Full steer wheel and movement device

Abstract

This application relates to an all-steering wheel and its moving device, including a hub seat with a first mounting surface and a second mounting surface spaced apart along the axial direction of the all-steering wheel. A brake insert is mounted on the first mounting surface; a brake device is mounted on the first mounting surface and is used to engage with the brake insert for braking; and a wheel mechanism including a spoke module and an omnidirectional wheel assembly. The spoke module is mounted on the second mounting surface, and the omnidirectional wheel assembly is radially mounted on the outer circumference of the spoke module. By setting the brake insert on the first mounting surface of the hub seat and then mounting the brake device on the first mounting surface, in the event of an emergency, the brake device can engage with the brake insert to achieve timely and effective braking. Compared to relying on the drive wheel to control the output power to achieve braking, this method offers a faster braking response, better braking reliability, and effectively eliminates potential safety hazards caused by untimely braking.

Description

Technical Field

[0001] This application relates to the technical field of wheels and robots, and in particular to an all-steering wheel and a mobile device. Background Technology

[0002] Currently, most wheel steering systems on the market use wheels mounted on omnidirectional brackets. Turning left or right is achieved by applying different amounts of driving force to the left or right, and braking is controlled by adjusting the amount and speed of the driving force. With technological advancements, omnidirectional wheels, such as Mecanum wheels, have gradually appeared on the market. Omnidirectional wheels can autonomously move sideways and turn 360° on the spot, adapting to all-around driving scenarios.

[0003] However, even omnidirectional wheels rely solely on the drive wheels to control the output power for braking, which can lead to slow response times and make it difficult to brake in time during emergencies, posing a significant potential safety hazard. Utility Model Content

[0004] Therefore, it is necessary to provide a full-steering wheel and moving device to address the safety hazards posed by the inability of traditional technologies to brake in a timely manner.

[0005] A first aspect of this application proposes an all-steering wheel, comprising:

[0006] A hub seat, the hub seat having a first mounting surface and a second mounting surface spaced apart along the axial direction of the all-steering wheel, the first mounting surface being equipped with a brake insert;

[0007] A braking device, wherein the braking device is mounted on the first mounting surface, and the braking device is used for braking engagement with the brake insert; and

[0008] The wheel mechanism includes a spoke module and an omnidirectional wheel assembly. The spoke module is fastened to the second mounting surface, and the omnidirectional wheel assembly is mounted on the outer periphery of the spoke module.

[0009] In this design, the braking device and wheel mechanism are integrated and mounted on the hub, enabling the omnidirectional wheel to possess both omnidirectional steering capability and timely braking ability. Specifically, by mounting the spoke module to the second mounting surface of the hub, and then assembling and fixing the omnidirectional wheel assembly to the spoke module, the omnidirectional wheel assembly provides the omnidirectional wheel with omnidirectional steering capability. Furthermore, by setting a brake insert on the first mounting surface of the hub, and then mounting the braking device onto the brake insert, in the event of an emergency, the braking device can contact and engage with the brake insert to achieve timely and effective braking. Compared to simply relying on controlling the output power of the drive wheel to achieve braking function, this design offers faster braking response, better braking reliability, and higher safety, effectively eliminating potential safety hazards caused by untimely braking.

[0010] The technical solution of this application will be further described below:

[0011] In one embodiment, the brake insert is integrally formed with the wheel hub seat, and at least three are provided. The at least three brake inserts are of different types and have different braking methods. Furthermore, at least three brake inserts can be selectively installed onto the first mounting surface.

[0012] Alternatively, at least three brake inserts may be provided, the at least three brake inserts may be of different types, and the at least three brake inserts may be respectively mounted on the first mounting surface, and the braking device may engage with any of the brake inserts for braking.

[0013] In one embodiment, a brake insert is provided in the middle of the first mounting surface. The brake insert has a mounting block with multiple mounting holes. The brake device is locked in the mounting holes by screws and then fitted onto the outside of the brake insert mounting block to form a disc brake device.

[0014] Alternatively, a brake insert with a recessed groove is provided in the middle of the first mounting surface, and the brake device is fitted into the recessed groove to form a drum brake device.

[0015] Alternatively, a brake insert threaded post is provided in the middle of the first mounting surface. The threaded post has threads on its outer circumference and a through hole in the middle for mounting a bearing. The brake device is screwed onto the outer circumference of the brake insert threaded post to form a brake holding device.

