Roller with built-in bearing and omnidirectional moving wheel

Abstract

To provide a roller with a built-in bearing simple and strong, thus highly resistant to a load, and low in manufacturing cost, and an omnidirectional moving wheel using the same.SOLUTION: This roller with the built-in bearing used for the omnidirectional moving wheel comprises: the bearing having an inner ring having an inner ring orbital plane on the outer surface, an outer ring having an outer ring orbital plane on the inner surface, and a rolling element disposed between the inner ring orbital plane and the outer ring orbital plane; and a roller body provided with the bearing. The roller body includes a cylindrical roller opened at least on one side, a cylindrical bearing support into which the bearing is inserted, and a connection part that connects the roller and the bearing support in the state of being arranged on the same axial center, and is integrally formed by a steel material.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a roller with built-in bearings and an omnidirectional wheel using a roller with built-in bearings. [Background technology]

[0002] Conventionally, an omnidirectional running unit has been proposed that can move in both the rotational direction of the wheel about the axle and the rotational direction of the bearing-integrated rollers by applying an omnidirectional wheel having an annular wheel portion that rotates about an axle and an annularly arranged bearing-integrated roller along the outer periphery of the wheel portion.

[0003] Patent Document 1 describes an omni-wheel type wheel having a circular core body, an inner sleeve attached to the core body, and free rollers attached rotatably around the core body via the inner sleeve, with multiple free rollers arranged in a ring shape along the core body. According to the omni-wheel type wheel described in Patent Document 1, the free rollers with built-in bearings can be simplified, making it easier to assemble the wheel.

[0004] Patent Document 2 describes an omnidirectional wheel having wheels arranged with their axles perpendicular to each other, a support member extending outward from the wheel, and a plurality of barrel-shaped split rollers supported on the support member for rotation about a roller axis perpendicular to the axle and with a bulging central portion in the axial direction. The omnidirectional wheel described in Patent Document 2 can reduce the number of rollers arranged along the outer periphery of the wheel compared to Patent Document 1, thereby reducing the load and energy loss that occurs when the rollers that come into contact with the ground are switched. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2017-210035 A [Patent Document 2] JP 2005-67334 A Summary of the Invention [Problem to be solved by the invention]

[0006] In the omni-wheel described in Patent Document 1, the free rollers are formed in a short cylindrical shape, so many free rollers are installed along the core material. In such a wheel, the number of parts increases, and the overall manufacturing cost increases. In addition, when the core material rotates around the axle, there is a continuous rattle that occurs when the free rollers that come into contact with the ground are switched, which causes a problem that the strength may be insufficient.

[0007] The omnidirectional wheel described in Patent Document 2 has long barrel-shaped split rollers that are difficult to process, which increases manufacturing costs and limits the materials that can be used. In addition, the bearings built into the barrel-shaped split rollers are easily subjected to loads because the distance between the ends of the barrel-shaped split rollers and the bearings is long, which can cause problems such as insufficient strength.

[0008] The present invention has been made in consideration of the above-mentioned problems, and has an object to provide a roller with built-in bearings and an omnidirectional wheel using a roller with built-in bearings that has a simple and strong configuration, excellent load-bearing capacity, and low manufacturing costs. [Means for solving the problem]

