CN216221323U

CN216221323U - Prevent winding robot universal wheel of hair and robot

Info

Publication number: CN216221323U
Application number: CN202121845322.8U
Authority: CN
Inventors: 周卓; 周奎伍
Original assignee: Xiaowo Intelligent Beijing Technology Co ltd
Current assignee: Xiaowo Intelligent Beijing Technology Co ltd
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2022-04-08
Anticipated expiration: 2031-08-09

Abstract

The application relates to a robot universal wheel for preventing hair from winding and a robot, wherein the universal wheel comprises a wheel set main body and wheels, a first end of the wheel set main body is connected with the robot through a vertical rotating shaft, and a second end of the wheel set main body is provided with a first connecting part; the wheel is arranged on the first connecting portion through a horizontal rotating shaft, the horizontal rotating shaft can rotate relative to the first connecting portion, and the wheel can rotate relative to the horizontal rotating shaft. According to the utility model, the horizontal rotating shaft is rotatably connected to the wheel set main body, and the horizontal rotating shaft can rotate relative to the wheel set main body while the wheels rotate around the shaft, so that hair winding during the working of the machine can be effectively reduced.

Description

Prevent winding robot universal wheel of hair and robot

Technical Field

The application belongs to the technical field of universal wheels, and particularly relates to a robot universal wheel capable of preventing hair from winding and a robot.

Background

The universal wheel is arranged on a bracket of the caster wheel and can horizontally rotate for 360 degrees in dynamic load or static load.

When the cleaning robot cleans, the problem of hair winding is caused because the axis of the existing universal wheel or roller is fixed, and the cleaning robot is inconvenient to clean. And the deep groove ball bearing for the vertical rotary bearing has the advantages of easy eccentricity of the motion direction and large damping.

SUMMERY OF THE UTILITY MODEL

In view of the above analysis, the present invention is directed to a universal wheel for a robot and a robot for preventing hair from being entangled, so as to solve the problem that the hair is easily entangled in the wheel when the existing cleaning robot cleans the hair.

The purpose of the utility model is realized as follows:

in one aspect, there is provided a robot gimbal wheel for preventing hair from being entangled, comprising:

the robot comprises a wheel set main body, a robot body and a robot body, wherein the first end of the wheel set main body is connected with the robot through a vertical rotating shaft, and the second end of the wheel set main body is provided with a first connecting part;

the wheel, the wheel passes through horizontal rotating shaft and sets up on first connecting portion, and horizontal rotating shaft can rotate for first connecting portion, and the wheel can rotate for horizontal rotating shaft.

Furthermore, the horizontal rotating shaft comprises two connecting shafts, and two axial ends of the wheel are respectively connected with the first connecting part in a rotating mode through one connecting shaft.

Further, the wheel is provided with an axial through hole; the horizontal rotating shaft further comprises a supporting piece, the supporting piece is installed in the axial through hole, and two ends of the supporting piece are respectively abutted to a connecting shaft so as to provide transverse supporting force for the connecting shaft.

Further, the supporting piece is a spring or an elastic telescopic rod.

Furthermore, the connecting shaft is of a cylindrical structure, and a round hole is formed in the first end of the connecting shaft so as to accommodate the end part of the supporting piece; the second end of the connecting shaft is provided with a second connecting part for being rotatably connected with the first connecting part.

Further, the second connecting portion are cylinders, the outer diameters of the cylinders are smaller than the outer diameter of the connecting shaft, and the cylinders and the round holes are arranged coaxially.

Further, the aperture of the axial through hole is equal to or larger than any one of the shaft diameter of the horizontal rotating shaft and the diameter of the supporting piece.

Further, the surface cover of wheel is equipped with the wheel cover.

Further, the axis of the horizontal rotating shaft is located behind the axis of the vertical rotating shaft in the advancing direction.

On the other hand, the robot comprises the robot universal wheel for preventing hair from winding.

