A kind of anti-overturning assembly, ball wheel movable device and ball wheel movable equipment

Abstract

The application provides an anti-overturning assembly, a ball wheel moving device and a ball wheel moving equipment. The anti-overturning assembly comprises a supporting member and a rolling structure. The supporting member is detachably installed with the ball wheel moving mechanism. When the supporting member is installed on the ball wheel moving mechanism, the supporting member is at least partially located at the lower part of the ball wheel of the ball wheel moving mechanism, so that the ball wheel moving mechanism can be supported when the ball wheel moving mechanism is inclined. The rolling structure is rolling installed at the bottom of the supporting member. According to the scheme in the embodiment of the application, the rolling structure can be in contact with the moving surface, so as to roll on the moving surface and support the ball wheel moving mechanism when the ball wheel moving mechanism is inclined, without affecting the movement of the ball wheel moving mechanism.

Description

Technical Field

[0001] This application relates to the technical field of ball wheel movement, specifically to an anti-tipping component, a ball wheel movement device, and a ball wheel movement equipment. Background Technology

[0002] Ball wheel mechanisms, with their flexible motion characteristics, have been widely used in various technological fields, including ball wheel robots in automation, spherical intelligent inspection equipment in consumer electronics, and ball wheel mobile platforms in special operation scenarios. The core function of this type of mechanism is to perform multi-degree-of-freedom manipulation of the ball wheel through drive components to achieve the movement, steering, and attitude adjustment of the mechanism.

[0003] However, in practical applications, ball wheel mechanisms often face challenges from complex ground environments. On the one hand, when the ground has uneven physical features (such as raised welds in industrial sites or gravel pits in outdoor environments), the contact point between the ball wheel and the ground is prone to momentary uneven force, causing the center of gravity of the load-bearing components (such as the main body of the equipment, the onboard sensor module, or the operating mechanism) that move synchronously with the ball wheel to shift. On the other hand, when the ground has slippery media (such as wet ground or dusty areas), the ball wheel is prone to spinning freely or sliding laterally, further compromising the stability of the mechanism's movement. Both of these situations can cause the load-bearing components to tip over, fall, or even drop, not only affecting the movement accuracy and operating efficiency of the ball wheel mechanism but also potentially damaging the precision components inside the mechanism, and in severe cases, even causing safety accidents. Utility Model Content

[0004] This application provides an anti-tipping component, a ball wheel moving device, and a ball wheel moving equipment, aiming to improve the anti-tipping capability of existing ball wheel moving mechanisms.

[0005] On one hand, embodiments of this application provide an anti-tipping component, including: A support member is provided for detachable installation with the ball wheel mechanism, and when the support member is installed on the ball wheel mechanism, the support member is at least partially located at the lower part of the ball wheel of the ball wheel mechanism to support the ball wheel mechanism when it is tilted; and, A rolling structure is rolled onto the bottom of the support member.

[0006] In some embodiments, the support member is arranged in a ring shape so that when the support member is installed on the ball wheel movable mechanism, it can be arranged around the periphery of the ball wheel of the ball wheel movable mechanism; The rolling structure is spaced in multiple intervals.

[0007] In some embodiments, the support member is provided with a plurality of mounting holes, and a bullseye bearing is installed in the mounting holes; The rolling structure is formed by the balls supporting the bullseye bearing.

[0008] In some embodiments, the anti-tipping assembly further includes a connector mounted on the support and for detachable installation with the ball wheel mechanism.

[0009] In some embodiments, the mounting hole is a through hole, the screw supporting the bullseye bearing passes through the mounting hole to extend to the other side of the support, and a nut is fitted onto the portion of the screw located on the other side of the support.

[0010] In some embodiments, multiple mounting holes and nuts are provided, and at least some of the nuts are also used to press the connector.

[0011] In some embodiments, the connector is provided with an elongated hole for detachable installation between the connector and the ball wheel mechanism via bolts.

[0012] On the other hand, embodiments of this application provide a ball wheel moving device, including: A ball wheel mechanism, comprising a ball wheel and a drive device for driving the ball wheel; and, Anti-rollover assembly, as described in any of the above descriptions.

