CN218055415U

CN218055415U - Wheel body assembly structure for spherical robot and spherical robot

Info

Publication number: CN218055415U
Application number: CN202220460519.8U
Authority: CN
Inventors: 高灿灿; 林俊荣; 夏宝军
Original assignee: Zhuhai 1 Micro Robot Technology Co ltd
Current assignee: Zhuhai 1 Micro Robot Technology Co ltd
Priority date: 2022-03-04
Filing date: 2022-03-04
Publication date: 2022-12-16
Anticipated expiration: 2032-03-04

Abstract

The utility model discloses a wheel body assembly structure for spherical robot, which comprises a semispherical shell; the hemispherical shell is arranged on two sides of the driving component in the spherical robot; the driving assembly is used for driving the hemispherical shell to rotate; the hemispherical shell is assembled in a screwless manner.

Description

Wheel body assembly structure for spherical robot and spherical robot

Technical Field

The utility model relates to a spherical robot's technical field, especially a wheel body assembly structure and spherical robot for spherical robot.

Background

In the structure of the existing miniaturized mobile robot product, a structural design mode that a shell and an external screw are connected and fixed is generally adopted, so that the side cover of a driving wheel can be assembled by using the screw, screw holes cannot be left on the outer surface or under a foot sticker or a sticker, and the miniaturized mobile robot is easy to contact with dust and accumulated water to pollute the screw in the moving process; alternatively, the current miniaturized mobile robot integrally forms parts of the driving wheel (including the side cover) and is not easy to replace and clean.

SUMMERY OF THE UTILITY MODEL

To the technical problem, the utility model provides a wheel body assembly structure and spherical robot for spherical robot, specific technical scheme is as follows:

a wheel body assembling structure for a spherical robot, comprising a semispherical shell; the hemispherical shell is arranged on two sides of the driving component in the spherical robot; the driving assembly is used for driving the hemispherical shell to rotate; the hemispherical shell is assembled in a screwless manner.

Furthermore, the hemispherical shell comprises a spherical end cover and a frustum spherical shell; a rotating shaft mounting through hole is formed in the top end of the frustum spherical shell; the output shaft of the driving motor is sleeved to one end of the rotating shaft mounting through hole on the inner side of the frustum spherical shell through a shaft sleeve so as to mount the frustum spherical shell and the output shaft of the driving motor together and realize that the driving motor drives the hemispherical shell to rotate; the top end of the frustum spherical shell is positioned on the central axis of the frustum spherical shell; wherein, drive assembly includes driving motor.

Further, a relatively small end of the frustum spherical shell extends inwards to form a mounting frustum; the rotating shaft mounting through hole is formed in the vertex position of the mounting frustum; the relatively large end of the frustum spherical shell extends inwards to form an annular bracket; on the inward flange of ring carrier, seted up a plurality of strengthening ribs along the circumferencial direction uniformly, every strengthening rib all is connected between the inward flange of ring carrier and the outward flange of installation frustum, with will the fixed setting of pivot installation through-hole is in the top of frustum spherical shell.

Further, the hemispherical shell comprises a spherical end cover, a first frustum shell and a second frustum shell; the first conical billiard shell and the second conical billiard shell belong to the conical billiard shell; and in the direction that the top point of the spherical end cover points to the axis of the annular shell, the spherical end cover, the first frustum ball shell and the second frustum ball shell are sequentially buckled and mounted, so that the structure that the spherical end cover, the first frustum ball shell and the second frustum ball shell are mounted without screws is realized.

Furthermore, the spherical end cover is buckled and connected with one end of the first frustum spherical shell, which has a relatively small diameter; the end with the relatively large diameter of the first frustum spherical shell is connected with the end with the relatively small diameter of the second frustum spherical shell in a buckling mode, and the spherical end cover, the first frustum spherical shell and the second frustum spherical shell are fixedly connected.

Furthermore, a first annular fixing frame is arranged on the inner side surface of the spherical end cover, two or more first buckles are arranged along the inner side surface of the first annular fixing frame, and at least two first buckles are symmetrically arranged around the central axis of the first annular fixing frame; wherein, the one end that the diameter is relatively little of first frustum spherical shell is provided with the first draw-in groove with each first buckle matched with.

Furthermore, the first frustum spherical shell comprises an installation frustum and a second annular fixing frame; the inner side surface of one end, with a relatively large diameter, of the installation frustum is provided with first clamping grooves matched with the first buckles, and at least two first clamping grooves are symmetrically arranged around the axis of the installation frustum, so that the first buckles are clamped in the first clamping grooves after being screwed into the matched first clamping grooves; wherein, a plurality of strengthening ribs have still been seted up uniformly along the circumferencial direction to the lateral surface of installation frustum, and every strengthening rib all is connected between the one end that the diameter of second annular mount is little relatively and the one end that the diameter of installation frustum is big relatively.

Furthermore, one end of the first frustum spherical shell with a relatively large diameter extends inwards to form a second annular fixing frame, and the end of the first frustum spherical shell with the relatively large diameter is the end of the second annular fixing frame with the relatively large diameter; the end, with the relatively small diameter, of the first frustum spherical shell extends inwards to form an installation frustum, and the end, with the relatively small diameter, of the first frustum spherical shell is the end, with the relatively large diameter, of the installation frustum; the outer side surface of one end with a relatively large diameter of the second annular fixing frame is provided with two or more second buckles, and at least two second buckles are symmetrically arranged relative to the central axis of the second annular fixing frame; and one end of the second conical shell with a relatively small diameter is provided with second clamping grooves matched with the second buckles.

