CN113246654B - Omnidirectional wheel and mobile device - Google Patents

Abstract

The invention provides an omnidirectional wheel and mobile equipment, relates to the technical field of mobile devices, and aims to solve the technical problems that the existing omnidirectional wheel is easy to generate noise and vibration and poor in operation stability; the first roller assembly comprises a first shaft and a first roller, the first roller comprises a rim part and a spoke part which are connected, the spoke part is positioned in the middle of the rim part, and partial structures of two second roller assemblies adjacent to the first roller assembly respectively extend into spaces on two axial sides of the spoke part of the first roller assembly; the first roller component further comprises a first support unit and a second support unit which are arranged in a split mode, and a first fixing portion of the first support unit and a second fixing portion of the second support unit are located in the axial two-side space of the spoke portion respectively and are fixedly connected with the first shaft. The omnidirectional wheel provided by the invention has the advantages of low noise and vibration, high running stability and low production cost.

Description

Omnidirectional wheel and mobile device

Technical Field

The invention relates to the technical field of mobile devices, in particular to an omnidirectional wheel and mobile equipment.

Background

The omni wheels (omni wheels) are large idler wheels consisting of a plurality of idler wheels, the omni wheels can rotate around hubs integrally, each idler wheel can rotate around the center of the omni wheel, and therefore the omni wheels can roll forwards and can slide left and right, and the mobile equipment can move 360 degrees in all directions by combining a plurality of omni wheels together.

The omnidirectional wheels are divided into a single-row omnidirectional wheel and a plurality of rows of omnidirectional wheels, wherein the plurality of rows of omnidirectional wheels form a tire tread with continuous projection through a plurality of rows of small rolling wheels which are arranged in a staggered mode. Because the rollers are of a multi-row structure, when the roller bracket is used on a bumpy road, the roller bracket is very easy to collide with obstacles, so that the use is inconvenient. And because the structure is multirow structure, the structure is more complicated, and the part is more, and manufacturing cost is high and the assembly is complicated. The single-row omni-directional wheel forms a coherent tire tread by the small rollers which are embedded into each other, so that the problems of a plurality of rows of omni-directional wheels are avoided. However, the gaps between the driven wheels of the single-row omni-directional wheel are large, and the continuity of the whole wheel is poor, so that large noise and vibration can be generated.

In order to solve the problem of consistency, two small roller brackets are usually used for fixing a large roller, but the problems of difficult assembly, easy noise and vibration generation during use and poor operation stability exist in practical production and application. In addition, the large roller and the small roller can be arranged into a two-half structure and fixed on the bracket by two sides of the bracket, so that the assembly problem is solved, but noise and vibration still occur in the practical use.

Disclosure of Invention

In view of the above problems, embodiments of the present invention provide an omni wheel and a mobile device, which are low in production cost and high in assembly efficiency.

In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:

a first aspect of an embodiment of the present invention provides an omni wheel, which includes a hub bracket, and a plurality of first roller assemblies and a plurality of second roller assemblies connected to the hub bracket, where the first roller assemblies and the second roller assemblies are alternately arranged in a circumferential direction of the hub bracket;

the first roller assembly comprises a first shaft and a first roller which is rotatably arranged on the first shaft, the first roller comprises a rim part and a spoke part which are connected, the spoke part is positioned in the middle of the rim part in the axial direction of the first roller, and partial structures of two second roller assemblies adjacent to the first roller assembly respectively extend into spaces on two sides of the spoke part of the first roller assembly in the axial direction; the first roller wheel assembly further comprises a first roller wheel support fixedly connected with the wheel hub support, the first roller wheel support comprises a first support unit and a second support unit which are arranged in a split mode, the first support unit comprises a first fixing portion, the second support unit comprises a second fixing portion, the first fixing portion and the second fixing portion are respectively located in axial two-side spaces of the wheel spoke portion, and the first fixing portion, the second fixing portion and the first shaft are fixedly connected together.

Compared with the prior art, the omni wheel provided by the embodiment of the invention has the following advantages:

the spoke portion of the first roller is arranged in the middle of the rim portion, so that the accommodating space is formed on two axial sides of the spoke portion, part of the structure of the second roller assembly can stretch into the accommodating space, the structure of the omni-directional wheel is more compact, and the angle difference between the first roller and the second roller and the roundness tolerance of the whole wheel are effectively reduced. The first idler wheel and the second idler wheel are respectively installed on the hub support through independent idler wheel supports, the roundness of the whole wheel is guaranteed by nesting the first idler wheel and the second idler wheel, the requirements on machining and assembling precision are reduced while the quality of the omnidirectional wheel is guaranteed, and production cost is reduced. The first roller support of the first roller assembly is set to be of a two-half structure, the two-half structure can be installed in the first roller by stretching the two sides of the first roller, and therefore smooth assembly of the first roller assembly can be guaranteed without setting the first roller to be of two halves, vibration and noise of the omnidirectional wheel are effectively reduced, and running stability of the omnidirectional wheel is improved.

As an improvement of the omni wheel according to the embodiment of the present invention, the first supporting unit further includes a first mounting portion and a first connecting portion, the first mounting portion is located on an inner side of the first roller in a radial direction of the omni wheel, and two ends of the first connecting portion are respectively connected to the first mounting portion and the first fixing portion; the second bracket unit further comprises a second mounting part and a second connecting part, the second mounting part is located on the inner side of the first roller in the radial direction of the omnidirectional wheel, and two ends of the second connecting part are respectively connected with the second mounting part and the second fixing part; the first installation part and/or the second installation part are/is fixedly connected with the hub bracket.

As a further improvement of the omni wheel according to the embodiment of the present invention, the first connecting portion and the second connecting portion are both of a bent or curved plate-shaped structure, and the plate-shaped structure is adapted to the profile of the first roller.

As a further improvement of the omni wheel according to the embodiment of the present invention, the first mounting portion abuts against the second mounting portion, and/or the first mounting portion is fixedly connected to the second mounting portion.

As a further improvement of the omni wheel according to the embodiment of the present invention, the spoke portion is limited between the first fixing portion and the second fixing portion.

As a further improvement of the omni wheel according to the embodiment of the present invention, two ends of the first shaft are provided with first limiting portions, the first limiting portions at two ends are both connected to the first shaft, the first limiting portion at least one end and the first shaft are in a split structure, and the first limiting portions at two ends are respectively abutted against the first fixing portion and the second fixing portion.

As a further improvement of the omni wheel according to the embodiment of the present invention, the second roller assembly includes a second roller bracket, a second shaft, and a second roller disposed on the second shaft and capable of rotating relative to the second shaft; the second roller support comprises a first supporting portion and a second supporting portion which are arranged oppositely, and the second shaft is fixedly connected with the first supporting portion and the second supporting portion so that the second roller is limited between the first supporting portion and the second supporting portion.

As a further improvement of the omni wheel according to the embodiment of the present invention, two ends of the second shaft are provided with second limiting portions, the second limiting portions at the two ends are both connected to the second shaft, the second limiting portion at least one end and the second shaft are in a split structure, the second limiting portions at the two ends are respectively abutted against the first supporting portion and the second supporting portion, or the second shaft is a screw, and a rod portion of the second shaft penetrates through the first supporting portion and the second roller and is in threaded connection with the second supporting portion.

As a further improvement of the omni wheel according to the embodiment of the present invention, the first roller assemblies and the second roller assemblies are alternately arranged in the circumferential direction to form a whole wheel structure, the hub bracket includes two clamping plates, and the two clamping plates are respectively fixedly connected to the whole wheel structure from two axial sides of the omni wheel; or the first roller assemblies and the second roller assemblies are alternately arranged in the circumferential direction to form a whole wheel structure, the hub bracket is of an integral structure, and the first roller bracket and the second roller bracket are respectively and fixedly connected with the hub bracket.