[0013] In some embodiments, the driving device includes: Mounting bracket, which is detachably mounted to the anti-tipping assembly; A drive assembly is mounted on the mounting bracket and is drive-connected to the ball wheel.

[0014] In some embodiments, the mounting bracket extends toward the ball wheel to form a claw, and the anti-tipping component is detachably mounted to the claw. The claw is provided with a rolling pressing part on the side facing the ball wheel.

[0015] In another aspect, embodiments of this application provide a ball wheel moving device, including any of the ball wheel moving devices described above.

[0016] In the embodiments of this application, by providing the anti-tipping component, when the movement of the ball wheel mechanism is complex or when the ball wheel of the ball wheel mechanism malfunctions, the anti-tipping component can be installed on the ball wheel mechanism to support it when it tilts in a certain direction, preventing it from tipping over. Since the bottom of the support member has a rolling structure, the rolling structure can contact the moving surface and roll on it, supporting the ball wheel mechanism when it tilts without affecting its movement. Attached Figure Description

[0017] 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.

[0018] Figure 1 This is a perspective structural diagram of the ball wheel movable device provided in some embodiments of this application; Figure 2 yes Figure 1 Exploded view of the ball wheel mechanism in the diagram; Figure 3 yes Figure 1 A three-dimensional structural diagram of the anti-tipping component in the diagram; Figure 4 yes Figure 1 A three-dimensional structural diagram of the ball wheel mechanism in the diagram; Figure 5 yes Figure 2 A three-dimensional structural diagram of the mounting bracket; Figure 6 yes Figure 3 A three-dimensional structural diagram of the supporting components.

[0019] Explanation of key component symbols: Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used 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. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0023] The use of "applies to" or "configured to" in this application implies open and inclusive language, which does not exclude the applicability to or configuration to devices performing additional tasks or steps. Additionally, the use of "based on" implies openness and inclusivity, because processes, steps, calculations, or other actions "based on" one or more of the stated conditions or values ​​may in practice be based on additional conditions or values ​​beyond those stated.

[0024] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0025] Ball wheel mechanisms, with their flexible motion characteristics, have been widely used in various technological fields, including ball wheel robots in automation, spherical intelligent inspection equipment in consumer electronics, and ball wheel mobile platforms in special operation scenarios. The core function of this type of mechanism is to perform multi-degree-of-freedom manipulation of the ball wheel through drive components to achieve the movement, steering, and attitude adjustment of the mechanism.

[0026] However, in practical applications, ball wheel mechanisms often face challenges from complex ground environments. On the one hand, when the ground has uneven physical features (such as raised welds in industrial sites or gravel pits in outdoor environments), the contact point between the ball wheel and the ground is prone to momentary uneven force, causing the center of gravity of the load-bearing components (such as the main body of the equipment, the onboard sensor module, or the operating mechanism) that move synchronously with the ball wheel to shift. On the other hand, when the ground has slippery media (such as wet ground or dusty areas), the ball wheel is prone to spinning freely or sliding laterally, further compromising the stability of the mechanism's movement. Both of these situations can cause the load-bearing components to tip over, fall, or even drop, not only affecting the movement accuracy and operating efficiency of the ball wheel mechanism but also potentially damaging the precision components inside the mechanism, and in severe cases, even causing safety accidents.

[0027] For this, please refer to Figures 1 to 4 An anti-tipping assembly 100 is provided in the embodiments of this application. The anti-tipping assembly 100 includes a support member 10 and a rolling structure 20. The support member 10 is detachably installed with the ball wheel movable mechanism 210. When the support member 10 is installed on the ball wheel movable mechanism 210, the support member 10 is at least partially located at the lower part of the ball wheel 211 of the ball wheel movable mechanism 210 so as to support the ball wheel movable mechanism 210 when it is tilted. The rolling structure 20 is rolledly installed on the bottom of the support member 10.

[0028] The lower part of the ball wheel 211 refers to the lower half of the ball wheel.

