Patent Publication Number: US-2022219488-A1

Title: Omnidirectional wheel and scooter having omnidirectional wheel

Description:
This application claims priority of the Chinese Patent Application No. 202010808176.5, filed on Aug. 12, 2020, and the entire disclosure of the aforementioned application is incorporated by reference as part of the disclosure of this application. 
     TECHNICAL FIELD 
     Embodiments of the present disclosure relate to an omnidirectional wheel and a scooter having an omnidirectional wheel. 
     BACKGROUND 
     In existing scooters, in order to ensure the use comfort of the scooters, and adapt to more road conditions and usage scenarios, the scooters usually include omnidirectional wheels. The omnidirectional wheel is a kind of wheel with lateral movement ability, which can freely move laterally while providing circumferential driving force, and the omnidirectional wheel improves the mobility of the scooters. 
     SUMMARY 
     At least one embodiment of the present disclosure provides an omnidirectional wheel, and the omnidirectional wheel comprises a hub, a plurality of support members, a plurality of first rollers, and a plurality of second rollers. The plurality of support members are circumferentially distributed on the hub, each of the support members has a first mounting surface and a second mounting surface disposed oppositely, the first mounting surface is provided with a first mounting shaft, the second mounting surface is provided with a second mounting shaft, and a distance between a first axis of the first mounting shaft and a wheel center of the hub is less than a distance between a second axis of the second mounting shaft and the wheel center of the hub. At least one first roller of the first rollers is rotatably disposed on each first mounting shaft; and at least one second roller of the second rollers is rotatably disposed on each second mounting shaft. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, along a circumferential direction of a distribution circumference of the plurality of support members, the plurality of first rollers and the plurality of second rollers are disposed at intervals in sequence, one of the second rollers is between two adjacent first rollers, and one of the first rollers is between two adjacent second rollers. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, each of the first rollers has a first large diameter end and a first small diameter end, a diameter of the first large diameter end is larger than a diameter of the first small diameter end, and the first small diameter end has an accommodating hole, each of the second rollers has a second large diameter end and a second small diameter end, a diameter of the second large diameter end is larger than a diameter of the second small diameter end, and the second small diameter end of each of the second rollers is at least partially embedded in the accommodating hole of the first small diameter end of an adjacent first roller. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, the diameter of the first small diameter end of each of the first rollers is larger than the diameter of the second large diameter end of each of the second rollers. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, for a same support member, the first axis of the first mounting shaft is parallel to the second axis of the second mounting shaft. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, for a same support member, the first axis of the first mounting shaft and the second axis of the second mounting shaft have an angle less than 180 degrees therebetween. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, the hub is provided with a plurality of first grooves, the plurality of first grooves are disposed at intervals along a circumferential direction of a distribution circumference of the plurality of support members, the plurality of first grooves are disposed in one-to-one correspondence with the plurality of support members, each first groove of the first grooves comprises a bottom mounting surface and two side mounting surfaces, the two side mounting surfaces are disposed at intervals along the circumferential direction of the distribution circumference, and each of the first grooves is configured to provide an installation space for a support member corresponding to the first groove, so as to enable the support member to be installed on the hub. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, the support member comprises a first base portion that is matched with the first groove, the first base portion comprises a base bottom surface and two base side surfaces on both sides of the base bottom surface, and the first base portion is configured to match the first groove so as to enable the support member to be installed on the hub. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, a distance between the two side mounting surfaces of at least one first groove of the first grooves gradually decreases along a direction from an opening of the first groove to a corresponding bottom mounting surface, or the two side mounting surfaces of at least one first groove of the first grooves are perpendicular to a corresponding bottom mounting surface; and a distance between the two base side surfaces of at least one first base portion gradually decreases in a direction gradually approaching a corresponding base bottom surface, or the two base side surfaces of at least one first base portion are perpendicular to a corresponding base bottom surface. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, the two side mounting surfaces of at least one first groove of the first grooves are not perpendicular to a corresponding bottom mounting surface, and angles respectively between the two side mounting surfaces and the corresponding bottom mounting surface are different; and the two base side surfaces of at least one first base portion are not perpendicular to a corresponding base bottom surface, and angles respectively between the two base side surfaces and the corresponding base bottom surface are different. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, the first base portion is provided with a threaded hole, and an axis of the threaded hole points to the wheel center of the hub. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, a bottom of the first groove is provided with a through hole, and in the case where the first base portion of the support member is inserted into the first groove, the through hole is concentric with a corresponding threaded hole on the first base portion. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, the plurality of support members are divided into a plurality of groups, each group of the plurality of groups comprises at least two support members, support members in a same group are integrally formed on a same second base portion, and support members in different groups are formed on different second base portions, the hub is provided with a plurality of second grooves, the plurality of second grooves are disposed at intervals along a circumferential direction of a distribution circumference of the plurality of support members, the plurality of second grooves are disposed in one-to-one correspondence with the plurality of groups of support members, and each of the second grooves is configured to provide an installation space for the second base portion so as to enable a corresponding group of support members to be installed on the hub. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, a length of the first mounting shaft is less than a length of the second mounting shaft. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, the hub comprises a flange plate, a hub main body, and a plurality of reinforcing ribs, a center of the flange plate and the wheel center of the hub are both on an axis of the hub, the hub main body surrounds the flange plate, the hub main body comprises two sides distributed along the axis of the hub, and the flange plate is on one side of the two sides of the hub main body, the plurality of reinforcing ribs are distributed at intervals along a circumferential direction of the hub, the reinforcing ribs are in the hub main body and on a side of the flange plate, and the reinforcing ribs extend from an inner wall of the hub main body to the flange plate. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, the hub comprises a hub main body and an axle, the axle is on an axis of the hub, and the axle and the hub main body are an integral structure. 
     For example, in the omnidirectional wheel provided by an embodiment of the present disclosure, one of the first mounting surface and the second mounting surface of each of the support members is a curved surface and another one of the first mounting surface and the second mounting surface of each of the support members is a flat surface; or the first mounting surface and the second mounting surface of each of the support members are both curved surfaces or flat surfaces, and for a same support member, the first mounting surface and the second mounting surface are symmetrical. 
