CN111391574A

CN111391574A - Lightweight omniwheel

Info

Publication number: CN111391574A
Application number: CN202010328568.1A
Authority: CN
Inventors: 李建国; 刘杰; 赵洪伟; 王晓栋; 张哲夫; 刘灿锋; 廖香成
Original assignee: Jiangsu Bangbang Intelligent Technology Co ltd
Current assignee: Jiangsu Bangbang Intelligent Technology Co ltd
Priority date: 2020-04-23
Filing date: 2020-04-23
Publication date: 2020-07-10

Abstract

The invention discloses a portable omni wheel, and belongs to the field of omni wheels. A lightweight omni-wheel comprising a hub rotatable about an axle and a plurality of rollers mounted on the hub, the rollers being freely rotatable about their central axes, the central axes of the rollers being disposed in a plane orthogonal to the axle, the outer contours of the rollers being disposed on the same circumference about the axle, wherein the hub includes a bracket connected to each of the rollers, and bearings of the omni-wheel are mounted on the bracket connected to each of the rollers. The portable omni wheel disclosed by the invention has the advantages of light weight, large bearing capacity, low manufacturing cost, convenience in installation and quickness in maintenance and the like.

Description

Lightweight omniwheel

Technical Field

The invention relates to the technical field of omni wheels, in particular to a portable omni wheel.

Background

The omnidirectional wheel is a supporting element of the wheel type road walking mechanism, and can freely move laterally when moving along the circumferential direction, so that the movement flexibility of the walking mechanism is improved.

The existing 90-degree omni-directional wheel can be roughly divided into a single row and a double row. Driven rollers in different forms are arranged on the circumference of the hub by the single-row omni-directional wheel, and the outer contours of all the rollers are on the same circumference. When the single-row omnidirectional wheel rotates, the motion stability depends on the clearance between the driven rollers, and the continuity and the stability of the lateral motion can be ensured because the outer contour of each roller is on the same circumference.

The existing single-row omni wheel is difficult to meet the requirement of applying the omni wheel in batches of civil products, and the following defects exist or exist partially:

1. the cost is high, each small roller is provided with an independent assembly type bracket, and the bracket has a complex structure and complex assembly;

2. the bearing capacity is not high, and the manufacturing cost is increased if the bearing capacity is improved;

3. the maintenance is difficult, for example, the driven roller is worn and must be disassembled integrally;

4. the overall weight of the wheel is large;

5. poor stability or poor lateral obstacle crossing capability;

6. non-maintainable, requires that the gyro wheel processing be equipped with very high uniformity, once partial gyro wheel wear out failure, the omniwheel is scrapped etc..

Two rows of driven rollers are uniformly distributed on a wheel hub of the conventional double-row omni-directional wheel, and adjacent rollers are staggered in a crossed manner. Because the axis of the hub is difficult to be parallel to the ground in the movement, the height difference exists between the double rows of driven rollers and the ground, and the movement vibration is large. Meanwhile, during lateral movement, the roller wheel support is easy to interfere with a ground bulge, obstacle crossing capability of the omnidirectional wheel is limited, and terrain adaptability is insufficient.

Therefore, it is necessary to provide a lightweight omni-directional wheel which can improve the stability and the bearing capacity of the wheel, reduce the complexity of assembly, reduce the cost and the weight, and increase the maintainability.

Disclosure of Invention

The invention aims to provide a portable omni wheel, which improves the stability and the bearing capacity of the wheel, reduces the complexity of assembly, the cost and the weight, increases the maintainability and improves the market competitiveness of products.

The technical scheme provided by the invention is as follows: a portable omni wheel comprises a hub capable of rotating around an axle and a plurality of rollers mounted on the hub, wherein the rollers can freely rotate around the central axes of the rollers, the central axes of the rollers are arranged in a plane orthogonal to the axle, the outer contours of the rollers are arranged on the same circumference centering on the axle, the hub comprises a bracket connected with each roller, and a bearing of the omni wheel is mounted on the bracket connected with each roller.