[0016] In one embodiment, the spoke module includes a plurality of spokes, the plurality of spokes being at least six or more, which are radially arranged on the second mounting surface along the circumferential direction of the hub seat of the omnidirectional wheel. The omnidirectional wheel assembly includes a plurality of wheel units, which are assembled end-to-end along the outer circumference of the spokes of the omnidirectional wheel, and the wheel units are connected to the spokes in a one-to-one correspondence.

[0017] In one embodiment, the spoke includes a first spoke body, a second spoke body, a first connector, and a second connecting portion. The first spoke body is connected to the second spoke body through the first connector, and both the first spoke body and the second spoke body are circumferentially mounted on the second mounting surface through the second connecting portion.

[0018] The wheel unit includes a large wheel, a small wheel, a first wheel axle screw, a second wheel axle screw, and spokes. The first wheel axle screw connects the first spoke body and the second spoke body. The large wheel is rotatably mounted on the first wheel axle screw. One end of the second wheel axle screw is fixedly connected to the second spoke body of the spoke connected to the first wheel axle screw. The small wheel is rotatably mounted on the second wheel axle screw. The other end of the second wheel axle screw is connected to the first spoke body of the adjacent spoke of the same spoke.

[0019] In one embodiment, both the large wheel and the small wheel include a wheel axle screw, a sleeve, a first ball bearing and a second ball bearing, a wheel core and a tire covering the circumferential surface of the wheel core. The wheel core has an axially penetrating axle hole. The first ball bearing and the second ball bearing are respectively installed at opposite ends of the axle hole. The sleeve passes through the axle hole, and the opposite ends of the sleeve are respectively connected to the first ball bearing and the second ball bearing.

[0020] The wheel axle screw passes through the inside of the sleeve and the first ball bearing and the second ball shaft, and is used to connect the first spoke body and the second spoke body of adjacent spokes, as well as the second spoke body and the first spoke body of the same spoke.

[0021] In one embodiment, the outer peripheral surface of the tire skin is provided with anti-slip treads arranged in an array of concave and convex structures, and the anti-slip treads are provided with drainage grooves.

[0022] In one embodiment, the spoke is formed by connecting the second spoke body in one wheel unit to the first spoke body in another wheel unit via a first connector;

[0023] In one embodiment, a positioning post is provided protruding from the center of the second mounting surface, and the ends of the plurality of spokes away from the wheel unit are radially abutted against the positioning post;

[0024] And / or, the hub and the spokes are made of high-strength alloy or polymer plastic material;

[0025] And / or, the wheel cores of the large wheel and the small wheel are made of polymer plastic material, and the tire skin is made of polymer synthetic rubber or PU elastomer material.

[0026] A second aspect of this application also proposes a mobile device comprising:

[0027] Moving subject; and

[0028] At least one all-steering wheel as described in any of the above embodiments, wherein the all-steering wheel brake insert is mounted on the moving body. Attached Figure Description

[0029] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0030] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of an all-steering wheel according to one embodiment.

[0032] Figure 2 for Figure 1 A structural diagram from another perspective.

[0033] Figure 3 This is an assembly structure diagram of the spoke and wheel unit according to one embodiment.

[0034] Figure 4 This is a schematic diagram of the structure of a wheel unit according to one embodiment.

[0035] Figure 5 This is a schematic diagram of the spoke structure of one embodiment.

[0036] Figure 6 This is a schematic diagram of the structure of the first spoke body in one embodiment.

[0037] Figure 7 This is a schematic diagram of the structure of the second spoke body in one embodiment.

[0038] Figure 8 This is a schematic diagram of the hub seat structure of a disc brake insert according to one embodiment.

[0039] Figure 9 This is a schematic diagram of the hub seat structure of a drum brake insert according to one embodiment.

[0040] Figure 10 This is a schematic diagram of the hub seat structure of a brake insert according to one embodiment.

[0041] Explanation of reference numerals in the attached figures:

[0042] 100. All-steering wheel; 10. Wheel hub seat; 11. First mounting surface; 11a. Brake insert mounting block;

[0043] 11b. Raised-rump brake insert; 11c. Threaded post brake insert; 12. Second mounting surface;

[0044] 12a. Positioning post; 20. Braking device; 30. Wheel mechanism; 31. Spoke module; 311. Spoke;

[0045] 311a, First spoke body; 311b, Second spoke body; 311c, First wheel axle screw;

[0046] 311d, Second wheel shaft screw; 311e, First connecting piece; 311f, Second connecting part;

[0047] 32. Omnidirectional wheel assembly; 321. Wheel unit; 321a. Large wheel; 321b. Small wheel;

[0048] 321e, anti-slip tread; 321f, drainage grooves; 321g, wheel hub; 321h, tire skin. Detailed Implementation

[0049] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0050] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", "outer periphery", etc. appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0051] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two or more, such as two, three to six, seven, eight, etc., unless otherwise explicitly specified.