Compared with the prior art, the utility model can realize at least one of the following beneficial effects:

a) according to the robot universal wheel for preventing hair from being wound, the horizontal rotating shaft is rotatably connected to the wheel set main body, and the horizontal rotating shaft can rotate relative to the wheel set main body while the wheel rotates around the horizontal rotating shaft, so that hair winding during working of the robot can be effectively reduced.

b) According to the robot universal wheel for preventing hair from being wound, the horizontal rotating shaft comprises two independent connecting shafts, the two connecting shafts are respectively and rotatably connected to the two axial ends of the wheel, the connecting shafts are rotatably connected to the wheel set main body, the wheel can rotate around the horizontal rotating shaft, and meanwhile, the two connecting shafts can rotate relative to the wheel set main body, so that the rotation of the wheel and the connecting shafts is more flexible, and the robot universal wheel has a remarkable effect of reducing the hair winding on one side of the wheel shaft.

c) According to the robot universal wheel for preventing hair from being wound, the wheels are of a detachable structure, and the telescopic spring or the elastic telescopic rod is arranged between the two connecting shafts, so that when hair is wound, the wheels can be conveniently and rapidly detached and assembled.

Drawings

In order to more clearly illustrate the embodiments of the present specification 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 described in the embodiments of the present specification, and other drawings can be obtained by those skilled in the art according to the drawings.

FIG. 1 is a schematic structural diagram of a universal wheel of a robot for preventing hair from tangling according to the present invention;

FIG. 2 is an exploded view of the universal wheel of the robot for preventing hair entanglement according to the present invention;

FIG. 3 is a schematic view of a first angular configuration of the wheel assembly body of the present invention;

FIG. 4 is a second angle schematic view of the wheel assembly body of the present invention;

fig. 5 is a schematic view of the structure of the wheel of the present invention;

FIG. 6 is a schematic structural view of the wheel cover of the present invention;

FIG. 7 is a schematic view of the connection of the rotating shaft and the snap on the bottom case assembly of the present invention;

fig. 8 is a schematic structural view of the assembled bottom case of the present invention.

Reference numerals:

1-assembling a bottom shell; 2-a wheel set body; 3-wheels; 4-thrust ball bearing; 5-a rotating shaft; 6-wheel sleeve; 7-a first connecting shaft; 8-a spring; 9-buckling; 10-arc support bone; 11-a bearing seat; 12-mounting holes; 13-an axial through hole; 14-a projection; 15-opening; 16-a second connecting shaft; 17-caster.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. 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 application.

For the purpose of facilitating understanding of the embodiments of the present application, the following description will be made in terms of specific embodiments with reference to the accompanying drawings, which are not intended to limit the embodiments of the present application.

In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the term "connected" should be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection, which may be a mechanical connection, an electrical connection, which may be a direct connection, or an indirect connection via an intermediate medium. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The terms "top," "bottom," "above … …," "below," and "on … …" as used throughout the description are relative positions with respect to components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are multifunctional, regardless of their orientation in space.

One embodiment of the utility model, as shown in fig. 1 and 2, discloses a universal wheel of a robot for preventing hair from winding, which is mounted on an assembly bottom case 1 of the robot, and comprises a wheel set main body 2 and wheels 3, wherein a first end of the wheel set main body 2 is connected with the robot through a vertical rotating shaft, so that the wheel set main body 2 can rotate around a vertical axis, and a second end of the wheel set main body 2 is provided with a first connecting part; wheel 3 passes through horizontal rotating shaft and sets up on first connecting portion, and horizontal rotating shaft can rotate for first connecting portion, and wheel 3 can rotate for horizontal rotating shaft.

Compared with the prior art, the prevent winding robot universal wheel of hair that this embodiment provided, through rotating the horizontal rotation axle and connecting on wheelset main part 2, when wheel 3 rotated around the horizontal rotation axle, the horizontal rotation axle can rotate for wheelset main part 2, because the hair mainly twines on the horizontal rotation axle between the tip of wheel 3 and the first connecting portion, when the hair twines on the horizontal rotation axle at this place, because the horizontal rotation axle can be simultaneously for wheel 3 and wheelset main part 2 relative rotation, the hair is difficult to twine on one can the pivoted is epaxial, therefore can effectively reduce the hair winding of machine during operation.

