CN218616089U - Damping universal wheel and robot - Google Patents

Abstract

The application relates to a damping universal wheel and a robot, wherein the damping universal wheel comprises a universal wheel component, a driving shaft and a damper, and the lower end of the driving shaft is connected to the universal wheel component so as to drive the universal wheel component to rotate; the damper is provided with a first through center hole, the upper end of the driving shaft is inserted into the first center hole, an accommodating space is reserved between the upper end of the driving shaft and the inner wall of the first center hole, and damping grease is filled in the accommodating space. When the driving shaft receives the external force inconsistent with its axis place direction, the damping grease who fills in the accommodation space can directly exert flexible restraint to the periphery of driving shaft to the restriction driving shaft takes place to squint and shake for its axis, can avoid other components, like the support etc. because of directly exerting hard restraint to the driving shaft and producing great noise, be favorable to reducing the noise that produces when this damping universal wheel uses, promote user experience.

Description

Damping universal wheel and robot

Technical Field

The application relates to the technical field of robots, in particular to a damping universal wheel and a robot.

Background

The castor is a so-called movable caster, and the structure of the castor allows 360-degree horizontal rotation. The caster is a general term and comprises a movable caster and a fixed caster. The fixed caster has no rotating structure, can not rotate horizontally but can only rotate vertically. These two types of casters are commonly used in combination, for example, the cart has a structure with two fixed wheels at the front and two movable universal wheels at the rear near the pushing handrail.

The current movable universal wheel rotates flexibly, but after long-term use, the driving shaft part of the universal wheel can be loosened, so that the driving shaft part of the universal wheel is easy to shake in the moving process, and larger noise is generated. In addition, due to the limitation of small size of the robot, the eccentricity of the universal wheel of the existing robot cannot be made very large, and the eccentricity of the universal wheel of the general robot is 3-4 mm. And when the universal wheel eccentricity is too small, the resonance frequency of the universal wheel generated when the universal wheel is subjected to external force is closer to the shaking frequency generated when the robot walks, so that the vibration noise is generated more easily, and the user experience is influenced.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model discloses it is necessary to provide a damping universal wheel and robot that can reduce the driving shaft and take place the shake in the removal process.

A damping universal wheel comprises a universal wheel component, a driving shaft and a damper, wherein the lower end of the driving shaft is connected to the universal wheel component so as to drive the universal wheel component to rotate; the damper is provided with a first through center hole, the upper end of the driving shaft is inserted into the first center hole, an accommodating space is reserved between the upper end of the driving shaft and the inner wall of the first center hole, and damping grease is filled in the accommodating space.

In the damping universal wheel, the lower end of the driving shaft is connected with the universal wheel component, and the universal wheel can be driven to rotate. At the damping universal wheel at the walking in-process, when the driving shaft received with its axis place direction inconsistent external force, the damping grease of packing in the accommodation space can directly exert flexible restraint to the periphery of driving shaft, thereby the restriction driving shaft takes place to squint and shake for its axis, can avoid other components, like the support etc., produce great noise because of directly exerting hard restraint to the driving shaft, be favorable to reducing the noise that produces when this damping universal wheel used, promote user experience.

In one embodiment, an oil reservoir is arranged in the damper, the oil reservoir is provided with a second central hole which is coaxial with the first central hole, the diameter of the second central hole is not smaller than that of the first central hole, and the oil reservoir is used for providing the damping grease for the accommodating space.

In one embodiment, the oil reservoir further comprises an oil groove and a connecting channel, the oil groove is annularly arranged, and the connecting channel is used for communicating the oil groove with the second central hole.

In one embodiment, the universal wheel assembly comprises a support and a roller, the lower end of the support is connected with a rotating shaft of the roller, the upper end of the support is fixedly connected to the lower end of the driving shaft, and the axis of the rotating shaft is perpendicular to the axis of the driving shaft.

In one embodiment, the lower end of the driving shaft extends outwards along the radial direction to form a connecting part, and the connecting part is in threaded connection with the support.

In one embodiment, the damping universal wheel further comprises a mounting plate, the mounting plate is arranged between the damper and the universal wheel assembly and is in threaded connection with the damper, and a plurality of connecting hole positions are arranged on the mounting plate at intervals.

In one embodiment, a bearing is embedded in the mounting plate, the outer side of the bearing is in interference fit with the mounting plate, and the inner side of the bearing is in interference fit with the periphery of the driving shaft.

In one embodiment, an adjusting assembly is arranged between the mounting plate and the universal wheel assembly, and the adjusting assembly is used for adjusting the distance between the universal wheel assembly and the mounting plate.