In this technical scheme, with the bearing installation on the support, but the required quantity of bearing of greatly reduced omniwheel, the gyro wheel need not also process the dead eye, but the manufacturing cost of greatly reduced omniwheel.

Preferably, the bearing is a flange bearing or a flange bushing.

In the technical scheme, the bearing adopts a flange bearing or a flange shaft sleeve, the flange edge can be used for bearing force, the roller of the omnidirectional wheel is prevented from moving in the moving process, the bearing can bear the moving lateral force, and the bearing force range of the omnidirectional wheel is enlarged.

Preferably, the hub and the first bracket are integrally formed, and the second bracket and the hub are detachably connected.

In this technical scheme, the second support with wheel hub can dismantle the connection, has reduced the degree of difficulty of omniwheel installation widely to in the maintenance of omniwheel, can only dismantle its corresponding support, increased the convenience of maintaining.

Preferably, the first brackets and the second brackets are uniformly and alternately arranged at the outer end of the hub to form a single-row bracket or a double-row bracket, the number of the first brackets and the second brackets on each row is the same, and the sum of the number of the first brackets and the number of the second brackets is a double number.

In the technical scheme, the omnidirectional wheel can be made into a single-row omnidirectional wheel or a double-row omnidirectional wheel, so that the diversity of the omnidirectional wheel is increased.

Preferably, the second bracket is of a U-shaped structure.

In the technical scheme, the U-shaped structure is adopted, the use strength of the support is increased, and the double-end support is adopted, so that the bearing range of the support is increased.

Preferably, the plurality of rollers of the omnidirectional wheel include a large roller set and a small roller set, the large roller set is mounted on the first support, the small roller set is mounted on the second support, the large roller set includes at least 3 rollers, the small roller set includes at least 2 rollers, two outer ends of the large roller set are provided with concave portions, two outer ends of the small roller set are nested in the concave portions of the large roller set, and the large roller set and the small roller set are alternately arranged so that the outer contours of the rollers are all configured on the same circumference with the axle as the center.

Preferably, the large roller group comprises 3 rollers, namely a first central roller and 2 first symmetrical rollers, the first central roller is mounted in the middle of the first bracket, and the first symmetrical rollers are symmetrically mounted on two sides of the first bracket; the small roller group comprises 3 rollers which are respectively a second central roller and 2 second symmetrical rollers, the second central roller is arranged in the middle of the second support, and the second symmetrical rollers are symmetrically arranged on two sides of the second support.

Preferably, the large roller group comprises 3 rollers, namely a first central roller and 2 first symmetrical rollers, the first central roller is mounted in the middle of the first bracket, and the first symmetrical rollers are symmetrically mounted on two sides of the first bracket; the small roller group comprises 2 rollers which are respectively and symmetrically arranged on two sides of the second bracket.

In the technical scheme, the roller group is installed on the first support and the second support firstly, so that the installation convenience is greatly improved, and the roller group adopts the combination of three-section small rollers, so that the installation convenience is improved, and the running stability of the rollers is improved.

Preferably, the number of the large roller groups and the small roller groups on each row of the brackets is 4, and the number of the first brackets and the second brackets is 4.

In the technical scheme, the operation is more stable and continuous by using 4 large roller groups and 4 small roller groups, the bearing range is larger, and the installation is simpler and more convenient.

Preferably, each roller consists of a wheel core and a tread, and bearing holes do not need to be machined.

In the technical scheme, the roller wheel consisting of the wheel core and the tire surface is adopted, so that the manufacturing cost and the material cost are lower, and particularly, after a bearing hole is not required to be machined, the manufacturing cost of the omnidirectional wheel can be greatly reduced.