[0009] The above object of the present invention can be achieved by the following configuration. [1] A roller with built-in bearings used in an omnidirectional wheel, a bearing including an inner ring having an inner ring raceway surface on an outer surface thereof, an outer ring having an outer ring raceway surface on an inner surface thereof, and rolling elements disposed between the inner ring raceway surface and the outer ring raceway surface; A roller body provided with the bearing, The roller body includes: A cylindrical roller portion having at least one open end; a cylindrical bearing support portion disposed within the roller portion and into which the bearing is inserted; a connecting portion that connects the roller portion and the bearing support portion in a state in which the roller portion and the bearing support portion are arranged on the same axis, Characterized in that it is integrally formed from steel material. Rollers with built-in bearings. [2] A cover body made of an elastic material covering the outer surface of the roller portion is provided. [1] A roller with built-in bearing as described above. [3] The bearing support portion has a plurality of the bearings arranged in a row. [1] A roller with built-in bearing as described above. [4] The bearing support portion is provided on one axial end side of the roller portion. [1] A roller with built-in bearing as described above. [5] The roller portion is formed so that the outer diameter gradually decreases from one end side to the other end side in the axial direction. [4] A roller with built-in bearing as described in [4]. [6] The bearing support portion is provided on the axial center side of the roller portion. [1] A roller with built-in bearing as described above. [7] The roller portion is formed so that the outer diameter gradually decreases from the axial center toward both ends. [6] A roller with an integrated bearing as described in [6]. [8] A roller with a built-in bearing according to any one of [1] to [7], A wheel frame that rotates about an axle; A support portion is provided on an outer circumferential side of the wheel frame to rotatably support each of the plurality of bearing-embedded rollers arranged in an annular manner. Omnidirectional moving wheels. [9] The bearing-integrated roller is journaled on the support portion so as to rotate in a direction perpendicular to the rotation direction of the wheel frame. [8] An omnidirectional wheel as described in the above. Effect of the Invention

[0010] According to the present invention, the roller body with the built-in bearing is integrally molded from steel, thereby improving the load-bearing capacity. Also, the structure of the roller with built-in bearing is simplified, making it possible to keep manufacturing costs low. [Brief description of the drawings]

[0011] [Figure 1] FIG. 2 is a schematic diagram showing an example of a traveling unit equipped with a roller with built-in bearing and an omnidirectional wheel according to an embodiment of the present invention. [Diagram 2] 2(A) and 2(B) are side and front views of the omni-directional wheel. [Diagram 3] This is a cross-sectional view taken along line A-A in FIG. 2(B). [Figure 4] Figures 4(A) to 4(C) are a side view, a front view, and a B-line cross-sectional view showing a pair of first built-in bearing rollers supported on a roller support shaft, and Figure 4(D) is a cross-sectional view showing the first built-in bearing roller. [Diagram 5] Figures 5(A) to 5(C) are a side view, a front view, and a CC cross-sectional view showing a pair of second bearing-integrated rollers supported on a roller support shaft, and Figure 5(D) is a cross-sectional view showing the second bearing-integrated roller. [Figure 6] 6(A) and 6(B) are a side view and a front view showing the omnidirectional wheel according to the second embodiment. [Figure 7] FIG. 6B is a cross-sectional view taken along line D-D of FIG. [Figure 8] FIG. 8(A) is a cross-sectional view showing a roller with a built-in bearing according to a second embodiment, and FIG. 8(B) is a cross-sectional view showing a roller with a built-in bearing according to the second embodiment provided with a resin cover. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The configuration of a traveling unit using the roller with built-in bearings and omnidirectional wheels of the present invention will be described below with reference to the attached drawings. Each drawing is created for the purpose of explaining the present invention, and the embodiment of the present invention is not limited to the contents shown in the drawings.

[0013] 1 is a schematic diagram showing an example of a traveling unit equipped with a roller with built-in bearings and an omnidirectional wheel according to an embodiment of the present invention. The traveling unit 1, which may be a traveling cart, a wheelchair, or an independent traveling robot, is equipped with a vehicle body 2, omnidirectional wheels 10 used as a pair of left and right front and rear wheels supporting the vehicle body 2, a drive motor 3 that drives and rotates the omnidirectional wheels 10, and an axle 4 that serves as the output shaft of the drive motor 3. The omnidirectional wheel 10 is also called an omniwheel.

[0014] The traveling unit 1 moves in the front-rear direction by driving the omnidirectional wheels 10 around the axles 4 using the driving force of the drive motor 3. The traveling unit 1 can also move in a direction perpendicular to the direction of movement caused by the rotation of the axles 4 using the omnidirectional wheels 10. This allows the traveling unit 1 to move in all directions in a plan view. The traveling unit 1 may be configured with a pair of omnidirectional wheels 10 or only one wheel. The traveling unit 1 may also be configured without a power source equivalent to the drive motor 3.