     At least one embodiment of the present disclosure provides an omnidirectional wheel, and the omnidirectional wheel comprises a hub, a plurality of support members, a plurality of first rollers, and a plurality of second rollers. The plurality of support members are circumferentially distributed on the hub, each of the support members has a first mounting surface and a second mounting surface disposed oppositely, the first mounting surface is provided with a first mounting shaft, the second mounting surface is provided with a second mounting shaft, and a distance between a first axis of the first mounting shaft and a wheel center of the hub is less than a distance between a second axis of the second mounting shaft and the wheel center of the hub. At least one first roller of the first rollers is rotatably disposed on each first mounting shaft; and at least one second roller of the second rollers is rotatably disposed on each second mounting shaft. Along a circumferential direction of a distribution circumference of the plurality of support members, the plurality of first rollers and the plurality of second rollers are disposed at intervals in sequence, one of the second rollers is between two adjacent first rollers, and one of the first rollers is between two adjacent second rollers. Each of the first rollers has a first large diameter end and a first small diameter end, a diameter of the first large diameter end is larger than a diameter of the first small diameter end, and the first small diameter end has an accommodating hole, each of the second rollers has a second large diameter end and a second small diameter end, a diameter of the second large diameter end is larger than a diameter of the second small diameter end, and the second small diameter end of each of the second rollers is at least partially embedded in the accommodating hole of the first small diameter end of an adjacent first roller. The diameter of the first small diameter end of each of the first rollers is larger than the diameter of the second large diameter end of each of the second rollers. For a same support member, the first axis of the first mounting shaft is parallel to the second axis of the second mounting shaft. The hub is provided with a plurality of first grooves, the plurality of first grooves are disposed at intervals along a circumferential direction of a distribution circumference of the plurality of support members, the plurality of first grooves are disposed in one-to-one correspondence with the plurality of support members, each first groove of the first grooves comprises a bottom mounting surface and two side mounting surfaces, the two side mounting surfaces are disposed at intervals along the circumferential direction of the distribution circumference, and each of the first grooves is configured to provide an installation space for a support member corresponding to the first groove, so as to enable the support member to be installed on the hub. The support member comprises a first base portion that is matched with the first groove, the first base portion comprises a base bottom surface and two base side surfaces on both sides of the base bottom surface, and the first base portion is configured to match the first groove so as to enable the support member to be installed on the hub; the first base portion is provided with a threaded hole, and an axis of the threaded hole points to the wheel center of the hub; a bottom of the first groove is provided with a through hole, and in the case where the first base portion of the support member is inserted into the first groove, the through hole is concentric with a corresponding threaded hole on the first base portion; and a length of the first mounting shaft is less than a length of the second mounting shaft. 
     At least one embodiment of the present disclosure provides a scooter, and the scooter comprises a seat and at least one omnidirectional wheel. The omnidirectional wheel is rotatably disposed on at least one side of the seat, and the omnidirectional wheel is the omnidirectional wheel provided by any one of embodiments of the present disclosure. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In order to clearly illustrate the technical solution of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described in the following. It is obvious that the described drawings in the following are only related to some embodiments of the present disclosure, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings. 
         FIG. 1  is a three-dimensional structure diagram of an omnidirectional wheel provided by an embodiment of the present disclosure from a first view angle; 
         FIG. 2  is a three-dimensional structure diagram of an omnidirectional wheel provided by an embodiment of the present disclosure from a second view angle; 
         FIG. 3  is a schematic diagram of a front structure of an omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIG. 4  is a schematic diagram of a front structure of an omnidirectional wheel with the hub cover plate removed provided by an embodiment of the present disclosure; 
         FIG. 5A  is a schematic diagram of a left side structure of an omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIG. 5B  is a cross-sectional diagram of a left side structure of an omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIG. 6A  is a three-dimensional structure diagram of a hub matched with one of support members provided by an embodiment of the present disclosure; 
         FIG. 6B  is a three-dimensional structure diagram of a hub provided by an embodiment of the present disclosure; 
         FIGS. 7A-7B  are other three-dimensional structure diagrams of a hub matched with one of support members provided by an embodiment of the present disclosure; 
         FIG. 8  is a three-dimensional structure diagram of a support member provided by an embodiment of the present disclosure; 
         FIG. 9A  is a front diagram of a first roller in an omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIG. 9B  is a cross-sectional diagram of a first roller in an omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIG. 10A  is a front diagram of a second roller in an omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIG. 10B  is a cross-sectional diagram of a second roller in an omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIG. 11A  is a schematic diagram of a size relationship between a first roller and a second roller in an omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIG. 11B  is a partial enlarged view of  FIG. 11A ; 
         FIG. 11C  is a schematic diagram of a gap between a first roller and a second roller in an omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIG. 12  is a schematic diagram of installation of an omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIG. 13A  is a schematic diagram of a support member of another omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIGS. 13B-13C  are schematic diagrams of an omnidirectional wheel adopting the support member in  FIG. 13A ; 
         FIGS. 14A-14B  are schematic diagrams of another omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIGS. 15A-15C  are schematic diagrams of another omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIG. 16A  is a schematic diagram of a support member of another omnidirectional wheel provided by an embodiment of the present disclosure; 
         FIGS. 16B-16C  are schematic diagrams of an omnidirectional wheel adopting the support member in  FIG. 16A ; and 
         FIG. 17  is a schematic diagram of a scooter provided by an embodiment of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     In order to make objects, technical details and advantages of the embodiments of the disclosure apparent, the technical solutions of the embodiments will be described in a clearly and fully understandable way in connection with the drawings related to the embodiments of the disclosure. Apparently, the described embodiments are just a part but not all of the embodiments of the disclosure. Based on the described embodiments herein, those skilled in the art can obtain other embodiment(s), without any inventive work, which should be within the scope of the disclosure. 
