CN215584033U

CN215584033U - Self-moving robot

Info

Publication number: CN215584033U
Application number: CN202121606472.3U
Authority: CN
Inventors: 朱帅
Original assignee: Shenzhen Useer Robot Co Ltd
Current assignee: Shenzhen Useer Robot Co Ltd
Priority date: 2021-07-12
Filing date: 2021-07-12
Publication date: 2022-01-21
Anticipated expiration: 2031-07-12

Abstract

The invention discloses a self-moving robot, comprising: the main part sets up in the advancing wheel and the universal wheel subassembly of main part bottom surface, the universal wheel subassembly includes: a universal wheel; the universal wheel bracket is used for loading the universal wheel, a universal shaft for driving the universal wheel bracket to rotate is arranged at the top end of the universal wheel bracket, and a groove arranged along the circumferential direction of the universal wheel is formed in the upper end of the universal shaft; the universal shaft is characterized in that the main body is provided with a through hole for loading the universal shaft, the through hole extends towards the inside of the main body to form a pipe body, the top end of the pipe body is provided with a protruding portion arranged along the radial direction of the through hole, and the protruding portion extends into the groove. Through set up the recess on the cardan shaft to set up the body in the main part on the through-hole that is used for loading the universal wheel, stretch into the recess through the protruding portion that sets up on the body and form stable joint state, also can not influence the rotation of cardan shaft simultaneously, prevent that the universal wheel subassembly from droing obstacle crossing in-process, thereby reach stable removal effect.

Description

Self-moving robot

Technical Field

The invention relates to the technical field of robots, in particular to a self-moving robot.

Background

At present, intelligent self-moving robot equipment such as a sweeping robot and a reception robot becomes an intelligent terminal with wider and wider application, and the market puts higher requirements on the reliability of the moving process of the intelligent self-moving robot. Generally speaking, self-moving robot adopts the detachable universal wheel to carry out supplementary direction control, and this kind of mode has improved maintainability to a certain extent, but to the universal wheel under the permanent operating condition, especially need experience the universal wheel of obstacle crossing work, has proposed higher requirement simultaneously. After multiple obstacle-crossing operations, the universal wheels are likely to fall off due to connection failure of the detachable connecting pieces between the universal wheels and the self-moving robot, so that the normal operation of the self-moving robot is influenced.

Therefore, there is a need for a self-moving robot to solve the problem of the prior art that the universal wheels are easy to fall off.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a self-moving robot which is easy to cause the falling of universal wheels.

The technical scheme is as follows: a self-moving robot, comprising:

the main part sets up in the advancing wheel and the universal wheel subassembly of main part bottom surface, the universal wheel subassembly includes:

a universal wheel;

the universal wheel bracket is used for loading the universal wheel, a universal shaft for driving the universal wheel bracket to rotate is arranged at the top end of the universal wheel bracket, and a groove arranged along the circumferential direction of the universal shaft is arranged at the upper end of the universal shaft;

the universal shaft is characterized in that the main body is provided with a through hole for loading the universal shaft, the through hole extends towards the inside of the main body to form a pipe body, the top end of the pipe body is provided with a protruding portion arranged along the radial direction of the through hole, and the protruding portion extends into the groove.

Further, the protruding portion and the pipe body are integrally manufactured.

Further, the protruding portion is a gasket, the gasket is provided with a mounting groove arranged along the radial direction, and the gasket is inserted into the groove along the mounting groove.

Furthermore, a bearing is further sleeved on the universal shaft, and the universal shaft is rotatably arranged in the pipe body through the bearing.

Further, a cap portion for preventing the protrusion from coming off is provided at the top end of the universal shaft.

Further, the groove lower end surface is provided as a slope to guide the protrusion into the groove.

Has the advantages that: according to the self-moving robot, the groove is formed in the universal shaft, the pipe body is arranged on the through hole used for loading the universal wheel in the main body, the protruding portion arranged on the pipe body extends into the groove to form a stable clamping state, meanwhile, the rotation of the universal shaft cannot be influenced, the universal wheel assembly is prevented from falling off in the obstacle crossing process, and therefore a stable moving effect is achieved.