A second aspect of embodiments of the present invention provides a mobile device comprising a body and an omni-wheel as described above mounted on the body.

The omnidirectional wheel is adopted by the mobile equipment provided by the embodiment of the invention, so that the omnidirectional wheel in the mobile equipment is stable in operation, low in noise and vibration and low in production cost.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a perspective view of an omni wheel according to an embodiment of the present invention;

FIG. 2 is a front view of an omni wheel provided in accordance with an embodiment of the present invention;

fig. 3 is a perspective view of a first roller assembly of an omni wheel according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view of the first roller assembly shown in FIG. 3;

figure 5 is a cross-sectional view of an omni wheel provided in accordance with one embodiment of the present invention;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

FIG. 7 is a schematic structural view of a first carriage unit of the first roller assembly shown in FIG. 3;

FIG. 8 is a schematic structural view of a second carriage unit of the first roller assembly shown in FIG. 3;

fig. 9 is a perspective view of a second roller assembly of the omni-wheel according to an embodiment of the present invention;

FIG. 10 is a cross-sectional view of the second roller assembly of FIG. 9;

FIG. 11 is a schematic view of a second roller carriage of the second roller assembly of FIG. 9;

figure 12 is a front view of an omni wheel provided in accordance with another embodiment of the present invention;

fig. 13 is a schematic view of the construction of the clamping plate in the omni wheel of fig. 12.

Description of reference numerals:

10: a hub bracket;

11: a splint; 111: a first positioning hole; 112: a second positioning hole; 113: a fourth mounting hole; 114: a fifth mounting hole; 115: a third positioning hole; 116: a sixth mounting hole;

20: a first roller assembly;

211: a first holder unit; 2111: a first fixed part; 2111 a: a first through hole; 2112: a first mounting portion; 2112 a: a first positioning post; 2112 b: a first mounting hole; 2112 c: a first connection hole; 2113: a first connection portion; 2114: a first reinforcing rib;

212: a second holder unit; 2121: a second fixed part; 2121 a: a second through hole; 2122: a second mounting portion; 2122 a: a second positioning column; 2122 b: a second mounting hole; 2122 c: a second connection hole; 2123: a second connecting portion; 2124: a second reinforcing rib;

22: a first shaft; 23: a first roller; 231: a rim portion; 232: a spoke portion; 2321: a first bore section; 2322: a second bore section; 2323: a third bore section; 233: a first anti-slip ring groove; 24: a first screw; 25: a second screw; 26: a first bearing;

30: a second roller assembly;

31: a second roller bracket; 311: a first support section; 3111: a third through hole; 312: a second support portion; 3121: a fourth via hole; 313: a third connecting portion; 314: a fourth connecting portion; 3141: a third positioning column; 3142: a third mounting hole; 315: a plate-like structure;

32: a second shaft; 33: a second roller; 331: a fourth bore section; 332: a fifth bore section; 333: a sixth bore section; 334: a second anti-slip ring groove; 34: a second bearing; 35: a third screw; 36: and a fourth screw.

Detailed Description

In a correlation technique, utilize two little gyro wheel supports to realize the fixed to big gyro wheel, this kind of mode is very high to the assembly precision requirement, and the very easy accumulation of the ascending error in circumference causes unable assembly or assembly gap too big, unable assembly then need be reprocessed each structure, influences production efficiency, increases manufacturing cost, assembly gap too big then can lead to the omnidirectional wheel after the assembly to produce great noise and vibrations, and the operation stationarity is poor.

In another related technology, the large roller and the small roller are both arranged into a two-half structure and fixed on the bracket by two sides of the bracket, and the structure arrangement has low requirement on assembly precision, but still has the problems of noise and vibration in practical use. The inventor of the application finds that the main reason of the occurrence of noise and vibration is the two half-type structures of the large roller and the small roller, a gap exists between the rollers, a gap also exists between the two half-type structures, the position points of the noise and the vibration are increased due to excessive gaps, and in addition, the error accumulation is increased due to excessive gaps, which can further aggravate the noise and the vibration.

Based on the above, the embodiment of the invention provides the omnidirectional wheel, the roundness of the whole wheel is ensured by nesting the first roller and the second roller, the first roller bracket is in a two-half structure, and the smooth installation of the first roller assembly can be ensured without arranging the first roller in two halves, so that the vibration and the noise of the omnidirectional wheel are effectively reduced, and the running stability of the omnidirectional wheel is improved.

In order to make the aforementioned objects, features and advantages of the embodiments of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

An omni wheel according to an embodiment of the present invention will be described with reference to the accompanying drawings.

Fig. 1 is a perspective view of an omni wheel according to an embodiment of the present invention, and fig. 2 is a front view of the omni wheel according to an embodiment of the present invention. As shown in fig. 1 and 2, the omni wheel according to the embodiment of the present invention includes a hub bracket 10, and a plurality of first roller assemblies 20 and a plurality of second roller assemblies 30 fixedly connected to the hub bracket 10. Wherein the hub bracket 10 is used for connecting with a mobile device to mount the omni wheel to the mobile device, thereby enabling the mobile device to make various directions of travel motions by means of the omni wheel.

The first roller assemblies 20 and the second roller assemblies 30 are alternately arranged along the circumferential direction of the hub bracket 10, that is, the first roller assemblies 20 and the second roller assemblies 30 are sequentially arranged in the manner of the first roller assemblies 20, the second roller assemblies 30, the first roller assemblies 20 and the second roller assemblies 30 …, and together form a full-circle roller structure, and the outer contour of the full-circle roller structure forms a complete and continuous tire surface. It is understood that the full circle mentioned herein means that the first and second roller assemblies 20 and 30 are arranged along the entire circumferential direction, and does not represent that there is no gap between the first and second roller assemblies 20 and 30, i.e. there may be no gap between the first roller assembly 20 and the adjacent second roller assembly 30.

Fig. 3 is a perspective view of a first roller assembly of an omni-wheel according to an embodiment of the present invention, and fig. 4 is a sectional view of the first roller assembly shown in fig. 3. As shown in fig. 3 and 4, the first roller assembly 20 includes a first roller bracket (not shown), a first shaft 22 mounted on the first roller bracket, and a first roller 23 rotatably mounted on the first shaft 22, i.e., the first roller 23 is mounted on the first shaft 22 and can rotate relative to the first shaft 22. The first roller bracket is fixedly coupled to the hub bracket 10, thereby mounting the first roller assembly 20 to the hub bracket 10.

First roller 23 comprises a rim portion 231 and a spoke portion 232 connected together, rim portion 231 being intended to support the tread of the tyre, and spoke portion 232 being connected at its radially outer end to rim portion 231 and at its radially inner end intended to cooperate directly or indirectly with first shaft 22. In the axial direction of the first roller 23 (also the axial direction of the first shaft 22), the spoke portion 232 is located in the middle of the rim portion 231, so that an accommodating space is formed at both ends of the spoke portion 232 in the axial direction (i.e., the axial direction of the first roller 23 is also the axial direction of the first shaft 22), that is, a certain distance is formed between both end faces of the spoke portion 232 in the axial direction and both end faces of the rim portion 231 in the axial direction, so that the axial end faces of the spoke portion 232 and the radially inner peripheral surface of the rim portion 231 enclose to form an accommodating space with an axial opening.

