CN220314612U - Universal wheel and walking equipment - Google Patents

Abstract

The application discloses a universal wheel and walking equipment, wherein the universal wheel comprises a wheel frame, and a first obstacle crossing wheel, a second obstacle crossing wheel and walking wheels which are arranged on the wheel frame in a step manner; in the vertical direction, the lowest point of the first obstacle crossing wheel is positioned above the lowest point of the second obstacle crossing wheel, and the lowest point of the second obstacle crossing wheel is positioned above the lowest point of the travelling wheel; in the travelling direction, the forefront point of the first obstacle crossing wheel is positioned in front of the forefront point of the second obstacle crossing wheel, and the forefront point of the second obstacle crossing wheel is positioned in front of the forefront point of the travelling wheel. When the universal wheel is used for surmounting the obstacle, the first obstacle surmounting wheel, the second obstacle surmounting wheel and the travelling wheel which are arranged in a step mode are sequentially contacted with the raised obstacle to enable the travelling wheel to move to the upper portion of the obstacle, power required by the travelling equipment when the obstacle surmounting is performed is reduced, and the obstacle surmounting capacity of the universal wheel is improved.

Description

Universal wheel and walking equipment

Technical Field

The application relates to the technical field of intelligent robots, in particular to a universal wheel and walking equipment.

Background

Along with the development of science and technology, more and more intelligent mobile robots are in our lives, and convenience is brought to our lives. When the intelligent mobile robot works, the intelligent mobile robot is driven to walk mainly by controlling the driving wheel through the walking motor. While the intelligent mobile robot passes over the obstacle with lower height mainly through the universal wheels, in the prior art, the Chinese patent CN 210391371U-self-mobile robot and the auxiliary wheels thereof disclose an auxiliary wheel obstacle crossing method, and the universal wheels are only provided with one auxiliary obstacle crossing universal wheel when the obstacle crossing is performed, so that the obstacle crossing capacity is poor.

Disclosure of Invention

In order to solve the problems, the application provides a universal wheel and walking equipment. The specific technical scheme of the application is as follows:

a universal wheel, which comprises a wheel frame, a first obstacle crossing wheel, a second obstacle crossing wheel and travelling wheels, wherein the first obstacle crossing wheel, the second obstacle crossing wheel and the travelling wheels are arranged on the wheel frame; in the vertical direction, the lowest point of the first obstacle crossing wheel is positioned above the lowest point of the second obstacle crossing wheel, and the lowest point of the second obstacle crossing wheel is positioned above the lowest point of the travelling wheel; in the travelling direction, the forefront point of the first obstacle crossing wheel is positioned in front of the forefront point of the second obstacle crossing wheel, and the forefront point of the second obstacle crossing wheel is positioned in front of the forefront point of the travelling wheel. When the universal wheel is used for surmounting the obstacle, the first obstacle surmounting wheel, the second obstacle surmounting wheel and the travelling wheel which are arranged in a step mode are sequentially contacted with the raised obstacle to enable the travelling wheel to move to the upper portion of the obstacle, power required by the travelling equipment when the obstacle surmounting is performed is reduced, and the obstacle surmounting capacity of the universal wheel is improved.

Further, the universal wheel also comprises a mounting member, the mounting member comprises a rotating shaft, a first bearing and a second bearing, the mounting member is used for enabling the wheel frame to be in rotating connection with the bottom of the machine body of the walking equipment, the first bearing is arranged in the machine body of the walking equipment, and the second bearing is arranged outside the machine body of the walking equipment. The universal wheel is rotationally connected with the bottom of the walking equipment in a mode that the first bearing and the second bearing are matched, so that the rotation capacity of the universal wheel at the bottom of the walking equipment is improved.

Further, the rotation shaft comprises an upper end part, a circular limiting block and a lower end part which are integrally arranged, and the circular limiting block is positioned between the upper end part and the lower end part. The rotating shaft is convenient to produce and install.