[0052] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "fixing," "fastening," "locking," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0053] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0054] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0055] See Figure 1 This application illustrates an embodiment of an all-steering wheel 100, which includes a hub seat 10, a brake device 20, and a wheel mechanism 30. The hub seat 10 is the main component of the all-steering wheel 100, used to mount the integrated brake device 20 and wheel mechanism 30. Furthermore, the hub seat 10 has an axially penetrating axle hole at its center for assembling with the axle when the all-steering wheel 100 is mounted on the moving body of a mobile device.

[0056] Please continue reading. Figure 1 , Figure 8 , Figure 9 and Figure 10 The hub seat 10 has a first mounting surface 11 and a second mounting surface 12 spaced apart along the axial direction of the all-steering wheel 100, and an integrally formed brake insert is mounted on the first mounting surface 11.

[0057] Please continue reading. Figure 1 , Figure 2 The braking device 20 is mounted on the first mounting surface 11 and is used to brake in conjunction with brake inserts, etc. The wheel mechanism 30 includes a spoke module 31 and an omnidirectional wheel assembly 32. The spoke module 31 is mounted on the second mounting surface 12 and the omnidirectional wheel assembly 32 is mounted on the outer circumference of the spoke module 31.

[0058] In summary, implementing the technical solution of this embodiment will achieve the following beneficial effects: In the all-steering wheel 100 of this solution, the braking device 20 and the wheel mechanism 30 are integrated and installed on the hub seat 10, so that the all-steering wheel 100 has both all-steering movement capability and braking capability. Specifically, by installing the spoke module 31 to the second mounting surface 12 of the hub seat 10, and then circumferentially assembling and fixing the omnidirectional wheel assembly 32 with the spoke module 31, the omnidirectional wheel assembly 32 can provide the all-steering wheel 100 with 360° all-steering movement capability; furthermore, by providing a brake insert on the first mounting surface 11 of the hub seat 10, and then using the braking device 20 in conjunction with the brake insert on the first mounting surface 11, when an emergency occurs, the braking device 20 can achieve timely and effective braking. Compared with relying on controlling the output power of the drive wheel to achieve the braking function, this solution has a faster braking response speed and better braking reliability, and can effectively eliminate potential safety hazards caused by untimely braking.

[0059] Please see Figure 8 , Figure 9 and Figure 10 In one embodiment, at least three brake inserts are provided, the at least three brake inserts are of different types, and at least three brake inserts can be selectively installed on the first mounting surface 11; any brake insert can engage with its matching brake device 20. Alternatively, at least three brake inserts are provided, the at least three brake inserts are of different types, and at least three brake inserts can be respectively installed on the first mounting surface 11, and the brake device 20 can engage with any of the brake inserts.

[0060] Different types of brake inserts can be selectively installed on the first mounting surface 11, or the matching brake device 20 can be braked in conjunction with any one of at least three different types of brake inserts that can be selectively installed on the first mounting surface 11. This allows for the selection of different brake system structures, such as caliper brakes, drum brakes, and disc brakes, depending on the usage environment and vehicle structure. This ensures the safety of the all-steering wheel 100 and ensures timely and effective braking in the event of an emergency. At the same time, the different manufacturing costs of different brake systems can meet the product cost budget, effectively control costs, and improve the product's cost-effectiveness and market competitiveness.

[0061] Please see Figure 8 Optionally, in one embodiment, a brake insert mounting block 11a is provided on the first mounting surface 11 of the hub seat. The brake insert mounting block has multiple mounting holes. After the brake device 20 is locked onto the mounting holes by screws, it is fitted onto the outside of the brake insert mounting block 11a to form a disc brake system.

[0062] Please see Figure 9Alternatively, as an alternative, in another embodiment, the first mounting surface 11 is provided with a grooved brake insert 11b, and the brake device 20 is mounted in the grooved brake insert 11b via a wheel axle to form a drum brake system.

