CN212022192U

CN212022192U - Special omniwheel of robot

Info

Publication number: CN212022192U
Application number: CN202020082972.0U
Authority: CN
Inventors: 罗曙锋
Original assignee: Shenzhen Dongde Technology Co ltd
Current assignee: Shenzhen Dongde Technology Co ltd
Priority date: 2020-01-15
Filing date: 2020-01-15
Publication date: 2020-11-27
Anticipated expiration: 2030-01-15

Abstract

The utility model relates to the technical field of robot accessories, and discloses a special omnidirectional wheel for a robot, wherein a buffer device is fixedly penetrated in the wheel axis, a first coupling body and a second coupling body are fixedly arranged on the outer surface of the wheel axis, a connecting assembly is fixedly arranged on the outer surfaces of the first coupling body and the second coupling body, and the first coupling body and the second coupling body are steel components, the connecting assembly is arranged in the utility model, the inner part of an aluminum alloy wheel hub is fixed by combining a hexagonal cup head screw and a locknut, simultaneously, rubber roller wheels made of NBR rubber are respectively embedded and arranged in the first coupling body and the second coupling body, the dynamic ground grabbing force and the wear resistance of the omnidirectional wheel are increased, the noise generated during quick movement is reduced, the diameter and the overall external diameter of the rubber roller are increased, and the relative height difference between the aluminum alloy wheel hub and a roller is improved, and centrifugal stability, better trafficability.

Description

Special omniwheel of robot

Technical Field

The utility model relates to a robot accessory technical field specifically is a special omniwheel of robot.

Background

The robot is a robot device for automatically executing work, comprises all machines for simulating human behaviors or ideas and other creatures, and artificial machine equipment capable of automatically operating tasks, is used for replacing or assisting human work, and can rotate by using an omnidirectional wheel arranged at the bottom when moving, wherein the omnidirectional wheel is mainly applied to a chassis of a humanoid service robot and an AGV intelligent moving vehicle.

However, the existing omnidirectional wheel of the robot has poor wear resistance and gripping ability, is not stable enough during fast movement, generates larger noise, and generates vibration when the robot moves and has no fixed damping resistance to reduce the omnidirectional wheel when encountering uneven ground. Accordingly, one skilled in the art provides a dedicated omni-wheel for a robot to solve the problems set forth in the background art.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a special omniwheel of robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a special omniwheel of robot, includes first connector, second connector and wheel axle center, the inside of wheel axle center is fixed to run through has buffer, and the surface fixed mounting of wheel axle center has first connector and second connector, the equal fixed mounting of surface of first connector and second connector has coupling assembling, and first connector and second connector are the stopper steel component.

As a further aspect of the present invention: buffer includes pivot, backup pad, mount pad, locating hole, slide opening and spring, the inside rotation in wheel axle center is connected with the pivot, the bottom inboard in the backup pad is installed to the pivot, the slide opening has all been seted up to the both sides surface of backup pad, the inside sliding connection of slide opening has the mount pad, the locating hole has all been seted up to four corners of the upper surface of mount pad, the middle fixed mounting of mount pad and slide opening has the spring.

As a further aspect of the present invention: the quantity of spring is two, and the perpendicular installation of spring is in the centre of mount pad and backup pad, the backup pad is H type structure, the inside at the slide opening is installed through the bolt in the bottom of mount pad.

As a further aspect of the present invention: the rotating shaft vertically penetrates through the inside of the axle center of the wheel and is installed inside the supporting plate, the number of the positioning holes is four, and the positioning holes and the mounting seat are of an integrated structure.

As a further aspect of the present invention: coupling assembling includes gluey running roller, aluminum alloy wheel hub, shaft hole, hexagonal cup head screw, lock nut and draw-in groove, the fixed surface in wheel axle center installs aluminum alloy wheel hub, aluminum alloy wheel hub installs in the inside of first coupling body and second coupling body, and aluminum alloy wheel hub's inside has seted up the shaft hole, the inside in shaft hole runs through fixedly through hexagonal cup head screw, lock nut has been cup jointed to the one end of hexagonal cup head screw, the draw-in groove has all been seted up to the surface of first coupling body and second coupling body, the running roller is installed to the inside embedding of draw-in groove.

As a further aspect of the present invention: the rubber roller wheel is an NBR rubber component, the diameter of the rubber roller wheel is millimeter, the number of the rubber roller wheels is 11, the number of the shaft holes is six, and the shaft holes are uniformly distributed in the aluminum alloy wheel hub.