[0029] Specifically, in actual use, since the support member 10 is detachably installed between itself and the ball wheel movable mechanism 210, the user can choose whether to install the anti-tipping component 100 according to their own needs. When the anti-tipping component 100 is installed on the ball wheel movable mechanism 210, the rolling structure 20 can directly contact the movable surface of the ball wheel, that is, the bottom surface of the rolling structure 20 is at the same height as the bottom surface of the ball wheel. In this way, the ball wheel movable mechanism 210 can be supported at multiple points. Compared with the existing scheme that only relies on the ball wheel to contact the movable surface, its support stability is better, and the ball wheel movable mechanism 210 is less likely to tilt. When mechanism 210 is standing, the anti-tipping component 100 can also act as a support frame. Of course, in some embodiments, when the anti-tipping component 100 is installed on the ball wheel movable mechanism 210, the bottom surface of the rolling structure 20 can be higher than the bottom surface of the ball wheel. That is, when the ball wheel movable mechanism 210 is standing normally, the bottom surface of the rolling structure 20 does not contact the movable surface. Only after the ball wheel movable mechanism 210 tilts to a certain extent does the bottom surface of the rolling structure 20 contact the movable surface, thereby supporting the ball wheel movable mechanism 210 and preventing further tilting. With this configuration, the friction force that the ball wheel movable mechanism 210 needs to overcome during movement is smaller. Etc., are not limited here.

[0030] The specific implementation of the rolling structure 20 is not limited. It can be a ball bearing 22 directly installed on the support member 10, or a bullseye bearing, universal ball bearing, etc. installed on the support member 10. No limitation is made here.

[0031] The position where the support member 10 can be detachably installed is not limited. It can be detachably installed on the drive device 220 of the ball wheel movable mechanism 210, or it can be installed on the support structure of the ball wheel movable mechanism 210, etc., and is not limited here.

[0032] In the embodiments of this application, by providing the anti-tipping component 100, when the movement of the ball wheel mechanism 210 is complex, or when the ball wheel 211 of the ball wheel mechanism 210 malfunctions, the anti-tipping component 100 can be installed on the ball wheel mechanism 210. This supports the ball wheel mechanism 210 when it tilts in a certain direction, preventing it from tipping over. Since the bottom of the support member 10 is provided with a rolling structure 20, the rolling structure 20 can contact the moving surface and roll on it, supporting the ball wheel mechanism 210 when it tilts without affecting its movement.

[0033] The specific number and shape of the support member 10 are not limited. It can be strip-shaped, and correspondingly, multiple support members 10 can be provided to support the ball wheel movable mechanism 210 at multiple points. It can also be set in a ring shape. With this setting, only one support member can be provided, or the ball wheel movable mechanism 210 can be supported when it is tilted at various angles, etc. There are no limitations here.

[0034] Please refer to this carefully. Figure 3 and Figure 6 In some embodiments, the support member 10 is arranged in a ring so that when the support member 10 is installed on the ball wheel movable mechanism 210, it can be arranged around the periphery of the ball wheel 211 of the ball wheel movable mechanism 210, and multiple rolling structures 20 are arranged at intervals.

[0035] In the scheme of this embodiment, by setting the support member 10 in a ring shape and setting multiple rolling structures 20 at intervals, the rolling structure 20 can contact the moving surface when the ball wheel moving mechanism 210 tilts in any direction, thereby preventing the ball wheel moving mechanism 210 from tilting further and preventing it from overturning, thus improving the anti-overturning effect.

[0036] It should be noted that the specific number of the rolling structures 20 is not limited; it can be two, three, four, etc., and is not limited here.

[0037] In some embodiments, the support member 10 is provided with a plurality of mounting holes 11, and a support bullseye bearing 21 is installed in the mounting holes 11; wherein, the balls 22 of the support bullseye bearing 21 constitute the rolling structure 20.

[0038] It should be noted that the bullseye bearing 21 has the advantages of simple structure, multiple functions, wide range of applications, smooth and flexible movement, convenience, labor saving, simple processing and low cost. It can be used in various transmission mechanisms and load-bearing motion mechanisms that are compatible with it, as well as in mechanisms that need to complete linear, rotary, curved and curved surface motion simultaneously or separately.

