large distance between adjacent treadles, discontinuous contact surfaces, and the treadles are fixed with rigid screws, lacking an elastic adjustment mechanism and unable to precisely match damping requirements. Utility Model Content

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

[0007] In view of the technical problem that the omnidirectional wheel has poor motion stability under high speed, heavy load and complex terrain in the prior art, this utility model provides a roller bracket, roller assembly and 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 roller bracket includes a first connecting arm and a second connecting arm arranged in a cross manner. The second connecting arm is provided with an arc-shaped clearance groove along its length direction. The curvature of the arc-shaped clearance groove matches the gap between the surfaces of adjacent rollers. A reinforcing rib is provided in the arc-shaped clearance groove. A first connecting part and a second connecting part are respectively provided at both ends of the second connecting arm. The first connecting part is provided with a first connecting hole, and the second connecting part is provided with a second connecting hole.

[0011] As a further improvement, the wall thickness of the second connecting arm is thinnest at the transition zone between the root of the reinforcing rib and the side of the second connecting arm closer to the first connecting arm, and the transition zone is located where the gap between adjacent rollers is the smallest.

[0012] As a further improvement, the first connecting arm is provided with a first fixing hole and a second fixing hole, and the first fixing hole and the second fixing hole are respectively connected to the first mounting part and the second mounting part of the wheel hub bracket through a first fastener and a second fastener.

[0013] As a further improvement, the first connecting arm is provided with a third fixing hole, which is located on the mechanical neutral axis at the connection between the first connecting arm and the second connecting arm.

[0014] As a second aspect of this utility model, the roller assembly includes the roller bracket, a first wheel set, and a second wheel set; the first wheel set includes a first roller, a first connecting shaft, and a first bearing, the first connecting shaft passes through a second connecting hole in the roller bracket, and the first roller is rotatably mounted on the first connecting shaft via the first bearing; the second wheel set includes a second roller, a second connecting shaft, and a second bearing, the second connecting shaft passes through a first connecting hole in an adjacent roller bracket, and the second roller is rotatably mounted on the second connecting shaft via the second bearing.

[0015] 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. The assembly end of the second connecting shaft is inserted into the guide through hole of the roller bracket, and the connecting end of the second connecting shaft is threadedly connected to the locking threaded hole of the adjacent roller bracket.

[0016] As a further improvement, the second connecting shaft is provided with an elastic washer near the connecting end, which abuts against the second bearing and the first connecting part.

[0017] As a further improvement, an external hexagonal mounting head is provided near the assembly end of the second connecting shaft, and the external hexagonal mounting head is located between the second bearing and the first connecting part.

[0018] 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 threaded into the threaded hole. The threaded interface between the first connecting shaft and the second connecting hole is provided with a tooth-fixing adhesive layer.

[0019] As a third aspect of this utility model, an omnidirectional wheel includes a hub bracket and the roller assembly; the hub bracket includes radially distributed mounting grooves, and a first mounting part and a second mounting part are provided in the mounting grooves; a first connecting arm of the roller bracket is inserted into the mounting groove and connected to the first mounting part and the second mounting part through a first fastener and a second fastener; the hub bracket has a first wheel group and a second wheel group arranged alternately in a circumferential direction to form a continuous envelope surface.

[0020] 3. Beneficial effects

[0021] Compared with existing known technologies, the technical solution provided by this utility model has the following significant advantages:

[0022] (1) A roller bracket of the present invention has an arc-shaped clearance groove along the length 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.

[0023] (2) A roller bracket of this utility model adopts an asymmetrical connection hole design combining guide through holes and locking threaded holes, and with the help of elastic shims, it realizes the gradient adjustment of the axial preload of the wheel set. Compared with the traditional symmetrical threaded locking method, this structure can not only compensate for assembly errors through elastic deformation, but also accurately control the bearing displacement, so that the roller maintains appropriate damping in complex terrain and reduces over-constraint on the bearing;

[0024] (3) A roller bracket of this utility model provides a tooth-fixing adhesive layer between the first connecting shaft and the threaded hole, and an elastic washer is provided at the connecting end of the second connecting shaft. By coordinating the thread tightening degree of the first connecting shaft and the second connecting shaft, the damping force of the roller can be adjusted more precisely, so that the damping force of the roller can match the requirements.

[0025] (4) The roller bracket of this utility model, through the matching design of the external hexagonal assembly head and the axial through hole, makes the assembly process of the second connecting shaft easier to assemble and maintain under the omnidirectional wheel closed structure. Only standard tools are needed to realize the quick assembly and disassembly of the roller assembly, which significantly improves the assembly and maintenance efficiency.

