CN114312134A - A wheel hub and omnidirectional wheel - Google Patents

Abstract

The invention belongs to the technical field of mobile wheel manufacturing, and in particular relates to a wheel hub and an omnidirectional wheel. The wheel hub includes support teeth and two wheel bodies that are stacked and connected to each other. A plurality of support teeth are arranged at intervals on the circumferential side of each wheel body; the outer surface of the support teeth is covered with a first reinforcing layer, and the surface of the wheel body is covered with Covered with a second reinforcement layer, the first reinforcement layer and the second reinforcement layer are integrally formed. The present invention can simplify the structure and reduce the weight of the hub of the omnidirectional wheel.

Description

A wheel hub and omnidirectional wheel

technical field

The invention belongs to the technical field of mobile wheel manufacturing, and in particular relates to a wheel hub and an omnidirectional wheel.

Background technique

At present, with the improvement of industrial design level, the degree of functionalization and integration of wheelchairs is also getting higher and higher. For example, some wheelchairs have tried to drive directly into the toilet and directly connect with the toilet, which further improves the user's experience. Self-care ability. However, common electric wheelchairs generally realize the steering function through the design of matching universal wheels, and their swing is random. When the wheelchair is poured over the toilet, it is limited by the width of the toilet and the wheelchair, which is easy to scratch, and the wheelchair enters and exits. During conversion, the universal wheel is more likely to directly touch the toilet due to the need for large-angle adjustment. Therefore, this type of wheelchair product urgently needs to introduce a suitable new steering wheel.

The omnidirectional wheel includes a hub and a driven wheel, wherein the hub has the same function as the ordinary hub and has the ability to roll forward and backward; and the driven wheel on the omnidirectional wheel gives the omnidirectional wheel additional lateral movement ability. Therefore, the omnidirectional wheel can realize a variety of steering functions without regular swinging, and can turn quickly and flexibly on the spot, getting rid of the hysteretic self-adjustment requirement of the conventional universal wheel, and has been gradually applied in the fields of robots and other fields. It is also a solution to wheelchair collapse. The preferred solution in the field of fine control such as toilet entry. Since there are supporting teeth between the driven wheels of the single-row omnidirectional wheel unit, the adjacent driven wheels are discontinuous, so that the single-row omnidirectional wheel unit cannot guarantee that the driven wheels are in rolling contact with the ground at all times, and it is easy to occur during rolling. Big vibration. Therefore, the omnidirectional wheel usually adopts a multi-row structure, that is, multiple sets of omnidirectional wheel units are arranged in the axial direction, and the driven wheel sets installed on the multiple sets of hubs are arranged in radial dislocation, so as to ensure that the omnidirectional wheel is in the axial direction. During the rolling process, there is always at least one driven wheel in rolling contact with the ground, thereby reducing vibration.

However, at present, most omnidirectional wheels are assembled by a series of complex processes such as patchwork, interlocking, and lamination of multiple plates. The single-row omnidirectional wheel unit usually includes multiple sets of flange structures, which need to be connected by multiple sets of bolts and nuts, and the two hubs need to be assembled through connectors. Such a structure has a complicated process and poor reliability. In addition, conventional omnidirectional wheel hubs are usually made of materials such as aluminum alloy or alloy steel, which further increases their weight.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present application is to provide a wheel hub and an omnidirectional wheel, aiming at solving the problem of how to simplify the structure of the wheel hub and reduce its weight.

In order to achieve the above purpose, the technical solution adopted in the present application is to provide a wheel hub, which includes support teeth and two wheel bodies arranged in layers and connected to each other, and a plurality of the support teeth are arranged at intervals on the peripheral side surfaces of each of the wheel bodies. The outer surface of the support teeth is covered with a first reinforcement layer, the surface of the wheel body is covered with a second reinforcement layer, and the first reinforcement layer and the second reinforcement layer are integrally formed.

In one embodiment, the wheel body is made of a foamed material, and the support teeth are made of carbon fiber material.

In one embodiment, each of the supporting teeth on one of the wheel bodies is arranged in a staggered manner relative to each of the supporting teeth on the other of the wheel bodies. .

