CN216033514U - Obstacle crossing wheel and robot - Google Patents
Obstacle crossing wheel and robot Download PDFInfo
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- CN216033514U CN216033514U CN202122587602.XU CN202122587602U CN216033514U CN 216033514 U CN216033514 U CN 216033514U CN 202122587602 U CN202122587602 U CN 202122587602U CN 216033514 U CN216033514 U CN 216033514U
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- 230000001133 acceleration Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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Abstract
The utility model discloses an obstacle crossing wheel, which comprises: the device comprises a main body, a driving wheel and a plurality of telescopic rods; the main body is provided with a cam track which is provided with an offset circle; the telescopic rods can be telescopically arranged on the driving wheel in a penetrating mode, the telescopic rods are radially arranged along the tangential direction of the offset circle of the cam track, and one ends, close to the cam track, of the telescopic rods are connected to the cam track in a sliding mode; when the driving wheel rotates, one end, close to the cam track, of the telescopic rod can be driven to slide along the cam track, so that one end, far away from the cam track, of the telescopic rod extends out of the driving wheel or retracts into the driving wheel. According to the obstacle crossing wheel provided by the utility model, the telescopic rods which are telescopically arranged on the driving wheel in a penetrating way are matched with the cam track, so that auxiliary support can be provided for the driving wheel in the obstacle crossing process of the obstacle crossing wheel, the obstacle crossing wheel can more easily cross an obstacle, and the obstacle crossing height of the obstacle crossing wheel can be improved.
Description
Technical Field
The utility model relates to the field of obstacle crossing devices, in particular to an obstacle crossing wheel and a robot.
Background
The robot often meets some barriers such as small steps, electric wires and the like in a working environment, and due to insufficient obstacle crossing performance, the robot cannot enter an area blocked by the barriers to work in many cases. The obstacle crossing performance of the robot obstacle crossing wheel is a key factor influencing the obstacle crossing capability of the robot.
The existing obstacle crossing wheel is provided with a tyre pattern with a certain shape and a groove on the surface of a tyre, and when the obstacle crossing wheel crosses the obstacle, the obstacle is mainly clamped by the friction force between the tyre and the obstacle and the groove in the tyre pattern on the surface of the tyre, so that the driving wheel is prevented from slipping, and the obstacle crossing wheel crosses the obstacle. However, the friction generated in this way is limited, and the obstacle crossing height is usually about one-half of the radius of the obstacle crossing wheel.
Therefore, in view of the above technical problems, it is necessary to provide a new obstacle crossing wheel.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an obstacle crossing wheel, which can improve the obstacle crossing height of the obstacle crossing wheel through the arrangement of a telescopic rod.
In order to achieve the purpose, the technical scheme provided by the utility model is as follows:
an obstacle crossing wheel comprising: the device comprises a main body, a driving wheel and a plurality of telescopic rods; the main body is provided with a cam track, and the cam track is provided with an offset circle; the driving wheel is rotationally connected to the main body and can rotate by taking the axis of the offset circle as a rotating shaft; the telescopic rods can be telescopically arranged on the driving wheel in a penetrating mode, the telescopic rods are radially arranged along the tangential direction of the offset circle of the cam track, and one ends, close to the cam track, of the telescopic rods are connected to the cam track in a sliding mode; when the driving wheel rotates, one end, close to the cam track, of the telescopic rod can be driven to slide along the cam track, so that one end, far away from the cam track, of the telescopic rod extends out of the driving wheel or retracts into the driving wheel.
In one or more embodiments, the cam track includes a push track and a return track, the telescoping rod is movable in a direction to extend the drive wheel when sliding along the push track, and movable in a direction to retract the drive wheel when sliding along the return track.
In one or more embodiments, when the end of the telescopic rod away from the cam track is driven by the driving wheel to rotate to the lowest point of the rotation track, the telescopic rod is completely retracted into the driving wheel.
In one or more embodiments, the cam track is configured to cause a sinusoidal accelerating cycloidal motion of the telescoping rod as it slides along the cam track.
In one or more embodiments, the plurality of telescoping rods are uniformly arranged on the drive wheel in a circumferential direction of the drive wheel, the plurality of telescoping rods configured to rotate synchronously with the drive wheel.