     Unless otherwise defined, all the technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. The terms “first,” “second,” etc., which are used in the description and the claims of the present application for disclosure, are not intended to indicate any sequence, amount or importance, but distinguish various components. Also, the terms “comprise,” “comprising,” “include,” “including,” etc., are intended to specify that the elements or the objects stated before these terms encompass the elements or the objects and equivalents thereof listed after these terms, but do not preclude the other elements or objects. The phrases “connect”, “connected”, “coupled”, etc., are not intended to define a physical connection or mechanical connection, but may include an electrical connection, directly or indirectly. “On,” “under,” “right,” “left” and the like are only used to indicate relative position relationship, and when the position of the object which is described is changed, the relative position relationship may be changed accordingly. 
     Of course, implementing any technical solution of the embodiments of the present disclosure does not necessarily need to achieve all the advantages of the embodiments of the present disclosure at the same time. 
     Scooters usually adopt omnidirectional wheels to move, for example, to move forward, move backward, and move sideways. However, the general omnidirectional wheels have some problems. For example, the structure of the omnidirectional wheel is relatively complicated, which leads to high production cost, difficult installation, low installation efficiency, difficult maintenance, low maintenance efficiency, and high maintenance cost, which make the production and maintenance of the omnidirectional wheels and the scooters adopting the omnidirectional wheels difficult. It is not conducive to improve production efficiency and maintenance efficiency, and it is not conducive to reduce costs. 
     At least one embodiment of the present disclosure provides an omnidirectional wheel and a scooter having an omnidirectional wheel. The omnidirectional wheel has a simple structure, and can lower the difficulty of installation and maintenance, improve the efficiency of installation and maintenance, and reduce the production cost and maintenance cost. 
     The specific implementations of the embodiments of the present disclosure are further described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. 
     As illustrated in  FIGS. 1-5B  and  FIG. 8 , an embodiment of the present disclosure provides an omnidirectional wheel, and the omnidirectional wheel includes a hub  10 , a plurality of support members  20 , a plurality of first rollers  41 , and a plurality of second rollers  42 . 
     For example, the plurality of support members  20  are circumferentially distributed on the hub  10 , and each support member  20  has a first mounting surface  21  and a second mounting surface  22  disposed oppositely, the first mounting surface  21  is provided with a first mounting shaft  31 , and the second mounting surface  22  is provided with a second mounting shaft  32 . A distance between a first axis of the first mounting shaft  31  and a wheel center of the hub  10  is less than a distance between a second axis of the second mounting shaft  32  and the wheel center of the hub  10 . At least one first roller  41  is rotatably disposed on each first mounting shaft  31 , and at least one second roller  42  is rotatably disposed on each second mounting shaft  32 . 
     The hub  10  of the omnidirectional wheel is used to install the support members  20 , the first rollers  41 , the second rollers  42 , and the like. For example, the hub  10  may be made of aluminum alloy, zinc alloy, magnesium alloy or other suitable materials, and for example, may be manufactured by any suitable manufacturing method such as casting process, turning and milling process, and the like. 
     The support members  20  are used to install the first rollers  41  and the second rollers  42 . Because there are a plurality of support members  20  and the plurality of support members  20  are distributed circumferentially on the hub  10 , the first rollers  41  and the second rollers  42  can be distributed evenly in the circumferential direction of the hub  10 . For example, in some examples, one first roller  41  and one second roller  42  are installed on each support member  20 , and the plurality of support members  20  are sequentially installed on the hub  10 , so that the first rollers  41  and the second rollers  42  are alternately distributed along the circumference of the hub  10  and the distance between each other is relatively uniform, so the omnidirectional wheel has a uniform and flat working surface to achieve smooth movement. For example, the support members  20  may be made of aluminum alloy, zinc alloy, magnesium alloy or other suitable materials, and for example, may be manufactured by any suitable manufacturing method such as casting process, turning and milling process, and the like. 
     For example, in some examples, the number of the plurality of support members  20  is 12, and the 12 support members  20  are evenly distributed along the circumference of the hub  10 . It should be noted that, in the embodiments of the present disclosure, the number of support members  20  is not limited, and may be 12, or any applicable value such as 8, 16, 20, etc., which can be determined according to actual needs. 
     For example, the distance between the first axis of the first mounting shaft  31  and the wheel center of the hub  10  is less than the distance between the second axis of the second mounting shaft  32  and the wheel center of the hub  10 , that is, the first axis of the first mounting shaft  31  and the second axis of the second mounting shaft  32  are different, so that the hub  10  can adapt to rollers of different diameters, that is, the first roller  41  and the second roller  42  of different diameters can be installed on the same support member  20 . In this way, the first roller  41  and the second roller  42  can rotate under the drive of the hub  10 , and can also rotate relative to the hub  10 , so as to realize forward movement or backward movement, and also realize lateral movement, so that omnidirectional movement can be achieved. 
     For example, the first roller  41  may be connected to the first mounting shaft  31  through a bearing, so that the first roller  41  can rotate around the first mounting shaft  31 . For example, the second roller  42  may be connected to the second mounting shaft  32  through a bearing, so that the second roller  42  can rotate around the second mounting shaft  32 . For example, the portions of the first roller  41  and the second roller  42  matched with the bearings may be made of materials such as aluminum alloy, nylon, or the like. The outer contour portions of the first roller  41  and the second roller  42  (that is, the portions for contact with the ground) may be made of thermoplastic rubber or vulcanized rubber. It should be noted that the materials of the first roller  41  and the second roller  42  are not limited to the materials listed above, and any applicable materials can be used, which can be determined according to actual requirements, and the embodiments of the present disclosure are not limited in this aspect. 
     For example, as illustrated in  FIG. 1  to  FIG. 4 , in some examples, the plurality of first rollers  41  and the plurality of second rollers  42  are disposed at intervals in sequence along the circumferential direction of the distribution circumference of the plurality of support members  20 , one second roller  42  is between two adjacent first rollers  41 , and one first roller  41  is between two adjacent second rollers  42 . In this way, the first rollers  41  and the second rollers  42  can be alternately distributed along the circumference of the hub  10  and the distance between each other is relatively uniform, so that the omnidirectional wheel has a uniform and flat working surface to achieve smooth movement. 