[0063] Please see Figure 10 Furthermore, as an alternative, in another embodiment, a threaded rod brake insert 11c is provided in the middle of the first mounting surface. The threaded rod brake insert 11c has a through hole in the middle for installing bearings and axles. The brake device 20 is screwed onto the outer periphery of the threaded rod brake insert 11c to form a brake system.

[0064] The three embodiments described above provide different mounting structures for the brake insert attached to the wheel hub seat 10, thereby facilitating the use of different types of brake devices 20. For example, Figure 8 The disc brake system uses a brake insert that protrudes from a mounting block on the first mounting surface 11, allowing for a larger contact area between the brake insert and the brake assembly 20, thus improving the reliability and effectiveness of the brakes. Figure 9 The drum brake system employs a grooved brake insert 11b that is fitted into the receiving groove, which improves the wheel hub seat 10's coverage of the brake insert, strengthens the brake insert's installation firmness, and reduces the overall thickness of the all-steering wheel 100, facilitating a thinner and lighter design; further... Figure 10 The brake system has a threaded rod brake insert 11c protruding from the center of the first mounting surface 11. The brake device 20 is screwed onto the outer periphery of the threaded rod brake insert 11c. The structure is simple, easy to install, and the production cost is also lower. The threaded installation method makes it easy to install the brake device 20 onto or remove it from the wheel hub seat 10, making manufacturing and subsequent maintenance more convenient and faster, and reducing after-sales costs.

[0065] For example, in this application, the wheel hub seat 10 and the brake insert can be produced by integral injection molding (casting) of polymer plastic or polymer alloy material through a mold, or they can be produced by connecting them into one piece through screwing, snap-fitting, or separate mounting. The preparation method is simple, the overall structure is strong, and the performance is excellent. If polymer plastic is used, it can be recycled and is more in line with the national environmental protection development plan.

[0066] Please continue reading. Figure 2 , Figure 3 and Figure 4In one embodiment, the spoke module 31 includes a plurality of spokes 311, which are arranged on the second mounting surface 12 along the circumference of the omnidirectional wheel 100. The omnidirectional wheel assembly 32 includes a plurality of wheel units 321, which are assembled end to end along the outer circumference of the hub seat 10 to form a circular body with alternating large wheel 321a and small wheel 321b, and the wheel units 321 are connected to the spokes 311 in a one-to-one correspondence.

[0067] Please continue reading. Figure 2 and Figure 3 Each spoke 311 can effectively support the corresponding wheel unit 321. Multiple wheel units 321 can be connected end to end along the outer circumference of the hub seat 10 to form a circumferentially closed tire body structure of the all-steering wheel 100, enabling the all-steering wheel 100 to rotate and move.

[0068] For example, in this application, both spokes 311 and wheel units 321 are provided with six or more. Of course, in other optional embodiments, the number of spokes 311 and wheel units 321 can also be other, such as seven, eight, nine, ten, etc., which can be flexibly selected according to actual needs.

[0069] Please see Figure 5 , Figure 6 , Figure 7 Furthermore, based on any of the above embodiments, the spoke 311 includes a first spoke body 311a, a second spoke body 311b, a first connector 311e, and a second connecting portion 311f. The spoke 311 is formed by connecting the first spoke body 311a and the second spoke body 311b together through the first connector 311e. Both the first spoke body 311a and the second spoke body 311b are mounted on the second mounting surface 12 through the second connecting portion 311f.

[0070] For example, the first spoke body 311a has a first through hole with a countersunk plate in the middle, and the second spoke body 311b has a second through hole with a countersunk plate in the middle. The first connecting member 311e is a bolt and nut assembly. The bolt passes through the first and second through holes and is screwed and locked with the nut to achieve the assembly and fixation of the first spoke body 311a and the second spoke body 311b to form the spoke 311. The spoke 311 adopts a split structure design of the first spoke body 311a and the second spoke body 311b, which is beneficial for convenient replacement of spoke body a or b that has deformed, broken or other defects after long-term use, while the undamaged spoke body can be retained for use, reducing maintenance and usage costs.

[0071] The lower part of both the first spoke body 311a and the second spoke body 311b is provided with a second connecting part. The second mounting surface 12 of the hub seat 10 is provided with a threaded hole that aligns with the second connecting part. The first spoke body 311a and the second spoke body 311b are locked and fixed to the hub seat 10 by means of components such as screws and nuts. The screw passes through the second connecting part and is screwed into the threaded hole of the second mounting surface 12 or the nut for a tight connection. The first spoke body 311a and the second spoke body 311b are locked and fixed to the hub seat 10. The installation method is simple, convenient and has high connection reliability.

