CN215149036U - Universal wheel assembly and robot - Google Patents
Universal wheel assembly and robot Download PDFInfo
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- CN215149036U CN215149036U CN202120828792.7U CN202120828792U CN215149036U CN 215149036 U CN215149036 U CN 215149036U CN 202120828792 U CN202120828792 U CN 202120828792U CN 215149036 U CN215149036 U CN 215149036U
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- universal wheel
- wheel assembly
- bearing
- longitudinal shaft
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Abstract
The utility model discloses an universal wheel subassembly and robot, wherein, this universal wheel subassembly includes support frame, wheel body, axis of ordinates, locating part and longitudinal bearing. The wheel body is rotatably arranged on the support frame; the longitudinal shaft extends along the vertical direction, and the lower end of the longitudinal shaft is fixedly connected with the support frame; the limiting piece is arranged at the upper end of the longitudinal shaft; the longitudinal bearing is sleeved outside the longitudinal shaft and located below the limiting part, and the longitudinal bearing and the limiting part form an installation space at an interval for installing the robot chassis. The utility model discloses an among the universal wheel subassembly, longitudinal bearing cover is located outside the axis of ordinates, the robot chassis install in the installation space, avoid support frame direct contact the robot chassis, even under heavier load, the axis of ordinates also can be followed the longitudinal bearing is nimble to be rotated, thereby drives the universal wheel subassembly changes the direction of driving in a flexible way.
Description
Technical Field
The utility model relates to the technical field of robot, in particular to universal wheel subassembly and robot.
Background
In both life and production, the universal wheel is a mechanical structure commonly used by people, and the universal wheel can easily and conveniently change the driving direction, so that the machine can drive according to a route required by people. However, when the weight of the machine itself or the load of the machine is large, the pressing force to which the universal wheels are subjected is also greatly increased, so that it is difficult to change the traveling direction of the universal wheels.
The above is only for the purpose of assisting understanding of the technical solution of the present invention, and does not represent an admission that the above is the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an universal wheel subassembly aims at solving the universal wheel and turns to inflexible technical problem under the heavier condition of load.
In order to achieve the above object, the utility model provides an universal wheel assembly, include:
a support frame;
the wheel body is rotatably arranged on the support frame;
the longitudinal shaft extends along the up-down direction, and the lower end of the longitudinal shaft is fixedly connected with the support frame;
the limiting piece is arranged at the upper end of the longitudinal shaft; and
the longitudinal bearing is sleeved outside the longitudinal shaft and located below the limiting part, and an installation space is formed between the longitudinal bearing and the limiting part at intervals and used for installing the robot chassis.
Optionally, the outer ring of the longitudinal bearing is used for being fixedly connected with the robot chassis.
Optionally, the lower end of the longitudinal shaft is provided with an annular flange, which abuts against the lower end face of the longitudinal bearing.
Optionally, an annular limiting groove is formed in the upper end of the longitudinal shaft, and the limiting part is clamped in the annular limiting groove.
Optionally, the limiting part comprises a clamp spring, the clamp spring is provided with a clamp interface, and a clamping part facing the longitudinal shaft is arranged on the clamp spring in a protruding mode.
Optionally, the universal wheel assembly further includes a screw, and at least one transverse bearing, the transverse bearing is installed on the wheel and coaxially disposed with the wheel, the screw extends along the horizontal direction and penetrates through the support frame, the wheel and the transverse bearing, and the screw is in threaded connection with the screw.
Optionally, the support frame includes a support portion and an installation portion connected to the support portion, the wheel body is rotatably installed on the installation portion, and the lower end of the longitudinal shaft is connected to the support portion.
Optionally, the installation department is including being located two mounting panels of wheel body both sides, and connect two the connecting plate of mounting panel, the supporting part is located one side of mounting panel is connected the mounting panel, the wheel body with the mounting panel rotates to be connected.
Optionally, the central axis of the longitudinal axis does not intersect the axis of rotation of the wheel.
The utility model discloses still provide a robot, including robot chassis and universal wheel subassembly, universal wheel subassembly includes:
a support frame;
the wheel body is rotatably arranged on the support frame;
the longitudinal shaft extends along the up-down direction, and the lower end of the longitudinal shaft is fixedly connected with the support frame;
the limiting piece is arranged at the upper end of the longitudinal shaft; and
the longitudinal bearing is sleeved outside the longitudinal shaft and located below the limiting part, and an installation space is formed between the longitudinal bearing and the limiting part at intervals and used for installing the robot chassis.