In one embodiment, the adjusting assembly comprises a ball groove and a plurality of balls placed in the ball groove, when the damping universal wheel is placed on the ground, the lower end of the ball groove abuts against the universal wheel assembly, and the upper end of the ball abuts against the mounting plate.

A robot comprises the damping universal wheel, and the robot is configured to realize steering and moving by using the damping universal wheel.

In the robot, the lower end of the driving shaft is connected with the universal wheel component, and the universal wheel can be driven to rotate. In the robot walking process, when the driving shaft receives the external force inconsistent with the direction of its axis, the damping grease filled in the accommodation space can directly exert flexible restraint to the periphery of driving shaft to the restriction driving shaft takes place skew and shake for its axis, can avoid other components, like the support etc. because of directly exerting hard restraint to the driving shaft and producing great noise, be favorable to reducing the noise that produces when this robot uses, promote user experience.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.

Fig. 1 is a schematic overall structure diagram of a damping universal wheel provided in an embodiment of the present application;

FIG. 2 is a partial cross-sectional view of the overall structure of a damping universal wheel according to an embodiment of the present application;

FIG. 3 is a sectional view of the overall structure of a damping universal wheel according to an embodiment of the present application;

fig. 4 is a schematic view of the overall structure of the oil reservoir in the embodiment of the present application.

Description of the reference numerals

10. Damping universal wheels; 100. a universal wheel assembly; 110. a support; 120. a roller; 200. a drive shaft; 210. a connecting portion; 300. a damper; 310. an oil reservoir; 311. a second central aperture; 312. an oil sump; 313. a connecting channel; 314. an upper shell; 315. a lower case; 316. a felt ring sealing ring; 317. an O-shaped sealing ring; 320. a bearing; 400. mounting a plate; 500. an adjustment assembly; 510. a ball groove; 520. and a ball.

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 obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.

As shown in fig. 1-4, the present application provides a damped universal wheel 10 including a universal wheel assembly 100, a drive shaft 200, and a damper 300. The damping universal wheel 10 in this application can be mounted on the underside of the robot for the robot to steer and move on the ground using the damping universal wheel 10. Wherein, the lower end of the driving shaft 200 is connected to the universal wheel assembly 100 to drive the universal wheel assembly 100 to rotate. The damper 300 is provided with a first central hole (not shown) therethrough. The upper end of the driving shaft 200 is inserted into the first center hole, and an accommodating space is left between the upper end and the inner wall of the first center hole. Damping grease (not shown) is filled in the accommodating space.

Therefore, the lower end of the driving shaft 200 is connected to the universal wheel assembly 100, and the universal wheel can be driven to rotate. At damping universal wheel 10 in the walking in-process, when driving shaft 200 received with its axis place direction inconsistent external force, the damping grease of filling in the accommodation space can directly exert flexible restraint to the periphery of driving shaft 200, thereby restriction driving shaft 200 takes place skew and shake for its axis, can avoid other components, like support 110 etc., produce great noise because of directly applying hard restraint to driving shaft 200, be favorable to reducing the noise that produces when this damping universal wheel 10 uses, promote user experience.

In addition, the damping universal wheel 10 provided in the application can effectively reduce noise in use, and is suitable for a use scene of the existing robot with smaller eccentric distance of the universal wheel. Of course, the eccentricity of damping universal wheel 10 in this application also can set up to be bigger than current universal wheel eccentricity, makes the universal wheel produce when receiving external force resonance frequency and robot walking when the difference between the frequency of shake increase to noise that produces when further reducing the use promotes user experience.

The shape of the first center hole may be any regular shape such as a circle, a square, or a trapezoid, or may be an irregular shape as long as the radial dimension of the first center hole is larger than the radial dimension of the first center hole portion into which the driving shaft 200 is inserted, so as to be secured on the same horizontal plane.

Specifically, in the present embodiment, the portion of the driving shaft 200 inserted into the first center hole has a cylindrical shape, and the first center hole has a circular shape, and therefore, the diameter of the first center hole is larger than the outer diameter of the portion of the driving shaft 200 inserted into the first center hole.

It should be further noted that the damping grease has the following functions: avoid the direct rigid contact of the outer wall of driving shaft 200 and the inner wall (first centre bore department) of attenuator 300 to avoid when driving shaft 200 receives the external force inconsistent with its axis direction, can not produce great noise because of direct collision, friction between driving shaft 200 and attenuator 300 and other hard components and parts.