Furthermore, the inner side surface of the end, with the relatively small diameter, of the second conical shell is provided with second clamping grooves matched with the second buckles, and at least two second clamping grooves are symmetrically arranged around the axis of the second conical shell, so that the second buckles are clamped in the second clamping grooves; two or more than two third buckles are arranged on the outer side surface of the end, with the relatively large diameter, of the second billiard ball shell, and at least two third buckles are symmetrically arranged around the axis of the second billiard ball shell.

Further, the wheel body assembly structure further comprises a rubber ring, third clamping grooves matched with the third clamping buckles are formed in the inner side of the rubber ring, the rubber ring is clamped on the second billiard shell along the outer side face of the end, with the diameter being relatively large, of the second billiard shell, and at least two third clamping grooves are symmetrically arranged around the axis of the rubber ring.

Furthermore, a rotating shaft mounting through hole is formed in the top end of the mounting frustum; the rotating shaft mounting through hole is formed in one end of the inner side of the mounting frustum and used for being inserted into an output shaft of a driving motor through a shaft sleeve, so that the driving motor drives the hemispherical shell to rotate; wherein, drive assembly includes driving motor.

A spherical robot is provided with the wheel body assembling structure.

The utility model discloses adopt in the assembly of the hemisphere casing as the wheel body and detain the position installation, guaranteed the wholeness of outward appearance for whole surface does not have the screw to expose, also reduces the pollution degree of inside screw. The utility model discloses a fixed mode is connected to no screw, buckle formula, has simplified the time and the vexation that operating personnel selected various specification screws, has improved production efficiency, and the help user has saved manufacturing cost simultaneously. Meanwhile, for the spherical end cover, the outer surface of the spherical end cover can be replaced by gravure of different colors, materials, surface grains, characters or patterns, so that the personalized expression form of the product is enriched, and the output of the customized product is accelerated.

Drawings

Fig. 1 is a schematic view of the structural split of a spherical robot according to an embodiment of the present invention.

Fig. 2 is a schematic view showing a structural separation of a hemispherical roller according to another embodiment of the present invention (the hemispherical roller is sequentially separated from the inner side to the outer side).

Reference numerals:

10. an annular upper cover; 101. a first through hole; 102. a second through hole; 20. an annular lower cover; 201. a first mounting shaft; 202. a second mounting shaft; 301. an output shaft of the drive motor; 401. the rotating shaft is provided with a through hole; 40. a first frustum spherical shell; 41. a second billiard ball shell; 42. a rubber ring; 43. a spherical end cover; 431. a first buckle; 402. a first card slot; 403. a second buckle; 411. a second card slot; 412. and a third buckle.

Detailed Description

The technical solution in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the described features.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present; when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; when an element is referred to as being "mounted on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present.

The utility model discloses a wheel body assembly structure for a spherical robot, wherein, hemispherical shells are arranged at two sides of a driving component in the spherical robot; the driving assembly is used for driving the hemispherical shell to rotate; the hemispherical shell is assembled in a screwless manner. In this embodiment, there is an annular housing outside the hemispherical housing, which can contain and completely surround the main control circuit board, the sensor device and the driving assembly of the spherical robot, and the main control circuit board, the sensor device and the driving assembly are all fixedly mounted by the same main body bracket or a plurality of brackets in the annular housing, and the main body bracket can be adapted to the annular seat body designed by matching the shape of the spherical robot, and corresponds to the seat body where the output shaft 301 of the driving motor located at the center in fig. 1 is located.

The annular housing includes an annular upper cover 10 and an annular lower cover 20, wherein the annular housing is an incompletely closed annular structure formed by the annular upper cover 10 and the annular lower cover 20 of fig. 1, and has openings reserved at the front, rear, left and right ends thereof, which are respectively provided as a transmission part of the driving assembly, a heat dissipation part of the main control circuit board, and a probe of the sensor device. Specifically, as shown in fig. 1, an opening for connecting two hemispherical shells is reserved on the side surface of the annular shell for the driving assembly by the annular upper cover 10 and the annular lower cover 20, so that a transmission part (generally, a related transmission shaft of a motor) of the driving assembly can conveniently extend out; as shown in fig. 1, two hemispherical shells are respectively disposed at two sides of the annular shell, which correspond to the hemispherical shells at the left and right sides of the seat body where the output shaft 301 of the driving motor is located; the two hemispherical shells are symmetrically arranged on two sides of the annular shell. The annular housing is used for holding spherical robot's drive assembly, spherical robot's drive assembly is connected respectively to two hemisphere casings, specifically be two hemisphere casing inside relevant hole site structures insert drive assembly's relevant transmission shaft, be used for driving two hemisphere casings and rotate relatively for the annular housing, wherein, the bottom of two hemisphere casings can and ground contact, as spherical robot's drive roller, two hemisphere casings are installed behind the left and right sides of annular housing, not only can regard as the rolling member, and the downside of annular housing is stretched out to annular housing's bottom, make annular housing's bottom not contact with ground, protection annular housing that can be fine, and can ensure spherical robot's direction of motion.