[0015] Next, the configuration of the omnidirectional wheel 10 according to this embodiment will be described with reference to Fig. 2(A) to Fig. 3. Fig. 2(A) and Fig. 2(B) are a side view and a front view of the omnidirectional wheel, and Fig. 3 is a cross-sectional view taken along line A-A in Fig. 2.

[0016] The omnidirectional wheel 10 has a bearing-integrated roller 11 and a wheel portion 12. The wheel portion 12 has a disk-shaped wheel frame 14 and a plurality of support members 13 formed on the outer surface of the wheel frame 14 . The roller 11 with a built-in bearing includes a first roller 11A with a built-in bearing, and a second roller 11B with a built-in bearing disposed between the adjacent first rollers 11A with a built-in bearing.

[0017] (Wheel frame) The wheel frame 14 is a plate-like member formed in an octagonal shape, and has an axle hole 14a formed in the center, through which the axle 4 is inserted. Support members 13 are provided on each of the eight outer edge portions formed on the wheel frame 14. This configuration can be seen in Figures 2(A) and 3.

[0018] (Support member) The support members 13 are eight plate-like members extending radially from each outer edge of the wheel frame 14. The support members 13 have four first support members 13A, 13A, 13A, 13A provided at equal intervals of 90° in a side view, and four second support members 13B, 13B, 13B, 13B arranged between adjacent first support members 13A. Each of the support members 13A, 13B has a plane perpendicular to the direction of rotation of the wheel frame 14, and is provided with a pair of built-in bearing rollers 11, 11 sandwiched between its extended ends. More specifically, a pair of first built-in bearing rollers 11A, 11A is provided on the extended end of the first support member 13A, and a pair of second built-in bearing rollers 11B, 11B is provided on the extended end of the second support member 13B. This configuration can be seen in Figure 2(A).

[0019] The support members 13A, 13B are arranged so that their rotational trajectories overlap when viewed from the front. As a result, when the support members 13A, 13B rotate about the shaft hole 14a, the first bearing-integrated roller 11A and the second bearing-integrated roller 11B rotate to describe substantially the same circular rotational trajectory. This configuration can be seen in FIG. 2(B).

[0020] In the illustrated example, the support member 13 is provided integrally with the wheel frame 14 by being processed integrally with the wheel frame 14 or by being attached by welding or the like. Note that the support member 13 may be configured such that at least one or both of the first support member 13A and the second support member 13B are detachable from the wheel frame 14 by using bolt fixing or the like. Moreover, the support member 13 and the wheel frame 14 may be made of a steel material or an aluminum material.

[0021] A support hole 13a is formed at the extended end of the support member 13 in a direction perpendicular to the extension direction, and a roller support shaft 15 is inserted and supported through the support hole 13a. Both ends of the roller support shaft 15 are free ends, and each supports a built-in bearing roller 11 for free rotation. The pair of built-in bearing rollers 11 provided at both ends of the roller support shaft 15 are provided symmetrically about the support member 13. In addition, the central portion of the roller support shaft 15 that is inserted into the support hole 13a is bulged out and made thicker, thereby forming a step 15a between the portion where each built-in bearing roller 11 is supported. This configuration can be seen in Figure 3. The roller support shaft 15 may be fixed to the support hole 13a by crimping, or by welding or the like, or may be configured to be detachably attached.

[0022] Next, a specific configuration of the roller with built-in bearings will be described with reference to Fig. 2(A) to Fig. 5(D). Fig. 4(A) to Fig. 4(C) are a side view, a front view, and a BB cross-sectional view of a pair of first rollers with built-in bearings journaled on a roller support shaft, Fig. 4(D) is a cross-sectional view of the first roller with built-in bearings, Fig. 5(A) to Fig. 5(C) are a side view, a front view, and a CC cross-sectional view of a pair of second rollers with built-in bearings journaled on a roller support shaft, and Fig. 5(D) is a cross-sectional view of the second roller with built-in bearings.