In one embodiment, a central axis hole is opened at the center of the two wheel bodies, the two central axis holes are connected with each other, and the hole walls of the two central axis holes are both covered with the second reinforcement layer.

In one embodiment, annular flanges are disposed on opposite surfaces of the two wheel bodies, the annular flanges are disposed along the circumference of the aperture of the central shaft hole, and the two annular flanges are connected to each other.

In one embodiment, support holes are provided on both sides of each of the support teeth, and the support holes are covered with a third reinforcement layer, the first reinforcement layer, the second reinforcement layer and the first reinforcement layer. Three reinforcing layers are integrally formed.

The application also provides an omnidirectional wheel, including the hub of any one of the above solutions, the omnidirectional wheel further includes a driven wheel and a support shaft; the driven wheel has a through hole, and the support shaft passes through the through hole. The driven wheel is connected to the driven wheel; a transfer groove is formed between any two adjacent supporting teeth on the same wheel body, and the driven wheel and the support are installed in each of the transfer grooves. The driven wheel exposes the adapter groove along the radial portion of the wheel body, and the two ends of the support shaft are respectively rotatably installed in the two support holes.

In one embodiment, a shaft sleeve is provided in the support hole, and two ends of the support shaft are respectively connected to two corresponding shaft sleeves in rotation.

In one embodiment, the shaft sleeve has a closed end and an open end opposite to the closed end, and the support shaft is inserted into the shaft sleeve through the open end and abuts against the closed end.

In one embodiment, a lubricating layer is provided between the bushing and the support shaft.

The beneficial effects of the present application are: the two-wheel bodies are integrally formed without using other connecting structural parts, on the one hand, a series of complicated processes such as patchwork, interlocking and lamination are reduced; on the other hand, there is no need to use bolts and nuts. The equal connection structure reduces the number of components; therefore, the present application solves the technical problem of how to simplify the structure of the hub of the omnidirectional wheel and reduce its weight.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that are used in the description of the embodiments or exemplary technologies. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 and FIG. 2 are schematic structural diagrams of a wheel hub provided by an embodiment of the application;

3 and 4 are schematic structural diagrams of an omnidirectional wheel provided by an embodiment of the application;

5 is a cross-sectional view of the omnidirectional wheel shown in FIG. 4 along the A-A direction;

Fig. 6 is a partial enlarged view of the omnidirectional wheel B shown in Fig. 5;

FIG. 7 is a perspective exploded view of the omnidirectional wheel shown in FIG. 3 or FIG. 4 .

Among them, each reference sign in the figure:

100, omnidirectional wheel; 10, hub; 11, wheel body; 12, support teeth; 121, support hole; 13, transfer groove; 14, annular flange; 15, central axis hole; 16, first reinforcement layer; 17, the third reinforcement layer; 18, the second reinforcement layer; 20, the driven wheel; 30, the support shaft; 31, the shaft sleeve; 311, the open end;

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present application.

It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of description, rather than indicating or implying the referred device Or the elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present application, and those of ordinary skill in the art can understand the specific meanings of the above terms according to specific situations. The terms "first" and "second" are only used for convenience of description, and should not be understood as indicating or implying relative importance or implying indicating the number of technical features. "Plurality" means two or more, unless expressly specifically limited otherwise.

Please refer to FIG. 1 and FIG. 2 , an embodiment of the present application provides a wheel hub 10 , which includes support teeth 12 and two wheel bodies 11 arranged in layers and connected to each other, and a plurality of support teeth 12 are arranged on the circumferential side of each wheel body 11 at intervals. ; The outer surface of the support teeth 12 is covered with a first reinforcement layer 16 , the surface of the wheel body 11 is covered with a second reinforcement layer 18 , and the first reinforcement layer 16 and the second reinforcement layer 18 are integrally formed.

In the embodiment of the present application, the two-wheel body 11 is integrally formed without using other connecting structures. Nuts and other connection structures reduce the number of components. Therefore, the present application solves the technical problem of how to simplify the structure of the hub 10 of the omnidirectional wheel 100 and reduce its weight.

It can be understood that the simplification of the structure of the wheel hub 10 and the lightening of the weight can make the omnidirectional wheel 100 manufactured by using the modified wheel hub 10 achieve the same technical effect.