Fig. 5 is a sectional view of an omni wheel according to an embodiment of the present invention, and fig. 6 is a partially enlarged view of a nesting position of a first roller assembly and a second roller assembly in fig. 5. Referring to fig. 5 and 6, the two second roller assemblies 30 adjacent to the first roller assembly 20 are partially inserted into the two axial side spaces of the spoke portion 232 of the first roller assembly 20 (i.e., the axially open accommodating space defined by the axial end surface of the spoke portion 232 and the radially inner peripheral surface of the rim portion 231). Through the mutual nesting between the first roller assembly 20 and the second roller assembly 30, the structure of the omnidirectional wheel is more compact, and the angle difference between the first roller assembly 20 and the second roller assembly 30 and the roundness tolerance of the whole wheel are effectively reduced. The first roller assembly 20 and the second roller assembly 30 are independently installed on the hub bracket 10, and the roundness of the whole wheel is ensured by utilizing the mutual nesting between the first roller assembly 20 and the second roller assembly 30, so that the requirements on the machining and assembling precision are reduced while the quality of the omnidirectional wheel is ensured, and the production cost is reduced.

It should be understood that "the spoke portion 232 is located in the middle of the rim portion 231" described herein is not limited to the spoke portion 232 being located at the middle of the rim portion 231, that is, the distances between the two end surfaces of the spoke portion 232 and the two corresponding end surfaces of the rim portion 231 may be equal or different, as long as the spoke portion is located at approximately the middle region of the rim portion 231, so that the axial end surfaces of the spoke portion 232 and the radially inner peripheral surface of the rim portion 231 can enclose to form an accommodating space. Of course, in order to ensure the movement stability of the first roller 23, the spoke portion 232 is preferably provided at the middle of the rim portion 231.

In order to form a receiving space for the second roller assembly 30 to extend into, the spoke portion 232 needs to be disposed in a middle region of the rim portion 231, and in order to implement the installation between the first shaft 22 and the first roller bracket, as shown in fig. 4, the first roller bracket is disposed in a split structure, which may not be limited by the structure of the rim portion 231. Specifically, the first roller bracket includes a first bracket unit 211 and a second bracket unit 212 which are separately arranged, the first bracket unit 211 includes a first fixing portion 2111, the second bracket unit 212 includes a second fixing portion 2121, the first fixing portion 2111 and the second fixing portion 2121 are respectively located in the space (i.e., the aforementioned accommodating space) on both axial sides of the spoke portion 232, and the first fixing portion 2111, the second fixing portion 2121 and the first shaft 22 are fixedly connected together.

Through the arrangement of the two-half type support structure, the first roller wheel 23 does not need to be arranged into the two-half type structure, so that the smooth assembly of the first roller wheel assembly 20 can be ensured, namely the first roller wheel 23 is of an integral structure, the vibration and the noise of the omnidirectional wheel are effectively reduced, and the running stability of the omnidirectional wheel is improved.

The first fixing portion 2111 and the second fixing portion 2121 may be fixedly connected to the two end portions of the first shaft 22 by any structure, for example, a snap connection or an interference fit connection. In order to facilitate the disassembly and assembly and the adjustment of the locking force, in a preferred embodiment, as shown in fig. 4, the first fixing portion 2111 is fixedly locked to one end of the first shaft 22 by a first screw 24, and the second fixing portion 2121 is fixedly locked to the other end of the first shaft 22 by a second screw 25, so that the first fixing portion 2111, the second fixing portion 2121 and the first shaft 22 can be fixed, and the axial position of the first roller 23 (described in detail later) can be adjusted by adjusting the locking force, thereby further improving the vibration and noise problems of the omni wheel.

The first and second holder units 211 and 212 may have any structure capable of fixing the first shaft 22, and in order to have a sufficient space for accommodating the second roller assembly 30, the first and second fixing portions 2111 and 2121 preferably have a plate-shaped structure. The mounting structure for connecting the first roller bracket and the hub bracket 10 may be disposed on the first bracket unit 211, may be disposed on the second bracket unit 212, may be disposed on both of the two bracket units, or may be additionally disposed with a separate third bracket unit (not shown in the figure), and the first bracket unit 211, the second bracket unit 212, and the hub bracket 10 are connected together through the third bracket unit.

In a preferred embodiment, fig. 7 is a schematic structural diagram of a first supporting unit in an omni wheel according to an embodiment of the present invention, and as shown in fig. 7, the first supporting unit 211 further includes a first mounting portion 2112 and a first connecting portion 2113, in a radial direction of the omni wheel, the first mounting portion 2112 is located at an inner side of the first roller 23, and two ends of the first connecting portion 2113 are respectively connected to the first mounting portion 2112 and the first fixing portion 2111.

Fig. 8 is a schematic structural view of a second frame unit in an omni wheel according to an embodiment of the present invention, and as shown in fig. 8, the second frame unit 212 includes a second mounting portion 2122 and a second connecting portion 2123, the second mounting portion 2122 is located at an inner side of the first roller 23 in a radial direction of the omni wheel, and both ends of the second connecting portion 2123 are connected to the second mounting portion 2122 and the second fixing portion 2121, respectively. In this way, through the transition of the first connection portion 2113 and the second connection portion 2123, the first mounting portion 2112 of the first bracket unit 211 and the second mounting portion 2122 of the second bracket unit 212 are both located between the first roller 23 and the hub bracket 10, which facilitates the matching between the two (the first mounting portion 2112 and the second mounting portion 2122) and the matching with the hub bracket 10.

For example, in a preferred embodiment, as shown in fig. 7 and 8, mounting structures for mounting the first roller assembly 20 are provided on the first and second mounting portions 2112 and 2122. The mounting structure includes, for example, a first positioning post 2112a and a first mounting hole 2112b disposed on the first mounting portion 2112, and further includes a second positioning post 2122a and a second mounting hole 2122b disposed on the second mounting portion 2122, the first positioning post 2112a and the second positioning post 2122a are used for being matched with the positioning hole on the hub bracket 10 to position the first roller assembly 20, and the first mounting hole 2112b and the second mounting hole 2122b are used for being matched with the mounting hole on the hub bracket 10 to fixedly connect the first roller assembly 20 and the hub bracket 10.

It will be appreciated that the mounting structure may be provided on only the first mounting portion 2112, or only the second mounting portion 2122, or the locating posts may be provided on the first mounting portion 2112 and the mounting holes provided on the second mounting portion 2122.

There may be no mating relationship between the first mounting portion 2112 and the second mounting portion 2122, and the first bracket unit 211 and the second bracket unit 212 are mounted to the hub bracket 10 independently of each other, e.g., with a certain spacing between the first mounting portion 2112 and the second mounting portion 2122. In order to further improve the overall structural reliability, it is preferable that the first mounting portion 2112 and the second mounting portion 2122 abut against each other, for example, in the embodiment shown in fig. 4, the first mounting portion 2112 and the second mounting portion 2122 are disposed to face each other, and two facing surfaces are attached to each other. It is further preferable that the first mounting portion 2112 and the second mounting portion 2122 be fixedly coupled together to further improve the structural reliability of the whole.