Wherein "hard contact" is understood to mean: the two solid substances are in direct contact. In this application, before two solid-state material (driving shaft 200 and any other stereoplasm components and parts) direct contact, damping grease and driving shaft 200 "flexonics" to flexible restraint is applyed to driving shaft 200, thereby avoids driving shaft 200 and other stereoplasm component direct impact and friction, the noise that produces when being favorable to jia ang ground this damping universal wheel 10 to use, and then promotes user experience.

Further, the damping grease may be any lubricating grease. Specifically, in the present embodiment, the damping grease is butter.

Further, in this embodiment, the accommodating space is completely filled with damping grease, so as to maximize the constraint effect of the damping grease on the driving shaft 200.

In one embodiment, as shown in fig. 1-3, the damped universal wheel 10 further includes a mounting plate 400. The mounting plate 400 is disposed between the damper 300 and the universal wheel assembly 100, and is threadedly coupled to the damper 300. A plurality of connection holes are formed at intervals in the mounting plate 400.

It should be noted that damper 300 and mounting plate 400 do not rotate together when drive shaft 200 and universal wheel assembly 100 rotate. Therefore, the damping universal wheel 10 can be stably connected to the device to be installed by using a screw, a pin, or the like as a connecting element to pass through the connecting hole to fixedly connect the mounting plate 400 to the device to be installed. The equipment to be installed can be equipment with steering requirements in the process of moving on the ground, such as a robot, a cart, a storage cabinet and the like.

Further, a bearing 320 is embedded in the mounting plate 400. The outer side of bearing 320 is interference fit with mounting plate 400 to allow stable connection of bearing 320 with mounting plate 400. The inner side of the bearing 320 is interference-fitted with the outer circumference of the driving shaft 200 so that the bearing 320 is stably connected with the driving shaft 200.

In one embodiment, as shown in fig. 1-3, the universal wheel assembly 100 includes a bracket 110 and rollers 120. The lower end of the bracket 110 is connected to the rotation shaft of the roller 120. The upper end of the bracket 110 is fixedly connected to the lower end of the driving shaft 200. Wherein, the axis of the rotating shaft is perpendicular to the axis of the driving shaft 200.

It should be noted that when the robot rotates on the horizontal plane: the axis of the rotating shaft is parallel to the horizontal plane so as to drive the main body part of the robot to move back and forth on the ground; the axial direction of the driving shaft 200 is perpendicular to the horizontal plane to drive the roller 120 and the robot to rotate, thereby conveniently adjusting the moving direction of the roller 120 and the robot.

In addition, the lower end of the driving shaft 200 is extended outward in a radial direction to form a connection part 210, and the connection part 210 is screwed with the bracket 110 to provide a connectable point for the connection of the driving shaft 200 and the bracket 110, thereby realizing the fixed connection of the bracket 110 and the driving shaft 200. The upper side of the connection part 210 is attached to the lower side of the supporter 110, thereby restricting the movement of the supporter 110 in a direction parallel to the axis of the driving shaft 200. Specifically, in the present embodiment, the connection portion 210 is connected to the bracket 110 by a screw.

In one embodiment, as shown in fig. 2 and 3, an adjustment assembly 500 is provided between mounting plate 400 and universal wheel assembly 100. The adjustment assembly 500 is used to adjust the distance between the universal wheel set and the mounting plate 400. Specifically, the adjustment assembly 500 is disposed between the mounting plate 400 and the bracket 110.

Wherein the adjustment assembly 500 includes a ball groove 510 and a plurality of balls 520 that can be placed in the ball groove 510. When the damping universal wheel 10 is placed on the ground, the lower end of the ball groove 510 abuts against the universal wheel assembly 100 (i.e., the bracket 110), and the upper end of the ball 520 abuts against the mounting plate 400, thereby supporting the mounting plate 400 in the vertical direction. When the driving shaft 200 rotates, the support 110 rotates relative to the mounting plate 400, the balls 520 can rotate together with the support 110, friction on the lower side surface of the mounting plate 400 can be minimized, loss of the mounting plate 400 is avoided, and the service life of the damping universal wheel 10 is prolonged. In addition, the side of the ball groove 510 contacting the ball 520 is spherical to reduce friction and loss between the ball 520 and the ball groove 510.

In one embodiment, as shown in fig. 3 and 4, a reservoir 310 for supplying damping grease to the receiving space is provided in the damper 300. Reservoir 310 is provided with a second central bore 311. The second center hole 311 is disposed coaxially with the first center hole, and the aperture size of the second center hole 311 is not smaller than the aperture size of the first center hole. It should be noted that the second central hole 311 is communicated with the first central hole, that is, an accommodating space filled with damping grease is also present between the inner wall of the second central hole 311 and the outer peripheral wall of the driving shaft 200.