[0026] (5) An omnidirectional wheel of this utility model has a double mounting part positioning structure set in the wheel hub bracket mounting groove, and a composite constraint is formed by the first fastener and the second fastener. Compared with the traditional single-point fixing method, it effectively suppresses the slippage of the roller bracket under heavy load conditions and enhances the structural stability of the omnidirectional wheel.

[0027] (6) An omnidirectional wheel of this utility model can form a more stable support structure by setting the third fixing hole on the mechanical neutral axis at the connection between the first connecting arm and the second connecting arm, making the decorative panel less likely to fall off. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a roller bracket provided in an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of a roller assembly provided in an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of the structure of an omnidirectional wheel after the rollers have been removed, according to an embodiment of the present invention.

[0031] Figure 4 This is a schematic diagram showing the connection between the roller bracket and the roller shaft according to an embodiment of the present invention;

[0032] Figure 5 This is a connection diagram of the second connecting shaft provided in an embodiment of the present invention;

[0033] Figure 6 A partial cross-sectional view of an omnidirectional wheel provided in an embodiment of the present invention;

[0034] Figure 7 A cross-sectional view of a first roller provided in an embodiment of the present invention;

[0035] Figure 8 A cross-sectional view of the second roller provided in an embodiment of the present utility model;

[0036] Figure 9 This is a schematic diagram showing the connection between the roller bracket and the hub bracket according to an embodiment of the present invention;

[0037] Figure 10 This is a three-dimensional structural diagram of an omnidirectional wheel provided in an embodiment of the present invention.

[0038] Explanation of the labels in the diagram:

[0039] 1. Hub bracket; 11. Wheel disc; 12. Mounting slot; 121. Base plate; 122. First mounting part; 123. Second mounting part; 13. Central bushing;

[0040] 2. Roller bracket; 21. First connecting arm; 211. First fixing hole; 212. Second fixing hole; 213. Third fixing hole; 22. Second connecting arm; 221. Arc-shaped clearance groove; 222. Reinforcing rib; 23. First connecting part; 231. First connecting hole; 24. Second connecting part; 241. Second connecting hole; 25. First fastener; 26. Second fastener;

[0041] 3. First wheel assembly; 31. First roller; 311. First tire; 312. First wheel core; 321. First axle hole; 322. First bearing mounting hole; 33. First connecting shaft; 34. First bearing;

[0042] 4. Second wheel assembly; 41. Second roller; 411. Second tire; 412. Second wheel core; 421. Second axle hole; 422. Second bearing mounting hole; 43. Second connecting shaft; 431. Assembly end; 432. External hexagonal assembly head; 433. Connecting end; 44. Second bearing; 45. Elastic washer;

[0043] 5. Center bearing. Detailed Implementation

[0044] 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.

[0045] 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.

[0046] 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 indicated technical features. Therefore, features 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. If 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.

[0047] Example 1

[0048] During the movement of an omnidirectional wheel, the driven roller needs to frequently switch its contact state with the ground. As a key load-bearing component of the omnidirectional wheel, the roller bracket plays an important role. However, due to structural thickness limitations, the second connecting arm of a traditional roller bracket results in a large gap between adjacent roller sets. This not only causes the tire envelope to exhibit a polygonal trajectory, leading to periodic vibration and noise, but also causes intermittent power transmission due to discontinuous contact surfaces during high-speed movement, which can lead to wheel vibration or even instability in severe cases.

[0049] Combination Figure 1 The roller bracket of this embodiment includes a first connecting arm 21 and a second connecting arm 22 arranged perpendicularly to each other. The first connecting arm 21 and the second connecting arm 22 form a roller bracket 2 that is Y-shaped as a whole.

[0050] 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. The first fixing hole 211 and the second fixing hole 212 are respectively connected to the first mounting part 122 and the second mounting part 123 of the wheel hub bracket 1 through the first fastener 25 and the second fastener 26.

[0051] 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.

[0052] It is worth emphasizing that, in this embodiment, an arc-shaped clearance groove 221 is provided along the length of the second connecting arm 22, and the curvature of the arc-shaped clearance groove 221 matches the surface clearance of the adjacent rollers. A reinforcing rib 222 is provided within the arc-shaped clearance groove 221. The wall thickness of the second connecting arm 22 is thinnest at the root of the reinforcing rib 222 and in the transition zone between the second connecting arm 22 and the side of the second connecting arm 22 closest to the first connecting arm 21. This transition zone is located where the clearance between adjacent rollers is smallest.