[0072] Please continue reading. Figure 3 , Figure 4 , Figure 5 The wheel unit 321 includes a large wheel 321a, a small wheel 321b, a first spoke body 311a, a second spoke body 311b, a first wheel axle screw 311c, and a second wheel axle screw 311d. The first wheel axle screw 311c connects the first spoke body 311a and the second spoke body 311b. The large wheel 321a is rotatably mounted on the first wheel axle screw 311c. One end of the second wheel axle screw 311d is connected to the second spoke of the first wheel axle screw 311c. The body 311b is fixedly connected, and the small wheel 321b is rotatably mounted on the second wheel axle screw 311d. The other end of the second wheel axle screw 311d is connected to another first spoke body 311a of the adjacent wheel unit 321. Thus, the second spoke body 311b of the first wheel unit 321 and the first spoke body 311a of the second wheel unit 321 are connected and locked together by the first connector 311e to form a complete spoke 311.

[0073] The first wheel axle screw 311c enables rotatable through-mounting and fixing of the large wheel 321a, and the second wheel axle screw 311d enables rotatable through-mounting and fixing of the small wheel 321b. It also acts on the first spoke body 311a and the second spoke body 311b. Based on this, an alternating combination structure of the large wheel 321a and the small wheel 321b is adopted. Through the support and connection of the screw, bearing and spokes, the rotation is smooth, and the all-steering wheel 100 can have the ability to move forward and backward, move left and right, and rotate 360° in all directions.

[0074] Optionally, in one embodiment, both the large wheel 321a and the small wheel 321b include a sleeve, a first ball bearing, and a second ball bearing, as well as a wheel core 321g and a tire sheath 321h covering the circumferential surface of the wheel core. The wheel core 321g has an axially penetrating shaft hole. The first ball bearing and the second ball bearing are respectively installed at opposite ends of the shaft hole. The sleeve passes through the shaft hole, and the opposite ends of the sleeve are respectively connected to the first ball bearing and the second ball bearing. The first ball bearing and the second ball bearing provide more efficient rotational freedom and reduce rotational friction resistance, so that the large wheel 321a and the small wheel 321b can move smoothly and efficiently whether moving forward or backward or left or right.

[0075] Please continue reading. Figure 3 , Figure 4 In one embodiment, the outer periphery of the wheel core 321g, which is wrapped with the tire skin 321h, is provided with an array of anti-slip tread patterns 321e, and the anti-slip tread patterns 321e have drainage grooves 321f. The anti-slip tread patterns 321e can effectively prevent slippage caused by insufficient friction, ensuring the reliability of the all-steering wheel 100. The drainage grooves 321f can promptly drain rainwater from the tire skin, preventing a decrease in the coefficient of friction from affecting the slippage of the all-steering wheel 100 and causing it to deviate from its direction.

[0076] Please continue reading. Figure 2 , Figure 8 Figure 9 and Figure 10 To further improve the stability and positional accuracy of the individual spokes 311 on the hub seat 10, in one embodiment, a positioning post 12a is provided in the middle of the second mounting surface 12, and the ends of the plurality of spokes 311 away from the wheel unit 321 are abutted and fastened to the positioning post 12a.

[0077] Specifically, the positioning post 12a is a circular post with a through hole in the middle for mounting a bearing or metal keyway insert. The end face of the spoke 311 facing the positioning post 12a is an arc-shaped concave surface, which fits tightly against the arc-shaped outer peripheral wall of the positioning post 12a, further improving the contact positioning effect.

[0078] Optionally, the hub seat 10 and spokes 311 are made of high-strength alloy or polymer plastic material; and / or, the tire skins of the large wheel 321a and small wheel 321b are made of polymer synthetic rubber or PU elastomer material. This further enhances the durability and structural strength of the all-steering wheel 100, making it suitable for complex usage scenarios with various impact loads.

[0079] In addition to the above, this application also proposes a mobile device, which includes a mobile body and at least one all-steering wheel 100 as described in any of the above embodiments, the all-steering wheel 100 being mounted on the mobile body.

[0080] For example, mobile devices can refer to, but are not limited to, robots, delivery vehicles, wheelchairs, etc.