The first mounting portion 2112 and the second mounting portion 2122 can be fixedly connected together by snapping, inserting, fastening, and the like, and in a preferred embodiment, as shown in fig. 7, a first connection hole 2112c is formed on a surface of the first mounting portion 2112 opposite to the second mounting portion 2122, the first connection hole 2112c is a threaded hole, as shown in fig. 8, a second connection hole 2122c penetrating in an opposite direction of the first mounting portion 2112 and the second mounting portion 2122 is formed on the second mounting portion 2122, the second connection hole 2122c is a stepped optical hole, and the stepped optical hole includes a small-diameter section disposed close to the first connection hole 2112c and a large-diameter section disposed far from the first connection hole 2112c and connected to the small-diameter section. Thus, the screw can penetrate into the stepped unthreaded hole through the large-diameter section, the rod part of the screw penetrates out of the small-diameter section and enters the first connecting hole 2112c to be in threaded connection with the first connecting hole 2112c until the head of the screw abuts against the stepped surface between the large-diameter section and the small-diameter section, and therefore the fixed connection of the first installation part 2112 and the second installation part 2122 is completed.

The first connection portion 2113 may be any structure capable of connecting the first fixing portion 2111 in the first roller 23 and the first mounting portion 2112 between the first roller 23 and the hub bracket 10, and in order to further improve the compactness of the structure, it is preferable that the first connection portion 2113 is a bent or curved plate-shaped structure as shown in fig. 7, and the plate-shaped structure is adapted to the profile of the first roller 23 as shown in fig. 4, and the plate-shaped structure adapted to the profile of the first roller 23 is used to connect the first fixing portion 2111 and the first mounting portion 2112, and prevent the first connection portion 2113 from occupying a large accommodation space.

In order to improve the structural strength of the first connection portion 2113 having a plate-like structure, it is preferable that a reinforcing structure is further provided on the first connection portion 2113. The reinforcing structure can be any structure capable of playing a reinforcing role, such as a reinforcing plate, a reinforcing groove and the like. The reinforcing structure may be provided at any position of the first connection portion 2113, for example, at a side of the first connection portion 2113 remote from the first roller 23, or at a side of the first connection portion 2113 close to the first roller 23. In a preferred embodiment, as shown in fig. 7 with reference to fig. 4, the reinforcing structure is a first reinforcing rib 2114 provided on the side of the first connecting portion 2113 close to the first roller 23, the first reinforcing rib 2114 extending from the radially inner end of the first fixing portion 2111 to a position corresponding to the first end in the axial direction of the first roller 23. Thus, the structural strength of the first connection portion 2113 is ensured without affecting the spatial layout of the structures of the respective portions.

Similarly, the second connecting portion 2123 may be any structure capable of connecting the second fixing portion 2121 in the first roller 23 and the second mounting portion 2122 between the second roller 33 and the hub bracket 10, and in order to further improve the compactness of the structure, it is preferable that, as shown in fig. 8, the second connecting portion 2123 is a bent or curved plate-shaped structure, and as shown in fig. 4, the plate-shaped structure is adapted to the profile of the first roller 23, and the plate-shaped structure adapted to the profile of the first roller 23 is used to connect the second fixing portion 2121 and the second mounting portion 2122, and avoid the second connecting portion 2123 occupying a large accommodating space.

In order to improve the structural strength of the second connecting portion 2123 having a plate-shaped structure, it is preferable that a reinforcing structure is further provided on the second connecting portion 2123. The reinforcing structure can be any structure capable of playing a reinforcing role, such as a reinforcing plate, a reinforcing groove and the like. The reinforcing structure may be disposed at any position of the second connecting portion 2123, for example, at a side of the second connecting portion 2123 away from the first roller 23, or at a side of the second connecting portion 2123 close to the first roller 23. In a preferred embodiment, as shown in fig. 8 and with reference to fig. 4, the reinforcing structure is a second reinforcing rib 2124 provided at a side of the second connecting portion 2123 adjacent to the first roller 23, and the second reinforcing rib 2124 extends from a radially inner end of the second fixing portion 2121 to a position corresponding to an axially second end of the first roller 23. Therefore, the structural strength of the second connecting portion 2123 is ensured without affecting the spatial layout of the structures of the portions.

Because the first fixing portion 2111 and the second fixing portion 2121 are disposed at two sides of the spoke portion 232 of the first roller 23, in a further preferred embodiment, axial limiting of the first roller 23 is achieved by the first fixing portion 2111 and the second fixing portion 2121, that is, a surface of the first fixing portion 2111 opposite to the spoke portion 232 is a first limiting surface, a surface of the second fixing portion 2121 opposite to the spoke portion 232 is a second limiting surface, and the spoke portion 232 of the first roller 23 can be limited between the first limiting surface and the second limiting surface, so that the first roller 23 is ensured not to shake or move in the advancing process of the omni-directional wheel, vibration and noise of the omni-directional wheel are reduced, and running stability and use comfort are improved.

In other embodiments, while the first fixing portion 2111 and the second fixing portion 2121 are used to axially limit the first roller 23, the axial position of the first roller 23 can be finely adjusted by adjusting the locking degree of the first fixing portion 2111, the second fixing portion 2121 and the first shaft 22, so as to further improve the noise and vibration problems of the omni-directional wheel.

In one embodiment, the first roller 23 is directly sleeved on the first shaft 22, that is, the first roller 23 is directly optically connected to the first shaft 22, at this time, the spoke portion 232 of the first roller 23 is limited between the first fixing portion 2111 and the second fixing portion 2121, the first fixing portion 2111 and the second fixing portion 2121 may have a small gap with the spoke portion 232, or the first fixing portion 2111 and the second fixing portion 2121 are only in contact with the spoke portion 232 and have no axial acting force therebetween, or the first fixing portion 2111 and the second fixing portion 2121 have a small axial acting force with the spoke portion 232, as long as the normal rotation of the first roller 23 is not affected.

In other embodiments, a first sleeve (not shown) is disposed between the spoke portion 232 of the first roller 23 and the first shaft 22, the first sleeve forms a tight fit with the spoke portion 232, and the first shaft 22 and the first sleeve can rotate relatively. At this time, the first sleeve is confined between the first fixing part 2111 and the second fixing part 2121. The first fixing portion 2111 and the second fixing portion 2121 may have a small gap with the first sleeve, the first fixing portion 2111 and the second fixing portion 2121 may only contact with the first sleeve and have no axial force therebetween, or the first fixing portion 2111 and the second fixing portion 2121 may have a small axial force therebetween as long as the normal rotation of the first roller 23 is not affected. The first sleeve is preferably a copper sleeve.

In order to further improve the rotational reliability of the first roller 23, in a preferred embodiment, a first bearing 26 is disposed between the first shaft 22 and the spoke portion 232, and the first roller 23 is rotatably mounted on the first shaft 22 through the first bearing 26, i.e., the first roller 23 is supported on the first shaft 22 through the first bearing 26 and can rotate relative to the first shaft 22 (the first roller 23 is connected to the first shaft 22 in an axially fixed position and the first roller 23 can rotate relative to the first shaft 22). The first roller 23 is clamped between the first fixing portion 2111 and the second fixing portion 2121.

In a specific embodiment, the inner race of the first bearing 26 has a clearance with the first shaft 22, and the outer race of the first bearing 26 has an interference fit with the spoke 232. It is understood that the size of the gap between the inner ring of the first bearing 26 and the first shaft 22 is not limited, and may be a larger gap or a smaller gap, so that the inner ring of the first bearing 26 and the first shaft 22 can perform relative movement.

The inner race of the first bearing 26 is clamped between the first fixing portion 2111 and the second fixing portion 2121 by fixing the first shaft 22 to the first fixing portion 2111 and the second fixing portion 2121. Because a gap is formed between the inner ring of the first bearing 26 and the first shaft 22, the inner ring and the first shaft 22 can move relative to each other before being fixed, and because the inner ring of the first bearing 26 and the first shaft 22 can move relative to each other, when the first shaft 22 is fixed to the first fixing part 2111 and the second fixing part 2121, the inner ring of the first bearing 26 is clamped by the first fixing part 2111 and the second fixing part 2121, and the first roller 23 is ensured not to shake or move in the advancing process of the omni wheel, so that the vibration and noise of the omni wheel are further reduced, and the running stability and the use comfort are improved.