The utility model discloses universal wheel subassembly is through setting up the axis of ordinates that extends along upper and lower direction in support frame top, and vertical bearing is established to the lower pot head of axis of ordinates the upper end of axis of ordinates sets up the locating part, vertical bearing with the locating part interval forms installation space when universal wheel subassembly assembles with outside robot chassis, the robot chassis is installed in the installation space, avoided support frame direct contact the robot chassis. Therefore, even under heavy load, the longitudinal shaft can rotate along with the rotation of the longitudinal bearing, so that the universal wheel assembly is driven to flexibly change the running direction, the running noise of the universal wheel assembly is reduced, and the service life of the universal wheel assembly is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural view of an embodiment of the universal wheel assembly of the present invention;
FIG. 2 is an exploded view of the universal wheel assembly of FIG. 1;
fig. 3 is a detailed view of the assembly of the universal wheel assembly and the robot chassis according to an embodiment of the present invention;
fig. 4 is a partially enlarged schematic view of a portion a of fig. 3.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
10 | |
11 | Supporting |
| 12 | |
121 | |
122 | Connecting |
| 20 | |
30 | |
31 | |
| 32 | Annular |
40 | |
41 | |
| 42 | Clamping |
50 | Longitudinal bearing | 60 | |
| 70 | Screw with a |
80 | Transverse bearing | 90 | |
| 91 | Assembling part |
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B" including either scheme A, or scheme B, or a scheme in which both A and B are satisfied. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides an universal wheel subassembly.
In the embodiment of the present invention, as shown in fig. 1 to 4, the universal wheel assembly 100 includes a supporting frame 10, a wheel body 20, a longitudinal shaft 30, a limiting member 40 and a longitudinal bearing 50. Wherein, the wheel body 20 is rotatably mounted on the supporting frame 10; the longitudinal shaft 30 extends in the up-down direction, and the lower end of the longitudinal shaft 30 is fixedly connected with the support frame 10; the limiting piece 40 is arranged at the upper end of the longitudinal shaft 30; the longitudinal bearing 50 is sleeved outside the longitudinal shaft 30 and located below the limiting member 40, and the longitudinal bearing 50 and the limiting member 40 form an installation space at an interval for installing the robot chassis 90.
Specifically, the supporting frame 10 is made of a metal material, so that the supporting frame 10 has sufficient strength, the bearing capacity of the universal wheel assembly 100 is improved, and the service life of the universal wheel assembly is longer.
The wheel body 20 and the support frame 10 are installed in a shaft hole matching mode. Specifically, a shaft hole may be formed in the support frame 10, a rotating shaft may be arranged on the wheel body 20, the rotating shaft and the wheel body may be integrally formed, the wheel body 20 is rotatably installed in the shaft hole of the support frame 10 through the rotating shaft, and the wheel body 20 rotates along with the rotation of the rotating shaft; of course, the rotating shaft may be provided independently, and the rotating shaft is provided in both the wheel body 20 and the supporting frame 10 and passes through the supporting frame 10 and the wheel body 20, so that the wheel body 20 is mounted on the supporting frame 10 and the wheel body 20 can rotate around the rotating shaft.
The longitudinal shaft 30 and the supporting frame 10 may be integrally formed, thereby reducing the assembling process and the machining precision, and further reducing the machining cost. The longitudinal shaft 30 and the support frame 10 may also be separately arranged, and at this time, the longitudinal shaft 30 and the support frame 10 may be installed in a matching manner in a manner of insertion, clamping, threaded connection, and the like, without specific limitation, and the separate arrangement manner enables the universal wheel assembly 100 to be more conveniently detached and installed when in use.
The limiting member 40 is disposed at the upper end of the longitudinal shaft 30, and when the longitudinal shaft 30 is mounted on the robot chassis 90, the limiting member 40 can limit the longitudinal shaft 30 from moving up and down relative to the robot chassis 90, so as to avoid large shaking of the universal wheel assembly 100 during driving.
The longitudinal bearing 50 and the longitudinal shaft 30 are installed in an interference fit manner, so that the longitudinal shaft 30 is fixedly connected with an inner ring of the bearing, and the longitudinal shaft 30 can flexibly rotate along with the inner ring of the longitudinal bearing 50, thereby driving the universal wheel assembly 100 to flexibly steer.