It should be added that each hemispherical shell here may be a strict arc surface, or may be a shape close to a hemisphere, for example, a shape formed by smoothly continuing a part of a hemisphere and other shapes, and then two hemispherical shells and the annular shell form a sphere. Similarly, the annular shell can be in an annular structure or close to an annular structure; preferably, the presence of a small portion (for example a 0.3 surface) is not constituted by an arc, but by a rectilinear shell smoothly continuing with the remaining arc-shaped shells to form said annular shell.

Specifically, the annular housing includes an annular upper cover 10 and an annular lower cover 20, and the annular upper cover 10 and the annular lower cover 20 are detachably connected. Annular casing divides into annular upper cover 10 and annular lower cover 20 along the axis, after installing drive assembly in the inner chamber that annular lower cover 20 and/or annular upper cover 10 formed, close another annular capping again can, has improved assembly efficiency greatly.

In this embodiment, the annular upper cover 10 and the annular lower cover 20 are covered together in such a way that the screws are not exposed on the outer surface, that is, the portions between the annular upper cover 10 and the annular lower cover 20, which need to be connected by the screw holes, are surrounded by the outer shell structure, including the hemispherical shells on the left and right sides of the annular shell, so that the screws are not exposed on the entire outer surface of the spherical robot, and the screw holes and the internal screws are completely surrounded by the annular shell and the hemispherical shells on the left and right sides of the annular shell, which are not visible unless disassembled, so that the integrity of the appearance is ensured, the screws are not exposed on the entire outer surface, and the contamination degree of the internal screws is also reduced.

As an embodiment, as can be seen from fig. 1 and 2, a first opening for extending an output shaft 301 of the driving motor is formed on a side surface of the annular upper cover 10, which corresponds to a right side surface of the annular upper cover 10 of fig. 1; a first through hole 101 and a second through hole 102 are respectively arranged on two sides of the first opening, which correspond to an arched opening with a downward opening formed on the right side surface of the annular upper cover 10 in fig. 1, the first opening is respectively provided with a first through hole 101 and a second through hole 102 on the shell surfaces of the left and right sides of the right side surface of the annular upper cover 10, wherein the first through hole 101 and the second through hole 102 can be symmetrically arranged about the central axis of the annular shell or the annular upper cover 10; preferably, at least two pairs of through holes are symmetrically disposed at both sides of the first opening, and each pair is two symmetrically disposed through holes. A second opening for the output shaft 301 of the driving motor to extend out is formed in the side surface of the annular lower cover 20, which corresponds to the right side surface of the annular lower cover 20 in fig. 1; a first mounting shaft 201 and a second mounting shaft 202 are respectively arranged on two sides of the second opening, which correspond to an arched opening with an upward opening formed on the right side surface of the annular upper cover 10 in fig. 1, and the first mounting shaft 201 and the second mounting shaft 202 are respectively arranged on the shell surfaces of the left side and the right side surface of the annular lower cover 20, wherein the first mounting shaft 201 and the second mounting shaft 202 can be symmetrically arranged about the central axis of the annular housing or the annular upper cover 10 and respectively correspond to the first through holes 101 and the second through holes 102 one by one; preferably, at least two pairs of mounting shafts are symmetrically disposed on both sides of the second opening, each pair being two symmetrically disposed mounting shafts.

When the annular upper cover 10 and the annular lower cover 20 are covered, the first through hole 101 is sleeved with the first mounting shaft 201, and the second through hole 101 is sleeved with the second mounting shaft 202; it should be noted that the driving assembly includes a driving motor and a control circuit board matched with the driving motor.

In the above embodiment, the driving assembly includes two driving motors, the two driving motors are respectively installed on two sides of the annular housing along the central axis of the annular housing, and output shafts of the two driving motors respectively extend out of two sides of the annular housing, so that the left side and the right side of the annular upper cover are respectively provided with one first opening, and the left side and the right side of the annular lower cover are respectively provided with one second opening. Wherein, two driving motor symmetry sets up, and first opening and second opening symmetry set up. When the annular upper cover 10 and the annular lower cover 20 are covered and the two hemispherical shells are symmetrically arranged at two sides of the annular shell, the first opening and the second opening are clamped on the driving motor at one corresponding side and the bearing and the gear assembly sleeved at the peripheral side of the driving motor; wherein, the line connecting the vertex of the hemispherical shell to the sphere center (the sphere center of the sphere formed by the two hemispherical shells and the annular shell) is superposed with the central axis of the annular shell. In the present embodiment, the movement control of the spherical robot is realized by controlling the rotation speed and the steering of the two drive motors. When the rotation directions and the rotation speeds of the two driving motors are the same, the two driving wheels rotate in the same direction and at the same speed, so that the spherical robot moves along a straight line; when the rotating speeds of the two driving motors are different or the steering directions are different, the two driving wheels rotate in a differential mode, and the spherical robot can achieve steering.