Drawings

FIG. 1 is a schematic plan view of a self-moving robot according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of the self-moving robot shown in fig. 1;

FIG. 3 is an enlarged view of the structure shown at A in FIG. 2;

FIG. 4 is a schematic cross-sectional structural view of the self-moving robot of FIG. 1;

fig. 5 is a schematic cross-sectional structural view of another embodiment of the self-moving robot according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the technical solutions in the embodiments may be combined with each other, but must be based on the realization of the technical solutions by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not to be within the protection scope of the present invention.

Referring to fig. 1 to 4, an embodiment of the self-moving robot of the present invention includes a main body 1, and a traveling wheel 3 and a universal wheel assembly 2 provided on a bottom surface of the main body. The universal wheel assembly 2 includes: a universal wheel 21 and a universal wheel support 22 for carrying the universal wheel. The universal wheel 22 is arranged to rotate around its own axis so as to roll on the ground, a universal shaft 23 for driving the universal wheel support to rotate horizontally is arranged at the top end of the universal wheel support 22, and a groove arranged along the circumferential direction of the universal shaft is arranged at the upper end of the universal shaft 23. The castor 22 can thus be moved by the cardan shaft 23, so that the direction of travel is changed.

Be equipped with on main part 1 and be used for loading the through-hole of cardan shaft 23, the through-hole is to the inside formation body 11 that extends of main part, body 11 top is equipped with the edge the radial protruding portion 24 that sets up of through-hole, when universal wheel subassembly 2 was assembled to main part 1 on, protruding portion 24 stretched into in the recess, but not butt recess bottom to avoid interfering cardan shaft 23 and rotate.

Through set up the recess on cardan shaft 23 to set up body 11 on the through-hole that is used for loading the universal wheel in main part 1, stretch into the recess through the protruding portion 24 that sets up on the body 11 and form stable joint state, also can not influence the rotation of cardan shaft 23 simultaneously, prevent that universal wheel subassembly 2 from droing in obstacle crossing process, thereby reach stable removal effect.

In this embodiment, the protruding portion 24 is a gasket, and the gasket is provided with a mounting groove arranged along the radial direction, and the gasket is inserted into the groove along the mounting groove direction, so as to facilitate the disassembly and assembly of the universal wheel assembly 2.

In a preferred embodiment, the universal shaft 23 is further sleeved with a bearing 12, and the universal shaft 23 is rotatably disposed in the tube 11 through the bearing 12, so as to prolong the service life of the universal shaft 23, and enable the universal shaft 23 to rotate more sensitively.

In a preferred embodiment, the top end of the universal shaft 23 is provided with a cap 231 for preventing the protrusion from coming off, and when the universal shaft 23 moves upward, the protrusion 24 abuts against the cap 231 so that the universal shaft 23 does not come off the through hole.

In a preferred embodiment, the groove lower end surface is provided as a ramp to guide the protrusion into the groove.

In a preferred embodiment, as shown in fig. 3, the protruding portion 24 is integrally formed with the tube body 11, and the tube body 11 is configured to be detachably connected to the main body 1, so that the manufacturing cost of the universal wheel bracket 22 can be reduced, and the universal wheel bracket 22, the universal shaft 23 and the protruding portion 24 can be directly integrally formed, thereby increasing the manufacturing efficiency.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims

1. A self-moving robot, comprising: the main part sets up in the advancing wheel and the universal wheel subassembly of main part bottom surface, its characterized in that: the universal wheel assembly includes:

a universal wheel;

the universal wheel bracket is used for loading the universal wheel, a universal shaft used for driving the universal wheel bracket to horizontally rotate is arranged at the top end of the universal wheel bracket, and a groove arranged along the circumferential direction of the universal shaft is arranged at the upper end of the universal shaft;

2. A self-moving robot as claimed in claim 1, wherein: the protruding portion and the tube body are integrally manufactured.

3. A self-moving robot as claimed in claim 1, wherein: the protruding portion is a gasket, the gasket is provided with a mounting groove arranged along the radial direction, and the gasket is inserted into the groove along the mounting groove.

4. A self-moving robot as claimed in claim 2 or 3, wherein: the universal shaft is further sleeved with a bearing, and the universal shaft is rotatably arranged in the pipe body through the bearing.

5. A self-moving robot as claimed in claim 4, wherein: and a cap part for preventing the protrusion from being separated is arranged at the top end of the universal shaft.

6. A self-moving robot as claimed in claim 5, wherein: the groove lower end surface is provided as a slope to guide the protrusion into the groove.