[0053] 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 221, particularly making the wall thickness of the second connecting arm 22 thinnest in the transition zone between the root of the reinforcing rib 222 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 distance between adjacent rollers, reduce the difference in diameter between adjacent rollers, reduce the roundness error of the tire envelope surface, and improve the continuity of the omnidirectional wheel's movement trajectory.

[0054] The stiffness loss caused by the thin-walled design of the second connecting arm 22 is solved by the reinforcing rib 222. Under the condition of thinning the wall thickness, the reinforcing rib 222 makes the second connecting arm 22 stronger, while ensuring that the gap between adjacent rollers is maintained within the optimal range.

[0055] refer to Figure 1 , Figure 2 and Figure 9 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.

[0056] Example 2

[0057] The damping force design of omnidirectional wheels typically relies on passive adjustments to bearing friction and roller materials, leading to a mismatch between the roller damping force and the required damping force. When the roller damping force is too large, the rotational resistance of the roller increases significantly, resulting in obstructed lateral sliding. Conversely, if the roller damping force is too small, the roller has too much freedom. During longitudinal drive, when the contact point between the roller and the ground frequently changes, an "overshoot" phenomenon will occur due to inertia, causing the wheel to slip or vibrate.

[0058] Traditional roller brackets 2 employ symmetrical shaft-hole fits (such as double-threaded locking), causing roller damping force adjustment to rely on experience-based assembly, making precise control of axial preload impossible. This rigid constraint easily leads to problems such as uneven bearing wear and abnormal roller slippage, exacerbating trajectory deviations and energy losses in complex terrain.

[0059] Combination Figures 2-8 This embodiment, based on Embodiment 1, provides a roller assembly including the roller bracket 2, a first wheel set 3, and a second wheel set 4. The first wheel set 3 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.

[0060] 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.

[0061] The second wheel 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.

[0062] 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.

[0063] For the bearing mounting structure of the first wheel group 3 and the second wheel group 4, those skilled in the art can choose whether or not to install bearing sleeves according to actual needs. For example... Figure 7 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 8 The second roller 41 shown can also use the same step-limiting method.

[0064] In another embodiment, a bearing sleeve can be added inside the first shaft hole 321 of the first wheel core 312. Both ends of the bearing sleeve abut against the inner ring of the first bearing 34, and the bearing spacing is controlled by the bearing sleeve. Similarly, the second wheel core 412 can also adopt 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 invention.

[0065] 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. Furthermore, the threaded engagement interface between the first connecting shaft 33 and the second connecting hole 241 is provided with a tooth-fixing adhesive layer.

[0066] 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. The assembly end 431 of the second connecting shaft 43 is inserted into the guide through hole of the roller bracket 2, and the connecting end 433 of the second connecting shaft 43 is threadedly connected to the locking threaded hole of the adjacent roller bracket 2. An elastic washer 45 is provided near the connecting end 433 of the second connecting shaft 43, and this elastic washer 45 abuts against the second bearing 44 and the first connecting part 23. An external hexagonal mounting head 432 is provided near the assembly end 431 of the second connecting shaft 43, and this external hexagonal mounting head 432 is positioned between the second bearing 44 and the first connecting part 23.

[0067] 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.

[0068] 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 group 4. The first roller group 3 uses rigid adjustment, while the second roller group 4 uses elastic adjustment, achieving more precise adjustment of the damping force of the two rollers and better matching the requirements.

[0069] Furthermore, this embodiment also provides an external hexagonal assembly head 432 at the assembly end 431 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 432 to adjust the axial preload of the second wheel 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.

[0070] Example 3

[0071] Combination Figure 10 This embodiment of an omnidirectional wheel includes a hub bracket 1 and the roller assembly described in Embodiment 2. Adjacent first wheel sets 3 and second wheel sets 4 are connected to a single roller bracket 2, forming as shown in the figure. Figure 2 The roller assembly shown has multiple roller assemblies arranged in a circular pattern along the circumference of the hub bracket 1. That is, the first wheel group 3 and the second wheel group 4 are connected to the hub bracket 1 via the roller bracket 2, and the first wheel group 3 and the second wheel group 4 are arranged alternately along the circumference of the hub bracket 1, together forming a circular pattern. Figure 10 The diagram shows a complete circular roller structure.