     As illustrated in  FIG. 6A ,  FIG. 6B ,  FIG. 7A  and  FIG. 7B , in some examples, a plurality of first grooves  11  are provided on the hub  10 , and the plurality of first grooves  11  are disposed at intervals along the circumferential direction of the distribution circumference of the plurality of support members  20 . The first grooves  11  are disposed in one-to-one correspondence with the support members  20 . Each first groove  11  includes a bottom mounting surface  111  and two side mounting surfaces  112 , and the two side mounting surfaces  112  are disposed at intervals along the circumferential direction of the distribution circumference. The first groove  11  is configured to provide an installation space for the support member  20 , so as to enable the support member  20  to be installed on the hub  10 . For example, the number of the first grooves  11  is equal to the number of the support members  20 . 
     In a feasible manner, the distance between the two side mounting surfaces  112  of at least one first groove  11  gradually decreases along the direction from the opening of the first groove  11  to the corresponding bottom mounting surface  111 . In this way, the two side mounting surfaces  112  of the first groove  11  are inclined surfaces, and the area of the opening of the first groove  11  is larger than the area of the bottom mounting surface  111 , so that the support member  20  can be positioned and guided, which make the installation of the support member  20  more convenient. 
     In another feasible manner, the two side mounting surfaces  112  of at least one first groove  11  are perpendicular to the corresponding bottom mounting surface  111 . In this way, the processing becomes more convenient, the production costs can be reduced, and the reliable positioning of the support member  20  can be ensured. 
     In still another feasible manner, as illustrated in  FIG. 7A  and  FIG. 7B , the two side mounting surfaces  112  of at least one first groove  11  are not perpendicular to the corresponding bottom mounting surface  111 , and angles respectively between the two side mounting surfaces  112  and the corresponding bottom mounting surface  111  are different, that is, the cross-sectional shape of the first groove  11  is an asymmetric trapezoid. In this way, the fastener used to install the support member  20  can point to the wheel center of the hub  10 , so that when the omnidirectional wheel is used in a scooter, the omnidirectional wheel used as the left wheel and the omnidirectional wheel used as the right wheel no longer need to be distinguished, and the left wheel and the right wheel are identical, so as to reduce the number of molds, and there is no need to deliberately prevent the left wheel and right wheel from being reversed. 
     In still another feasible manner, the two side mounting surfaces  112  of at least one first groove  11  are parallel to each other and are not perpendicular to the corresponding bottom mounting surface  111 , that is, the two side mounting surfaces  112  are inclined along the same direction. Because the first roller  41  and the second roller  42  are installed on the support member  20 , and size of the first roller  41  is different from size of the second roller  42 , in order to allow the first rollers  41  and the second rollers  42  to be disposed alternately along the circumference of the hub  10 , it is necessary to install the plurality of support members  20  in the first grooves  11  in the same direction. The two side mounting surfaces  112  of the first groove  11  are inclined in the same direction, which can ensure that the support member  20  can only be inserted into the first groove  11  in the preset direction without manually determining the installation direction, thereby avoiding installation errors and improving installation efficiency, so that the plurality of first rollers  41  and the plurality of second rollers  42  are alternately distributed in sequence after the installation is completed. 
     For example, in order to facilitate manufacturing and provide better support for the support member  20 , the bottom mounting surface  111  is a flat surface. 
     For example, as illustrated in  FIG. 6A  and  FIG. 6B , in some examples, the hub  10  includes a flange plate  101 , a hub main body  102  and a plurality of reinforcing ribs  103 . The center of the flange plate  101  and the wheel center of the hub  10  are both located on the axis (for example, the rotation axis) of the hub  10 . The hub main body  102  surrounds the flange plate  101 . The hub main body  102  includes two sides (such as a first side S 1  and a second side S 2 ) distributed along the axis of the hub  10 . The flange plate  101  is located on one side of the two sides (for example on the first side S 1 ) of the hub main body  102 . The plurality of reinforcing ribs  103  are distributed at intervals along the circumferential direction of the hub  10 . The reinforcing ribs  103  are located in the hub main body  102  and on a side of the flange plate  101 , and the reinforcing ribs  103  extend from the inner wall of the hub main body  102  to the flange plate  101 . By locating the flange plate  101  on one side of the hub main body  102  (for example, the first side S 1 ), a space can be reserved for the reinforcing ribs  103  so as to improve the strength of the hub  10 , and an operation space can also be reserved for installing the support member  20 . The flange plate  101  has a through hole to facilitate the installation of a roller, so that the omnidirectional wheel can be installed on a scooter or other equipment. 
     For example, the hub  10  is also provided with an axis hole (for example, the through hole of the flange plate  101  mentioned above) for mounting a roller, and the axis of the axis hole is the rotation axis of the hub  10 . The wheel center of the hub  10  may be the center of mass of the hub  10 , or an appropriate point on the rotation axis of the hub  10  serves as the wheel center. 
     For example, in some examples, in order to match the hub  10 , the support member  20  includes a first base portion  230  that is matched with the first groove  11 . The first base portion  230  includes a base bottom surface  231  and two base side surfaces  232  located on both sides of the base bottom surface  231 . The first base portion  230  is configured to match the first groove  11  so as to enable the support member  20  to be installed on the hub  10 . 
     In a feasible manner, the distance between the two base side surfaces  232  of at least one first base portion  230  gradually decreases in a direction gradually approaching the corresponding base bottom surface  231 . In this way, the first base portion  230  has a taper, so that the first base portion  230  can be easily inserted into the first groove  11  and can be restricted by the base side surfaces  232  and the side mounting surfaces  112 . This tapered structure also helps center the support member  20  (that is, the two base side surfaces  232  point to the wheel center of the hub  10 ). In this case, the distance between the two side mounting surfaces  112  of the first groove  11  gradually decreases along the direction from the opening of the first groove  11  to the corresponding bottom mounting surface  111 , so as to cooperate with the first base portion  230 . 