In one or more embodiments, the driving wheel includes a first hub and a second hub that are coaxially disposed and fixedly connected to each other, a plurality of first receiving grooves are formed on a surface of the first hub facing the second hub, a plurality of second receiving grooves corresponding to the first receiving grooves in a one-to-one manner are formed on a surface of the second hub facing the first hub, and the first receiving grooves and the second receiving grooves jointly define a sliding groove for defining the telescopic path of the telescopic rod.
In one or more embodiments, a gap is formed between the telescopic rod and the inner wall of the sliding chute, the width of the gap is between 0.01 mm and 0.03mm, and the matching length between the telescopic rod and the sliding chute is not less than one third of the length of the telescopic rod.
In one or more embodiments, the driving wheel further includes a wheel sleeve sleeved on the outer peripheral surfaces of the first wheel hub and the second wheel hub, the wheel sleeve is provided with a plurality of through holes corresponding to the sliding grooves, and the telescopic rod can extend out of the wheel sleeve through the through holes.
In one or more embodiments, a clamping groove is formed in one end, away from the cam track, of the telescopic rod, a clamping portion is formed in the clamping groove, a rubber head is arranged in the clamping groove, and the rubber head is clamped on the clamping portion.
The utility model also provides a robot which comprises a frame and the obstacle crossing wheel, wherein the main body of the obstacle crossing wheel is connected to the frame.
Compared with the prior art, the obstacle crossing wheel provided by the utility model has the advantages that the plurality of telescopic rods which are telescopically arranged on the driving wheel in a penetrating mode are matched with the cam track, so that auxiliary support can be provided for the driving wheel in the obstacle crossing process of the obstacle crossing wheel, the obstacle crossing wheel can easily cross an obstacle, and the obstacle crossing height of the obstacle crossing wheel can be increased.
Drawings
FIG. 1 is a schematic view of a construction of an obstacle detouring wheel according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of the obstacle crossing wheel of FIG. 1;
FIG. 3 is a schematic view of the body of the obstacle detouring wheel of FIG. 1;
FIG. 4 is a schematic view of a first hub of the obstacle detouring wheel of FIG. 1;
FIG. 5 is a schematic view of a second hub of the obstacle detouring wheel of FIG. 1;
FIG. 6 is a schematic diagram of a wheel cover of the obstacle detouring wheel of FIG. 1;
FIG. 7 is a cross-sectional view of the telescoping rod of the obstacle detouring wheel of FIG. 1;
fig. 8 is a schematic view of the obstacle crossing wheel of fig. 1 in an obstacle crossing scenario.
Description of the main reference numerals:
1-main body, 11-cam track, 111-offset circle, 112-push track, 113-return track, 2-driving wheel, 21-walking contact surface, 22-first wheel hub, 23-second wheel hub, 24-wheel sleeve, 221-first containing groove, 231-second containing groove, 241-through hole, 3-telescopic rod, 31-buckling part and 32-rubber head.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
Referring to fig. 1 to 3, an obstacle crossing wheel according to an embodiment of the present invention includes: main part 1, drive wheel 2 and a plurality of telescopic link 3.
The body 1 is formed with a cam track 11, the cam track 11 having an offset circle 111. The drive wheel 2 is rotatably connected to the main body 1, and the drive wheel 2 can rotate about the axis of the offset circle 111 as a rotation axis. On the drive wheel 2 was worn to locate that a plurality of telescopic links 3 can stretch out and draw back, this a plurality of telescopic links 3 are radial setting along the tangential direction of cam track 11 offset circle 111, and one end sliding connection that these a plurality of telescopic links 3 are close to cam track 11 is on cam track 11.
When the driving wheel 2 rotates, one end of the telescopic rod 3 close to the cam track 11 can be driven to slide along the cam track 11, so that one end of the telescopic rod 3 far away from the cam track 11 extends out of the driving wheel 2 or retracts into the driving wheel 2.
The drive wheel 2 has a running contact surface 21, and the running contact surface 21 can be brought into contact with a medium such as a floor surface when the drive wheel 2 runs. One end of the telescopic rod 3, which is far away from the cam track 11, extends out of the driving wheel 2, namely one end of the telescopic rod 3, which is far away from the cam track 11, protrudes out of the walking contact surface 21; the end of the telescopic rod 3 away from the cam track 11 is retracted out of the driving wheel 2, which means that the end of the telescopic rod 3 away from the cam track 11 is located within the range defined by the walking contact surface 21.