The mounting space is used for mounting the robot chassis 90, and specifically, the robot chassis 90 includes an assembling portion 91, a shaft hole is formed in the assembling portion 91, and the shaft hole is adapted to the longitudinal shaft 30, so that the assembling portion 91 is mounted in the mounting space. When the part of the longitudinal shaft 30 located in the installation space is installed in the shaft hole of the assembling portion 91, the contact area between the longitudinal shaft 30 and the robot chassis 90 may be increased, so as to increase the force bearing area of the longitudinal shaft 30, and perform the functions of resisting horizontal impact and preventing the longitudinal shaft 30 from deforming, thereby increasing the overall structural strength of the universal wheel assembly 100, and improving the load bearing capacity and the service life of the universal wheel assembly 100.
The technical scheme of the utility model a universal wheel subassembly 100 is provided, universal wheel subassembly 100 still can turn to in a flexible way under heavier load. The universal wheel assembly 100 comprises a support frame 10, a wheel body 20, a longitudinal shaft 30, a limiting member 40 and a longitudinal bearing 50; the wheel body 20 is rotatably mounted on the support frame 10; the longitudinal shaft 30 extends in the up-down direction, and the lower end of the longitudinal shaft 30 is fixedly connected with the support frame 10; the limiting piece 40 is arranged at the upper end of the longitudinal shaft 30; the longitudinal bearing 50 is sleeved outside the longitudinal shaft 30 and located below the limiting member 40, and the longitudinal bearing 50 and the limiting member 40 form an installation space at an interval for installing the robot chassis 90. The universal wheel assembly 100 is provided with the longitudinal shaft 30 extending in the vertical direction above the support frame 10, the longitudinal bearing 50 is sleeved at the lower end of the longitudinal shaft 30, the limiting member 40 is provided at the upper end of the longitudinal shaft 30, and the mounting space is formed by the longitudinal bearing 30 and the limiting member 40 at an interval, so that when the universal wheel assembly 100 is assembled with the robot chassis 90, the robot chassis 90 is mounted in the mounting space, and the support frame 10 is prevented from directly contacting the robot chassis 90, therefore, even under a heavy load, the longitudinal shaft 30 can flexibly rotate along with the longitudinal bearing 50, so that the universal wheel assembly 100 is driven to flexibly change the driving direction, the running noise of the universal wheel assembly is reduced, and the service life of the universal wheel assembly is prolonged.
As shown in fig. 3 and 4, in an embodiment, the outer ring of the longitudinal bearing 50 is used for being fixedly connected with the robot chassis 90. Specifically, since the inner ring and the outer ring of the longitudinal bearing 50 can rotate relatively, and the outer ring of the longitudinal bearing 50 is fixedly connected with the outer robot chassis 90, when the longitudinal shaft 30 and the inner ring of the longitudinal bearing 50 are installed in an interference fit manner, the longitudinal shaft 30 can rotate relative to the robot chassis 90, so that the universal wheel assembly 100 can flexibly steer under heavy load. In addition, since the outer ring of the longitudinal bearing 50 is fixed relative to the robot chassis 90, when the wheel body 20 travels, the universal wheel assembly 100 has less shake relative to the robot chassis 90, steering is smoother, noise generated is less, and the service life is longer.
In another embodiment, the longitudinal bearing 50 and the robot chassis 90 may not be fixedly connected, and the longitudinal shaft 30 can move up and down relative to the robot chassis 90 to some extent. In this embodiment, an elastic member may be sleeved on the longitudinal shaft 30, and the elastic member is disposed between the limiting member 40 and the longitudinal bearing 50. When the universal wheel assembly 100 is assembled with the robot chassis 90, the elastic member is used to connect the limiting member 40 and the robot chassis 90, and/or the elastic member is used to connect the longitudinal bearing 50 and the robot chassis 90. In this embodiment, the universal wheel assembly 100 can move up and down relative to the robot chassis 90, so as to adapt to more rugged and complicated road conditions, and the arrangement of the elastic member can effectively reduce the vibration of the universal wheel assembly 100 in the up-and-down direction. Further, the elastic member may be provided as a spring, a rubber member, a silicone member, or the like, and is not particularly limited herein.