As an example, the way in which the outer surface does not highlight the screws does not include: the first through hole 101 is sleeved on the first mounting shaft 201 through a first screw, and the second through hole 102 is sleeved on the second mounting shaft 202 through a second screw; wherein, first through-hole 101 and first installation axle 201 have the column assembly structure of mutually supporting the installation, second through-hole 102 and second installation axle 202 have the column assembly structure of mutually supporting the installation, and the medial surface of these column assembly structure and through-hole all is provided with the screw hole, then first screw is screwed into the inboard of first through-hole 101 and does not bulge the surface of first through-hole 101, the second screw is screwed into the inboard of second through-hole 102 and does not bulge the surface of second through-hole 102, avoid screw and the outside direct contact that takes place of casing to a certain extent. So that the annular upper and

lower caps

10 and 20 are covered together in such a manner that the outer surfaces thereof do not protrude by screws.

Further, two hemisphere casings are installed behind the both sides of annular casing, the annular casing surrounds the pedestal (the device of the central point of fig. 1) at driving motor's output shaft 301 place, and first through-hole 101, first installation axle 201, second through-hole 102 and second installation axle 201 are all surrounded by two hemisphere casings for first screw and second screw do not expose, then outside pollutant can't get into the top of first screw through first through-hole 101, and outside pollutant can't get into the top of second screw through second through-hole 102.

Specifically, the manner of assembly of the outer surface unobtrusive screws does not include: both the inner side of the first through hole 101 and the inner side of the first mounting shaft 201 are provided with screw holes (i.e., threaded holes) for the first screws to be screwed between the first through hole 101 and the first mounting shaft 201; the first mounting shaft 201 is a screw hole with only one end penetrating through, the first through hole 101 is a screw hole with both ends penetrating through, but the penetrating screw does not protrude to the outside (outer surface) of the first through hole 101 and the first mounting shaft 201; when the annular upper cover 10 and the annular lower cover 20 are closed, the first through hole 101 is mounted above the first mounting shaft 201 by a screw. Both the inner side of the second through hole 102 and the inner side of the second mounting shaft 202 are provided with screw holes (i.e., threaded holes) for the second screws to be screwed between the second through hole 102 and the second mounting shaft 202; the second mounting shaft 202 is a screw hole with only one end penetrating therethrough, and the second through hole 102 is a screw hole with both ends penetrating therethrough, but the penetrating screw does not protrude outside (outer surface) the second through hole 102 and the second mounting shaft 202; when the annular upper cover 10 and the annular lower cover 20 are closed, the second through hole 102 is installed above the second installation shaft 202, so that the annular upper cover 10 and the annular lower cover 20 are fixedly installed. So that the annular upper and

lower caps

Preferably, the shape of the first through hole 101 and the shape of the first mounting shaft 201 are both cylinders, and the diameter of the through portion of the first through hole 101 is equal to the diameter of the shaft body of the first mounting shaft 201, so that the first through hole 101 covers the first mounting shaft 201 by a first screw, wherein the overall diameter of the first through hole 101 is larger than the overall diameter of the first mounting shaft 201, and the diameter of the through portion of the first through hole 101 is equal to the diameter of the through portion of the first mounting shaft 201, so that the screw passes through the first through hole 101 and the first mounting shaft 201. The shape of the second through hole 102 and the shape of the second mounting shaft 202 are both cylindrical, and the diameter of the through portion of the second through hole 102 is equal to the diameter of the shaft body of the second mounting shaft 202, such that the second through hole 102 is connected to the second mounting shaft 202 by a second screw, wherein the overall diameter of the second through hole 102 is greater than the overall diameter of the second mounting shaft 202, and the diameter of the through portion of the second through hole 102 is equal to the diameter of the through portion of the second mounting shaft 202, such that the screw passes through the second through hole 102 and the second mounting shaft 202. So that the fixed mounting of the annular upper cap 10 and the annular lower cap 20 is achieved from the inside.

As an example, as can be seen from fig. 1 and 2, the hemispherical shell includes a spherical end cover 43 and a frustum spherical shell (a combined structure of side covers 40, 41 and 42); a rotating shaft mounting through hole 401 is formed in the top end of the frustum spherical shell; the rotating shaft mounting through hole 401 is used for connecting a driving assembly, specifically, one end of the rotating shaft mounting through hole 401, which is located on the inner side of the frustum spherical shell, is used for connecting an output shaft 301 of a driving motor, and one end of the rotating shaft mounting through hole 401, which is located on the outer side of the frustum spherical shell, is used for mounting a screw; wherein, the inner side of the rotating shaft mounting through hole 401 is provided with a screw hole or a threaded hole for a screw to pass through. Optionally, the output shaft 301 of the driving motor is inserted into the left end (one end on the inner side of the frustum spherical shell) of the rotating shaft mounting through hole 401 through a shaft sleeve, and the frustum spherical shell and the output shaft 301 of the driving motor are fixedly mounted together in a manner that two sides of the rotating shaft mounting through hole 401 and a through hole of the shaft sleeve are connected to a threaded hole in sequence through screws, so that the hemispherical shell is mounted on the annular shell and driven by the driving motor to rotate relative to the annular shell, and the hemispherical shell is tightly matched with the driving motor, so that the hemispherical shell is prevented from shaking along the axial direction of the driving motor in the rotating process; the top end of the frustum spherical shell is positioned on the central axis of the frustum spherical shell; preferably, the inner side surface of the shaft sleeve is provided with a threaded hole; the drive assembly includes a drive motor. In summary, the screw for passing through the rotating shaft mounting through hole 401 fixedly mounts the frustum-shaped shell and the bushing (the output shaft 301 of the driving motor) together, and is surrounded by the spherical end cover 43 and the bushing, so that the screw is not exposed. Thus; the screw is covered by the spherical end cap, the frustospherical shell and the annular housing so that it is not exposed.