     In another feasible manner, the two base side surfaces  232  of at least one first base portion  230  are perpendicular to the corresponding base bottom surface  231 . The first base portion  230  of this structure can fit the first groove  11  in which the side mounting surfaces  112  are perpendicular to the bottom mounting surface  111 , so as to ensure stable installation, and the manufacturing and production can be more convenient, which can effectively reduce costs. In this case, the two side mounting surfaces  112  of the first groove  11  are perpendicular to the corresponding bottom mounting surface  111  to cooperate with the first base portion  230 . 
     In still another feasible manner, as illustrated in  FIG. 7A  and  FIG. 7B , the two base side surfaces  232  of at least one first base portion  230  are not perpendicular to the corresponding base bottom surface  231 , and angles respectively between the two base side surfaces  232  and the corresponding base bottom surface  231  are different, that is, the cross-sectional shape of the first base portion  230  is an asymmetrical trapezoid. In this way, the fastener used to install the support member  20  can point to the wheel center of the hub  10 , so that when the omnidirectional wheel is used in a scooter, the omnidirectional wheel used as the left wheel and the omnidirectional wheel used as the right wheel no longer need to be distinguished, and the left wheel and the right wheel are identical, so as to reduce the number of molds, and there is no need to deliberately prevent the left wheel and right wheel from being reversed. In this case, the two side mounting surfaces  112  of the first groove  11  are not perpendicular to the corresponding bottom mounting surface  111 , and angles respectively between the two side mounting surfaces  112  and the corresponding bottom mounting surface  111  are different, so as to cooperate with the first base portion  230 . 
     In another feasible manner, the two base side surfaces  232  of at least one first base portion  230  are parallel to each other and are not perpendicular to the corresponding base bottom surface  231 , that is, the two base side surfaces  232  are inclined along the same direction. This manner can ensure that the support member  20  can only be inserted into the first groove  11  in the preset direction without manually determining the installation direction, thereby avoiding installation errors and improving installation efficiency, so that after the installation is completed, the first rollers  41  and the second rollers  42  are alternately distributed in sequence. In this case, the two side mounting surfaces  112  of the first groove  11  are parallel to each other and both are not perpendicular to the corresponding bottom mounting surface  111 , so as to cooperate with the first base portion  230 . 
     For example, in order to enable the support member  20  to be reliably fixed on the hub  10 , the first base portion  230  is provided with a threaded hole  233 , and the axis of the threaded hole  233  points to the wheel center of the hub  10 . In this way, the support member  20  can be fixed to the hub  10  by a fastener with threads (such as bolts, screws, etc.). 
     For example, the bottom of the first groove  11  is provided with a through hole  114 . In the case where the first base portion  230  of the support member  20  is inserted into the first groove  11 , the through hole  114  is concentric with the threaded hole  233  on the corresponding first base portion  230 . The through hole  114  is aligned with the threaded hole  233  on the corresponding support member  20 , so that a fastener with threads can pass through the through hole  114  from the inside of the hub  10  and cooperate with the threaded hole  233 , thereby locking the support member  20 . 
     As illustrated in  FIG. 8 , in addition to the first base portion  230 , the support member  20  further includes a support portion for installing the first mounting shaft  31  and the second mounting shaft  32 . The first base portion  230  and the support portion are integrally formed. The first base portion  230  is used to cooperate with the first groove  11  of the hub  10 , and the support portion is used for installing the first mounting shaft  31  and the second mounting shaft  32 . 
     For example, in some examples, as illustrated in  FIG. 8 , the first mounting surface  21  of the support member  20  is a flat surface and the second mounting surface  22  of the support member  20  is a curved surface. The first mounting surface  21  and the second mounting surface  22  form an asymmetric structure. By making the first mounting surface  21  and the second mounting surface  22  different, the respective mounting positions of the first roller  41  and the second roller  42  can be easily identified, thereby preventing installation errors and improving installation efficiency. 
     For example, after the support member  20  is installed on the hub  10 , the first mounting surface  21  of the support member  20  points to the wheel center of the hub  10 . 
     For example, in some examples, as illustrated in  FIG. 8 , for the same support member  20 , the first axis of the first mounting shaft  31  and the second axis of the second mounting shaft  32  are parallel to each other. For example, the plane composed by the first axis and the second axis is perpendicular to the rotation axis of the hub  10 . That is, the first axis and the second axis are located in the same plane, which is perpendicular to the rotation axis of the hub  10 , and the plane is, for example, parallel to the plate surface of the flange plate  101 . In this plane, there is a first distance between the first axis and the second axis. In other words, the distance between the first axis and the wheel center of the hub  10  (denoted as the second distance) is less than the distance between the second axis and the wheel center of the hub  10  (denoted as the third distance), so that after the first roller  41  is installed on the first mounting shaft  31  and the second roller  42  is installed on the second mounting shaft  32 , the first roller  41  can rotate around the first mounting shaft  31  and the second roller  42  can rotate around the second mounting shaft  32 , respectively, and the rotation axis (that is, the first axis) of the first roller  41  is parallel to the tangent line of the outer circumference of the hub  10  at the connection position with the corresponding support member  20 , and the rotation axis (that is, the second axis) of the second roller  42  is parallel to the tangent line of the outer circumference of the hub  10  at the connection position with the corresponding support member  20 , thereby realizing the lateral rotation of the first roller  41  and the second roller  42 . 
     For example, the length of the first mounting shaft  31  is less than the length of the second mounting shaft  32 . In this way, while ensuring the support for the first roller  41  and the second roller  42 , the second mounting shaft  32  can avoid conflict. 
       FIG. 9A  is a front diagram of a first roller in an omnidirectional wheel provided by an embodiment of the present disclosure;  FIG. 9B  is a cross-sectional diagram of a first roller in an omnidirectional wheel provided by an embodiment of the present disclosure;  FIG. 10A  is a front diagram of a second roller in an omnidirectional wheel provided by an embodiment of the present disclosure; and  FIG. 10B  is a cross-sectional diagram of a second roller in an omnidirectional wheel provided by an embodiment of the present disclosure. 