It will be appreciated that the phrase "clamping the inner race of the first bearing 26 between the first and second fixtures 2111 and 2121" as used herein means that the inner race of the first bearing 26 is not only located between the first and second fixtures 2111 and 2121, but that the inner race of the first bearing 26 is subjected to a clamping force, the magnitude of which is not particularly limited.

The first shaft 22, the first fixing portion 2111 and the second fixing portion 2121 may be fixedly connected together in any manner, for example, two ends of the first shaft 22 are provided with first position-limiting portions (not shown), the first position-limiting portions at two ends are connected to the first shaft 22, for smooth assembly, the first position-limiting portion at least one end and the first shaft 22 are in a split structure, and the first position-limiting portions at two ends are respectively abutted against the first fixing portion 2111 and the second fixing portion 2121, so as to fixedly connect the first shaft 22, the first fixing portion 2111 and the second fixing portion 2121 together.

In order to further simplify the structure, it is preferable that the first fixing part 2111 is provided with a first through hole 2111a through which one end of the first shaft 22 passes, as shown in fig. 7, and the second fixing part 2121 is provided with a second through hole 2121a through which the other end of the first shaft 22 passes, as shown in fig. 8. As shown in fig. 4, the two end portions of the first shaft 22 are respectively provided with a first threaded hole and a second threaded hole, the rod portion of the first screw 24 is engaged with the first threaded hole, the head portion of the first screw 24 abuts against the first fixing portion 2111, the rod portion of the second screw 25 is engaged with the second threaded hole, and the head portion of the second screw 25 abuts against the second fixing portion 2121. In this way, the head of the first screw 24 and the head of the second screw 25 constitute the first stopper portion, and the locking force of the first screw 24 and the second screw 25 acts on the first fixing portion 2111 and the second fixing portion 2121, so that the first fixing portion 2111 and the second fixing portion 2121 clamp the inner race of the first bearing 26.

Of course, it is understood that in the embodiment where the first bearing 26 is provided, the first fixing portion 2111 and the second fixing portion 2121 may not be arranged to clamp the inner ring of the first bearing 26, but may be arranged to cooperate with the spoke portion 232 to limit the position of the first roller 23, for example, the first fixing portion 2111 and the second fixing portion 2121 may form a clearance fit with the spoke portion 232, or the first fixing portion 2111 and the second fixing portion 2121 may be arranged to abut against two side surfaces of the spoke portion 232, or a certain clamping force may be provided between the first fixing portion 2111 and the second fixing portion 2121 and two side surfaces of the spoke portion 232, as long as the normal rotation of the first roller 23 is not affected.

In another embodiment, the first shaft 22 is a screw, a fifth threaded hole is disposed at one end of the rod portion of the first shaft 22 away from the head portion of the first shaft 22, the rod portion of the first shaft 22 passes through the first fixing portion 2111, the spoke portion 232 and the second fixing portion 2121, the first roller assembly 20 further includes a fifth screw (not shown in the figure), the rod portion of the fifth screw is in threaded connection with the fifth threaded hole, the head portion of the first shaft 22 abuts against the first fixing portion 2111, the head portion of the fifth screw abuts against the second fixing portion 2121, the head portion of the first shaft 22 and the head portion of the fifth screw form the first limiting portion, and the limiting of the spoke portion 232 or the clamping of the inner ring of the first bearing 26 can also be achieved. In an alternative embodiment of this embodiment, an external thread is disposed on an outer side of one end of the rod portion of the first shaft 22 away from the head portion thereof, the rod portion of the first shaft 22 passes through the first fixing portion 2111, the spoke portion 232 and the second fixing portion 2121, a penetrating portion is in threaded connection with a nut, the head portion of the first shaft 22 abuts against the first fixing portion 2111, the nut in threaded connection with the rod portion of the first shaft 22 abuts against the second fixing portion 2121, and the nut and the head portion of the first shaft 22 constitute the first limiting portion.

In a further embodiment, both ends of the first shaft 22 are provided with external threads, the first shaft 22 passes through the first fixing portion 2111, the spoke portion 232 and the second fixing portion 2121, both ends of the first shaft 22 are exposed and are respectively in threaded connection with nuts (not shown in the figure), so that the nuts at both ends respectively abut against the first fixing portion 2111 and the second fixing portion 2121, and the nuts at both ends constitute the first limiting portion.

Further preferably, referring to fig. 4, the axial dimension of the first shaft 22 is L1, the distance between the axial outer side surface of the first fixing portion 2111 (the axial direction of the first shaft 22) and the axial outer side surface of the second fixing portion 2121 (the axial direction of the first shaft 22) is L2, and L2 is greater than L1, so that the clamping effect of the first fixing portion 2111 and the second fixing portion 2121 on the first roller 23 can be further ensured, the adjustable range of the locking force is larger, the adjustable degree of freedom is high, and the noise and vibration problems of the omni wheel are further improved.

The first bearing 26 may be one or plural. When the first bearing 26 is one, the first fixing portion 2111 and the second fixing portion 2121 clamp the inner race of the first bearing 26. In order to further improve the rotational smoothness of the first roller 23 and the reliability of the connection with the first shaft 22, in a preferred embodiment, as shown in fig. 4, the first bearings 26 are provided in two, and the inner rings of the two first bearings 26 are clamped together between the first fixing portion 2111 and the second fixing portion 2121.

Specifically, as shown in fig. 4, the inner bore of the wheel spoke portion 232 includes a first bore segment 2321 and second and third bore segments 2322 and 2323 connected to both ends of the first bore segment 2321, respectively, and the diameter of the first bore segment 2321 is smaller than the diameters of the second and third bore segments 2322 and 2323, so that a first step surface is formed between the first and second bore segments 2321 and 2322, and a second step surface is formed between the first and third bore segments 2321 and 2323. A first bearing 26 is disposed in the second hole segment 2322, an outer ring of the first bearing 26 is connected with a hole wall of the second hole segment 2322 in an interference fit manner, for example, the outer ring can be pressed into the second hole segment 2322 through hydraulic pressure or the like, and the outer ring of the first bearing 26 abuts against the first step surface. Another first bearing 26 is disposed in the third hole segment 2323, an outer ring of the first bearing 26 is in interference fit connection with a hole wall of the third hole segment 2323, for example, the outer ring of the first bearing 26 can be pressed into the third hole segment 2323 by hydraulic pressure or the like, and the outer ring of the first bearing 26 abuts against the second step surface.

With the above-described structural arrangement, the inner rings of the two first bearings 26 are clamped between the first fixing portion 2111 and the second fixing portion 2121. In order to ensure the compressing effect, the sides of the first fixing part 2111 and the second fixing part 2121 opposite to the first bearing 26 are provided with an annular boss structure, and are compressed to the inner ring of the first bearing 26 through the annular boss structure.

Further, fig. 9 is a schematic structural diagram of a second roller assembly provided in an embodiment of the present invention, and fig. 10 is a sectional view of the second roller assembly provided in an embodiment of the present invention. As shown in fig. 9 and 10, the second roller assembly 30 includes a second roller bracket 31, a second shaft 32 provided on the second roller bracket 31, and a second roller 33 rotatably provided on the second shaft 32. The second roller bracket 31 includes a first supporting portion 311 and a second supporting portion 312 disposed opposite to each other, a third connecting portion 313 connecting the first supporting portion 311 and the second supporting portion 312, and a fourth connecting portion 314 connecting the third connecting portion 313 and the hub bracket 10. For ease of manufacture and to ensure structural reliability, the second roller bracket 31 is preferably of unitary construction.