As an example, as can be seen in conjunction with the hemispherical shells on the right side of fig. 1 and 2, the smaller end of the frustum spherical shell extends inward to form a mounting frustum; the rotating shaft mounting through hole is formed in the vertex position of the mounting frustum; the larger end of the frustum spherical shell extends inwards to form an annular bracket; on the inner edge of the annular support, a plurality of reinforcing ribs, for example, 6 reinforcing ribs uniformly distributed around the center of the annular support, are uniformly arranged along the circumferential direction. Each reinforcing rib is connected between the inner edge of the annular support and the outer edge of the installation frustum, so that the rotating shaft installation through hole is fixedly arranged at the top end of the frustum spherical shell, the axis of the driving motor installed on the rotating shaft installation through hole penetrates through the top end of the frustum spherical shell, and the line from the top point of the semi-spherical shell to the spherical center of the semi-spherical shell coincides with the axis of the driving motor. With reference to fig. 1 and 2, the inner side of the frustum spherical shell surrounds the rotating shaft mounting through hole to form a mounting frustum for increasing the thickness of the central position of the mounting frustum, so that the strength of the hemispherical shell is improved, and the spherical end cover is prevented from being deformed or even damaged due to stress.

As another embodiment, in order to facilitate assembly of the semispherical shell, a positioning structure which is nested is arranged among the spherical end cover, the first billiard shell and the second billiard shell. As can be seen in fig. 1 and 2, the hemispherical shell includes a spherical end cover 43, a first billiard ball shell 40 and a second billiard ball shell 41; wherein, the first cone shell 40 and the second cone shell 41 both belong to the cone shell. In the direction that the top point of the spherical end cover 43 points to the axis of the annular shell, the spherical end cover 43, the first conical table ball shell 40 and the second conical table ball shell 41 are sequentially installed in a buckling mode, after the spherical end cover 43, the first conical table ball shell 40 and the second conical table ball shell 41 are fastened together, the axis of the spherical end cover 43, the first conical table ball shell 40 and the second conical table ball shell 41 are located on the axis of the annular shell, the fact that the spherical end cover 43, the first conical table ball shell 40 and the second conical table ball shell 41 form a screw-free assembling structure is achieved, a detachable installing structure is also formed, and the output shaft 301 of the driving motor can be inserted into and detached from the detachable installing structure. When the semi-spherical shell is installed, the spherical end cover 43, the first frustum spherical shell 40 and the second billiard shell 41 only need to be pressed by hands or a hydraulic press, and the installation is convenient. Furthermore, the utility model discloses a fixed mode is connected to no screw, buckle formula, has simplified the time and the vexation that operating personnel selected various specification screws, has improved production efficiency, helps the user to save manufacturing cost simultaneously.

Specifically, as shown in fig. 1 and 2, the spherical end cap 43 is snap-fit connected to the relatively small diameter end of the first frustospherical shell 40; the end with the relatively large diameter of the first billiard ball shell 40 is connected with the end with the relatively small diameter of the second billiard ball shell in a buckling mode, so that the spherical end cover 43, the first billiard ball shell 40 and the second billiard ball shell 41 are connected and fixed in a nested mode through the buckling connection, and the spherical end cover 43, the first billiard ball shell 40 and the second billiard ball shell 41 can be detached and replaced.

As an embodiment, a first annular fixing frame is disposed on the inner side surface of the spherical end cover 43, the first annular fixing frame belongs to an annular plate-shaped structure, and the spherical end cover 43 belongs to a spherical shell; two or more first buckles 431 are arranged along the inner side surface of the first annular fixing frame, at least two first buckles 431 are symmetrically arranged about the central axis of the first annular fixing frame, as shown in fig. 2, in the first annular fixing frame arranged on the inner side surface of the spherical end cover 43, two first buckles 431 are arranged on the inner side surface of the first annular fixing frame, the two first buckles 431 are circumferentially distributed and are of regular block structures protruding towards the inner side, and the two first buckles 431 are symmetrically arranged about the axis of the spherical end cover 43; the end of the first frustum spherical shell 40 with a relatively small diameter is provided with a first clamping groove 402 which is matched with each first buckle 431, so that the first buckles 431 are nested and clamped with the first clamping grooves 402 along corresponding axes.