     As illustrated in  FIG. 4 ,  FIG. 9A  to  FIG. 10B , in order to avoid interference, the first roller  41  has a first large diameter end  411  and a first small diameter end  412 , and the diameter of the first large diameter end  411  is larger than the diameter of the first small diameter end  412 . The second roller  42  has a second large diameter end  421  and a second small diameter end  422 , and the diameter of the second large diameter end  421  is larger than the diameter of the second small diameter end  422 . The first small diameter end  412  of the first roller  41  has an accommodating hole  413 , and the second small diameter end  422  of the second roller  42  is at least partially embedded in the accommodating hole  413  of the first small diameter end  412  of the adjacent first roller  41 . In this way, at least part of the second roller  42  can be embedded in the first roller  41 , thereby preventing interference between the first roller  41  and the second roller  42  and ensuring that the first roller  41  and the second roller  42  can rotate relatively. 
     In the omnidirectional wheel, the rollers with different diameters are alternately disposed in a ring (that is, the first rollers  41  and the second rollers  42  are alternately disposed in a ring), and are respectively installed in pairs on the mounting shafts on both sides of the support member  20 , and the second small diameter end  422  of the second roller  42  with the smaller diameter is embedded in the first small diameter end  412  of the adjacent first roller  41  with the larger diameter, so as to ensure that each roller can rotate and avoid mutual interference. 
     In this embodiment, the diameter of the first small diameter end  412  of the first roller  41  is larger than the diameter of the second large diameter end  421  of the second roller  42 . In other words, the diameter of the first roller  41  is larger than the diameter of the second roller  42 . 
     Because the second distance between the first axis of the first mounting shaft  31  and the wheel center of the hub  10  is less than the third distance between the second axis of the second mounting shaft  32  and the wheel center of the hub  10 , the installation position of the second roller  42  with a smaller diameter is closer to the outer extension of the omnidirectional wheel, so as to ensure that the height of the first roller  41  and the height of the second roller  42  are the same at the position in contact with the ground, thereby ensuring that both the first roller  41  and the second roller  42  can contact with the ground in the rolling process. 
     The first base portion  230  of the support member  20  has a threaded hole  233 , and the axis of the threaded hole  233  points to the wheel center, so that the support member  20  can be installed on the hub  10  by a fastener with threads, and the support member  20  can be stably and reliably fixed so as to ensure the stability of the support member  20 . The base bottom surface  231  of the first base portion  230  is a flat surface, and there is a slope between the base side surface  232  of the first base portion  230  and the vertical surface of the base bottom surface  231 , so as to achieve guiding and positioning. The center of the hub may be installed with an axle (or called a roller). The axle extends out from one side of the hub, the circumference of the hub is evenly distributed with first grooves that can be matched with the base bottom surface and base side surfaces of the support member, the through hole and the threaded hole of the support member are coaxial, a bolt can be screwed into the support member from the wheel center to the outside through the through hole of the hub so as to fix the support member and the hub, and the plurality of support members are installed in the same way. 
     In the omnidirectional wheel provided by the embodiments of the present disclosure, all the support members have the same structure, and a certain support member can be independently disassembled without affecting other support members. Therefore, in the case where a certain support member is damaged, the damaged support member can be replaced contrapuntally without disassembling other support members, so that the efficiency of installation and maintenance can be improved, and the convenience of installation and maintenance can be improved. All the support members have the same structure, which can effectively reduce the number of molds, reduce the number of repair spare parts, and reduce production costs and maintenance costs. 
       FIG. 11A  is a schematic diagram of a size relationship between a first roller and a second roller in an omnidirectional wheel provided by an embodiment of the present disclosure;  FIG. 11B  is a partial enlarged view of  FIG. 11A ; and  FIG. 11C  is a schematic diagram of a gap between a first roller and a second roller. 
     As illustrated in  FIGS. 11A-11C , in some examples, in the case where the omnidirectional wheel includes 12 support members  20  and includes 12 first rollers  41  and 12 second rollers  42 , in order to ensure the assemblability and strength, in the case where the outer diameter of the omnidirectional wheel is 10 inches (that is, 254 mm) and the gap between the first roller  41  and the second roller  42  that are adjacent is about 2 mm, the diameter of the first large diameter end  411  of the first roller  41  is about 64.5 mm˜48.6 mm, and the diameter of the first small diameter end  412  of the first roller  41  is about 15 mm-0 mm. The diameter of the second small diameter end  422  of the second roller  42  is always smaller than the diameter of the first small diameter end  412  of the first roller  41 . The second roller  42  does not interfere with the inner wall of the first small diameter end  412  of the first roller  41 , so the diameter of the second small diameter end  422  of the second roller  42  depends on the size in the case where the first small diameter end  412  of the first roller  41  contains the second small diameter end  422  of the second roller  42  without interference, and the size can be determined according to actual requirements. 
     As illustrated in  FIG. 11A , assuming that the distance between the second mounting shaft  32  and the outer circumference of the omnidirectional wheel is L 1 , the radius of the omnidirectional wheel is L 2 , and the arc length corresponding to the gap between the first roller  41  and the second roller  42  that are adjacent is P, the length Z of the second mounting shaft  32  satisfies: Z=(L 2 −L 1 )*tan(2π/N−P/L 2 ). It should be noted that the value N in the above formula represents the number of support members  20  included in the omnidirectional wheel. For example, in some examples, N=12. 
     For example, as illustrated in  FIG. 11A , the radius R of the second large diameter end  421  of the second roller  42  can be calculated according to the following formula: R=L 2 −cos(((2π/N)*L 2 −P)/L 2 )*L 2 +r, in which N represents the number of support members  20  included in the omnidirectional wheel, L 2  represents the radius of the omnidirectional wheel, P represents the arc length corresponding to the gap between the first roller  41  and the second roller  42  that are adjacent, and r represents the radius of the second small diameter end  422  of the second roller  42 . 
