CN205736638U - A kind of omni-directional wheel of sweeping robot - Google Patents
A kind of omni-directional wheel of sweeping robot Download PDFInfo
- Publication number
- CN205736638U CN205736638U CN201620383617.0U CN201620383617U CN205736638U CN 205736638 U CN205736638 U CN 205736638U CN 201620383617 U CN201620383617 U CN 201620383617U CN 205736638 U CN205736638 U CN 205736638U
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- CN
- China
- Prior art keywords
- trundle
- sweeping robot
- wheel hub
- wheel
- omni
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
nullThis utility model relates to the omni-directional wheel of a kind of sweeping robot，Including main shaft and wheel hub，Through hole it is provided with in the middle part of wheel hub，Main shaft is fixedly installed in the drain pan of sweeping robot through through hole，Wheel hub the right and left side is provided with 8 roller grooves altogether，The roller groove of monolateral side has 4，4 roller grooves are around main shaft annular array，Trundle it is movably installed with in roller groove，The trundle of the left and right sides is crisscross arranged，The central shaft of trundle is mutually perpendicular to the central shaft of wheel hub，Wheel hub can be around main shaft forward or reverse，Thus realize advance or the retrogressing of sweeping robot，Simultaneously，8 trundles of the left and right sides rotate，The trundle of bottom and ground friction，Sweeping robot 360 degree is driven to turn to without dead angle，Mobility strong，Reaction is quick，Additionally，Trundle annular array，During ensureing hub rotation, trundle can contact with ground at any time，The radian of trundle outer circumferential side circular arc is 0.69～0.87rad，Fully contact with ground，It is easy to turn to.
Description
Technical field
This utility model relates to wheel field, is specifically related to the omni-directional wheel of a kind of sweeping robot.
Background technology
Sweeping robot, it is relatively common a kind of household cleaning electrical equipment, during cleaning, its internal controller can control two trailing wheels of bottom and a front-wheel completes cleaning process by default track, but because indoor barrier is more, generally sweeping robot all needs often to turn to thus avoids knocking barrier so that damaging, now, trailing wheel typically provides only power, and front-wheel then controls to turn to, but either front-wheel or trailing wheel are that one direction rotates, turn to dumb, response time is slow, and mobility is poor, and service life is the longest.
Utility model content
In order to solve existing sweeping robot and turn to slowly, the technical barrier such as mobility difference, this utility model provides a kind of omni-directional wheel rational in infrastructure, swift, and concrete technical scheme is as follows:
A kind of omni-directional wheel of sweeping robot, including main shaft and wheel hub, through hole it is provided with in the middle part of wheel hub, main shaft is fixedly installed in the drain pan of sweeping robot through through hole, and wheel hub the right and left side is provided with 8 roller grooves altogether, and the roller groove of monolateral side has 4,4 roller grooves are around main shaft annular array, being movably installed with trundle in roller groove, the trundle of the left and right sides is crisscross arranged, and the central shaft of trundle is mutually perpendicular to the central shaft of wheel hub.
Preferably, described trundle outer circumferential side is circular arc, and the radian of circular arc is 0.69～0.87rad.
Preferably, being provided with installing hole in described roller groove, trundle is provided with the auxiliary spindle matched with installing hole, and wheel hub is divided into left part, middle part and right part, and the installing hole half of left side roller groove is located at left part；Second half is located at middle part, and the installing hole half of right roller groove is located at right part；Second half is located at middle part.
Preferably, described trundle includes auxiliary spindle, internal member and rubber wheel, and auxiliary spindle runs through internal member, and internal member outer circumferential side suit rubber wheel, auxiliary spindle is movably installed in installing hole.
Preferably, described left part, right part clamping or be bolted in middle part.
Preferably, described trundle outer circumferential side part is exposed from roller groove, and it is 50%～80% that exposed portion volume accounts for whole trundle volume.
The beneficial effects of the utility model: when sweeping robot uses omni-directional wheel of the present utility model, wheel hub can be around main shaft forward or reverse, thus realize advance or the retrogressing of sweeping robot, simultaneously, 8 trundles of the left and right sides rotate, the trundle of bottom and ground friction, sweeping robot 360 degree is driven to turn to without dead angle, mobility strong, reaction is quick, additionally, trundle annular array, it is ensured that during hub rotation, trundle can contact with ground at any time, the radian of trundle outer circumferential side circular arc is 0.69～0.87rad, fully contact with ground, it is simple to turn to.