In order to make the relative rotation of the inner and outer rings of the longitudinal bearing 50 more flexible, as shown in fig. 2, in an embodiment the lower end of the longitudinal shaft 30 is provided with an annular flange 31, the annular flange 31 abutting the lower end surface of the longitudinal bearing 50. Specifically, the annular flange 31 is provided in a circular shape, and the diameter of the annular flange 31 is larger than the inner diameter of the longitudinal bearing 50 and smaller than the outer diameter of the longitudinal bearing 50, so that the inner ring of the longitudinal bearing 50 abuts against the annular flange 31, and the outer ring of the longitudinal bearing 50 does not contact the annular flange 31. Therefore, the longitudinal shaft 30 rotates with the inner ring of the longitudinal bearing 50 without being limited by the outer ring of the longitudinal bearing 50, so that the rotation of the longitudinal shaft 30 is more flexible, and the universal wheel assembly 100 is more flexible in steering and has higher bearing capacity.
As shown in fig. 1 and fig. 2, in an embodiment, an annular limiting groove 32 is formed at an upper end of the longitudinal shaft 30, and the limiting member 40 is clamped in the annular limiting groove 32. The annular limiting groove 32 is formed in the longitudinal shaft 30, so that the limiting member 40 can be tightly clamped on the longitudinal shaft 30. Further, in this embodiment, the limiting member 40 includes a clamp spring having a clamp interface 41, and a clamping portion 42 protruding toward the longitudinal shaft 30 is provided on the clamp spring. Specifically, the snap spring has good elastic deformation capability, when in use, the longitudinal shaft 30 can be inserted into the snap spring from the snap interface 41, the clamping part 42 is snapped in the limiting groove, and when in disassembly, the snap spring can be separated from the longitudinal shaft 30 by pulling out the snap spring through the snap interface 41, so that the limiting part 40 and the longitudinal shaft 30 are more convenient to disassemble and assemble, and the universal wheel assembly 100 is more convenient to disassemble and assemble. Of course, in other embodiments, when the longitudinal shaft 30 and the supporting frame 10 are detachably mounted in a separate structure, the limiting member 40 and the longitudinal shaft 30 may also be integrally formed.
Referring to fig. 2, in an embodiment, the universal wheel assembly 100 further includes a screw rod 60, a screw 70, and at least one transverse bearing 80, the transverse bearing 80 is mounted on the wheel body 20 and is coaxially disposed with the wheel body 20, the screw rod 60 extends along a horizontal direction and penetrates through the supporting frame 10, the wheel body 20, and the transverse bearing 80, and the screw 70 is in threaded connection with the screw rod 60. In this embodiment, the number of the transverse bearings 80 may be two, and the two transverse bearings are respectively mounted on two sides of the wheel body 20; the number of the transverse bearings 80 can also be one, and the transverse bearings are only arranged on one side of the wheel body 20; the number of the transverse bearings 80 may also be plural, and is not particularly limited herein. The transverse bearing 80 is used to enable the wheel body 20 to rotate relative to the support frame 10 more smoothly and flexibly, so that the universal wheel assembly has less running noise and longer service life. In other embodiments, the screw 60 and the screw 70 may be replaced by bolts and nuts, which also serve to connect the wheel body 20 and the support frame 10, and also facilitate the detachment and installation.
Referring to fig. 2, in an embodiment, the supporting frame 10 includes a supporting portion 11 and a mounting portion 12 connected to the supporting portion 11, the wheel body 20 is rotatably mounted on the mounting portion 12, and the lower end of the longitudinal shaft 30 is connected to the supporting portion 11. The supporting portion 11 mainly plays a role of bearing and supporting, and the mounting portion 12 is used for mounting the wheel body 20. In order to strengthen the overall structural strength of the support frame 10 and save the production cost, the support portion 11 and the mounting portion 12 may be integrally formed. Specifically, in this embodiment, the mounting portion 12 includes two mounting plates 121 disposed on two sides of the wheel body 20, and a connecting plate 122 connecting the two mounting plates 121, the supporting portion 11 is disposed on one side of the mounting plate 121 and is connected to the mounting plate 121, and the wheel body 20 is rotatably connected to the mounting plate 121. Specifically, a wheel body 20 mounting space for mounting the wheel body 20 is formed between the connecting plate 122 and the mounting plate 121, and the connecting plate 122 and the mounting plate 121 may be integrally formed, so as to improve the overall structural strength of the mounting portion 12, and thus the universal wheel assembly has a longer service life.
Further, as shown in fig. 1 and 3, in one embodiment, the central axis of the longitudinal axis 30 does not intersect the rotational axis of the wheel body 20, such that the wheel body 20 rotates relative to the central axis of the longitudinal axis 30 with a larger turning radius and torque, thereby facilitating steering of the universal wheel assembly 100.