Please refer to 1 and FIG. 2 . Optionally, in this embodiment, the supporting teeth 12 are arranged on the circumferential side surface of the wheel body 11 at equal intervals along the circumferential direction of the wheel body 11 .

It can be understood that, because each wheel body 11 needs to be installed with 3 or more singular driven wheels 20; correspondingly, each wheel body 11 has at least 3 or more than 3 singular adapter grooves 13; Correspondingly, the number of supporting teeth 12 in the circumferential direction of each wheel body 11 is three or more singular.

Optionally, in this embodiment, the wheel body 11 is made of a foamed material, and the support teeth 12 are made of carbon fiber material.

It can be understood that the weight of the omnidirectional wheel 100 can be greatly reduced by replacing the aluminum alloy or the alloy steel material with the foam material and the carbon fiber material. In addition, because the modulus of carbon fiber exceeds 200GPa, and the tensile strength is generally above 3500Mpa, but the density is only 1.8g/cm3, its specific modulus and specific strength far exceed the traditional aluminum alloy and alloy steel and other materials. Using carbon fiber material to make the support teeth 12 can also increase the strength and toughness of the wheel hub 10 .

It can be understood that the foamed materials include thermoplastic materials and thermosetting materials, wherein, thermoplastic materials are mainly formed by physical changes, and can be processed after one forming; while thermosetting materials are mainly formed by chemical changes, usually including two times of foaming. take shape.

Optionally, in this embodiment, the foamed material is a thermosetting material, which is foamed twice to form a stable structure applied to the hub 10 .

Optionally, in this embodiment, the foaming material is a high-energy rubber mixed with alkanes with low density and low boiling point, which has secondary foaming capability. Optionally, in this embodiment, when manufacturing the wheel hub 10 , the added amount of the aforementioned high-energy rubber is calculated at a density of 0.3-0.5 g/cm 3 . Optionally, in this embodiment, the base material of the aforementioned high-energy rubber is butyl rubber with good sealing performance and shock absorption performance. Optionally, in this embodiment, the wheel body 11 is foam-molded by the foam material in an environment of 100-120° C. for 10-20 minutes.

It is understandable that butyl rubber has strong molecular polarity and has a very good shock absorption function. When used in wheelchair products, it can effectively absorb part of the shock energy, which can significantly improve the comfort of the wheelchair. At the same time, the mixed low-boiling alkanes gasify rapidly during the heating and heating process, but because butyl rubber has very good air tightness, most of the gas will eventually be sealed by butyl rubber to become independent micro airbags, making it When the density is reduced to 0.3-0.5g/cm3, it can still have a certain strength, especially when the wheel hub 1010 is impacted, it can play the role of buffering and strengthening.

Optionally, in this embodiment, carbon fiber layers made of carbon fiber material are stacked and arranged to form the supporting teeth 12 .

Referring to FIG. 1 , optionally, in this embodiment, each of the supporting teeth 12 on one wheel body 11 is arranged in a staggered position relative to each of the supporting teeth 12 on the other wheel body 11 . That is, two sets of supporting teeth 12 are provided on both of the wheel bodies 11 , and the two sets of supporting teeth 12 are arranged staggered along the circumferential direction of any wheel body 11 .

It can be understood that an adapter groove 13 for installing the driven wheel 20 is formed between two adjacent supporting teeth 12 . In the structure of the omnidirectional wheel 100, in order to reduce the vibration of the omnidirectional wheel 100 during the rolling process, the two groups of driven wheels 20 installed on the two wheel bodies 11 are arranged in a dislocation along the circumferential direction of any wheel body 11; In this embodiment, the transfer grooves 13 on the two wheel bodies 11 are formed along the circumferential direction of any wheel body 11 ; correspondingly, in this embodiment, the supporting teeth 12 on the two wheel bodies 11 are formed along any one The circumferential direction of the wheel body 11 is offset.

Please refer to FIG. 1 and FIG. 2 . Optionally, in this embodiment, the center position of the two wheel bodies 11 is provided with a central axis hole 15 , the two central axis holes 15 are communicated with each other, and the hole walls of the two central axis holes 15 are covered with each other. Covered with a second reinforcing layer 18 .