[0023] The first built-in bearing roller 11A and the second built-in bearing roller 11B have substantially the same configuration. Specifically, each of the built-in bearing rollers 11A and 11B includes a bearing 30 and a roller main body 20A and 20B in which the bearing 30 is built.

[0024] The roller bodies 20A and 20B each have a roller portion 21A, 21B, a bearing support portion 22A, 22B, and a connecting portion 23A, 23B. The roller bodies 20A, 20B are integrally formed by pressing a plate-shaped steel material or the like. The second built-in bearing roller 11B has roller portion 21B and connecting portion 23B that are slightly smaller than those of the first built-in bearing roller 11A. On the other hand, the bearing support portions 22A and 22B of the first built-in bearing roller 11A and the second built-in bearing roller 11B are formed to be the same size.

[0025] (Bearings) The bearing 30 has a first bearing 30A inserted into the base end side of the bearing support parts 22A and 22B in the axial direction, and a second bearing 30B inserted into the tip end side of the bearing support parts 22A and 22B in the axial direction. This configuration can be seen in Figures 4(D) and 5(D). Each of the bearings 30A and 30B has an inner ring 31 having an inner ring raceway surface 31a on its outer surface, an outer ring 32 having an outer ring raceway surface 32a on its inner surface, and rolling elements 33 arranged between the inner ring raceway surface 31a and the outer ring raceway surface 32a. This configuration can be seen in Figures 8(A) and 8(B) described later.

[0026] (Bearing support part) The bearing supports 22A and 22B are formed in a cylindrical shape with both axial ends open. The first bearing 30A and the second bearing 30B can be arranged side by side in the axial direction in the inside of the bearing supports 22A and 22B with a spacer 35 provided therebetween. The bearings 30A and 30B are fitted and fixed by being pressed into the bearing supports 22A and 22B. This configuration can be seen in FIG. 4(D) and FIG. 5(D).

[0027] (Roller part) The roller portions 21A and 21B are formed in a cylindrical shape with a large opening formed on the tip side, which is one end side in the axial direction. At the base end side inside roller parts 21A, 21B, bearing support parts 22A, 22B are provided in a state of being arranged on the same axis via connecting parts 23A, 23B. As a result, the base end sides of roller parts 21A, 21B are also open at the axial center side by bearing support parts 22A, 22B. The outer surface of roller portions 21A and 21B is formed with a roller surface that is a curved or inclined surface whose outer diameter gradually decreases by smoothly reducing the thickness from the base end side to the tip end side. The inner tip side of the roller portion 21A of the first built-in bearing roller 11A is configured so that a part of the tip side of the roller portion 21B of the second built-in bearing roller 11B can be housed therein.

[0028] (Connection part) The connecting portions 23A and 23B are formed in an annular shape that connects between the inner base end sides of the roller portions 21A and 21B and the outer base end sides of the bearing support portions 22A and 22B. This configuration can be seen in Figures 4(B) and 5(B).

[0029] According to the above-mentioned roller 11 with built-in bearings, by making the roller bodies 20A, 20B simple in shape, it is possible to use steel plate, which has higher strength than the commonly used aluminum, as the material for forming the roller bodies 20A, 20B. Therefore, by subjecting the steel plate to press forming or the like, it is possible to manufacture a high-strength roller 11 with built-in bearings. Specifically, cylindrical bearing support portions 22A, 22B are formed around a hole formed in the center of a steel plate, and the outer edge of the steel plate is bent to one side into a cylindrical shape to form roller portions 21A, 21B and connecting portions 23A, 23B. In this way, steel roller bodies 20A, 20B can be manufactured.

[0030] Furthermore, because the two bearings 30A, 30B are arranged side by side in the bearing support portions 22A, 22B of the built-in bearing roller 11, the load applied to each of the built-in bearing rollers 11A, 11B can be more stably supported. Note that, in the illustrated example, the two bearings 30, 30 are arranged side by side in the bearing support portions 22A, 22B, but if it is expected that the built-in bearing roller 20 will be subjected to a large load, three or more bearings 30 may be arranged side by side in the bearing support portions 22A, 22B.