As an example, as can be seen in fig. 1 and 2, the first frustum-spherical shell 40 includes a mounting frustum and a second annular fixing frame; wherein, the installation frustum belongs to the frustum structure, and second annular mount is annular frustum structure, also belongs to annular platelike structure. Preferably, the mounting frustum comprised by the first frustospherical shell 40 is the mounting frustum of the frustospherical shell disclosed in the previous embodiments. The first draw-in groove 402 with each first buckle 431 matched with has been seted up to the medial surface of the relatively big one end of diameter of installation frustum, there are two at least first draw-in grooves 402 and set up about the axis symmetry of installation frustum, make first buckle 431 chucking in this first draw-in groove 402 behind the first draw-in groove 402 of precession matched with, wherein, first draw-in groove 402 is offered the L type groove position of placing for the level at the lateral surface of installation frustum, then accept first buckle 431 and slide into the back, clockwise or anticlockwise rotation sphere end cover 43 an angle can be with sphere end cover 43 chucking in first frustum spherical shell 40, thereby reach first frustum spherical shell 40 and sphere end cover 43 and stabilize under the prerequisite of not using the screw and seting up the screw hole, combine accurately. In addition, a plurality of strengthening ribs have also been seted up uniformly along the circumferencial direction to the lateral surface of installation frustum, and every strengthening rib all connects between the one end that the diameter of second annular mount is relatively little and the one end that the diameter of installation frustum is relatively big, for example 6 strengthening ribs around the center evenly distributed of first frustum spherical shell 40 to reinforcing bearing structure's butt intensity.

Specifically, the end of the first frustum spherical shell 40 with a relatively large diameter extends inwards to form a second annular fixing frame, and the end of the first frustum spherical shell with a relatively large diameter is the end of the second annular fixing frame with a relatively large diameter, and can be understood as a plane at the outer edge of the second annular fixing frame; the relatively small diameter end of the first frustospherical shell 40 extends inwardly to form a mounting frustum, and the relatively small diameter end of the first frustospherical shell 40 is the relatively large diameter end of the mounting frustum. It should be noted that the mounting frustum formed by the first frustum spherical shell 40 belongs to a frustum protrusion formed by surrounding the rotating shaft mounting through hole 401 at the inner side thereof, and the thickness of the top end position of the first frustum spherical shell 40 is increased, so that the strength of the spherical end cover 43 is improved. Two or more second buckles 403 are arranged on the outer side surface of the end with the relatively large diameter of the second annular fixing frame, at least two second buckles 403 are symmetrically arranged around the central axis of the second annular fixing frame, and the second buckles 403 are protruding structures which are distributed circumferentially and face the outer side of the first frustum spherical shell 40. The end, with a relatively small diameter, of the second billiard ball shell 41 is provided with a second clamping groove 411 matched with each second buckle 403, so that the second buckles 403 are nested and clamped with the second clamping grooves 411 along corresponding axes. Therefore, the first cone billiard shell 40 and the second cone billiard shell 41 are firmly and accurately combined without using screws and arranging screw holes.

On the basis of the above embodiment, the inner side surface of the end with the relatively small diameter of the second billiard shell 41 is provided with the second clamping grooves 411 matched with the second fasteners 403, and there are at least two second clamping grooves 411 arranged symmetrically with respect to the axis of the second billiard shell 41, so that the second fasteners 403 are clamped in the second clamping grooves 411, and the stability of fastening the second billiard shell 41 and the first billiard ball shell 40 is enhanced. Preferably, one end of the second billiard shell 41 with a relatively large diameter extends inwards to form a third annular fixing frame, and the third annular fixing frame may be of an annular plate-shaped structure; the end of the second billiard ball shell 41 with a relatively large diameter (or understood as an aperture) is the end of the third annular fixing frame with a relatively large diameter (or understood as an aperture), and can be understood as being located on the side of the outer edge of the third annular fixing frame; the end of the second billiard cue shell 41 with a relatively small diameter (or bore diameter as understood) is the inner side of the rim of the third annular mount. It should be noted that the mounting cone, the second annular fixing frame and the third annular fixing frame are all arranged in an inverted oblique angle relative to the axial direction, and the second annular fixing frame and the third annular fixing frame extend obliquely towards the center of the hemisphere casing to the vertex thereof, and are connected to form an approximately continuous arc surface, so as to enclose the second billiard ball shell 41, the first billiard ball shell 40 and the spherical end cover 43 into a hemisphere or an approximately hemisphere shape. To sum up, when the second billiard shell 41, the first billiard cone shell 40 and the spherical end cover 43 are buckled and connected, the assembling positioning and fool-proof effects can be achieved, and meanwhile, the first billiard cone shell 40 and the second billiard cone shell 41 are prevented from rotating relative to the spherical end cover 43 after being assembled. And simultaneously, the utility model discloses in the visible scope of outward appearance, can not see connecting pieces such as any screw, structural design is reasonable, has higher pleasing to the eye, conveniently washs the dust that falls to above in the use.

It should be noted that, the diameter of the outer edge of the annular fixing frame is larger than that of the inner edge thereof, which can be understood as that the outer edge of the annular fixing frame is located on the outer side surface of the annular fixing frame, and the inner edge of the annular fixing frame is located on the inner side surface of the annular fixing frame. Preferably, the first buckle 431 and the second buckle 403 have a reduced front end thickness and are in an inverted bevel shape at the connection part with the corresponding clamping groove, so as to play a guiding role in buckling.