Further, the first bearing and the second bearing are sleeved on the upper end part of the rotating shaft, the mounting member further comprises a limiting piece, a limiting groove is formed in the upper end part of the rotating shaft, and the limiting piece is fixed on the limiting groove through a buckling structure to lock the first bearing and the second bearing between the circular limiting block and the limiting groove. The first bearing and the second bearing are locked in a buckling manner, so that the structure is simple, and the disassembly is convenient.

Further, the lower end part of the rotating shaft is provided with a bar-shaped groove, the bottom of the lower end part of the rotating shaft is provided with a screw hole, the wheel carrier is provided with a mounting seat for mounting the lower end part of the rotating shaft, the mounting seat is provided with a convex strip matched with the bar-shaped groove, and the lower end part of the rotating shaft is fixedly connected with the wheel carrier through a screw. The rotating shaft is locked on the wheel frame through the screw, so that the structure is firm, and the rotating shaft is prevented from falling off from the wheel frame; the rotating shaft is provided with two strip-shaped grooves, so that the rotating shaft can conveniently drive the wheel frame to rotate.

Further, the radius of the first obstacle detouring wheel is smaller than the radius of the second obstacle detouring wheel. The volume of the universal wheel is reduced.

Further, the wheel frame is cylindrical, an inclined plane is arranged at the front end of the bottom of the wheel frame, and part wheel bodies of the first obstacle surmounting wheel and the second obstacle surmounting wheel protrude out of the inclined plane. The first obstacle crossing wheel and the second obstacle crossing wheel are assisted to surmount the obstacle through the inclined plane, so that the obstacle crossing capacity of the universal wheel is improved.

Further, the second obstacle crossing wheel comprises two sub wheels arranged side by side, and the first obstacle crossing wheel and the travelling wheel are positioned between the two sub wheels in the wheel axis direction of the second obstacle crossing wheel. The volume of the universal wheel is reduced.

Further, the width of the travelling wheel is larger than that of the sub wheels of the universal wheel. The walking capacity of the walking wheel is improved, and the volume of the universal wheel is reduced.

The walking equipment comprises a machine body and the universal wheel, wherein the universal wheel comprises a wheel frame and a mounting member, the mounting member comprises a rotating shaft, a first bearing and a second bearing, a wheel seat is arranged at the bottom of the machine body of the walking equipment, a clamping hole is formed in the top of the wheel seat, the wheel seat is used for mounting the wheel frame, and a part of shaft body of the rotating shaft extends into the walking equipment; the first bearing is arranged inside the walking equipment and is positioned above the top of the wheel seat, and the second bearing is arranged outside the walking equipment and is positioned below the top of the wheel seat, so that the top of the wheel seat is locked between the first bearing and the second bearing; the first bearing comprises an outer ring and an inner ring, the second bearing comprises an outer ring and an inner ring, the outer ring of the first bearing and the outer ring of the second bearing are fixed with the machine body, and the inner ring of the first bearing and the inner ring of the second bearing are fixed with the rotating shaft. When the universal wheel is used for surmounting the obstacle, the first obstacle surmounting wheel, the second obstacle surmounting wheel and the travelling wheel which are arranged in a step mode are sequentially contacted with the raised obstacle to enable the travelling wheel to move to the upper portion of the obstacle, power required by the travelling equipment when the obstacle surmounting is performed is reduced, and the obstacle surmounting capacity of the universal wheel is improved.

Drawings

FIG. 1 is a schematic view of a caster according to an embodiment of the present application;

FIG. 2 is a schematic view of the bottom structure of a caster according to an embodiment of the present application;

FIG. 3 is an exploded view of a caster according to one embodiment of the present application;

fig. 4 is a schematic structural view of a universal wheel on a walking device according to an embodiment of the present application.