It can be understood that the central axis hole 15 can be used to rotatably install the wheel hub 10 on a mobile device such as a wheelchair, so as to assist the mobile facility to achieve its mobile function.

Please refer to FIG. 2 , optionally, in this embodiment, the opposite surfaces of the two wheel bodies 11 are provided with annular flanges 14 . The edges 14 are connected to each other.

Understandably, the annular flange 14 can assist in the axially spaced arrangement of any one wheel body 11 of the two groups of driven wheels 20 located on the two wheel bodies 11 to prevent the two groups of driven wheels 20 from interfering with each other during rolling.

Please refer to FIG. 1 , FIG. 2 and FIG. 6 . Optionally, in this embodiment, both sides of each support tooth 12 are provided with support holes 121 , and the support holes 121 are covered with a third reinforcement layer 17 . The reinforcement layer 16 , the second reinforcement layer 18 and the third reinforcement layer 17 are integrally formed.

Optionally, in this embodiment, the carbon fiber layers laid in the middle of the supporting teeth 12 are provided with gaps, and after the carbon fiber layers are laid, the gaps in the plurality of carbon fiber layers are superimposed to form the support holes 121 .

It can be understood that the support hole 121 can be used to install the driven wheel 20 of the omnidirectional wheel 100 at the transfer groove 13 through the support shaft 30; the support hole 121 and the outer surfaces of the support teeth 12 are covered with a reinforcement layer, which can The support strength of the support shaft 30 is ensured. In addition, the first reinforcement layer 16 , the second reinforcement layer 18 and the third reinforcement layer 17 are integrally formed and in rigid contact, so that the hub 10 is wrapped to form a whole.

Optionally, in this embodiment, the first reinforcement layer 16 , the second reinforcement layer 18 and the third reinforcement layer 17 are all made of carbon fiber material.

It can be understood that the reinforcing layer is made of high-strength, high-modulus carbon fiber material, which is covered on various parts of the wheel hub 10 as the main mechanical bearing member; the low-density foamed rubber material with secondary foaming ability is used to make the wheel. The main body 11 is used to assist the curing and shaping of the hub 10 . Compared with the traditional omnidirectional wheel 100 unit, the overall weight can be reduced by about 40-60%. When used for folding wheelchairs and other products, it can meet its lightweight design requirements, and can also make the steering of the omnidirectional wheel 100 more flexible.

Optionally, in this embodiment, the thicknesses of the first reinforcement layer 16 , the second reinforcement layer 18 and the third reinforcement layer 17 are determined according to the magnitude of the stress. Among them, the cladding thickness of the carbon fiber material is greater than the cladding thickness of the non-stress highly concentrated place where the stress is highly concentrated. Specifically, the cladding thickness of the carbon fiber material, the combination of the layup angle, and the design of the reinforcing ribs, etc., all need to be determined according to the force simulation analysis of the wheel hub 10 . It can be understood that positions such as the orifice of the support hole 121 , the groove bottom of the adapter groove 13 and the orifice of the central axis hole 15 are all susceptible to greater stress, so the thickness of the carbon fiber material in the aforementioned area is larger than that in the rest of the area. . Optionally, in this embodiment, the thickness of the reinforcement layer in the highly stress-concentrated region is 5-10 mm, and the thickness of the reinforcement layer in the non-high-stress-concentration region is 2-5 mm.

Optionally, in this embodiment, the carbon fiber material is a carbon fiber prepreg containing 35-45% epoxy resin.

Please refer to FIG. 3 , FIG. 4 and FIG. 7 , an embodiment of the present application further provides an omnidirectional wheel 100 , including the hub 10 of the foregoing solution, and the omnidirectional wheel 100 further includes a driven wheel 20 and a support shaft 30 ; The driving wheel 20 has a through hole through which the support shaft 30 penetrates and is connected to the driven wheel 20 ; a transfer groove 13 is formed between any two adjacent supporting teeth 12 on the same wheel body 11 , and each transfer groove 13 A driven wheel 20 and a support shaft 30 are installed on both. The driven wheel 20 exposes the adapter groove 13 along the radial part of the wheel body 11 .