In addition, two or more third buckles 412 are arranged on the outer side surface of one end of the second billiard shell 41 with a relatively large diameter, and at least two third buckles 412 are symmetrically arranged around the axis of the second billiard shell 41. The third buckles 412 are circumferentially distributed convex structures facing the outer side of the second billiard ball shell 41. The wheel body assembling structure further comprises a rubber ring 42, third clamping grooves matched with the third clamping buckles 412 are formed in the inner side of the rubber ring 42, the rubber ring 42 is clamped to the second billiard shell 41 along the periphery of the end, with the diameter being relatively large, of the second billiard shell 41, at least two third clamping grooves are symmetrically arranged relative to the axis of the rubber ring 42, the third clamping buckles 412 are clamped in the third clamping grooves, and the stability of buckling the second billiard shell 41 and the rubber ring 42 is enhanced. Therefore, the rubber ring and the second conical shell 41 are firmly and accurately combined on the premise of not using screws and arranging screw holes. In some embodiments, the rubber ring and the second billiard ball shell 41 may be formed by two-shot molding or gluing, and the rubber ring 42, the second billiard ball shell 41, the first billiard ball shell 40 and the spherical end cover 43 may be connected to form a complete hemisphere.

As an embodiment, a rotating shaft mounting through hole 401 is arranged at the top end of the mounting frustum on the inner side surface of the first frustum spherical shell 40, wherein the rotating shaft mounting through hole 401 penetrates through the inner side surface and the outer side surface of the first frustum spherical shell 40 and is located at the central position of the side surface (inner and outer side surfaces) of the first frustum spherical shell 40; the rotating shaft installation through hole 401 is formed in the inner side of the installation frustum and used for being inserted into an output shaft 301 of a driving motor, and is particularly installed together with the output shaft 301 of the driving motor through a shaft sleeve, so that the driving motor drives the hemispherical shell to rotate, and particularly rotates relative to the annular shell.

On the basis of the above embodiment, in the installation frustum, the peripheral sides of the rotating shaft installation through holes 401 are provided with bearing installation holes for clamping the bearings, and the bearing installation holes and the rotating shaft installation through holes 401 have reinforcing ribs to be connected and do not exceed a preset distance apart to form a miniaturized installation frustum. The bearing mounting hole and the rotating shaft mounting through hole 401 can be integrally formed; the bearing mounting hole is arranged on the inner side surface of the mounting frustum around the rotating shaft mounting through hole 401, and is an annular step, in particular a stepped plate-shaped structure; wherein, the bearing is configured to be meshed with the output shaft 301 of the driving motor through a gear, and the bearing is abutted with the bearing mounting hole or the mounting cone.

It should be noted that, the spherical end cap 43 disclosed in the foregoing embodiment is used as a fixing member that is easy to disassemble and replace, and can replace gravure of different colors, materials, surface textures, characters or patterns. The spherical end cover 43 and even the hemispherical shell can be customized, the personalized expression form of the product is enriched, and the output of the customized product is accelerated.

Based on the foregoing embodiment, the utility model also discloses a spherical robot, which is equipped with the wheel body assembly structure; the spherical robot is internally provided with driving motors for driving the wheel body assembly structure to rotate relative to the annular shell, namely each driving motor drives one hemispherical shell to rotate relative to the same annular shell; preferably, the annular shell and the two hemispherical shells are connected to form a complete spherical shape, or a spherical structure with a 0.2 non-spherical shell.

In this embodiment, the annular housing is an annular structure with left and right openings, and the two hemispherical housings and the driving assembly inside the annular housing form rolling fit; the two motors are adopted to be matched with the main control board to control whether the rotating speeds and/or the steering directions of the two hemispherical shells are consistent or not, so that the movement mode of the spherical robot is changed; however, the spherical robot can only show no screw holes or screws in the whole appearance, and only all screws required for assembly and assembly hole sites (screw holes) where the screws are located are arranged in the annular shell and are completely covered by the two hemispherical shells; meanwhile, the hemispherical shell serving as the wheel body is assembled by adopting the buckling position, so that the integrity of the appearance is ensured, no screw is exposed on the whole outer surface, and the pollution degree of the screw inside is also reduced. In the wheel body assembling structure disclosed in the foregoing embodiment, a user can easily detach the annular housing into the annular upper cover and the annular lower cover, so as to replace the driving motor and the related control components contained in the annular housing; the hemispherical shell can be detached into the spherical end cover and the frustum spherical shell by means of the buckling position, so that inconvenience in installation of screws is avoided, attractiveness of the shell cannot be damaged after detachment, the hemispherical shell can be used continuously, structural strength of product connection is almost unaffected, secondary use can be realized, the hemispherical shell has the advantage of secondary use, material waste is reduced, and manufacturing cost is saved. Meanwhile, for the spherical end cover, the outer surface of the spherical end cover can be replaced by gravure of different colors, materials, surface grains, characters or patterns, so that the individual expression form of the product is enriched, and the output of the customized product is accelerated.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious changes and modifications can be made without departing from the scope of the invention.

Claims

1. A wheel body assembling structure for a spherical robot is characterized by comprising a semispherical shell;

the hemispherical shell is arranged on two sides of the driving component in the spherical robot; the driving assembly is used for driving the hemispherical shell to rotate;

the hemispherical shell is assembled in a screwless manner.