[0031] Next, we will explain the method of assembling the omnidirectional wheel 10 that uses the above-mentioned built-in bearing rollers 11. The omnidirectional wheel 10 is assembled by assembling the corresponding built-in bearing rollers 11A, 11B to the respective support members 13A, 13B arranged on the outer surface of the wheel frame 14. More specifically, first, a pair of first built-in bearing rollers 11A, 11A are supported on roller support shaft 15 supported by each of first support members 13A. The pair of first built-in bearing rollers 11A, 11A are supported at one end with their tip sides facing outward in the axial direction of the roller support shaft 15. This gives the pair of first built-in bearing rollers 11A, 11A supported on roller support shaft 15 a barrel-like overall shape with a diameter that gradually decreases from the center toward the ends. This configuration can be seen in Fig. 4(A). Next, in the same manner as above, a pair of second rollers with built-in bearings 11B, 11B are supported on the roller support shaft 15 supported by the second support member 13B. At this time, the inner ends of the second roller with built-in bearings 11B can be accommodated inside the inner ends of the adjacent cylindrical first rollers with built-in bearings 11A, 11A. This configuration can be seen in Figures 3(A) and 5(A).

[0032] According to the above-mentioned configuration, the first bearing-integrated roller 11A and the second bearing-integrated roller 11B are arranged alternately in a ring shape on the outer periphery of the wheel frame 14, so that the outer shape of the omnidirectional wheel 10 in a side view can be made closer to a smooth circle.

[0033] When mounting each of the built-in bearing rollers 11A, 11B to the roller support shaft 15, the first bearing 30A is brought into contact with the step 15a of the roller support shaft 15, and the second bearing 30B is pressed toward the step 15a using a washer 36 and a bolt 37, thereby applying an appropriate preload to the two bearings 30A, 30B. This configuration can be seen in Figures 4(C) and 5(C).

[0034] Second embodiment Next, a second embodiment of the roller with built-in bearings will be described with reference to Figures 6 to 8(B). Figures 6(A) and 6(B) are a side view and a front view of the omnidirectional wheel of the second embodiment, Figure 7 is a cross-sectional view taken along line D-D of Figure 6(B), Figure 8(A) is a cross-sectional view of the roller with built-in bearings of the second embodiment, and Figure 8(B) is a cross-sectional view of the roller with built-in bearings of the second embodiment provided with a resin cover. The omnidirectional wheel 100 includes a bearing-in roller 41, a rolling roller 60, and a wheel portion 70.

[0035] The wheel portion 70 has a disk-shaped wheel frame 71, first support members 72 attached to the outer edge of the wheel frame 71 at equal intervals, and second support members 73 arranged between adjacent first support members 72. In the illustrated example, the wheel frame 71 is formed in a pentagonal shape. The first support member 72 is formed into a trapezoidal shape by attaching and fixing a pair of first divided members 72A, 72A to each side of the outer edge of the wheel frame 71. The first support member 72 attached to the wheel frame 71 supports the built-in bearing roller 41, both ends of which in the axial direction are open. The second support member 73 has symmetrically formed crank-shaped second divided members 73A, 73A attached and fixed to the apex portion of the wheel frame 71. The second support member 73 attached to the wheel frame 71 supports the rolling roller 60.

[0036] The rolling roller 60 has a rolling shaft portion 61, both ends of which are fixed by second support members 73, and a resin roller body 62 inserted into the rolling shaft portion 61. This configuration may be seen in FIG.

[0037] The built-in bearing roller 41 includes a bearing 30 and a roller body 50 in which the bearing 30 is built. The roller body 50 has a roller portion 51 , a bearing support portion 52 , and a connecting portion 53 .

[0038] (Bearing support part) The bearing support portion 52 is formed in a cylindrical shape with both axial ends opened. The bearing support portion 52 is configured so that two bearings 30 can be provided side by side in the axial direction.

[0039] (Roller part) The roller portion 51 is formed in a cylindrical shape with both axial ends open. A bearing support portion 52 is provided on the axial center side of the inside of the roller portion 51 via a connecting portion 53 in a coaxial arrangement. The outer surface of the roller portion 51 is formed with a curved or inclined surface whose outer diameter gradually decreases by smoothly reducing the thickness from the axial center toward both ends, so that the overall outer shape of the roller portion 51 is formed into a barrel shape.