The specific structure of the omnidirectional wheel 100 refers to the above-mentioned embodiments. Since the omnidirectional wheel 100 adopts all the technical solutions of all the above-mentioned embodiments, it also has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments. Repeat them one by one.

Optionally, in this embodiment, the wheel body 11 is formed by heating the foamed material to 135-145° C. and maintaining the temperature for 30-45 minutes for the second foaming.

Optionally, in this embodiment, the foamed material applied to the wheel body 11 is foamed for the second time after the driven wheel 20 is assembled. It can be understood that thermosetting materials usually need to be processed through two foaming steps. In the two foaming, the previous foaming process is called pre-foaming or pre-foaming. At this time, the foam or beads have not been fully expanded, and the density is also high, so the beads obtained in this way are expandable beads; The latter foaming process, referred to as post-foaming or secondary foaming, produces a fully expanded, low-density final foam product. In addition, the second foaming is performed after the structural assembly of the omnidirectional wheel 100 is completed, so that the second expansion of the foamed material can fill the installation gap between the wheel hub 10 and the reinforcement layer, thereby making the structure more compact. In this embodiment, the wheel body 11 is made of a low-density foamed rubber material with secondary foaming ability to assist the curing and shaping of the wheel hub 10 , which can further reduce the weight of the wheel hub 10 and ensure the compactness of the structure.

It can be understood that the embodiment of the present application can realize the assembly of the omnidirectional wheel 100 without using structures such as bolts and nuts, and has a simple structure, easy assembly and strong overall stability.

It can be understood that the supporting teeth 12 are provided between the driven wheels 20 installed on the single wheel body 11 , so any adjacent driven wheels 20 are discontinuous, resulting in greater vibration during rolling. Therefore, multiple groups of wheel bodies 11 mounted with the driven wheels 20 can be arranged at intervals to reduce vibration caused by the existence of gaps between the driven wheels 20 . But at the same time, the overall thickness and mass of the omnidirectional wheel 100 will also be larger, and the kinetic energy required for rolling will also be larger. Therefore, in order to balance vibration and energy consumption, in this embodiment, the hub 10 used in the omnidirectional wheel 100 consists of two wheel bodies 11 . In addition, in this embodiment, the two wheel bodies 11 are integrally formed, and no additional assembly is required, which further simplifies the structure and installation process of the omnidirectional wheel 100 .

Optionally, in this embodiment, the outer surface of the driven wheel 20 is wrapped with a protective layer made of a material with high temperature resistance and good wear resistance, such as resin vulcanized butyl rubber or hydrogenated nitrile rubber.

Optionally, in this embodiment, the outer surface of the driven wheel 20 has an annular groove for increasing the friction coefficient.

Please refer to FIG. 5 and FIG. 6 . Optionally, in this embodiment, the support hole 121 is provided with a shaft sleeve 31 , and two ends of the support shaft 30 are respectively connected to two corresponding shaft sleeves 31 in rotation.

It can be understood that, in this embodiment, the outer wall of the shaft sleeve 31 is fixedly connected with the inner wall of the support hole 121 , and the inner wall of the shaft sleeve 31 is used for rotational connection with the support shaft 30 to realize the relative rotation between the driven wheel 20 and the contact surface.

It can be understood that the open end 311 of the shaft sleeve 31 is exposed to the corresponding support hole 121. In order to form the omnidirectional wheel 100 as a whole, the first reinforcement layer 16 located at the opening of the support hole 121 and the open end 311 of the shaft sleeve 31 are formed. The end faces are flush.

Optionally, in this embodiment, the equipped shaft sleeve 31 is made of polyetheretherketone (PEEK) special high-temperature engineering plastics with good wear resistance, high mechanical strength and low friction coefficient.

Optionally, in this embodiment, the shaft sleeve 31 has a closed end 312 and an open end 311 opposite to the closed end 312 , the support shaft 30 is inserted into the shaft sleeve 31 through the open end 311 and abuts against the closed end 312 .

It can be understood that the closed end 312 can effectively limit the axial sliding of the support shaft 30, so the support shaft 30 can be limited without additional limiting structure, and the structure of the hub 10 can be simplified while ensuring the movement of the driven wheel 20. stability.

Optionally, in this embodiment, an assembly gap of 2-3 microns on a single side is reserved between the shaft sleeve 31 and the support shaft 30 .