Referring to fig. 3 and 4, the present invention further provides a robot, which includes a robot chassis 90 and a universal wheel assembly 100, wherein the specific structure of the universal wheel assembly 100 refers to the above embodiments, and the robot chassis 90 is installed in an installation space formed by the longitudinal bearing 50 and the limiting member 40 at an interval. Specifically, the robot chassis 90 includes a fitting part 91, the fitting part 91 is provided with a shaft hole, and the longitudinal shaft 30 is engaged with the shaft hole, so that the fitting part 91 is installed in the installation space. In an embodiment, the robot chassis 90 further has a bearing mounting hole, the bearing mounting hole is disposed below the shaft hole and is communicated with the shaft hole, and the longitudinal bearing 50 is mounted in the bearing mounting hole, so that the universal wheel assembly 100 and the robot chassis 90 are assembled more tightly, and the overall structural strength of the robot is higher and more reliable.
Since the robot adopts all technical solutions of all embodiments of the universal wheel assembly 100, at least all beneficial effects brought by the technical solutions of the embodiments are achieved, and detailed description is omitted here.
The above is only the optional embodiment of the present invention, and not the scope of the present invention is limited thereby, all the equivalent structure changes made by the contents of the specification and the drawings are utilized under the inventive concept of the present invention, or the direct/indirect application in other related technical fields is included in the patent protection scope of the present invention.
Claims (10)
1. A universal wheel assembly, comprising:
a support frame;
the wheel body is rotatably arranged on the support frame;
the longitudinal shaft extends along the up-down direction, and the lower end of the longitudinal shaft is fixedly connected with the support frame;
the limiting piece is arranged at the upper end of the longitudinal shaft; and
the longitudinal bearing is sleeved outside the longitudinal shaft and located below the limiting part, and an installation space is formed between the longitudinal bearing and the limiting part at intervals and used for installing the robot chassis.
2. The universal wheel assembly of claim 1, wherein the outer ring of the longitudinal bearing is adapted to be fixedly attached to the robot chassis.
3. The universal wheel assembly as claimed in claim 1 wherein the lower end of the longitudinal shaft is provided with an annular flange which abuts the lower end face of the longitudinal bearing.
4. The universal wheel assembly as claimed in claim 1, wherein the upper end of the longitudinal shaft is formed with an annular limiting groove, and the limiting member is engaged with the annular limiting groove.
5. The universal wheel assembly as claimed in claim 4, wherein said retaining member comprises a snap spring having a snap interface, said snap spring having a gripping portion projecting toward said longitudinal axis.
6. The universal wheel assembly as claimed in claim 1, further comprising a screw, and at least one transverse bearing, wherein the transverse bearing is mounted on the wheel and is disposed coaxially with the wheel, the screw extends in a horizontal direction and penetrates through the supporting frame, the wheel and the transverse bearing, and the screw is in threaded connection with the screw.
7. The universal wheel assembly of claim 1, wherein said support frame includes a support portion and a mounting portion coupled to said support portion, said wheel being rotatably mounted to said mounting portion, said longitudinal shaft being coupled at a lower end to said support portion.
8. The universal wheel assembly of claim 7, wherein said mounting portion comprises two mounting plates on opposite sides of said wheel body and a connecting plate connecting said two mounting plates, said support portion being located on one side of said mounting plates and connected to said mounting plates, said wheel body being rotatably connected to said mounting plates.
9. The universal wheel assembly of claim 8 wherein the central axis of said longitudinal axis does not intersect the axis of rotation of said wheel body.
10. A robot, comprising:
a robot chassis; and
the universal wheel assembly as claimed in any one of claims 1 to 9, wherein the robot chassis is mounted in a mounting space formed by the longitudinal bearing and the limiting member at an interval.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120828792.7U CN215149036U (en) | 2021-04-19 | 2021-04-19 | Universal wheel assembly and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120828792.7U CN215149036U (en) | 2021-04-19 | 2021-04-19 | Universal wheel assembly and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215149036U true CN215149036U (en) | 2021-12-14 |
Family
ID=79361774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120828792.7U Active CN215149036U (en) | 2021-04-19 | 2021-04-19 | Universal wheel assembly and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215149036U (en) |
-
2021
- 2021-04-19 CN CN202120828792.7U patent/CN215149036U/en active Active
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