In this embodiment, the first connecting portion includes two casters 17, and the two casters 17 are disposed at the bottom of the wheel set main body 2, as shown in fig. 4, the casters 17 are provided with mounting holes 12, the mounting holes 12 on the two casters 17 are coaxially disposed, and two ends of the horizontal rotating shaft are respectively rotatably disposed in the mounting holes 12.

In one alternative embodiment, the horizontal axis of rotation comprises two connecting axes arranged independently, the two connecting axes having the same configuration and being arranged in mirror image with respect to the centre of the wheel 3. The two axial ends of the wheel 3 are respectively connected with the first connecting part in a rotating way through one of the two connecting shafts. Specifically, an axial first end of the wheel 3 is connected with a first caster through a first connecting shaft 7, and two ends of the first connecting shaft 7 are respectively rotatably connected with the axial first end of the wheel 3 and the first caster; the axial second end of the wheel 3 is connected with the second caster through a second connecting shaft 16, and two ends of the second connecting shaft 16 are respectively connected with the axial second end of the wheel 3 and the second caster in a rotating manner. The two ends of the wheel in the axial direction are respectively connected with an independent connecting shaft in a rotating mode, the connecting shafts are connected to the wheel set main body 2 in a rotating mode, the wheel 3 can rotate around the horizontal rotating shaft, the two connecting shafts can rotate relative to the wheel set main body 2, the rotation of the wheel and the connecting shafts is more flexible, the hair winding during the operation of a machine can be effectively reduced, and the effect of reducing the hair winding on the single side of the wheel shaft is particularly remarkable.

In this embodiment, as shown in fig. 5, the wheel 3 is provided with an axial through hole 13, the horizontal rotating shaft further includes a supporting member, the supporting member is installed in the axial through hole 13, the diameter of the axial through hole 13 is greater than or equal to the diameter of the supporting member, two ends of the supporting member are respectively abutted against the first connecting shaft 7 and the second connecting shaft 16 to provide a lateral supporting force for the two connecting shafts, and the diameter of the axial through hole 13 is greater than or equal to either the diameter of the horizontal rotating shaft or the diameter of the supporting member.

In one optional embodiment, the supporting member is a general straight rod structure, and two ends of the supporting member of the straight rod structure are rotatably connected with a connecting shaft, and the connecting shaft is rotatably connected to the first connecting portion of the wheel set main body 2.

However, considering that the wheel 3 is connected to the wheel set body 2 through the support member and the connecting shaft of the straight rod structure, once the hair is twisted, the wheel 3 is difficult to detach, and is time-consuming and labor-consuming, and the user is difficult to detach by himself. In this regard, in a further alternative embodiment of this embodiment, the wheel 3 is provided as a detachable structure, and the support is a spring 8 or an elastic telescopic rod. After the wheel 3 is installed on the wheel set main body 2, the spring 8 or the elastic telescopic rod is in a compressed state, the spring 8 or the elastic telescopic rod can apply elastic force to the connecting shafts connected to the two sides, and the round connecting shafts are outwards supported by the spring 8 or the elastic telescopic rod, so that the wheel is fixed on the wheel set main body 2 to ensure the installation stability of a wheel shaft; when the wheel 2 shaft, especially the connecting shaft, is wound with hair, the normal movement of the wheel 3 is affected, the wheel 3 needs to be disassembled, at the moment, the connecting shaft and the wheel 3 can be disassembled only by continuously compressing the spring 8 or the elastic telescopic rod, and the wheel is reassembled after the wound hair is removed.

In this embodiment, the connecting shaft is a cylindrical structure, and a first end of the connecting shaft is provided with a round hole for accommodating an end portion of the supporting member. Optionally, the round hole is a blind hole; the second end of the connecting shaft is provided with a second connecting part for being rotatably connected with the first connecting part.