Optionally, in this embodiment, a lubricating layer is provided between the shaft sleeve 31 and the support shaft 30 , and the lubricating layer is located in the assembly gap.

It can be understood that the provision of the lubricating layer can further reduce the friction coefficient, reduce the friction between the shaft sleeve 31 and the support shaft 30 , thereby reducing the wear of the omnidirectional wheel 100 to the hub 10 during use.

Optionally, in this embodiment, the above-mentioned lubricating layer is formed by adding 3-5% of carbon fluoride nanotubes in the shaft sleeve 31 , or a lubricant with a similar lubricating function can also be added in the shaft sleeve 31 to form the above-mentioned lubricating layer. Lubrication layer. It can be understood that fluorinated carbon nanotubes are one-dimensional quantum materials with radial dimensions on the order of nanometers and axial dimensions on the order of micrometers. The shaft sleeve 31 is specially modified by introducing fluorinated carbon nanotubes, so that the shaft sleeve 31 can rotate smoothly with the support shaft without liquid lubrication, and the friction coefficient between the shaft sleeve 31 and the support shaft 30 can be The original 0.3-0.4 is effectively reduced to about 0.2, thereby greatly reducing the frictional resistance received by the driven wheel 20 when it rotates, and finally reducing the energy consumption of the driven wheel 20 when turning. In addition, the wear of the shaft sleeve 31 and the support shaft 30 due to relative friction can be effectively reduced by 30%.

The above are only optional embodiments of the present application, and are not intended to limit the present application. Various modifications and variations of this application are possible for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of the claims of this application.

Claims (10)

1. A wheel hub, characterized in that it comprises support teeth and two wheel bodies that are arranged in layers and connected to each other, and the peripheral sides of each of the wheel bodies are provided with a plurality of the support teeth at intervals; the outer surface of the support teeth A first reinforcement layer is covered, the surface of the wheel body is covered with a second reinforcement layer, and the first reinforcement layer and the second reinforcement layer are integrally formed. 2 . The wheel hub according to claim 1 , wherein the wheel body is made of a foamed material, and the support teeth are made of carbon fiber material. 3 . 3 . The wheel hub according to claim 2 , wherein each of the supporting teeth on one of the wheel bodies is staggered relative to each of the supporting teeth on the other wheel body. 4 . 4 . The wheel hub according to claim 3 , wherein the center position of the two wheel bodies is provided with a central axis hole, the two central axis holes are communicated with each other, and the hole walls of the two central axis holes are covered with each other. 5 . There is the second reinforcement layer. 5. The wheel hub according to claim 4, wherein the opposite surfaces of the two wheel bodies are provided with annular flanges, and the annular flanges are arranged along the circumference of the aperture of the central axis hole, and the two The annular flanges are connected to each other. 6. The wheel hub according to any one of claims 1-5, characterized in that, both sides of each of the support teeth are provided with support holes, the support holes are covered with a third reinforcing layer, and the first A reinforcement layer, the second reinforcement layer and the third reinforcement layer are integrally formed. 7. An omnidirectional wheel, characterized in that it comprises the hub according to claim 6, the omnidirectional wheel further comprises a driven wheel and a support shaft; the driven wheel has a through hole, and the support shaft passes through the hole. The through hole is connected to the driven wheel; a transfer groove is formed between any two adjacent supporting teeth on the same wheel body, and the driven wheel and the driven wheel are installed in each of the transfer grooves. The support shaft, the driven wheel exposes the adapter groove along the radial part of the wheel body, and the two ends of the support shaft are respectively rotatably installed in the two support holes. 8 . The omnidirectional wheel according to claim 7 , wherein a shaft sleeve is provided in the support hole, and two ends of the support shaft are respectively connected to two corresponding shaft sleeves in rotation. 9 . 9 . The omnidirectional wheel according to claim 8 , wherein the shaft sleeve has a closed end and an open end opposite to the closed end, and the support shaft is inserted into the shaft through the open end. 10 . sleeve and abut the closed end. 10 . The omnidirectional wheel according to claim 9 , wherein a lubricating layer is arranged between the shaft sleeve and the support shaft. 11 .

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