With the operation of the driving wheel 2, the telescopic rod 3 can be switched between the extended and retracted states. In the obstacle crossing process of the obstacle crossing wheel, the end part of the telescopic rod 3 extending out of the driving wheel 2 can be abutted against the obstacle, so that the obstacle crossing wheel can turn over by taking the contact point of the telescopic rod 3 and the obstacle as a fulcrum, and the obstacle crossing is realized.
In an exemplary embodiment, referring to fig. 3, the cam track 11 includes a push travel track 112 and a return travel track 113. When the telescopic rod 3 slides along the stroke pushing track 112, the telescopic rod 3 can move towards the direction of extending out of the driving wheel 2, that is, when one end of the telescopic rod 3 close to the cam track 11 slides along the stroke pushing track 112 of the cam track 11, the telescopic rod 3 can move towards the direction of the outer part of the driving wheel 2 from the inner part of the driving wheel 2, so that one end of the telescopic rod 3 far away from the cam track 11 extends out of the driving wheel 2. When the telescopic rod 3 slides along the return track 113, it can move in the direction of retracting the driving wheel 2, i.e. when the end of the telescopic rod 3 close to the cam track 11 slides along the return track 113 of the cam track 11, the telescopic rod 3 can move from the outside direction of the driving wheel 2 to the inside direction of the driving wheel 2, so that the end of the telescopic rod 3 far from the cam track 11 retracts into the driving wheel 2.
In an exemplary embodiment, when the end of the telescopic rod 3 far from the cam track 11 is driven by the driving wheel 2 to rotate to the lowest point of the rotation track, the telescopic rod 3 is completely retracted into the driving wheel 2. When the obstacle crossing wheel walks on the ground or other media, in order to avoid the contact between the telescopic rod 3 and the ground or other media, the end of the telescopic rod 3 far away from the cam track 11 needs to be completely retracted into the driving wheel 2 before the lowest point (the point closest to the ground or other media) or the lowest point of the rotation track, so that the normal walking of the image obstacle crossing wheel is avoided.
In an exemplary embodiment, in the process of obstacle crossing of the obstacle crossing wheel, the position range of the telescopic rod 3 extending out of the driving wheel 2 can be set according to the obstacle crossing height range of actual needs. For example, the range of the position where the telescopic rod 3 is extended out of the driving wheel 2 may be set between a height of one-half radius of the driving wheel 2 and a height of radius of the driving wheel 2, that is, between a height of one-half radius of the driving wheel 2 and a height of radius of the driving wheel 2, so that at least a part of the telescopic rod 3 is extended out of the driving wheel 2 and is located at the front side in the traveling direction of the driving wheel 2.
In an exemplary embodiment, the cam track 11 is configured to enable a sinusoidal acceleration cycloid movement of the telescopic rod 3 when sliding along the cam track 11.
That is, the push path 112 of the cam path 11 needs to satisfy the following equation:
x＝δ1×t
y＝h×(t-sin(360×t)/(2π))；
and the return track 113 of the cam track 11 needs to satisfy the following equation:
x＝δ1+δ2+δ3×t
y＝h×(1+cos(180×(δ3×t)/δ3))/2；
wherein h is lift, δ1Is the push angle, delta2To the far angle of repose, delta3Is the return angle.
The cam track 11 satisfying the above equation can change the stress (acceleration) of the telescopic rod 3 in the operation process as a trigonometric function without sudden change of the front and rear stress, thereby reducing the seizure condition of the telescopic rod 3 in the operation process.
In an exemplary embodiment, the plurality of telescopic rods 3 are uniformly arranged on the driving wheel 2 along the circumferential direction of the driving wheel 2, and the plurality of telescopic rods 3 are configured to rotate synchronously with the driving wheel 2. During the operation of the obstacle crossing wheel, the cam track 11 is kept stationary relative to the main body 1, the driving wheel 2 rotates relative to the main body 1, and the telescopic rod 3 is driven to rotate together during the rotation of the driving wheel 2.