The second connecting part is a cylinder, the outer diameter of the cylinder is smaller than that of the connecting shaft, and the cylinder and the round hole are coaxially arranged; the outer diameter of the cylinder is smaller than or equal to the diameter of the mounting hole 12 on the caster 17, the diameter of the mounting hole 12 is larger than the outer diameter of the connecting shaft, and the cylinder can be rotatably mounted in the mounting hole 12 on the caster 17.

Through set up mounting hole 12 on caster 17, when taking place the hair winding and need dismantling the wheel, can follow the outside of caster 17 and inwards extrude the connecting axle, and then make spring 8 or the inside compression of elasticity telescopic link, make the second connecting portion of connecting axle deviate from mounting hole 12, realize the quick dismantlement of wheel.

In order to improve the motion flexibility of the universal wheel, the vertical rotating shaft comprises a rotating shaft 5 and a thrust ball bearing 4 arranged on the rotating shaft 5, and the wheel set main body 2 is connected with the bottom of the robot through the thrust ball bearing 4. Adopt thrust ball bearing to be connected the assembly drain pan 1 of wheelset main part and robot, reduce the damping, promote the flexibility of motion.

Specifically, a rotating shaft 5 is embedded in the wheel set body 2, a thrust ball bearing is placed on the rotating shaft 5 to be assembled with a machine bottom case, and a first end of the wheel set body 2 is connected with the bottom of the robot through the thrust ball bearing 4. As shown in fig. 3, the first end of the wheel unit main body 2 is provided with a bearing seat 11 for mounting the thrust ball bearing 4; the center of bearing frame 11 is equipped with the centre bore, installs rotation axis 5 in the centre bore, and rotation axis 5 sets up with wheelset main part 2 is coaxial, and rotation axis 5 sets up with thrust ball bearing 4 is coaxial.

In order to improve the frictional force of wheel and ground, the surface cover of wheel 3 is equipped with wheel cover 6, and wheel cover 6 is the rubber material, through establish wheel cover 6 at the wheel overcoat, can increase the land fertility of grabbing of wheel, prevents to skid, can also play the shock attenuation effect.

Further, as shown in fig. 5 to 6, a protrusion 14 is provided on the surface of the wheel 3, the wheel hub 6 is provided with an opening 15, when the wheel hub 6 is sleeved on the wheel 3, the opening 15 exposes the protrusion 14, and the outer surface of the protrusion 14 is coplanar with the outer surface of the wheel hub 6; the wheel 3 is an ellipsoid structure, and after being arranged on the wheel group main body 2, the long axis of the wheel 3 is collinear with the horizontal rotating shaft. After the wheel sleeve 6 is sleeved on the wheel 3, when the wheel sleeve moves on the horizontal ground, the wheel sleeve 6 can always contact with the ground so as to increase the friction force between the wheel sleeve and the ground, and the ground gripping capability is stronger.

Considering that the robot can encounter obstacles in the ground moving process, in order to improve the obstacle crossing capability of the robot, the wheel 3 is eccentrically arranged below the wheel set main body 2, the axis of the wheel set main body 2 is collinear with the axes of the vertical rotating shaft and the rotating shaft 5, the axis of the horizontal rotating shaft of the wheel 3 is positioned on one side of the axis of the wheel set main body 2, namely, the axis of the horizontal rotating shaft of the wheel 3 is not in the same plane with the axis of the vertical rotating shaft, the axis of the horizontal rotating shaft of the wheel 3 is positioned behind the axis of the wheel set main body 2 along the advancing direction, and the outer side wall of the advancing direction of the wheel set main body 2 is an arc-shaped surface.

Further, the part of the bottom shell 1 positioned in the advancing direction of the wheels 3 is assembled and protrudes obliquely upwards, so that the obstacle crossing capability is further improved.

The embodiment also provides a robot, the type of the robot includes but is not limited to a cleaning robot, and the robot includes the robot universal wheel for preventing hair from winding disclosed in the embodiment.