[0081] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A omnidirectional steering wheel, characterized in that, include: A hub seat, the hub seat having a first mounting surface and a second mounting surface spaced apart along the axial direction of the all-steering wheel, the first mounting surface being equipped with a brake insert; A braking device, wherein the braking device is mounted on the first mounting surface, and the braking device is used for braking engagement with the brake insert; and The wheel mechanism includes a spoke module and an omnidirectional wheel assembly. The spoke module is mounted on the second mounting surface, and the omnidirectional wheel assembly is mounted on the outer circumference of the spoke module.

2. The all-steering wheel according to claim 1, characterized in that, The brake insert is provided in at least three different types, and at least three brake inserts can be selectively installed onto the first mounting surface. The braking device can cooperate with any of the brake inserts for braking. Alternatively, at least three brake inserts may be provided, the at least three brake inserts may be of different types, and the at least three brake inserts may be respectively mounted on the first mounting surface, and the braking device may engage with any of the brake inserts for braking.

3. The all-steering wheel according to claim 2, characterized in that, The first mounting surface is provided with a brake insert, and the brake insert is provided with a mounting block having multiple mounting holes. The brake device is locked in the mounting holes by screws and is fitted onto the outside of the mounting block to form a disc brake device. Alternatively, a brake insert with a recessed groove is provided in the middle of the first mounting surface, and the brake device is fitted into the recessed groove to form a drum brake device. Alternatively, a threaded brake insert is provided in the middle of the first mounting surface. The brake insert is nested around the outer periphery to form a threaded column, and a through hole is provided in the middle for installing a bearing. The brake device is screwed onto the outer periphery of the threaded column of the brake insert to form a brake-holding device.

4. The all-steering wheel according to any one of claims 1 to 3, characterized in that, The spoke module includes multiple spokes, which are radially arranged on the second mounting surface along the circumference of the hub seat of the omnidirectional wheel. The omnidirectional wheel assembly includes multiple wheel units, which are assembled into a circular body with their ends touching each other along the outer circumference of the spokes, and the wheel units are connected to the spokes one by one.

5. The all-steering wheel according to claim 4, characterized in that, The spoke includes a first spoke body, a second spoke body, a first connector, and a second connecting part. The spoke is formed by connecting the first spoke body and the second spoke body together through the first connector. Both the first spoke body and the second spoke body are mounted on the second mounting surface of the hub seat through the second connecting part.

6. The all-steering wheel according to claim 5, characterized in that, The wheel unit includes a large wheel, a small wheel, a first wheel axle screw, a second wheel axle screw rod, and spokes. The first wheel axle screw rod is connected between the first spoke body and the second spoke body. The large wheel is rotatably mounted on the first wheel axle screw rod. One end of the second wheel axle screw rod is fixedly connected to the second spoke body of one of the spokes connected to the first wheel axle screw rod. The small wheel is rotatably mounted on the second wheel axle screw rod. The other end of the second wheel axle screw rod is connected to the first spoke body of the adjacent spoke of the same spoke.

7. The all-steering wheel according to claim 6, characterized in that, Both the large wheel and the small wheel include a wheel axle screw, a sleeve, a first ball bearing and a second ball bearing, a wheel core, and a tire covering the circumferential surface of the wheel core. The wheel core has an axially penetrating axle hole. The first ball bearing and the second ball bearing are respectively installed at opposite ends of the axle hole. The sleeve passes through the axle hole, and the opposite ends of the sleeve are respectively connected to the first ball bearing and the second ball bearing. The wheel axle screw passes through the inside of the sleeve and through the first ball bearing and the second ball bearing to connect the first spoke body and the second spoke body of the spoke, as well as the second spoke body and the first spoke body of two adjacent spokes.

8. The all-steering wheel according to claim 7, characterized in that, The outer circumferential surface of the tire skin is provided with an array of anti-slip treads, and the anti-slip treads are provided with drainage grooves.

9. The all-steering wheel according to claim 7, characterized in that, A positioning post is provided in the middle of the second mounting surface of the hub seat, and the ends of the multiple spokes away from the wheel unit are abutted and fastened to the positioning post; And / or, the hub and the spokes are made of high-strength alloy or polymer plastic material; And / or, the wheel cores of the large wheel and the small wheel are made of polymer plastic material, and the tire skin is made of polymer synthetic rubber material or PU elastomer material.

10. A mobile device, characterized in that, include: Moving subject; as well as At least one all-steering wheel as described in any one of claims 1 to 9, characterized in that the all-steering wheel braking device is mounted on the moving body.

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