[0072] In this embodiment, the hub bracket 1 includes a wheel disc 11, a mounting groove 12, and a central bushing 13. 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.

[0073] The wheel 11 has multiple mounting slots 12 radially distributed around its circumference, forming an insert-type assembly structure for the roller bracket 2. Each mounting slot 12 contains a first mounting portion 122 and a second mounting portion 123, which are spaced apart on a base plate 121 of the mounting slot 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.

[0074] The first connecting arm 21 of the roller bracket 2 can be inserted along the side wall of the mounting groove 12 and connected to the first mounting part 122 and the second mounting part 123 respectively through the first fastener 25 and the second fastener 26, thereby realizing the assembly of the roller bracket 2 and the hub bracket 1. In order to form a cooperation with the first mounting part 122 and the second mounting part 123, in this embodiment, the first fastener 25 is a high-strength bolt and the second fastener 26 is an anti-loosening bolt.

[0075] 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.

[0076] 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. A roller bracket, characterized in that: It includes a first connecting arm (21) and a second connecting arm (22) arranged in a cross configuration. The second connecting arm (22) has an arc-shaped clearance groove (221) along its length direction. The curvature of the arc-shaped clearance groove (221) matches the surface gap of the adjacent roller. The arc-shaped clearance groove (221) is provided with a reinforcing rib (222). The two ends of the second connecting arm (22) are respectively provided with a first connecting part (23) and a second connecting part (24). The first connecting part (23) is provided with a first connecting hole (231), and the second connecting part (24) is provided with a second connecting hole (241).

2. A roller bracket according to claim 1, characterized in that: The wall thickness of the second connecting arm (22) is thinnest at the transition zone between the root of the reinforcing rib (222) and the side of the second connecting arm (22) near the first connecting arm (21), and the transition zone is located at the point where the gap between adjacent rollers is smallest.

3. A roller bracket according to claim 1, characterized in that: 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 respectively connected to the first mounting part (122) and the second mounting part (123) of the hub bracket (1) through the first fastener (25) and the second fastener (26).

4. A roller bracket according to any one of claims 1-3, characterized in that: The first connecting arm (21) is provided with a third fixing hole (213), which is located on the mechanical neutral axis at the connection between the first connecting arm (21) and the second connecting arm (22).

5. A roller assembly, characterized in that: The assembly includes the roller bracket (2), the first wheel set (3), and the second wheel set (4) as described in any one of claims 1-4; the first wheel set (3) includes a first roller (31), a first connecting shaft (33), and a first bearing (34), the first connecting shaft (33) passing through the second connecting hole (241) of the roller bracket (2), and the first roller (31) being rotatably mounted on the first connecting shaft (33) via the first bearing (34); the second wheel set (4) includes a second roller (41), a second connecting shaft (43), and a second bearing (44), the second connecting shaft (43) passing through the first connecting hole (231) of the adjacent roller bracket (2), and the second roller (41) being rotatably mounted on the second connecting shaft (43) via the second bearing (44).

6. A roller assembly according to claim 5, 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. The assembly end (431) of the second connecting shaft (43) is inserted into the guide through hole of the roller bracket (2), and the connecting end (433) of the second connecting shaft (43) is threaded to the locking thread hole of the adjacent roller bracket (2).

7. A roller assembly according to claim 6, characterized in that: The second connecting shaft (43) is provided with an elastic washer (45) near the connecting end (433), and the elastic washer (45) abuts against the second bearing (44) and the first connecting part (23).

8. A roller assembly according to claim 7, characterized in that: The second connecting shaft (43) is provided with an external hexagonal assembly head (432) near the assembly end (431), and the external hexagonal assembly head (432) is located between the second bearing (44) and the first connecting part (23).

9. A roller assembly according to any one of claims 5-8, 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 threaded into the threaded hole. The threaded interface between the first connecting shaft (33) and the second connecting hole (241) is provided with a tooth-fixing adhesive layer.

10. An omnidirectional wheel, characterized in that: The wheel hub bracket (1) includes a wheel assembly as described in any one of claims 5-9; the wheel hub bracket (1) includes radially distributed mounting grooves (12), the mounting grooves (12) are provided with a first mounting part (122) and a second mounting part (123), the first connecting arm (21) of the wheel bracket (2) is inserted into the mounting groove (12) and connected to the first mounting part (122) and the second mounting part (123) by a first fastener (25) and a second fastener (26); the wheel hub bracket (1) is circumferentially arranged with a first wheel group (3) and a second wheel group (4) to form a continuous envelope surface.

Images