Wherein, the bottom of robot is including assembling drain pan 1, and wheelset main part 2 sets up on assembling drain pan 1 through thrust ball bearing 4. Specifically, a first end face of the fitting bottom case 1 is provided with a fitting groove ready to receive a part of the wheel set main body 2; the inner wall of assembly drain pan 1 is equipped with the bearing mounting groove, and when wheelset main part 2 assembly back, thrust ball bearing 4 adorns in the bearing mounting groove, fixes thrust ball bearing 4.

In an alternative embodiment of this embodiment, as shown in fig. 7, the bearing installation groove is disposed at the bottom of the assembly groove, the center of the bearing installation groove is provided with a central through hole, the second end surface of the assembly bottom case 1 is provided with a buckle 9, the buckle 9 is a hollow cylindrical structure, the buckle 9 is disposed coaxially with the central through hole of the bearing installation groove, and one end of the rotating shaft 5 passes through the central through hole of the bearing installation groove and is connected with the buckle 9.

Further, as shown in fig. 8, the clip 9 includes three clip walls disposed around the central through hole of the bearing mounting groove, the three clip walls enclose a cylindrical structure with a gap between two adjacent clip walls, and an arc-shaped supporting rib 10 is disposed on the outer side of the clip walls. The buckle of adopting this structure is connected with the rotation axis, increases the elasticity of buckle, increase of service life also makes things convenient for the consumer to change when using simultaneously.

The above-mentioned embodiments, objects, technical solutions and advantages of the present application are described in further detail, it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present application, and are not intended to limit the scope of the present application, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. A universal wheel of a robot for preventing hair from being entangled is characterized by comprising:

the robot wheel set comprises a wheel set main body (2), wherein a first end of the wheel set main body (2) is connected with a robot through a vertical rotating shaft, and a second end of the wheel set main body (2) is provided with a first connecting part;

the wheel (3), wheel (3) are in through horizontal rotating shaft setting on the first connecting portion, horizontal rotating shaft can for first connecting portion rotates, just wheel (3) can for horizontal rotating shaft rotates.

2. The universal wheel for a robot for preventing hair from being entangled according to claim 1, wherein the horizontal rotation shaft comprises two connection shafts, and both axial ends of the wheel (3) are rotatably connected to the first connection part through one of the connection shafts, respectively.

3. The universal wheel of a robot for preventing hair entanglement according to claim 2, wherein the wheel (3) is provided with an axial through hole (13);

the horizontal rotating shaft further comprises a supporting piece, the supporting piece is installed in the axial through hole (13), and two ends of the supporting piece are respectively abutted to the connecting shaft so as to provide transverse supporting force for the connecting shaft.

4. The universal wheel for a robot for preventing hair entanglement of claim 3, wherein the support is a spring (8) or an elastic telescopic rod.

5. A robot castor for preventing hair from tangling according to claim 4, wherein said connecting shaft is a cylindrical structure, and a first end of said connecting shaft is provided with a circular hole for receiving an end of said supporting member; and a second connecting part is arranged at the second end of the connecting shaft and is in rotatable connection with the first connecting part.

6. A robot castor for preventing hair from tangling according to claim 5, wherein said second connecting portion is a cylinder having an outer diameter smaller than that of said connecting shaft, said cylinder being disposed coaxially with said circular hole.

7. The universal wheel for a robot for preventing hair entanglement as set forth in any one of claims 3 to 6, wherein the diameter of the axial through hole (13) is equal to or larger than any one of the diameter of the horizontal rotation shaft and the diameter of the support member.

8. The universal wheel of a robot for preventing hair entanglement as per claim 1, wherein the surface of the wheel (3) is sleeved with a wheel sleeve (6).

9. A hair entanglement prevention robot gimbal wheel according to claim 1, wherein an axis of the horizontal rotation shaft is located rearward of an axis of the vertical rotation shaft in a forward direction.

10. A robot comprising the hair entanglement prevention robot caster according to any one of claims 1 to 9.