[0040] (Connection part) The connecting portion 53 is formed in an annular shape that connects between the axial center side of the inner surface of the roller portion 51 and one axial end side of the outer surface of the bearing support portion 52 .

[0041] According to the above-mentioned built-in bearing roller 41, the roller support shafts 15 on which the built-in bearing rollers 41 are supported are arranged in a ring shape along the outer periphery of the wheel frame 14, and the built-in bearing rollers 41 can also be applied to omni-wheels and mecanum wheels in which both ends of each roller support shaft 15 are fixed to the wheel frame 14 side.

[0042] Further, roller body 50 constituting roller 41 with built-in bearing is integrally formed by pressing a plate-like steel material or the like. Specifically, a cylindrical bearing support portion 52 is formed around a hole formed in the center of a steel plate, and the outer edge portion of the steel plate is split in the thickness direction and bent in the axial direction to form the roller portion 51 and the connecting portion 53. In this way, the steel roller body 50 can be manufactured.

[0043] Furthermore, the built-in bearing roller 41 may be configured such that a cover body 54 made of an elastic material such as rubber or resin is provided on the outer surface of the roller portion 51. The cover body 54 is formed so as to cover the entire outer surface of the roller portion 51, and a plurality of grooves 54a are formed on its surface. This configuration may be seen in FIG. 8(B).

[0044] According to this configuration, the outer surface of the roller portion 51 that comes into contact with the traveling surface can be covered with the cover body 54 made of rubber or resin, which absorbs and reduces the shock caused by unevenness in the road surface and prevents damage to the bearing-integrated roller 11 itself. In addition, the provision of the grooves 54a in the cover body 54 improves the gripping force, thereby improving the traveling performance of the omnidirectional wheel 10.

[0045] The present invention is not limited to the above-described embodiment, and modifications and improvements can be made as appropriate.

[0046] As described above, the present specification discloses the following: (1) A roller with built-in bearings used in an omnidirectional wheel, a bearing including an inner ring having an inner ring raceway surface on an outer surface thereof, an outer ring having an outer ring raceway surface on an inner surface thereof, and rolling elements disposed between the inner ring raceway surface and the outer ring raceway surface; A roller body provided with the bearing, The roller body includes: A cylindrical roller portion having at least one open end; a cylindrical bearing support portion disposed within the roller portion and into which the bearing is inserted; a connecting portion that connects the roller portion and the bearing support portion in a state in which the roller portion and the bearing support portion are arranged on the same axis, Characterized in that it is integrally formed from steel material. Roller with built-in bearing. According to this configuration, the roller body with the built-in bearing is integrally molded from steel, which improves the load-bearing capacity. Also, the configuration of the roller with built-in bearing is simplified, which makes it possible to keep manufacturing costs low.

[0047] (2) A cover body made of an elastic material is provided on the roller portion to cover the outer surface of the roller portion. A roller with built-in bearing as described in (1). According to this configuration, the cover body can absorb and reduce the impact caused by unevenness in the road surface, and the bearing-in roller 11 itself can be prevented from being damaged.

[0048] (3) A plurality of the bearings are arranged in the bearing support portion. A roller with a built-in bearing as described in (1) or (2). With this configuration, the load applied to each bearing-integrated roller can be more stably received.

[0049] (4) The bearing support portion is provided on one axial end side of the roller portion. The roller with a built-in bearing according to any one of (1) to (3). This configuration can be applied to an omnidirectional wheel in which the roller support shaft that supports the roller with built-in bearing is supported at one end.

[0050] (5) The roller portion is formed so that the outer diameter gradually decreases from one end side to the other end side in the axial direction. A roller with built-in bearing as described in (4). According to this configuration, when applied to an omnidirectional wheel, the roller portion can be made to smoothly contact the traveling surface.