In an exemplary embodiment, referring to fig. 4 to 6, the driving wheel 2 includes a first hub 22 and a second hub 23 which are coaxially disposed and fixedly connected to each other. A plurality of first receiving grooves 221 are formed on a surface of the first hub 22 facing the second hub 23, a plurality of second receiving grooves 231 corresponding to the first receiving grooves 221 are formed on a surface of the second hub 23 facing the first hub, and the first receiving grooves 221 and the second receiving grooves 231 define a sliding slot for defining a telescopic path of the telescopic rod 3. The axis of each runner is arranged tangentially to the offset circle 111 of the cam track 11 so that the telescopic rod 3 can slide in the tangential direction of the offset circle 111 of the cam track 11 under the limiting action of the runners.
In an exemplary embodiment, a gap is formed between the telescopic rod 3 and the inner wall of the sliding chute, the width of the gap is between 0.01 mm and 0.03mm, and the matching length between the telescopic rod 3 and the sliding chute is not less than one third of the length of the telescopic rod 3. The friction between the telescopic rod 3 and the sliding groove can be reduced by the arrangement of the gap, so that the telescopic rod 3 can slide more smoothly in the sliding groove. The matching length between the telescopic rod 3 and the sliding groove is set to be not less than one third of the length of the telescopic rod 3, so that the stress of the telescopic rod 3 is relatively uniformly dispersed in the operation process of the obstacle crossing wheel.
Specifically, in order to further reduce the friction between the telescopic rod 3 and the sliding chute, the first hub 22 and the second hub 23 may be made of a self-lubricating material such as POM.
In an exemplary embodiment, the driving wheel 2 further includes a wheel sleeve 24 sleeved on the outer peripheral surfaces of the first wheel hub 22 and the second wheel hub 23, the wheel sleeve 24 is provided with a plurality of through holes 241 corresponding to the sliding grooves, and the telescopic rod 3 can extend out of the wheel sleeve 24 through the through holes 241. The outer peripheral surface of the wheel sleeve 24 defines the running contact surface 21 of the driving wheel 2, i.e. when the driving wheel 2 runs on a medium such as a ground surface, the outer peripheral surface of the wheel sleeve 24 contacts the medium such as the ground surface as the running contact surface 21 of the driving wheel 2.
In an exemplary embodiment, referring to fig. 7, a clamping groove is formed at an end of the telescopic rod 3 away from the cam track 11, a fastening portion 31 is formed in the clamping groove, a rubber head 32 is arranged in the clamping groove, and the rubber head 32 is fastened on the fastening portion 31. The rubber head 32 can increase the friction force with the obstacle when the telescopic rod 3 assists in obstacle crossing, and prevents the obstacle crossing wheel from slipping in the climbing process. Meanwhile, in order to prevent the rubber head 32 from falling off in the process that the telescopic rod 3 repeatedly extends and retracts on the driving wheel 2, a flange is formed on the periphery of the buckling part 31 in a radially protruding mode, the flange is embedded in the rubber head 32, and the rubber head 32 can be clamped and locked in the clamping groove.
The present invention will be further described with reference to specific scenarios.
The obstacle crossing process of the obstacle crossing wheel is shown by referring to fig. 8, fig. 8 shows a scene that the obstacle crossing wheel meets an obstacle and starts to cross the obstacle, one end of the telescopic rod 3 is abutted against the top surface of the obstacle, when the obstacle is crossed, the telescopic rod is turned over by taking a contact point of the end part of the telescopic rod 3 and the obstacle as a fulcrum, the fulcrum can increase the friction force between the driving wheel 2 and the obstacle, and the driving wheel 2 is prevented from slipping when the obstacle crossing is carried out, so that the function of assisting the driving wheel 2 in crossing the obstacle is realized; and the maximum obstacle crossing height of the obstacle crossing wheel can be adjusted according to the height of the telescopic rod 3 relative to the ground when extending out of the driving wheel 2, and the maximum obstacle crossing height can reach the radius height of the driving wheel 2.
The utility model also provides a robot, which comprises a frame and the obstacle crossing wheel, wherein the main body 1 of the obstacle crossing wheel is connected to the frame. The frame is provided with a power device which is in transmission connection with the driving wheel 2 and is used for driving the driving wheel 2 to rotate. The robot may be a cleaning robot, a mowing robot, a lifesaving robot, or the like.