As a further aspect of the present invention: the quantity of hexagonal cup head screw and lock nut is three, and hexagonal cup head screw and lock nut formula structure as an organic whole, the inside in shaft hole is run through perpendicularly to the hexagonal cup head screw.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses the buffer that sets up runs through the inside in wheel axle center through the pivot, installs in the bottom of backup pad simultaneously, and the bolt is passed through to the bottom of mount pad and installs inside the slide opening to and the spring of installation between backup pad and the mount pad, play the cushioning effect to whole omniwheel, intensity when can greatly reduced vibrate makes the robot more stable when removing, increase of service life cycle.

2. The utility model discloses the coupling assembling that sets up, the combination of passing through hexagonal cup head screw and lock nut is fixed in aluminum alloy wheel hub's inside, the rubber roll wheel of NBR rubber material imbeds respectively and installs the inside at first coupling body and second coupling body simultaneously, the developments that have increased the omniwheel are grabbed land and are done all can and the degree of wear, the noise that produces when the rapid movement has been reduced, the increase of rubber roll wheel diameter and whole external diameter, promote aluminum alloy wheel hub and the relative difference in height of roller wheel, and the centrifugation stability can, the trafficability characteristic is better.

Drawings

Fig. 1 is a schematic structural diagram of a dedicated omni wheel for a robot;

fig. 2 is a schematic structural diagram of a connecting assembly in a dedicated omni-wheel for a robot;

fig. 3 is a sectional view of a connecting assembly in an omni-wheel dedicated to a robot;

fig. 4 is a side view of a dedicated omni-wheel for a robot.

In the figure: 1. a first junction body; 2. a second coupling body; 3. a wheel axis; 4. a buffer device; 5. a rotating shaft; 6. a support plate; 7. a mounting seat; 8. positioning holes; 9. a slide hole; 10. a spring; 11. a connecting assembly; 12. a glue roller wheel; 13. an aluminum alloy hub; 14. a shaft hole; 15. a hexagonal socket head screw; 16. a locknut; 17. a clamping groove.

Detailed Description

Referring to fig. 1 to 4, in an embodiment of the present invention, a special omni wheel for a robot includes a first coupling body 1, a second coupling body 2, and a wheel axle center 3, a buffer device 4 is fixedly inserted through the wheel axle center 3, the first coupling body 1 and the second coupling body 2 are fixedly mounted on the outer surface of the wheel axle center 3, a connecting assembly 11 is fixedly mounted on the outer surface of each of the first coupling body 1 and the second coupling body 2, the first coupling body 1 and the second coupling body 2 are steel members, the buffer device 4 includes a rotating shaft 5, a supporting plate 6, a mounting seat 7, a positioning hole 8, a sliding hole 9, and a spring 10, the rotating shaft 5 is rotatably connected inside the wheel axle center 3, the rotating shaft 5 is mounted inside the bottom of the supporting plate 6, the rotating shaft 5 vertically penetrates through the wheel axle center 3 and is mounted inside the supporting plate 6, sliding holes 9 are formed on both side surfaces of the supporting plate 6, inside sliding connection of slide opening 9 has mount pad 7, locating hole 8 has all been seted up to four corners of the upper surface of mount pad 7, the quantity of locating hole 8 is four, locating

hole

8 and 7 formula structures as an organic whole of mount pad, mount pad 7 and the centre fixed mounting of slide opening 9 have spring 10, the quantity of spring 10 is two, and spring 10's perpendicular installation is in the centre of mount pad 7 and backup pad 6, backup pad 6 is H type structure, the inside at slide opening 9 is passed through to the bolt in the bottom of mount pad 7, play the cushioning effect through slide opening 9 and spring 10 to whole omniwheel, greatly reduced vibration intensity.

In fig. 2 and 3: the connecting assembly 11 comprises a rubber roller 12, an aluminum alloy hub 13, a shaft hole 14, a hexagonal cup head screw 15, a locknut 16 and a clamping groove 17, the aluminum alloy hub 13 is fixedly installed on the outer surface of the wheel hub 3, the aluminum alloy hub 13 is installed inside the first coupling body 1 and the second coupling body 2, the shaft hole 14 is formed inside the aluminum alloy hub 13, the inside of the shaft hole 14 is fixedly penetrated through the hexagonal cup head screw 15, the locknut 16 is sleeved at one end of the hexagonal cup head screw 15, the number of the hexagonal cup head screws 15 and the number of the locknuts 16 are three, the hexagonal cup head screws 15 and the locknuts 16 are of an integrated structure, the hexagonal cup head screws 15 vertically penetrate through the inside of the shaft hole 14, the clamping grooves 17 are formed in the outer surfaces of the first coupling body 1 and the second coupling body 2, the rubber roller 12 is embedded in the clamping groove 17, and the rubber roller 12 is, and the diameter of rubber roll wheel 12 is 19 millimeters, the quantity of rubber roll wheel 12 is 11, and the quantity in shaft hole 14 is six, and shaft hole 14 evenly distributed is in aluminum alloy wheel hub 13's inside, and aluminum alloy wheel hub 13 is improved into two-piece combination by three pieces amalgamation, and the punching press technology changes into CNC machining center, and the assembly precision is higher, and shaft hole 14 cooperation clearance value is controllable, and the motion performance improves.