Accompanying drawing explanation
Fig. 1 is axonometric chart of the present utility model；
Fig. 2 is exploded view of the present utility model；
Fig. 3 is the exploded view of wheel hub of the present utility model；
Fig. 4 is front view of the present utility model；
Fig. 5 is side view of the present utility model；
Fig. 6 is the exploded view of trundle of the present utility model；
Fig. 7 is the sectional view of trundle of the present utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawings, detailed description of the invention of the present utility model is described further:
nullAs depicted in figs. 1 and 2，A kind of omni-directional wheel of sweeping robot，Including main shaft 1 and wheel hub 2，It is provided with through hole in the middle part of wheel hub 2，Main shaft 1 is fixedly installed in the drain pan of sweeping robot through through hole，Wheel hub 2 the right and left side is provided with 8 roller grooves 201 altogether，The roller groove 201 of monolateral side has 4，4 roller grooves 201 are around main shaft 1 annular array，Trundle 3 it is movably installed with in roller groove 201，The central shaft of trundle 3 is mutually perpendicular to the central shaft of wheel hub 2，Wheel hub 2 is when main shaft 1 rotates，8 trundles 3 control to turn to，Through experimental results demonstrate that monolateral side is provided with 4 trundles of annular array and can fully contact with ground，If be less than 4 because of the quantity of monolateral trundle 3，When bottom contact with ground the previous trundle 3 of friction with wheel hub 2 be rotated away from bottom surface after，Later trundle 3 can not contact with ground in time，There will be one when turning to stagnant，Reduce and turn to mobility；And if the quantity of monolateral trundle 3 more than 4 time, higher to the requirement on machining accuracy of wheel hub 2, and assemble the most time-consuming, and DeGrain.
As shown in Figure 4 and Figure 5, the trundle 3 of the left and right sides is crisscross arranged, trundle 3 outer circumferential side is circular arc, the radian of circular arc is 0.69～0.87rad, trundle 3 outer circumferential side part is exposed from roller groove 201, it is 50%～80% that exposed portion volume accounts for whole trundle 3 volume, being beneficial to trundle 3 can CONTACT WITH FRICTION abundant with ground, wheel hub 2 can be avoided to contact with ground simultaneously, if the wheel hub 2 because rotating can be by reciprocal frictional force when contacting with ground, the direction of this active force is inconsistent with the rotation direction of trundle 3, the turnaround time of omni-directional wheel can be reduced, omni-directional wheel even can be made not turn to time serious.
As it is shown on figure 3, be provided with installing hole 202 in roller groove 201, trundle 3 is provided with the auxiliary spindle 31 matched with installing hole 202, and wheel hub 2 is divided into left part 22, middle part 21 and right part 23, left part 22 clamping or be bolted in middle part 21, right part 23 clamping or be bolted in middle part 21.Installing hole 202 half of left side roller groove 201 is located at left part；Second half is located at middle part, carrying out pre-determined bit in the installing hole 202 of the half auxiliary spindle 31 of trundle 3 being pre-installed in middle part 21, cover left part 22 afterwards, auxiliary spindle 31 penetrates in installing hole 202 completely, preventing trundle 3 from dropping, right side trundle 3 installation method is identical with left side trundle 3.
As shown in Figure 6 and Figure 7, trundle 3 includes auxiliary spindle 31, internal member 32 and rubber wheel 33, auxiliary spindle 31 is movable installs installing hole 22, auxiliary spindle 31 runs through internal member 32, internal member 32 one annulus of outer socket, internal member 32 outer circumferential side suit rubber wheel 33, rubber wheel 33 contacts with ground friction, internal member 32 prevents the rubber wheel 33 rotated from directly torsional forces is acted on auxiliary spindle 31, and auxiliary spindle 31 causes fatigue damage, rubber wheel 33 difficult drop-off.
Above content is to combine concrete preferred implementation further detailed description of the utility model; it cannot be assumed that of the present utility model being embodied as is confined to these explanations; for this utility model person of an ordinary skill in the technical field; without departing from the concept of the premise utility; some simple deduction or replace can also be made, all should be considered as belonging to protection domain of the present utility model.