     For example, in order to ensure that the outer circumferences of the first roller  41  and the second roller  42  can form the outer circumference of the omnidirectional wheel, the distance between the first mounting shaft  31  and the second mounting shaft  32  is the difference between the radius of the first large diameter end  411  of the first roller  41  and the radius of the second large diameter end  421  of the second roller  42 . 
     In the case where the size of the omnidirectional wheel remains unchanged, the less the number of the first rollers  41  and the second rollers  42  is, the larger the size difference between the first large diameter end  411  and the first small diameter end  412  of the first roller  41  is, the larger the size difference between the second large diameter end  421  and the second small diameter end  422  of the second roller  42  is, and the larger the size difference between the first roller  41  and the second roller  42  is. Because the number of the first rollers  41  and the second rollers  42  is reduced, the assembly cost may be reduced accordingly. It should be noted that, in the embodiments of the present disclosure, the selection of the number of the first rollers  41  and the second rollers  42  is a process of balancing the structural strength, assembly cost, and appearance experience, and the actual use situation needs to be considered comprehensively. The embodiments of the present disclosure do not limit the number of the first rollers  41  and the second rollers  42 . 
       FIG. 12  is a schematic diagram of installation of an omnidirectional wheel provided by an embodiment of the present disclosure. As illustrated in  FIG. 12 , a bolt  02  can be screwed into the support member  20  radially, and a right-angle ratchet wrench  01  is used to cooperate with a hexagon head or a sleeve to tighten the bolt  02 , so that the hub  10  and the support member  20  are tightened and fixed. The flange plate  101  is biased to a side of the omnidirectional wheel, thereby leaving operation space. For example, in some examples, the distance between the bolt  02  used to install the support member  20  and the bolt  03  at the other end of the same diameter of the hub main body  102  as the bolt  02  is at least 64 mm, and the distance between the axis of the bolt  02  and the flange plate  101  is at least 13 mm. For example, when the bolt is installed, the bolt cannot interfere with the reinforcing ribs  103  of the hub  10 . In order to ensure strength, for example, the M8 bolt can be used. For example, bolts of the same type may be used to install all the support members  20 . 
       FIG. 13A  is a schematic diagram of a support member of another omnidirectional wheel provided by an embodiment of the present disclosure; and  FIGS. 13B-13C  are schematic diagrams of an omnidirectional wheel adopting the support member in  FIG. 13A . For example, as illustrated in  FIGS. 13A-13C , in this embodiment, for the same support member  20 , the first axis of the first mounting shaft  31  and the second axis of the second mounting shaft  32  have an angle less than 180 degrees, that is, the first axis and the second axis are not parallel. In this way, the gap between the first roller  41  and the second roller  42  that are adjacent can be reduced, and the flatness of the edge of the omnidirectional wheel can be improved. As illustrated in  FIG. 13B  and  FIG. 13C , the gap between the first roller  41  and the second roller  42  that are adjacent is small, and the flatness of the edge of the omnidirectional wheel is improved. For example, the angle between the first axis and the second axis may be 120 degrees, 140 degrees, 160 degrees, or any other angle, which is not limited in the embodiments of the present disclosure. For example, the shape of the portion of the support member  20  for connecting with the hub  10  is different from the shape of the support member  20  illustrated in  FIG. 8 , and the opening direction of the threaded hole for mounting the bolt is also different from the support member  20  illustrated in  FIG. 8 , this is a reasonable deformation, and can also realize the function of the support member  20 . 
       FIGS. 14A-14B  are schematic diagrams of another omnidirectional wheel provided by an embodiment of the present disclosure. For example, as illustrated in  FIGS. 14A-14B , in this embodiment, the plurality of support members  20  are divided into a plurality of groups, each group includes at least two support members  20 , support members  20  in the same group are integrally formed on the same second base portion  240 , and support members  20  in different groups are formed on different second base portions  240 . For example, two support members  20  may be a group and formed on a same second base portion  240 , or three support members  20  may be a group and formed on a same second base portion  240  (the case is illustrated in  FIGS. 14A-14B ), or four support members  20  may also be a group and formed on a same second base portion  240 , and the number of support members  20  in each group is not limited, which can be determined according to actual requirements. For example, the numbers of the support members  20  in respective groups may be the same or different, which is not limited in the embodiments of the present disclosure. 
     For example, correspondingly, a plurality of second grooves  250  are provided on the hub  10 , and the plurality of second grooves  250  are disposed at intervals along the circumferential direction of the distribution circumference of the plurality of support members  20 . The plurality of second grooves  250  are disposed in one-to-one correspondence with the plurality groups of support members  20 , and the number of the second grooves  250  is equal to the number of groups of the support members  20 . The second groove  250  is configured to provide an installation space for the second base portion  240  so as to enable a corresponding group of support members  20  to be installed on the hub  10 . 
     Through the above method, the number of elements of the omnidirectional wheel can be reduced, the installation efficiency can be improved, the accumulated assembly error can be reduced, and the assembly accuracy can be improved. 
       FIGS. 15A-15C  are schematic diagrams of another omnidirectional wheel provided by an embodiment of the present disclosure. For example, as illustrated in  FIGS. 15A-15C , in this embodiment, the hub  10  includes a hub main body  102  and an axle  104 , the axle  104  is located on the axis of the hub  10 , and the axle  104  and the hub main body  102  are an integral structure. For example, the hub  10  can be manufactured by any applicable manufacturing method such as a casting process or a turning and milling process. By making the axle  104  and the hub main body  102  into an integral structure, the process of installing the axle can be omitted, installation errors can be avoided, and the connection strength can be improved. 
       FIG. 16A  is a schematic diagram of a support member of another omnidirectional wheel provided by an embodiment of the present disclosure; and  FIGS. 16B-16C  are schematic diagrams of an omnidirectional wheel adopting the support member in  FIG. 16A . For example, as illustrated in  FIGS. 16A-16C , in this embodiment, both the first mounting surface  21  of the support member  20  and the second mounting surface  22  of the support member  20  are curved surfaces or flat surfaces. For the same support member  20 , the first mounting surface  21  and the second mounting surface  22  are symmetrical to each other. In this way, the force uniformity of the support member  20  can be improved, thereby improving the structural strength. 