The utility model discloses a theory of operation is: the positioning hole 8 is arranged at the bottom of the robot through a bolt, the positioning hole penetrates through the inside of the wheel axle center 3 through the rotating shaft 5 and is arranged at the bottom of the supporting plate 6, the bottom of the mounting seat 7 is arranged inside the sliding hole 9 through a bolt, and the spring 10 arranged between the supporting plate 6 and the mounting seat 7 plays a role in buffering the whole omnidirectional wheel, so that the strength during vibration can be greatly reduced, the robot is more stable while moving, the service cycle is prolonged, the inside of the aluminum alloy wheel hub 13 is fixed through the combination of the hexagonal cup head screw 15 and the locknut 16, meanwhile, the rubber roller wheel 12 made of NBR rubber is respectively embedded and arranged inside the first connecting body 1 and the second connecting body 2, the dynamic ground grabbing force and the wear resistance degree of the omnidirectional wheel are increased, the noise generated during quick movement is reduced, the diameter and the whole outer diameter of the rubber roller wheel 12 are increased, and the relative height difference between the aluminum alloy wheel hub 13 and the rubber, and centrifugal stability, better trafficability.

The above-mentioned, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a special omniwheel of robot, includes first hookup body (1), second hookup body (2) and wheel axle center (3), its characterized in that, the inside of wheel axle center (3) is fixed to run through has buffer (4), and the fixed surface of wheel axle center (3) installs first hookup body (1) and second hookup body (2), the equal fixed mounting in surface of first hookup body (1) and second hookup body (2) has coupling assembling (11), and first hookup body (1) and second hookup body (2) are the stopper steel component.

2. The omnidirectional wheel special for the robot according to claim 1, wherein the buffering device (4) comprises a rotating shaft (5), a supporting plate (6), a mounting seat (7), positioning holes (8), sliding holes (9) and springs (10), the rotating shaft (5) is rotatably connected inside the wheel axle center (3), the rotating shaft (5) is mounted on the inner side of the bottom of the supporting plate (6), the sliding holes (9) are formed in the surfaces of the two sides of the supporting plate (6), the mounting seat (7) is slidably connected inside the sliding holes (9), the positioning holes (8) are formed in the four corners of the upper surface of the mounting seat (7), and the springs (10) are fixedly mounted in the middles of the mounting seat (7) and the sliding holes (9).

3. The omni-directional wheel for the robot as claimed in claim 2, wherein the number of the springs (10) is two, the springs (10) are vertically installed between the mounting seat (7) and the support plate (6), the support plate (6) is of an H-shaped structure, and the bottom of the mounting seat (7) is installed inside the sliding hole (9) through a bolt.

4. The omni wheel for the robot of claim 2, wherein the rotating shaft (5) vertically penetrates through the wheel axle center (3) and is installed inside the supporting plate (6), the number of the positioning holes (8) is four, and the positioning holes (8) and the installation seat (7) are of an integrated structure.

5. The omnidirectional wheel special for the robot as claimed in claim 1, wherein the connecting assembly (11) comprises a rubber roller wheel (12), an aluminum alloy wheel hub (13), a shaft hole (14), a hexagonal cup head screw (15), a locknut (16) and a clamping groove (17), the outer surface of the wheel axle center (3) is fixedly provided with an aluminum alloy wheel hub (13), the aluminum alloy wheel hub (13) is arranged inside the first connecting body (1) and the second connecting body (2), and the inside of the aluminum alloy wheel hub (13) is provided with a shaft hole (14), the inside of the shaft hole (14) is fixed by a hexagonal cup head screw (15) in a penetrating way, one end of the hexagonal cup head screw (15) is sleeved with a locknut (16), the outer surfaces of the first connecting body (1) and the second connecting body (2) are respectively provided with a clamping groove (17), and a rubber roller (12) is embedded in the clamping grooves (17).

6. The omni wheel for the robot as claimed in claim 5, wherein the rubber roller wheel (12) is made of NBR rubber, the diameter of the rubber roller wheel (12) is 19 mm, the number of the rubber roller wheels (12) is 11, the number of the shaft holes (14) is six, and the shaft holes (14) are uniformly distributed in the aluminum alloy hub (13).

7. The omni wheel special for the robot according to claim 5, wherein the number of the hexagonal socket head screws (15) and the locknuts (16) is three, the hexagonal socket head screws (15) and the locknuts (16) are of an integrated structure, and the hexagonal socket head screws (15) vertically penetrate through the inside of the shaft holes (14).