Claims (6)
1. the omni-directional wheel of a sweeping robot, including main shaft and wheel hub, through hole it is provided with in the middle part of wheel hub, main shaft is fixedly installed in the drain pan of sweeping robot through through hole, it is characterised in that: wheel hub the right and left side is provided with 8 roller grooves altogether, and the roller groove of monolateral side has 4,4 roller grooves are around main shaft annular array, being movably installed with trundle in roller groove, the trundle of the left and right sides is crisscross arranged, and the central shaft of trundle is mutually perpendicular to the central shaft of wheel hub.
The omni-directional wheel of a kind of sweeping robot the most according to claim 1, it is characterised in that: described trundle outer circumferential side is circular arc, and the radian of circular arc is 0.69～0.87rad.
The omni-directional wheel of a kind of sweeping robot the most according to claim 1, it is characterized in that: in described roller groove, be provided with installing hole, trundle is provided with the auxiliary spindle matched with installing hole, and wheel hub is divided into left part, middle part and right part, and the installing hole half of left side roller groove is located at left part；Second half is located at middle part, and the installing hole half of right roller groove is located at right part；Second half is located at middle part.
The omni-directional wheel of a kind of sweeping robot the most according to claim 3, it is characterised in that: described trundle includes auxiliary spindle, internal member and rubber wheel, and auxiliary spindle runs through internal member, and internal member outer circumferential side suit rubber wheel, auxiliary spindle is movably installed in installing hole.
The omni-directional wheel of a kind of sweeping robot the most according to claim 3, it is characterised in that: described left part, right part clamping or be bolted in middle part.
The omni-directional wheel of a kind of sweeping robot the most according to claim 1, it is characterised in that: described trundle outer circumferential side part is exposed from roller groove, and it is 50%～80% that exposed portion volume accounts for whole trundle volume.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620383617.0U CN205736638U (en) | 2016-04-29 | 2016-04-29 | A kind of omni-directional wheel of sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620383617.0U CN205736638U (en) | 2016-04-29 | 2016-04-29 | A kind of omni-directional wheel of sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205736638U true CN205736638U (en) | 2016-11-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620383617.0U Expired - Fee Related CN205736638U (en) | 2016-04-29 | 2016-04-29 | A kind of omni-directional wheel of sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205736638U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20170129692A (en) * | 2015-01-06 | 2017-11-27 | 로타캐스타 휠 피티와이 리미티드 | Wheel Frame Components |
| CN107745583A (en) * | 2017-09-29 | 2018-03-02 | 绿源美味（天津）网络科技有限公司 | A kind of portable printer |
| CN109922972A (en) * | 2017-05-31 | 2019-06-21 | 深圳市大疆创新科技有限公司 | Wheel cover, vehicle wheel component and step battlebus |
| CN113075929A (en) * | 2021-03-25 | 2021-07-06 | 深圳市伽利略机器人有限公司 | Rolling brush type omnidirectional walking robot and walking control method thereof |
-
2016
- 2016-04-29 CN CN201620383617.0U patent/CN205736638U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20170129692A (en) * | 2015-01-06 | 2017-11-27 | 로타캐스타 휠 피티와이 리미티드 | Wheel Frame Components |
| JP2018505091A (en) * | 2015-01-06 | 2018-02-22 | ロタキャスター ホイール リミテッドＲｏｔａｃａｓｔｅｒ Ｗｈｅｅｌ Ｌｉｍｉｔｅｄ | Wheel frame components |
| KR102514233B1 (en) | 2015-01-06 | 2023-03-27 | 로타캐스타 휠 피티와이 리미티드 | wheel frame components |
| CN109922972A (en) * | 2017-05-31 | 2019-06-21 | 深圳市大疆创新科技有限公司 | Wheel cover, vehicle wheel component and step battlebus |
| CN107745583A (en) * | 2017-09-29 | 2018-03-02 | 绿源美味（天津）网络科技有限公司 | A kind of portable printer |
| CN107745583B (en) * | 2017-09-29 | 2019-05-21 | 绿源美味（天津）网络科技有限公司 | A kind of portable printer |
| CN113075929A (en) * | 2021-03-25 | 2021-07-06 | 深圳市伽利略机器人有限公司 | Rolling brush type omnidirectional walking robot and walking control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20190429 |