[0051] (6) The bearing support portion is provided on the axial center side of the roller portion. The roller with a built-in bearing according to any one of (1) to (3). This configuration can be applied to an omnidirectional wheel in which both ends of a roller support shaft that supports a roller with a built-in bearing are fixed.

[0052] (7) The roller portion is formed so that the outer diameter gradually decreases from the center in the axial direction toward both ends. A roller with built-in bearings as described in (6). According to this configuration, when applied to an omnidirectional wheel, the roller portion can be made to smoothly contact the traveling surface.

[0053] (8) A roller with a built-in bearing according to any one of (1) to (7), A wheel frame that rotates about an axle; A support portion is provided on an outer circumferential side of the wheel frame to rotatably support each of the plurality of bearing-embedded rollers arranged in an annular manner. Omnidirectional moving wheels. According to this configuration, by using a roller with built-in bearings in which the roller body is integrally molded from steel, it is possible to form an omnidirectional wheel with excellent load-bearing capacity while keeping manufacturing costs low.

[0054] (9) The bearing-integrated roller is journaled on the support portion so as to rotate in a direction perpendicular to a rotation direction of the wheel frame. (8) An omnidirectional wheel as described above. According to this configuration, by using a roller with built-in bearings in which the roller body is integrally molded from steel, it is possible to form an omnidirectional wheel with excellent load-bearing capacity while keeping manufacturing costs low. [Explanation of symbols]

[0055] 1. Travelling unit 2. Body 3 Drive motor 4 axles 10 Omnidirectional moving wheels 11 Rollers with built-in bearings 11A No. 1 bearing built-in roller 11B Roller with built-in second bearing 12 Wheel section 13 Support member (support part) 13a Support hole 13A First Support Member 13B Second support member 14 Wheel Frame 14a Shaft hole 15 Roller support shaft 20A, 20B Roller body 21A, 21B roller part 22A, 22B Bearing support part 23A, 23B connection part 30 Bearings 41 Roller with built-in bearing 50 Roller body 51 Roller section 52 Bearing support part 53 Connecting part 54 Cover body 54a Groove 60 Roller 70 Wheel section 71 Wheel Frame 72 First support member 72A First division part 73 Second support member 73A Second division part

Claims

1. A roller with built-in bearings for use in an omnidirectional wheel, a bearing including an inner ring having an inner ring raceway surface on an outer surface thereof, an outer ring having an outer ring raceway surface on an inner surface thereof, and rolling elements disposed between the inner ring raceway surface and the outer ring raceway surface; A roller body provided with the bearing, The roller body includes: A cylindrical roller portion having at least one open end; a cylindrical bearing support portion disposed within the roller portion and into which the bearing is inserted; a connecting portion that connects the roller portion and the bearing support portion in a state in which the roller portion and the bearing support portion are arranged on the same axis, Characterized in that it is integrally formed from steel material. Roller with built-in bearing.

2. A cover body made of an elastic material covering the outer surface of the roller portion is provided.

2. The roller with built-in bearing according to claim 1.

3. A plurality of the bearings are arranged in the bearing support portion.

2. The roller with built-in bearing according to claim 1.

4. The bearing support portion is provided on one axial end side of the roller portion.

2. The roller with built-in bearing according to claim 1.

5. The roller portion is formed so that the outer diameter gradually decreases from one end side to the other end side in the axial direction.

5. The roller with built-in bearing according to claim 4.

6. The bearing support portion is provided on the axial center side of the roller portion.

2. The roller with built-in bearing according to claim 1.

7. The roller portion is formed so that the outer diameter gradually decreases from the axial center toward both ends.

7. The roller with built-in bearing according to claim 6.

8. A roller with a built-in bearing according to any one of claims 1 to 7, A wheel frame that rotates about an axle; A support portion is provided on an outer circumferential side of the wheel frame to rotatably support each of the plurality of bearing-embedded rollers arranged in an annular manner. Omnidirectional moving wheels.

9. The bearing-integrated roller is journaled on the support portion so as to rotate in a direction perpendicular to a rotation direction of the wheel frame.

9. The omni-directional wheel of claim 8.

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