[0039] In the scheme of this embodiment, by setting the mounting hole 11, during the assembly of the anti-tipping component 100, it is only necessary to install the support bullseye bearing 21 into the mounting hole 11 to realize the assembly of the rolling structure 20. Compared with the scheme of setting the ball bearing 22 separately at the bottom of the support member 10, the assembly process is simpler.

[0040] In some embodiments, the supporting bullseye bearing 21 is a bearing device that enables multi-directional movement by the mutual rolling of a large ball and several small balls, wherein the large ball constitutes the ball bearing 22.

[0041] It should be noted that the support member 10 is used for detachable installation with the ball wheel moving mechanism 210. The mounting structure can be directly set on the support member 10 for detachable installation with the ball wheel moving mechanism 210. For example, a boss can be set and a snap-fit ​​structure can be set on the boss. Alternatively, a connecting member 30 can be set, etc., which is not limited here.

[0042] In some embodiments, the anti-tipping assembly 100 further includes a connector 30, which is mounted on the support 10 and is detachably mounted to the ball wheel mechanism 210.

[0043] In the solution of this embodiment, by setting the connecting member 30, it is not necessary to set a detachable installation structure between the support member 10 and the ball wheel moving mechanism 210, thereby reducing the manufacturing difficulty of the support member 10.

[0044] Specifically, the connector 30 can be directly fixed to the support member 10, for example by bonding or welding, or it can be detachably installed on the support member 10, etc., which are not limited here.

[0045] The specific form of detachable installation between the connector 30 and the ball wheel movable mechanism 210 is not limited. It can be installed by screwing, snap-fitting, sliding groove, etc. It can be fixedly installed on the ball wheel movable mechanism 210 or movably installed on the ball wheel movable mechanism 210, etc., and is not limited here.

[0046] It should be noted that the mounting hole 11 can be set as a threaded hole, so that the screw supporting the bullseye bearing 21 can be directly installed in the threaded hole through the thread. Correspondingly, the mounting hole 11 can be a blind hole or a through hole. The mounting hole 11 can also be set as a smooth hole, so that the screw passes through the smooth hole and is combined with other fasteners to complete the installation, etc., without limitation here.

[0047] In some embodiments, the mounting hole 11 is a through hole, the screw supporting the bullseye bearing 21 passes through the mounting hole 11 to extend to the other side of the support member 10, and a nut 12 is fitted on the part of the screw located on the other side of the support member 10.

[0048] In the scheme of this embodiment, after the supporting bullseye bearing 21 is installed in the mounting hole 11, the nut 12 is sleeved on the screw, so that the bearing part of the supporting bullseye bearing 21 can clamp the supporting member 10 together with the nut 12, thereby improving the stability of the installation of the supporting bullseye bearing 21.

[0049] Furthermore, in some embodiments, multiple mounting holes 11 and nuts 12 are provided, and at least some of the nuts 12 are also used to press the connector 30.

[0050] Specifically, a through hole can be made at the location where the connector 30 is installed on the support 10. The through hole is sleeved on the outside of the screw supporting the bullseye bearing 21. Then, the nut 12 is screwed onto the screw. The support 10 and the connector 30 are clamped together by the bearing portion of the bullseye bearing 21 and the nut 12, thereby realizing the installation of the connector 30.

[0051] In the scheme of this embodiment, at least some of the nuts 12 are also used to press the connector 30, so that some of the nuts 12 can not only install the supporting bullseye bearing 21, but also install the connector 30, without the need to set additional fasteners for the connection between the connector 30 and the support plate, thus reducing costs.

[0052] It should be noted that the nut 12 and the supporting bullseye bearing 21 constitute a rolling group. The number of rolling groups and the number of connecting parts 30 can be the same or different, and this is not limited here. In some embodiments, there are 6 rolling groups, that is, there are 6 nuts 12 and 6 supporting bullseye bearings 21, and 3 connecting parts 30. Therefore, three of the nuts 12 are also used for installing the connecting parts 30, and the other three nuts 12 are only used for fastening the supporting bullseye bearings 21.