In summary, the obstacle crossing wheel provided by the utility model can provide auxiliary support for the driving wheel 2 in the obstacle crossing process of the obstacle crossing wheel by the arrangement of the plurality of telescopic rods 3 which are telescopically arranged on the driving wheel 2 in a penetrating way and the cam track 11, so that the obstacle crossing wheel can cross an obstacle more easily, and the obstacle crossing height of the obstacle crossing wheel can be improved.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the utility model to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the utility model and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the utility model and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the utility model be defined by the claims and their equivalents.
Claims (10)
1. An obstacle crossing wheel, comprising:
a body having a cam track formed thereon, the cam track having an offset circle;
a driving wheel rotatably connected to the main body, the driving wheel being capable of rotating with an axis of the offset circle as a rotation axis;
the telescopic rods are telescopically arranged on the driving wheel in a penetrating mode, the telescopic rods are radially arranged along the tangential direction of the offset circle of the cam track, and one ends, close to the cam track, of the telescopic rods are connected to the cam track in a sliding mode;
when the driving wheel rotates, one end, close to the cam track, of the telescopic rod can be driven to slide along the cam track, so that one end, far away from the cam track, of the telescopic rod extends out of the driving wheel or retracts into the driving wheel.
2. The obstacle crossing wheel of claim 1 wherein said cam track includes a push track and a return track, said telescoping rod being movable in a direction to extend said drive wheel when sliding along said push track and movable in a direction to retract said drive wheel when sliding along said return track.
3. The obstacle crossing wheel of claim 2 wherein said telescoping rod is fully retracted into said drive wheel when an end of said telescoping rod remote from said cam track is rotated to its lowest point in its path of rotation by said drive wheel.
4. The obstacle crossing wheel of claim 3, wherein the cam track is configured to enable a sinusoidal accelerating cycloidal motion of the telescoping rod as it slides along the cam track.
5. The obstacle crossing wheel of claim 1, wherein the plurality of telescoping rods are uniformly arranged on the drive wheel in a circumferential direction of the drive wheel, the plurality of telescoping rods configured to rotate synchronously with the drive wheel.
6. The obstacle crossing wheel as claimed in claim 5, wherein the driving wheel comprises a first hub and a second hub which are coaxially arranged and fixedly connected with each other, a plurality of first receiving grooves are formed on one surface of the first hub facing the second hub, a plurality of second receiving grooves corresponding to the first receiving grooves in a one-to-one manner are formed on one surface of the second hub facing the first hub, and the first receiving grooves and the second receiving grooves jointly define sliding grooves for defining the telescopic rod extending and retracting path.
7. The obstacle crossing wheel as claimed in claim 6, wherein a gap is formed between the telescopic rod and the inner wall of the sliding groove, the width of the gap is between 0.01 mm and 0.03mm, and the length of the fit between the telescopic rod and the sliding groove is not less than one third of the length of the telescopic rod.
8. The obstacle crossing wheel as claimed in claim 7, wherein the driving wheel further comprises a wheel cover sleeved on the outer peripheral surfaces of the first wheel hub and the second wheel hub, the wheel cover is provided with a plurality of through holes corresponding to the sliding grooves, and the telescopic rod can extend out of the wheel cover through the through holes.
9. The obstacle crossing wheel as claimed in claim 1, wherein a slot is formed at an end of the telescopic rod away from the cam track, a buckling part is formed in the slot, and a rubber head is arranged in the slot and clamped on the buckling part.
10. A robot comprising a frame and an obstacle crossing wheel as claimed in any one of claims 1 to 9, a body of the obstacle crossing wheel being connected to the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122587602.XU CN216033514U (en) | 2021-10-26 | 2021-10-26 | Obstacle crossing wheel and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122587602.XU CN216033514U (en) | 2021-10-26 | 2021-10-26 | Obstacle crossing wheel and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216033514U true CN216033514U (en) | 2022-03-15 |
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ID=80611530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122587602.XU Active CN216033514U (en) | 2021-10-26 | 2021-10-26 | Obstacle crossing wheel and robot |
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| Country | Link |
|---|---|
| CN (1) | CN216033514U (en) |
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2021
- 2021-10-26 CN CN202122587602.XU patent/CN216033514U/en active Active
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