The portable omni wheel provided by the invention can bring at least one of the following beneficial effects:

1. in the invention, the bearings are arranged on the connecting bracket, so that the number of the bearings can be reduced, the roller machining process is reduced, the material of the hub is changed from steel to aluminum, the manufacturing cost of the omnidirectional wheel can be greatly reduced, the weight of the omnidirectional wheel is reduced, and the market competitiveness is increased;

2. according to the invention, the flange bearing is arranged on the connecting bracket, so that the bearing capacity of the omnidirectional wheel in lateral movement can be greatly increased, and the bearing capacity and the running stability of the omnidirectional wheel are increased;

3. in the invention, the wheel hub is integrally formed, the large roller group and the small roller group form an assembly component and then are installed, the installation mode is simple, the maintenance and the replacement are easier and faster, and the maintainability is greatly improved;

4. the omnidirectional wheel provided by the invention integrates the advantages, and the requirement of the civil product on the application of the omnidirectional wheel in batches can be completely met.

Drawings

The above features, technical characteristics, advantages and implementation of the lightweight omni wheel according to the present invention will be further described in the following detailed description of preferred embodiments in a clearly understandable manner, in conjunction with the accompanying drawings.

FIG. 1 is a schematic cross-sectional structural view of a first embodiment of the present invention;

FIG. 2 is a schematic structural view of a hub according to a first embodiment of the present invention;

FIG. 3 is a schematic diagram of the installation process of the first embodiment of the present invention;

FIG. 4 is a schematic diagram of the installation process of the first embodiment of the present invention;

FIG. 5 is a complete schematic view of a first embodiment of the invention;

fig. 6 is a schematic sectional structural view of a third embodiment of the present invention.

The reference numbers illustrate:

100. omnidirectional wheel 10, large roller set 11, first central roller 12 and first symmetrical roller

13. First flange bearing 14, second flange bearing 15, pin 16 and screw

20. Small roller group 21, second central roller 22, second symmetrical roller 23 and pin shaft

24. Third flange bearing 25, fourth flange bearing 26, screw

30. Wheel hub 31, first bracket 32, second bracket

121. And a concave cavity structure.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In this document, upper, lower, left, right, front and right refer to upper, lower, left, right, front and right of the described drawings, which do not fully represent actual circumstances.

As shown in fig. 1 to 6, a lightweight omni wheel 100 according to the present invention includes a hub rotatable about an axle, and a plurality of rollers mounted on the hub, the rollers being rotatable about their central axes, and the central axes of the rollers being disposed in a plane orthogonal to the axle, and the outer contours of the rollers being disposed on the same circumference centered on the axle, wherein the hub includes a bracket connected to each of the rollers, and a bearing of the omni wheel is mounted on the bracket connected to each of the rollers.

The first supports and the second supports are evenly and alternately arranged at the outer ends of the wheel hubs to form single-row supports or double-row supports, the number of the first supports and the number of the second supports in each row are the same, and the sum of the number of the first supports and the number of the second supports is a double number.

The plurality of rollers mounted on the hub include a plurality of large roller sets 10 and a plurality of small roller sets 20, the plurality of large roller sets 10 and the plurality of small roller sets 20 can rotate freely around their central axes, and the central axes of the roller sets are all disposed in a plane orthogonal to the axle.

Specifically, in the first embodiment, as shown in fig. 1 to 4: a first bracket 31 for mounting the large roller group 10 and a second bracket 32 for mounting the small roller group 20 are uniformly arranged on the outer circumference of the hub 30. The first bracket 31 and the second bracket 32 may be directly and fixedly connected to the outer circumference of the hub 30, or may be detachably connected to the outer circumference of the hub.

In this embodiment, it is preferable that the first brackets 31 and the hub 30 are formed as an integral structure, the second brackets 32 are detachably connected to the outer periphery of the hub 30, the first brackets 31 and the second brackets 32 are alternately and uniformly arranged on the outer periphery of the hub 30, and the distance between the first brackets 31 and the second brackets 32 is equal.

The second support 32 is designed to be of a U-shaped structure, the bearing capacity and the connection stability of the omnidirectional wheel can be greatly improved by integrally connecting the second support to the hub 30 in a double-end supporting mode, the use strength of the second support can also be improved, the hub 30 and the second support can be adjusted to be made of aluminum alloy through steel, the overall weight of the omnidirectional wheel is further reduced, and the material cost and the manufacturing cost of the omnidirectional wheel are reduced.