Wherein, second axle 32 and first supporting part 311, second supporting part 312 fixed connection to spacing second gyro wheel 33 between first supporting part 311 and second supporting part 312, thereby guarantee that second gyro wheel 33 can not take place to rock and the drunkenness at the in-process of marcing of omniwheel, and then reduce the vibrations and the noise of omniwheel, improve the stationarity of operation and use the comfort. In addition, the axial position of the second roller 33 can be finely adjusted by adjusting the locking degree of the second shaft 32 with the first supporting portion 311 and the second supporting portion 312, so as to achieve the effect of further improving the noise and vibration problems of the omni-directional wheel.

In an embodiment, the second roller 33 is directly sleeved on the second shaft 32, that is, the second roller 33 is directly in optical surface connection with the second shaft 32, at this time, the second roller 33 is limited between the first supporting portion 311 and the second supporting portion 312, the first supporting portion 311 and the second supporting portion 312 may have a small gap with the second roller 33, or the first supporting portion 311 and the second supporting portion 312 only contact with the second roller 33 and do not have an axial acting force therebetween, or the first supporting portion 311 and the second supporting portion 312 have a small axial acting force with the second roller 33, as long as the normal rotation of the second roller 33 is not affected.

In other embodiments, a second sleeve (not shown) is disposed between the second roller 33 and the second shaft 32, the second sleeve and the second roller 33 form a tight fit, and the second shaft 32 and the second sleeve can rotate relatively. At this time, the second sleeve is limited between the first supporting portion 311 and the second supporting portion 312. The first supporting portion 311 and the second supporting portion 312 may have a small gap with the second sleeve, the first supporting portion 311 and the second supporting portion 312 may only contact with the second sleeve and have no axial force therebetween, or the first supporting portion 311 and the second supporting portion 312 may have a small axial force therebetween as long as the normal rotation of the second roller 33 is not affected. The second sleeve is preferably a copper sleeve.

In order to further increase the rotational reliability of the second roller 33, in a preferred embodiment, a second bearing 34 is provided between the second shaft 32 and the second roller 33, and the second roller 33 is rotatably mounted on the second shaft 32 via the second bearing 34, i.e. the second roller 33 is supported on the second shaft 32 via the second bearing 34 and is rotatable relative to the second shaft 32 (the second roller 33 is connected to the second shaft 32 in an axially fixed position and the second roller 33 is rotatable relative to the second shaft 32). The inner race of the second bearing 34 is clamped between the first support portion 311 and the second support portion 312.

In a specific embodiment, the inner ring of the second bearing 34 has a clearance with the second shaft 32, and the outer ring of the second bearing 34 is in interference fit with the second roller 33. It is understood that the size of the gap between the inner ring of the second bearing 34 and the second shaft 32 is not limited, and may be a larger gap or a smaller gap, so as to enable the inner ring of the second bearing 34 and the second shaft 32 to perform relative movement.

The inner race of the second bearing 34 is clamped between the first support portion 311 and the second support portion 312 by fixing the second shaft 32 to the first support portion 311 and the second support portion 312. Because a gap is formed between the inner ring of the second bearing 34 and the second shaft 32, the inner ring and the second shaft 32 can move relative to each other before being fixed, and just because the inner ring of the second bearing 34 and the second shaft 32 can move relative to each other, when the second shaft 32 is fixed on the first supporting portion 311 and the second supporting portion 312, the first supporting portion 311 and the second supporting portion 312 are utilized to clamp the second roller 33, and the second roller 33 is ensured not to shake or move in the running process of the omni wheel, so that the vibration and the noise of the omni wheel are further reduced, and the running stability and the use comfort are improved.

It is to be understood that "clamping the inner race of the second bearing 34 between the first support portion 311 and the second support portion 312" described herein means that the inner race of the second bearing 34 is not only located between the first support portion 311 and the second support portion 312, but also that the inner race of the second bearing 34 is subjected to a certain clamping force, the magnitude of which is not particularly limited.

The second shaft 32 can be fixedly connected with the first supporting portion 311 and the second supporting portion 312 through clamping, interference fit connection and the like. For example, two ends of the second shaft 32 are provided with second limiting parts (not shown in the figures), the second limiting parts at the two ends are connected with the second shaft 32, for smooth assembly, the second limiting part at least one end and the second shaft 32 are in a split structure, and the second limiting parts at the two ends are respectively abutted against the first supporting part 311 and the second supporting part 312, so as to fixedly connect the second shaft 32, the first supporting part 311 and the second supporting part 312 together. In order to facilitate the detachment and adjustment of the locking force, in a preferred embodiment, as shown in fig. 10, two ends of the second shaft 32 are respectively and fixedly connected to the first supporting portion 311 and the second supporting portion 312 through a third screw 35 and a fourth screw 36, and a head of the third screw 35 and a head of the fourth screw 36 form the second limiting portion, so that the second shaft 32 can be fixed to the first supporting portion 311 and the second supporting portion 312, and an axial position of the second roller 33 (described in detail later) can be adjusted by adjusting the locking force, thereby further improving the vibration and noise problems of the omni wheel.

In another embodiment, both ends of the second shaft 32 are provided with external threads, the second shaft 32 passes through the first supporting portion 311 and the second supporting portion 312, and both ends of the second shaft 32 are exposed and are respectively in threaded connection with nuts (not shown in the figure), so that the nuts at both ends respectively abut against the first supporting portion 311 and the second supporting portion 312, and the nuts at both ends form the second limiting portion.

Of course, the fastening means may be used to connect the second shaft 32 with a screw, the second shaft 32 includes a head and a shaft, and the shaft passes through the first support portion 311 and the inner ring of the second bearing 34 and is in threaded connection with the second support portion 312, so as to further simplify the assembly process and improve the assembly efficiency.

In order to further simplify the structure, it is preferable that, as shown in fig. 11, the first support portion 311 is provided with a third through hole 3111 through which one end of the second shaft 32 passes, and the second support portion 312 is provided with a fourth through hole 3121 through which the other end of the second shaft 32 passes. As shown in fig. 10, both end portions of the second shaft 32 are respectively provided with a third threaded hole and a fourth threaded hole, a rod portion of the third screw 35 is engaged with the third threaded hole, a head portion of the third screw 35 abuts against the first support portion 311, a rod portion of the fourth screw 36 is engaged with the fourth threaded hole, and a head portion of the fourth screw 36 abuts against the second support portion 312. In this manner, the locking force of the third screw 35 and the fourth screw 36 acts on the first support portion 311 and the second support portion 312, so that the first support portion 311 and the second support portion 312 clamp the inner race of the second bearing 34.

Of course, it is understood that in the embodiment where the second bearing 34 is provided, the first supporting portion 311 and the second supporting portion 312 may not be configured to clamp the inner ring of the second bearing 34, but may be configured to cooperate with two side surfaces of the second roller 33 to limit the second roller 33, for example, the first supporting portion 311 and the second supporting portion 312 form a clearance fit with the second roller 33, or the first supporting portion 311 and the second supporting portion 312 are configured to abut against two side surfaces of the second roller 33, or a certain clamping force is provided between the first supporting portion 311 and the second supporting portion 312 and the second roller 33, as long as the normal rotation of the second roller 33 is not affected.