2. The wheel assembly structure of claim 1, wherein the hemispherical housing comprises a spherical end cover and a frustum spherical shell;

a rotating shaft mounting through hole is formed in the top end of the frustum spherical shell;

the output shaft of the driving motor is sleeved to one end of the rotating shaft mounting through hole on the inner side of the frustum spherical shell through a shaft sleeve so as to mount the frustum spherical shell and the output shaft of the driving motor together and realize that the driving motor drives the hemispherical shell to rotate;

the top end of the frustum spherical shell is positioned on the central axis of the frustum spherical shell;

wherein, drive assembly includes driving motor.

3. The wheel body assembling structure of claim 2, wherein a relatively small end of said frustum spherical shell extends inwardly to form a mounting frustum; the rotating shaft mounting through hole is formed in the vertex position of the mounting frustum;

the relatively large end of the frustum spherical shell extends inwards to form an annular bracket;

on the inward flange of ring carrier, seted up a plurality of strengthening ribs along the circumferencial direction uniformly, every strengthening rib all connects between the inward flange of ring carrier and the outward flange of installation frustum to with the fixed setting of pivot installation through-hole is in the top of frustum spherical shell.

4. The wheel body assembling structure of claim 1, wherein the half ball housing comprises a spherical end cover, a first frustum shell and a second frustum shell; the first frustum spherical shell and the second frustum spherical shell belong to the frustum spherical shell;

and in the direction that the top point of the spherical end cover points to the axis of the annular shell, the spherical end cover, the first frustum ball shell and the second frustum ball shell are sequentially buckled and mounted, so that the structure that the spherical end cover, the first frustum ball shell and the second frustum ball shell are mounted without screws is realized.

5. The wheel assembly structure of claim 4, wherein the spherical end cap is snap-fit connected to a relatively small diameter end of the first frustoconical spherical shell; the end with the relatively large diameter of the first frustum spherical shell is connected with the end with the relatively small diameter of the second frustum spherical shell in a buckling mode, and the spherical end cover, the first frustum spherical shell and the second frustum spherical shell are fixedly connected.

6. The wheel body assembling structure of claim 5, wherein the inner side surface of the spherical end cover is provided with a first annular fixing frame, two or more first buckles are arranged along the inner side surface of the first annular fixing frame, and at least two first buckles are symmetrically arranged about the central axis of the first annular fixing frame;

wherein, the one end that the diameter is relatively little of first frustum spherical shell is provided with the first draw-in groove with each first buckle matched with.

7. The wheel body assembling structure of claim 6, wherein the first frustum spherical shell includes a mounting frustum and a second annular fixing frame;

the inner side surface of one end, with a relatively large diameter, of the mounting frustum is provided with first clamping grooves matched with the first buckles, at least two first clamping grooves are symmetrically arranged relative to the axis of the mounting frustum, and the first buckles are clamped in the first clamping grooves after being screwed into the matched first clamping grooves;

wherein, a plurality of strengthening ribs have still been seted up uniformly along the circumferencial direction to the lateral surface of installation frustum, and every strengthening rib all is connected between the one end that the diameter of second annular mount is little relatively and the one end that the diameter of installation frustum is big relatively.

8. The wheel body assembling structure of claim 7, wherein the relatively large diameter end of the first frustum-spherical shell extends inwardly to form a second annular fixing frame, and the relatively large diameter end of the first frustum-spherical shell is the relatively large diameter end of the second annular fixing frame;

the end, with the relatively small diameter, of the first frustum spherical shell extends inwards to form an installation frustum, and the end, with the relatively small diameter, of the first frustum spherical shell is the end, with the relatively large diameter, of the installation frustum;

the outer side surface of one end with a relatively large diameter of the second annular fixing frame is provided with two or more second buckles, and at least two second buckles are symmetrically arranged around the central axis of the second annular fixing frame;

and one end of the second conical shell with a relatively small diameter is provided with second clamping grooves matched with the second buckles.

9. The wheel body assembling structure of claim 8, wherein the inner side surface of the end with the relatively small diameter of the second billiard shell is provided with second clamping grooves matched with the second clamping buckles, and at least two second clamping grooves are symmetrically arranged around the axis of the second billiard shell, so that the second clamping buckles are clamped in the second clamping grooves;

two or more than two third buckles are arranged on the outer side surface of the end, with the relatively large diameter, of the second billiard ball shell, and at least two third buckles are symmetrically arranged around the axis of the second billiard ball shell.

10. The wheel body assembling structure of claim 9, further comprising a rubber ring, wherein third clamping grooves matched with the third clamping buckles are formed in the inner side of the rubber ring, so that the rubber ring is clamped to the second billiard ball shell along the outer side surface of the end, with the relatively large diameter, of the second billiard ball shell, and at least two third clamping grooves are symmetrically arranged around the axis of the rubber ring.

11. The wheel body assembling structure of claim 10, wherein the mounting frustum is provided at a top end thereof with a rotating shaft mounting through hole; the rotating shaft mounting through hole is formed in one end of the inner side of the mounting frustum and used for being inserted into an output shaft of a driving motor through a shaft sleeve, so that the driving motor drives the hemispherical shell to rotate;

wherein, drive assembly includes driving motor.

12. A spherical robot equipped with the wheel body mounting structure according to any one of claims 1 to 11.