Preferably, the hub 30 of the omni wheel 100 of the present invention is made of aluminum, has a uniform cross-sectional size, and can be manufactured by aluminum extrusion or die casting. The second bracket 32 is made of aluminum and can be manufactured by aluminum extrusion or die casting. Compared with the prior steel structure, the manufacturing cost of the omnidirectional wheel can be greatly reduced, and the weight of the omnidirectional wheel can also be greatly reduced.

As shown in fig. 2, a bearing hole is formed in the first bracket 31. The bearing of the common bearing used in the prior omnidirectional wheel is arranged in the roller, and the bearing effect is limited, so that the wheel can integrally float under the action of lateral force when moving laterally, the bearing capacity is not enough, and the running stability is not enough. And because the bearing is installed among the gyro wheel, lead to the quantity of bearing too much, and must carry out the dead eye processing to the gyro wheel inner core, lead to the manufacturing cost height of current omniwheel to live in.

Taking a conventional omni-directional wheel bearing-mounted in a roller as an example, if the bearing is mounted in the roller, 2 bearings are required to be mounted in each roller, and if there are 4 large roller groups and 4 small roller groups, each roller group has 2 rollers, the number of bearings required is 64 bearings.

In the present invention, however, as shown in fig. 1: the bearings are arranged on the bracket, and because the invention adopts a form of supporting the two ends of the U-shaped bracket, only 16 bearings are needed in total.

The invention preferably uses a flange bearing or a flange copper sleeve, the flange bearing or the flange copper sleeve is symmetrically arranged, and the flange surface is attached to the outer side surface of the bracket. The flange edge can bear the lateral force of the lateral movement of the wheel, the capability of bearing radial and axial loads of the roller of the omnidirectional wheel and the supporting frame can be greatly improved, the flange surface can prevent the roller from moving in the moving process of the omnidirectional wheel, and the stability of the lateral movement is improved.

In the invention, because the bearings are arranged on the first bracket 31 and the second bracket 32, the number of the bearings can be reduced, the whole manufacturing cost of the omnidirectional wheel is further reduced, and the inner core of the roller does not need to be provided with a bearing hole, so that the processing technology of the roller is greatly simplified, and the manufacturing cost of the omnidirectional wheel is further reduced.

The hub 30 of a lightweight omni wheel of the present invention can be coupled to the rollers of a variety of current omni wheels. A specific connection is given below, but not limited to this connection.

As shown in fig. 1 to 5, the large roller set 10 and the small roller set 20 of a lightweight omni wheel 100 according to the present invention each include 3 rollers.

The large roller group 10 includes 3 rollers, which are respectively a first central roller 11 and 2 first symmetrical rollers 12, as shown in fig. 1: the first central roller 11 is arranged in the middle of the first bracket 31, the 2 first symmetrical rollers 12 are arranged on two sides of the first bracket 31 and are symmetrical to each other, the shape of the large roller group 10 is similar to an olive shape, and particularly, the rollers are distributed with revolving body grooves along the axial direction, so that the obstacle crossing capability can be improved.

The small roller group 20 includes 3 rollers, which are respectively a second central roller 21 and 2 second symmetrical rollers 22, as shown in fig. 1: the second central roller 21 is arranged in the middle of the second bracket 32, the 2 second symmetrical rollers 22 are arranged on two sides of the second bracket 32 and are symmetrical to each other, the shape of the small roller group 20 is also similar to an olive shape, and particularly, the rollers are distributed with revolving body grooves along the axial direction, so that the obstacle crossing capability can be improved.

In the present invention, the end of the first symmetrical roller 12 has a recessed cavity structure 121 for receiving the end of the second symmetrical roller 22, and the end of the second symmetrical roller 22 is nested in the recessed cavity structure 121, so that the large roller groups 10 and the small roller groups 20 are uniformly staggered in the circumferential direction of the hub 30, the rotation axis of each roller group is in the intersecting plane of the wheel shafts and is perpendicular to the radial direction, and the outer contours of all the rollers are on the same circumference.