     It should be noted that, in the embodiments of the present disclosure, the omnidirectional wheel is not limited to include the structures and components described above, but may also include more structures and components, for example, may also include a hub cover plate provided on the hub to prevent dust and protect and beautify the hub, which can be determined according to actual needs, and the embodiments of the present disclosure are not limited in this aspect. In addition, the structures and features of the omnidirectional wheels described in the foregoing embodiments and examples can be combined with each other to obtain more types of omnidirectional wheels. 
     At least one embodiment of the present disclosure further provides an omnidirectional wheel. The omnidirectional wheel includes a hub, a plurality of support members, a plurality of first rollers, and a plurality of second rollers. The plurality of support members are circumferentially distributed on the hub, each of the support members has a first mounting surface and a second mounting surface disposed oppositely, the first mounting surface is provided with a first mounting shaft, the second mounting surface is provided with a second mounting shaft, and a distance between a first axis of the first mounting shaft and a wheel center of the hub is less than a distance between a second axis of the second mounting shaft and the wheel center of the hub. At least one of the first rollers is rotatably disposed on each first mounting shaft; and at least one of the second rollers is rotatably disposed on each second mounting shaft. Along a circumferential direction of a distribution circumference of the plurality of support members, the plurality of first rollers and the plurality of second rollers are disposed at intervals in sequence, one of the second rollers is disposed between two adjacent first rollers, and one of the first rollers is disposed between two adjacent second rollers. The first roller has a first large diameter end and a first small diameter end, a diameter of the first large diameter end is larger than a diameter of the first small diameter end, and the first small diameter end has an accommodating hole. The second roller has a second large diameter end and a second small diameter end, a diameter of the second large diameter end is larger than a diameter of the second small diameter end, and the second small diameter end of the second roller is at least partially embedded in the accommodating hole of the first small diameter end of an adjacent first roller. The diameter of the first small diameter end of the first roller is larger than the diameter of the second large diameter end of the second roller. For a same support member, the first axis of the first mounting shaft and the second axis of the second mounting shaft are parallel to each other. The hub is provided with a plurality of first grooves, and the plurality of first grooves are disposed at intervals along a circumferential direction of a distribution circumference of the plurality of support members, and the plurality of first grooves are disposed in one-to-one correspondence with the plurality of support members. Each of the first grooves includes a bottom mounting surface and two side mounting surfaces, and the two side mounting surfaces are disposed at intervals along the circumferential direction of the distribution circumference, and the first groove is configured to provide an installation space for the support member so as to enable the support member to be installed on the hub. The support member includes a first base portion that is matched with the first groove, the first base portion includes a base bottom surface and two base side surfaces on both sides of the base bottom surface, and the first base portion is configured to match the first groove so as to enable the support member to be installed on the hub. The first base portion is provided with a threaded hole, and an axis of the threaded hole points to the wheel center of the hub. A bottom of the first groove is provided with a through hole, and in the case where the first base portion of the support member is inserted into the first groove, the through hole is concentric with the threaded hole on the corresponding first base portion. A length of the first mounting shaft is less than a length of the second mounting shaft. 
     For the detailed descriptions and technical effects of the omnidirectional wheel, reference can be made to the above contents, which is not repeated here. 
     Embodiments of the present disclosure further provide a scooter, the scooter includes a seat and at least one omnidirectional wheel, the omnidirectional wheel is rotatably disposed on at least one side of the seat, and the omnidirectional wheel is the omnidirectional wheel provided by any embodiment of the present disclosure. The scooter is equipped with the aforementioned omnidirectional wheel. The omnidirectional wheel has a simple structure, which can lower the difficulty of installation and maintenance, improve the efficiency of installation and maintenance, reduce production and maintenance costs, and can ensure stability and parallelism during operation, and have a better user experience. 
       FIG. 17  is a schematic diagram of a scooter provided by an embodiment of the present disclosure. For example, as illustrated in  FIG. 17 , a scooter  100  includes a seat  110  and at least one omnidirectional wheel  120 . The omnidirectional wheel  120  is rotatably disposed on at least one side of the seat  110  (for example, on both sides). The omnidirectional wheel  120  is the omnidirectional wheel provided by any embodiment of the present disclosure.  FIG. 17  only schematically illustrates the installation position of the omnidirectional wheel  120 , and does not illustrate the specific structure of the omnidirectional wheel  120 . For the specific structure of the omnidirectional wheel  120 , reference can be made to the above contents, which are not repeated here. 
     For example, in some examples, the scooter  100  includes two omnidirectional wheels  120  and further includes two non-omnidirectional wheels  130 . For example, the two omnidirectional wheels  120  are provided at the left front side and right front side of the seat  110 , and the two non-omnidirectional wheels  130  are provided at the left rear side and right rear side of the seat  110 . When the scooter  100  needs to move, the omnidirectional wheels  120  adjusts the moving direction according to the needs of the user, so as to achieve forward movement, backward movement, lateral movement, and the like. 
     It should be noted that, in the embodiments of the present disclosure, the scooter  100  may further include more components, for example, further include a battery, a control circuit, a brake, etc., so as to have more comprehensive functions, and the embodiments of the present disclosure are not limited in this aspect. The scooter  100  is not limited to only include two omnidirectional wheels  120 , and four wheels of the scooter  100  may all adopt omnidirectional wheels  120  to improve the flexibility and stability of movement. For the detailed descriptions and technical effects of the scooter  100 , reference can be made to the above descriptions of the omnidirectional wheel, which are not repeated here. 
     The above implementations are only used to illustrate the embodiments of the present disclosure, and are not intended to limit the embodiments of the present disclosure. Those of ordinary skill in the relevant technical field can also make various modifications without departing from the spirit and scope of the embodiments of the present disclosure, and all equivalent technical solutions also belong to the scope of the embodiments of the present disclosure, and the protection scope of the embodiments of the present disclosure should be defined by the claims.