Further, oil reservoir 310 is provided with oil groove 312 and connecting passage 313. The oil groove 312 is annularly disposed. The connection passage 313 serves to communicate the oil groove 312 with the second center hole 311. Wherein, the number of the connection channel 313 may be plural, and a plurality of connection channels 313 are provided at intervals along the outer circumference of the driving shaft 200. Specifically, in the present embodiment, the number of the connection passages 313 is four.

Further, as shown in fig. 3 and 4, felt rings 316 are provided between the upper end of the second center hole 311 and the driving shaft 200 and between the lower end of the second center hole 311 and the driving shaft 200 to prevent the damping grease from overflowing or dust from entering. Damper 300 also includes an upper shell 314 and a lower shell 315. Oil reservoir 310 is located between epitheca 314 and inferior valve 315, still is equipped with O type sealing washer 317 between epitheca 314 and the inferior valve 315 to carry out omnidirectional protection to oil reservoir 310, and then prevent that the junction of epitheca 314 and inferior valve 315 from having the damping grease to spill over or there is the dust to get into.

The present application also provides a robot (not shown) comprising the damped caster 10 described above. The robot is configured to steer and move over the ground using damped universal wheels 10.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

It should be readily understood that "on 8230" \ 8230on "," on 82303030, and "on 82308230; \ 8230on" \ 8230, and "on 8230;" on 8230, should be interpreted in the broadest sense in this disclosure, such that "on 8230;" on not only means "directly on something", but also includes the meaning of "on something" with intervening features or layers therebetween, and "above 8230or" above 8230 "\8230"; not only includes the meaning of "above something" or "above" but also includes the meaning of "above something" or "above" with no intervening features or layers therebetween (i.e., directly on something).

Furthermore, spatially relative terms, such as "under," "below," "beneath," "above," "over," and the like, may be used herein for ease of description to describe one element or feature's illustrated relationship to another element or feature. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may have other orientations (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly as well.

It is noted that, in this document, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A damped caster, comprising:

a universal wheel assembly;

the lower end of the driving shaft is connected to the universal wheel component so as to drive the universal wheel component to rotate; and (c) a second step of,

the damper is provided with a first through center hole, the upper end of the driving shaft is inserted into the first center hole, an accommodating space is reserved between the upper end of the driving shaft and the inner wall of the first center hole, and damping grease is filled in the accommodating space.

2. The damping universal wheel according to claim 1, wherein an oil reservoir is provided in the damper, the oil reservoir is provided with a second central hole coaxially provided with the first central hole, the aperture size of the second central hole is not smaller than that of the first central hole, and the oil reservoir is used for providing the damping grease to the accommodating space.

3. The damped universal wheel according to claim 2, wherein said oil reservoir further comprises an oil groove and a connecting channel, said oil groove being annularly disposed, said connecting channel being adapted to communicate said oil groove with said second central bore.

4. The damped universal wheel according to claim 1, wherein the universal wheel assembly comprises a support and a roller, the lower end of the support is connected with a rotating shaft of the roller, the upper end of the support is fixedly connected to the lower end of the driving shaft, and the axis of the rotating shaft is perpendicular to the axis of the driving shaft.

5. The damped universal wheel according to claim 4, wherein a lower end of said drive shaft extends radially outwardly to form a coupling portion, said coupling portion being threadably engaged with said carrier.

6. The damping universal wheel according to any one of claims 1 to 5, further comprising a mounting plate, wherein the mounting plate is disposed between the damper and the universal wheel assembly and is in threaded connection with the damper, and a plurality of connection holes are disposed at intervals on the mounting plate.

7. The damped universal wheel according to claim 6, wherein a bearing is embedded in the mounting plate, the outer side of the bearing is in interference fit with the mounting plate, and the inner side of the bearing is in interference fit with the outer periphery of the driving shaft.

8. The damped universal wheel of claim 6, wherein an adjustment assembly is disposed between said mounting plate and said universal wheel assembly, said adjustment assembly being configured to adjust a distance between said universal wheel assembly and said mounting plate.

9. The damped universal wheel according to claim 8, wherein said adjustment assembly includes a ball slot and a plurality of balls received in said ball slot, wherein when said damped universal wheel is placed on the ground, a lower end of said ball slot abuts said universal wheel assembly and an upper end of said balls abuts said mounting plate.

10. A robot comprising a damped wheel according to any one of claims 1 to 9, said robot being configured to steer and move using said damped wheel.

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