In the invention, because the bearing is arranged on the bracket, the bearing hole of the roller does not need to be processed, each roller can be composed of a wheel core and a tread, the material of the wheel core is preferably aluminum material or engineering plastics such as nylon, and the tread is elastic material such as rubber.

The wheel core can be processed by an aluminum extrusion process, so that the section of the wheel core is consistent, and the wall thickness of the tire tread is uneven; the tire can also be manufactured by a die-casting or injection molding process, so that the profile of the wheel core is concentric with the outer hub of the tire tread, and the wall thickness of the tire tread is uniform.

In the invention, a bearing hole is processed on the first bracket 31, a flange bearing or a flange copper sleeve is symmetrically arranged, and the flange surface is attached to the outer side surface of the bracket. The first central roller 11 is arranged in the middle of the bearing, the first symmetrical rollers 12 are symmetrically arranged on two sides of the bearing, the pin shaft 15 sequentially passes through the left roller of the first symmetrical roller 12, the first flange bearing 13, the first central roller 11, the second flange bearing 14 and the right roller of the first symmetrical roller 12, is locked and attached through the screw 16, the inner core of the first central roller 11, the inner core of the first symmetrical roller 12, the inner rings of the first flange bearing 13 and the second flange bearing 14 are tightly attached together, and the first support 31 is tightly attached together to form a large roller assembly.

Similarly, the second bracket 32 is provided with a bearing hole, a flange bearing or a flange copper sleeve is symmetrically mounted, and the flange surface is attached to the outer side surface of the bracket. The second central roller 21 is arranged in the middle of the bearing, the second symmetrical rollers 22 are symmetrically arranged on two sides of the bearing, a pin shaft 23 sequentially passes through a left roller of the second symmetrical roller 22, a third flange bearing 24, the second central roller 21, a fourth flange bearing 25 and a right roller of the second symmetrical roller 22, and is locked and attached through a screw 26, so that an inner core of the second symmetrical roller 22, an inner ring of the third flange bearing 24 and the fourth flange bearing 25, the second bracket 32 and the inner core of the second central roller 21 are tightly attached together, and a small roller assembly is formed.

The present invention relates to an assembly method of a portable omni wheel 100, as shown in fig. 3 and 4: the large roller groups 10 are directly assembled with the first brackets 31 on the wheel hubs 30 respectively; positioning and assembling hole sites are uniformly distributed on the hub 30 in the circumferential direction and are used for connecting the assembling components of the second small roller group 20. The small roller groups 20 are respectively assembled with the second support 32, and then the small roller assembly components are assembled with the hub 30 support along the radial direction, positioned by concave-convex surfaces and locked by screws.

By adopting the assembly mode, when a single roller set is maintained, two adjacent roller sets are disassembled at most, so that the whole omnidirectional wheel is prevented from being disassembled, the maintenance and the replacement of the roller are easy and quick, the capability of the omnidirectional wheel roller and the roller bracket for bearing radial and axial loads is greatly improved, and the stability of the lateral and lateral operation of the omnidirectional wheel is improved.

Preferably, not shown in the drawings, the hub 30 and the small roller group 20 can be positioned and connected by a sliding groove buckle or the like, and is not limited to a screw bolt connection.

It should be noted that the second bracket 32 is preferably of a U-shaped configuration, but other simple modifications of the U-shaped configuration may be used.

Preferably, as shown in FIGS. 1-6: the omnidirectional wheel comprises 4 large roller groups and 4 small roller groups, wherein the 4 large roller groups 10 and the 4 small roller groups 20 are mutually nested. The four first supports 31 and the hub 30 are integrally formed to form a main support, the second support 32 forms 4 auxiliary supports, the 4 large roller groups are directly and respectively installed on the four first supports 31, and the four small roller groups are installed on the four second supports 32 and then installed on the main support of the hub 30.