[0053] In some embodiments, the connector 30 is provided with an elongated hole 31, which is used for detachable installation between the connector 30 and the ball wheel movable mechanism 210 via bolts.

[0054] In the corresponding embodiment, by providing an elongated hole 31 on the connector 30, the elongated hole 31 is elongated in shape, so that the elongated hole 31 can be detached and installed, and the height of the support member 10 can be adjusted by adjusting the position of the bolt in the elongated hole 31. Thus, when the ball wheel moving device stands, the bottom of the rolling structure 20 can directly contact the bottom surface or be suspended in the air.

[0055] This utility model also proposes a ball wheel movable device 200, which includes a ball wheel movable mechanism 210 and an anti-tipping component 100. The ball wheel movable mechanism 210 includes a ball wheel and a drive device 220 that drives and connects to the ball wheel. The specific structure of the anti-tipping component 100 is as described in the above embodiments. Since this ball wheel movable device 200 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0056] Specifically, in actual use, since the support member 10 is detachably installed between itself and the ball wheel movable mechanism 210, the user can choose whether to install the anti-tipping component 100 according to their own needs. When the anti-tipping component 100 is installed on the ball wheel movable mechanism 210, the rolling structure 20 can directly contact the movable surface of the ball wheel, that is, the bottom surface of the rolling structure 20 and the bottom surface of the ball wheel 211 are at the same height. In this way, the ball wheel movable mechanism 210 can be supported at multiple points. Compared with the existing scheme that only relies on the ball wheel 211 to contact the movable surface, its support stability is better, and the ball wheel movable mechanism 210 is less likely to tilt. When the movable mechanism 210 is standing, the anti-tipping component 100 can also act as a support frame. Of course, in some embodiments, when the anti-tipping component 100 is installed on the ball wheel movable mechanism 210, the bottom surface of the rolling structure 20 can be higher than the bottom surface of the ball wheel 211. That is, when the ball wheel movable mechanism 210 is standing normally, the bottom surface of the rolling structure 20 does not contact the movable surface. Only after the ball wheel movable mechanism 210 tilts to a certain extent does the bottom surface of the rolling structure 20 contact the movable surface, thereby supporting the ball wheel movable mechanism 210 and preventing further tilting. With this configuration, the friction force that the ball wheel movable mechanism 210 needs to overcome during movement is smaller. Etc., are not limited here.

[0057] In the embodiments of this application, by providing the anti-tipping component 100, when the movement of the ball wheel mechanism 210 is complex, or when the ball wheel 211 of the ball wheel mechanism 210 malfunctions, the anti-tipping component 100 can be installed on the ball wheel mechanism 210. This supports the ball wheel mechanism 210 when it tilts in a certain direction, preventing it from tipping over. Since the bottom of the support member 10 is provided with a rolling structure 20, the rolling structure 20 can contact the moving surface and roll on it, supporting the ball wheel mechanism 210 when it tilts without affecting its movement.

[0058] For further details, please refer to Figure 1 , Figure 2 , Figure 4 and Figure 5 In some embodiments, the drive device 220 includes a mounting frame 221 and a drive assembly 222. The mounting frame 221 is detachably mounted to the anti-tipping assembly 100, and the drive assembly 222 is mounted on the mounting frame 221 and drivenly connected to the ball wheel 211.

[0059] It should be noted that the specific implementation of the drive component 222 is not limited. It can be driven by a cylinder, a rotating magnetic field, or a motor. No limitation is made here.

[0060] In the scheme of this embodiment, by setting the mounting bracket 221, on the one hand, the mounting bracket 221 can be used to install the drive component 222, and on the other hand, the mounting bracket 221 can be detachably installed with the anti-tipping component 100.

[0061] In addition, in some embodiments, the mounting bracket 221 is also used for mounting other components, such as the body of the ball-moving robot, the platform of the ball-moving platform, etc., which are not limited here.

[0062] In some embodiments, the mounting bracket 221 extends toward the ball wheel 211 to form a claw 223, and the anti-tipping assembly 100 is detachably mounted to the claw 223; a rolling pressing part is provided on the side of the claw 223 facing the ball wheel 211.