Further preferably, referring to fig. 10, the axial dimension of the second shaft 32 is L3, the distance between the axial outer side surface of the first support part 311 (the axial direction of the second shaft 32) and the axial outer side surface of the second support part 312 (the axial direction of the second shaft 32) is L4, and L4 is greater than L3, so that the clamping effect of the first support part 311 and the second support part 312 on the inner ring of the second bearing 34 can be further ensured, the adjustable range of the locking force is larger, the adjustable degree of freedom is high, and the noise and vibration problems of the omni wheel are further improved.

The second bearing 34 may be one or more. When the second bearing 34 is one, the first support portion 311 and the second support portion 312 clamp the inner race of the second bearing 34. In order to further improve the rotational smoothness of the second roller 33 and the connection reliability with the second shaft 32, in a preferred embodiment, as shown in fig. 10, the second bearings 34 are provided in two, and the inner rings of the two second bearings 34 are clamped together between the first support part 311 and the second support part 312.

Specifically, as shown in fig. 10, the inner hole of the second roller 33 includes a fourth hole section 331, and a fifth hole section 332 and a sixth hole section 333 connected to both ends of the fourth hole section 331, respectively, and the diameter of the fourth hole section 331 is smaller than the diameters of the fifth hole section 332 and the sixth hole section 333, so that a third step surface is formed between the fourth hole section 331 and the fifth hole section 332, and a fourth step surface is formed between the fourth hole section 331 and the sixth hole section 333. One of the second bearings 34 is disposed in the fifth hole section 332, an outer ring of the second bearing 34 is in interference fit connection with a hole wall of the fifth hole section 332, for example, the outer ring can be pressed into the fifth hole section 332 through hydraulic pressure or the like, and the outer ring of the second bearing 34 abuts against the third step surface. Another second bearing 34 is disposed in the sixth hole section 333, an outer ring of the second bearing 34 is in interference fit connection with a hole wall of the sixth hole section 333, for example, the second bearing may be pressed into the sixth hole section 333 by hydraulic pressure or the like, and the outer ring of the second bearing 34 abuts against the fourth step surface.

With the above-described structural arrangement, the inner rings of the two second bearings 34 are clamped between the first support portion 311 and the second support portion 312. The first supporting portion 311 and the second supporting portion 312 may be directly pressed against the inner ring of the second bearing 34, and in order to ensure the pressing effect, the side surfaces of the first supporting portion 311 and the second supporting portion 312 opposite to the second bearing 34 are provided with an annular boss structure, and are pressed against the inner ring of the second bearing 34 through the annular boss structure.

For simplification of the structure, the third connecting portion 313 is preferably a plate-shaped structure, and may be a flat plate structure, or an arc-shaped plate or a wave-shaped plate structure. For improving the structural reliability and better fitting with the second roller 33, it is preferable that the third connecting portion 313 is in an arc-shaped plate structure fitting with the outer contour of the second roller 33, as shown in fig. 10. In order to further improve the structural reliability of the second roller bracket 31, a reinforcing structure (not shown in the figure) is disposed on the third connecting portion 313, and the supporting force of the second roller bracket 31 is improved by the reinforcing structure, so that the dynamic stability is ensured, and the stress concentration of the second roller bracket 31 is prevented.

The reinforcing structure may be any reinforcing rib, reinforcing groove, or the like, which can play a reinforcing role, in a preferred embodiment, as shown in fig. 11, the reinforcing structure is a plate-shaped structure 315 which is convexly disposed on one side of two end portions of the third connecting portion 313 away from the second roller 33, two plate-shaped structures 315 which are spaced from each other are disposed at two ends of the third connecting portion 313, as shown in fig. 6, a space between the two plate-shaped structures 315 accommodates the first screw 24 and the second screw 25, so that the structural strength of the second roller bracket 31 is improved while the structural compactness is ensured.

The specific shape of the plate-shaped structure 315 is not limited, and preferably, as shown in fig. 6, the plate-shaped structure 315 is adapted to the first and second support units 211 and 212, and further preferably, the plate-shaped structure 315 is in contact with the first and second support units 211 and 212, so that the reliability of the assembled whole wheel structure can be further improved.

The fourth connecting portion 314 may be any structure that can facilitate the connection between the third connecting portion 313 and the hub bracket 10, such as a connecting block protruding radially inward from the third connecting portion 313. In order to ensure the compact structure, it is preferable that the fourth connecting portion 314 is located at a middle portion of the third connecting portion 313 in the circumferential direction, and has a thick plate structure extending radially inward from the third connecting portion 313, and the thick plate structure extends in the axial direction of the omni wheel to be flush with both axial end surfaces of the third connecting portion 313. The fourth connecting portion 314 is provided with a mounting structure for engaging with the hub bracket 10. In a preferred embodiment, as shown in fig. 11, a third positioning column 3141 and a third mounting hole 3142 are disposed on the fourth connecting portion 314, the third positioning column 3141 is used for being matched with a positioning hole on the hub bracket 10 to position the second roller assembly 30, and the third mounting hole 3142 is used for being matched with a mounting hole on the hub bracket 10 to fixedly connect the second roller assembly 30 and the hub bracket 10.

Of course, it is understood that the second roller bracket 31 may also be provided with a two-half structure similar to the first roller bracket, and the detailed structure is not described herein.

The first roller 23 and the second roller 33 are covered with elastic buffer parts (not shown). In order to avoid the slipping of the omnidirectional wheel, the surface of the elastic buffering part is provided with anti-slip lines. Specifically, as shown in fig. 6, a plurality of first non-slip ring grooves 233 arranged in the axial direction thereof are provided on the elastic buffer portion of the first roller 23, and a plurality of second non-slip ring grooves 334 arranged in the axial direction thereof are provided on the elastic buffer portion of the second roller 33. In order to ensure the running stability of the omni wheel during the running process, preferably, the size of the notch of the first anti-slip ring groove 233 in the circumferential direction is substantially the same as that of the notch of the second anti-slip ring groove 334 in the circumferential direction, and further, the size of the gap between the adjacent first roller 23 and second roller 33 in the circumferential direction is also set to be substantially the same as the two sizes, so that the omni wheel can always keep regular motion engagement during the whole rotation process, thereby ensuring the motion stability of the omni wheel.

The hub bracket 10 may be any structure capable of fixing the roller components together, for example, in the embodiment shown in fig. 1 and 2, the hub bracket 10 may also be an integrated structure, and the hub bracket 10 may be set as an integrated structure to further improve the vibration buffering effect of the omni wheel, thereby ensuring the operation stability of the omni wheel. Fig. 12 is a front view of an omni-directional wheel according to another embodiment of the present invention, and in another embodiment, as shown in fig. 12, the hub bracket 10 may be provided with two clamping plates 11, and the two clamping plates 11 are fixed to the entire wheel structure from both sides of the entire wheel structure formed by circumferentially alternately arranging the first roller assemblies 20 and the second roller assemblies 30, respectively.