In the second embodiment, the hub 30 and the second bracket 32 are integrally formed, and the first bracket 31 is formed into a U-shaped structure detachably connected to the hub 30. The small roller assembly 20 is directly and tightly mounted on the second bracket 32 through a flange bearing or a flange shaft sleeve, a pin shaft and a screw to form a small roller assembly, the large roller assembly 10 is firstly tightly attached to the first bracket 31 through the flange bearing or the flange shaft sleeve, the pin shaft and the screw to form a large roller assembly, and then the large roller assembly is assembled with the hub 30 bracket along the radial direction.

In the third embodiment, on the basis of the previous embodiment, the number of the rollers of the small roller set 20 may also be 2, and only two second symmetrical rollers 22 are included and symmetrically installed on both sides of the bracket, and the end portions of the second symmetrical rollers 22 are nested into the concave portions 121 of the first symmetrical rollers 21.

In the fourth embodiment, on the basis of the previous embodiments, the wheel hub 30 is widened, the first brackets 31 and the second brackets 32 are uniformly arranged in two rows in the width direction of the wheel hub 30, and each row is connected with 4 large roller sets 10 and 4 small roller sets 20 to form a two-row omni-directional wheel, so that more weight can be borne.

In conclusion, the portable omni wheel 100 has the advantages of low manufacturing cost, light weight, simple installation mode, convenience and rapidness in maintenance, strong bearing capacity and the like.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A lightweight omni-wheel comprising a hub rotatable about an axle and a plurality of rollers mounted on the hub, the rollers being freely rotatable about their central axes, the central axes of the rollers being disposed in a plane orthogonal to the axle, the outer contours of the rollers being disposed on the same circumference about the axle, wherein the hub includes a bracket connected to each of the rollers, and bearings of the omni-wheel are mounted on the bracket connected to each of the rollers.

2. A lightweight omni wheel according to claim 1, wherein the bearing is a flange bearing or a flange bushing.

3. A lightweight omni wheel according to claim 2, wherein the hub is integrally formed with the first bracket and the second bracket is detachably connected to the hub.

4. A lightweight omni wheel according to claim 3, wherein the first brackets and the second brackets are evenly and alternately arranged at the outer end of the hub to form a single row of brackets or a double row of brackets, the number of the first brackets and the second brackets in each row is the same and the sum of the number of the first brackets and the second brackets is a double number.

5. The lightweight omni wheel according to claim 4, wherein the second bracket has a U-shaped configuration.

6. The lightweight omni wheel according to claim 5, wherein the plurality of rollers of the omni wheel includes a large roller set and a small roller set, the large roller set is mounted on the first bracket, the small roller set is mounted on the second bracket, the large roller set includes at least 3 rollers, the small roller set includes at least 2 rollers, two outer ends of the large roller set are provided with concave portions, two outer ends of the small roller set are nested in the concave portions of the large roller set, and the large roller set and the small roller set are alternately arranged so that the outer contours of the rollers are all disposed on the same circumference centering on the axle.

7. The lightweight omni wheel according to claim 6, wherein the large roller set comprises 3 rollers, namely a first central roller and 2 first symmetrical rollers, the first central roller is installed in the middle of the first bracket, and the first symmetrical rollers are symmetrically installed on both sides of the first bracket; the small roller group comprises 3 rollers which are respectively a second central roller and 2 second symmetrical rollers, the second central roller is arranged in the middle of the second support, and the second symmetrical rollers are symmetrically arranged on two sides of the second support.

8. The lightweight omni wheel according to claim 6, wherein the large roller set comprises 3 rollers, namely a first central roller and 2 first symmetrical rollers, the first central roller is installed in the middle of the first bracket, and the first symmetrical rollers are symmetrically installed on both sides of the first bracket; the small roller group comprises 2 rollers which are respectively and symmetrically arranged on two sides of the second bracket.

9. A lightweight omni wheel according to any one of claims 7 or 8, wherein the number of the large roller sets and the small roller sets on each row of the brackets is 4, and the number of the first brackets and the second brackets is 4.

10. A lightweight omni wheel according to claim 1, wherein each roller is comprised of a wheel core and a tread without machining a bearing hole.