[0063] In the solution of this embodiment, by setting the claw 223, on the one hand, the claw 223 can be detachably installed for the anti-tipping component 100, and on the other hand, the claw 223 is provided with a rolling pressing part on the side facing the ball wheel 211, thereby effectively improving the stability of the connection between the mounting frame 221 and the ball wheel 211.

[0064] It should be noted that the specific implementation of the rolling pressing part is not limited. It can be a ball bearing directly set on the gripper, or a universal wheel bearing set on the gripper, etc., and is not limited here.

[0065] Specifically, in some embodiments, the rolling pressing part includes a mounting plate 224 and a claw bull's eye bearing 225, the claw bull's eye bearing 225 being mounted on the mounting plate 224.

[0066] The specific installation method of the mounting plate 224 on the claw is not limited; it can be screwed, snapped, welded, etc., and is not limited here.

[0067] In some embodiments, the mounting plate 224 is provided with a threaded hole, and the connector 30 is provided with an elongated hole 31. The elongated hole 31 is used for detachable installation between the connector and the ball wheel movable mechanism 210 by means of bolts. The bolts extend at least partially into the threaded hole, thereby using screws to install the mounting plate 224 and simultaneously fixing the anti-tipping assembly 100.

[0068] This utility model also proposes a ball wheel moving device, which includes a ball wheel moving device 200. The specific structure of the ball wheel moving device 200 is as described in the above embodiments. Since this ball wheel moving device adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0069] Specifically, the ball wheel moving device can be a ball balancing robot, a ball horizontal screen moving platform, etc., and is not limited here.

[0070] The anti-tipping component 100, the ball wheel movable device 200, and the ball wheel movable equipment provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An anti-tipping component, characterized in that, include: A support member is provided for detachable installation with the ball wheel mechanism, and when the support member is installed on the ball wheel mechanism, the support member is at least partially located at the lower part of the ball wheel of the ball wheel mechanism so as to support the ball wheel mechanism when it is tilted. as well as, A rolling structure is rolled onto the bottom of the support member.

2. The anti-tipping component according to claim 1, characterized in that, The support member is arranged in a ring shape so that when the support member is installed on the ball wheel movable mechanism, it can be arranged around the periphery of the ball wheel of the ball wheel movable mechanism. The rolling structure is spaced in multiple intervals.

3. The anti-tipping component according to claim 2, characterized in that, The support member is provided with multiple mounting holes, and a support bullseye bearing is installed in the mounting holes; The rolling structure is formed by the balls supporting the bullseye bearing.

4. The anti-tipping component according to claim 3, characterized in that, The anti-tipping assembly also includes a connector, which is installed on the support and is detachably installed with the ball wheel mechanism.

5. The anti-tipping component according to claim 4, characterized in that, The mounting hole is a through hole, and the screw supporting the bullseye bearing passes through the mounting hole to extend to the other side of the support member. A nut is fitted on the part of the screw located on the other side of the support member.

6. The anti-tipping component according to claim 5, characterized in that, The mounting holes and nuts are provided in multiple ways, and at least some of the nuts are also used to press the connector.

7. The anti-tipping component according to claim 4, characterized in that, The connector is provided with an elongated hole, which is used for detachable installation between the connector and the ball wheel mechanism via bolts.

8. A ball wheel movable device, characterized in that, include: A ball wheel mechanism, comprising a ball wheel and a drive device for driving the ball wheel; as well as, Anti-rollover assembly, as described in any one of claims 1 to 7.

9. The ball wheel movable device as described in claim 8, characterized in that, The driving device includes: Mounting bracket, which is detachably mounted to the anti-tipping assembly; A drive assembly is mounted on the mounting bracket and is drive-connected to the ball wheel.

10. The ball wheel movable device as described in claim 9, characterized in that, The mounting bracket extends toward the ball wheel and forms a claw, and the anti-tipping component is detachably mounted to the claw; The claw is provided with a rolling pressing part on the side facing the ball wheel.

11. A ball wheel movable device, characterized in that, Includes the ball wheel moving device as described in any one of claims 8 to 10.

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