Fig. 13 is a schematic structural diagram of a clamping plate in the omni wheel shown in fig. 12, as shown in fig. 13, a first positioning hole 111 and a second positioning hole 112 are respectively provided at positions corresponding to the first positioning post 2112a and the second positioning post 2122a on the clamping plate 11, a fourth mounting hole 113 and a fifth mounting hole 114 are respectively provided at positions corresponding to the first mounting hole 2112b and the second mounting hole 2122b, a third positioning hole 115 is provided at a position corresponding to the third positioning post 3141, and a sixth mounting hole 116 is provided at a position corresponding to the third mounting hole 3142. Thus, the clamping plate 11 and the whole wheel structure on the two sides are positioned by the matching of the first positioning post 2112a and the first positioning hole 111, the matching of the second positioning post 2122a and the second positioning hole 112, and the matching of the third positioning post 3141 and the third positioning hole 115, and then the first mounting hole 2112b and the fourth mounting hole 113 are locked and fixed by the locking member, the second mounting hole 2122b and the fifth mounting hole 114 are locked and fixed, and the third mounting hole 3142 and the sixth mounting hole 116 are locked and fixed, so that the clamping plate 11 and the whole wheel structure are fixed.

The number of the first rollers 23 and the second rollers 33 is not limited, and for example, five rollers as shown in fig. 1 may be provided, or six rollers or another number may be provided. First gyro wheel support, second gyro wheel support 31 and wheel hub support 10 adopt detachable connected mode, and the equipment of being convenient for effectively improves the yield of product. Because first roller assembly 20 and second roller assembly 30 are respectively through respective gyro wheel support namely first roller support and second roller support 31 and wheel hub support 10 fixed connection, first roller assembly 20 and second roller assembly 30 all have wheel hub support 10 to connect the support, bearing capacity is better, and first roller assembly 20, second roller assembly 30 can change alone after damaging, the maintenance of being convenient for, effective reduce cost.

The assembly process for the omni wheel provided in the embodiment of fig. 1 is as follows:

assembling each of the first roller assemblies 20;

assembling each of the second roller assemblies 30;

first, the second roller assemblies 30 are respectively nested at two sides of one first roller assembly 20, and then one first roller assembly 20 is nested at the exposed ends of the two second roller assemblies 30, so that the whole wheel structure is formed in a mutual nesting mode;

the first roller bracket of the first roller assembly 20 and the second roller bracket 31 of the second roller assembly 30 are fixedly connected to the hub bracket 10, respectively.

When the wheel hub structure is fixedly connected with the wheel hub bracket 10, if the wheel hub bracket 10 is provided with two clamping plates 11, one of the clamping plates 11 is positioned and installed with one side of the wheel hub structure, specifically, a first positioning hole 111, a second positioning hole 112 and a third positioning hole 115 on one of the clamping plates 11 are respectively matched and positioned with a first positioning column 2112a, a second positioning column 2122a and a third positioning column 3141 on one side of the wheel hub structure, then the whole assembly is turned over, the other clamping plate 11 is positioned and installed with the other side of the wheel hub structure, specifically, the first positioning hole 111, the second positioning hole 112 and the third positioning hole 115 on the other clamping plate 11 are respectively matched and positioned with the first positioning column 2112a, the second positioning column 2122a and the third positioning column 3141 on the other side of the wheel hub structure, finally, the first mounting hole 2112b and the fourth mounting hole 113 are locked and fixed by using a locking member, the second mounting hole 2122b and the fifth mounting hole 114 are locked and fixed, and locking and fixing the third mounting hole 3142 and the sixth mounting hole 116 to complete the locking and fixing of the clamping plate 11 and the whole wheel structure.

If the hub bracket 10 is of an integrated structure, the first and second roller brackets 31 are fixed to the hub bracket 10, respectively.

The embodiment of the invention also provides the mobile equipment which comprises the body and the omnidirectional wheel arranged on the body, so that the motion stability of the mobile equipment is ensured, and the noise and the vibration of the mobile equipment in the moving process are reduced. The mobile device may be any device that has omnidirectional movement requirements, such as a robot, a cart, a transfer conveyor, a cart, a luggage case, and the like.

The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

In the description of the present specification, references to "one embodiment", "some embodiments", "an illustrative embodiment", "an example", "a specific example", or "some examples", etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (9)

1. An omnidirectional wheel is characterized by comprising a hub bracket, a plurality of first roller assemblies and a plurality of second roller assemblies, wherein the first roller assemblies and the second roller assemblies are connected with the hub bracket and are alternately arranged along the circumferential direction of the hub bracket;

the first roller assembly comprises a first shaft and a first roller which is rotatably arranged on the first shaft, the first roller comprises a rim part and a spoke part which are connected, the spoke part is positioned in the middle of the rim part in the axial direction of the first roller, and partial structures of two second roller assemblies adjacent to the first roller assembly respectively extend into spaces on two sides of the spoke part of the first roller assembly in the axial direction; the first roller wheel assembly further comprises a first roller wheel support fixedly connected with the hub support, the first roller wheel support comprises a first support unit and a second support unit which are arranged in a split mode, the first support unit comprises a first fixing portion, the second support unit comprises a second fixing portion, the first fixing portion and the second fixing portion are respectively located in the axial two-side space of the spoke portion, and the first fixing portion, the second fixing portion and the first shaft are fixedly connected together;

the second roller assembly comprises a second roller bracket, a second shaft and a second roller which is arranged on the second shaft and can rotate relative to the second shaft;

the second roller bracket comprises a first supporting part and a second supporting part which are arranged oppositely, and the second shaft is fixedly connected with the first supporting part and the second supporting part so as to limit the second roller between the first supporting part and the second supporting part;

the first idler wheel and the second idler wheel are respectively installed on the hub support through independent idler wheel supports.

2. The omni wheel according to claim 1, wherein the first bracket unit further comprises a first mounting part and a first connecting part, the first mounting part is positioned at an inner side of the first roller in a radial direction of the omni wheel, and both ends of the first connecting part are connected to the first mounting part and the first fixing part, respectively;

the second bracket unit further comprises a second mounting part and a second connecting part, the second mounting part is located on the inner side of the first roller in the radial direction of the omnidirectional wheel, and two ends of the second connecting part are respectively connected with the second mounting part and the second fixing part;

the first installation part and/or the second installation part are/is fixedly connected with the hub bracket.

3. An omni wheel according to claim 2, wherein the first and second connecting portions each have a bent or curved plate-like structure that is adapted to the profile of the first roller.

4. An omni wheel according to claim 2, wherein the first mounting portion abuts against the second mounting portion and/or the first mounting portion is fixedly connected to the second mounting portion.

5. An omni wheel according to any one of claims 1 to 4, wherein the spoke portion is confined between the first and second fixing portions.

6. The omni wheel according to claim 5, wherein first limiting portions are disposed at two ends of the first shaft, the first limiting portions at two ends are connected to the first shaft, the first limiting portion at least one end and the first shaft are in a split structure, and the first limiting portions at two ends are abutted against the first fixing portion and the second fixing portion respectively.

7. The omni wheel according to claim 1, wherein second limit parts are disposed at both ends of the second shaft, the second limit parts at both ends are connected to the second shaft, the second limit part at least one end and the second shaft are in a split structure, and the second limit parts at both ends are respectively abutted against the first support part and the second support part;

or the second shaft is a screw, and the rod part of the second shaft penetrates through the first supporting part and the second roller and is in threaded connection with the second supporting part.

8. The omni wheel according to claim 1, wherein the first roller assemblies and the second roller assemblies are alternately arranged in the circumferential direction to form a whole wheel structure, the hub bracket comprises two clamping plates, and the two clamping plates are respectively fixedly connected with the whole wheel structure from two axial sides of the omni wheel; or,

the first roller assemblies and the second roller assemblies are alternately arranged in the circumferential direction to form a whole wheel structure, the hub bracket is of an integral structure, and the first roller bracket and the second roller bracket are fixedly connected with the hub bracket respectively.

9. A mobile device comprising a body and an omni-wheel according to any one of claims 1 to 8 mounted on the body.

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