Description of the embodiments

In the following description, specific details are given to provide a thorough understanding of the embodiments. However, it will be understood by those of ordinary skill in the art that the embodiments may be practiced without these specific details. For example, circuits may be shown in block diagrams in order not to obscure the embodiments in unnecessary detail. In other instances, well-known circuits, structures and techniques may not be shown in detail in order not to obscure the embodiments.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

As used in this application, the term "if" may be interpreted as "when …" or "upon" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

As shown in fig. 1 to 4, a universal wheel comprises a wheel frame 1, a first obstacle detouring wheel 2, a second obstacle detouring wheel 3 and a travelling wheel 4 which are arranged in a step on the wheel frame 1; in the vertical direction, the lowest point of the first obstacle surmounting wheel 2 is positioned above the lowest point of the second obstacle surmounting wheel 3, and the lowest point of the second obstacle surmounting wheel 3 is positioned above the lowest point of the travelling wheel 4; in the travelling direction, the forefront point of the first obstacle detouring wheel 2 is located in front of the forefront point of the second obstacle detouring wheel 3, and the forefront point of the second obstacle detouring wheel 3 is located in front of the forefront point of the travelling wheel 4. When the universal wheel is used for surmounting the obstacle, the first obstacle surmounting wheel 2, the second obstacle surmounting wheel 3 and the travelling wheel 4 which are arranged in a step manner are sequentially contacted with the raised obstacle to enable the travelling wheel 4 to move to the upper side of the obstacle, so that power required by the travelling equipment in surmounting the obstacle is reduced, and the obstacle surmounting capacity of the universal wheel is improved. The vertical direction is the direction perpendicular to the walking surface when the universal wheel works. The walking direction is the direction of the universal wheel when the universal wheel walks linearly.

As one of the embodiments, the universal wheel further comprises a mounting member, the mounting member comprises a rotating shaft 5, a first bearing 6 and a second bearing 7, the mounting member is used for enabling the wheel frame 1 to be rotatably connected with the bottom of the body of the walking equipment, the first bearing 6 is located above the bottom of the body of the walking equipment, and the second bearing 7 is located below the bottom of the body of the walking equipment. The universal wheel is rotationally connected with the bottom of the walking equipment body in a mode of matching the first bearing 6 and the second bearing 7, so that the rotation capacity of the universal wheel at the bottom of the walking equipment body is improved. I.e. the first bearing 6 is located inside the body of the walking device and the second bearing 7 is located outside the body of the walking device when the universal wheel is mounted on the walking device.

As one embodiment, the rotating shaft 5 includes an upper end portion, a circular stopper 8, and a lower end portion that are integrally provided, and the circular stopper 8 is located between the upper end portion and the lower end portion. The rotation shaft 5 is made easy to produce and install. The upper and lower ends of the rotating shaft 5 are both cylindrical. The circular stopper 8 is for supporting the second bearing 7.

As one embodiment, the first bearing 6 and the second bearing 7 are sleeved on the upper end portion of the rotating shaft 5, the mounting member further comprises a limiting piece 9, a limiting groove 10 is formed in the upper end portion of the rotating shaft 5, and the limiting piece 9 is fixed on the limiting groove 10 through a fastening structure to lock the first bearing 6 and the second bearing 7 between the circular limiting block 8 and the limiting groove 10. The first bearing 6 and the second bearing 7 are locked in a buckling manner, so that the structure is simple, and the disassembly is convenient.

As one embodiment, the lower end of the rotating shaft 5 is provided with a bar-shaped groove 11, the bottom of the lower end of the rotating shaft 5 is provided with a screw hole, the wheel carrier 1 is provided with a mounting seat for mounting the lower end of the rotating shaft 5, the mounting seat is provided with a convex strip matched with the bar-shaped groove 11, and the lower end of the rotating shaft 5 is fixedly connected with the wheel carrier 1 through a screw 12. The number of the bar grooves 11 at the lower end portion of the rotation shaft 5 may be 1, 2, 3, 4, etc., and the bar grooves 11 are uniformly distributed at the side of the lower end portion of the rotation shaft 5. The rotating shaft 5 is locked on the wheel frame 1 through the screw 12, so that the structure is firm, and the rotating shaft 5 is prevented from falling off from the wheel frame 1; the rotating shaft 5 is provided with two strip-shaped grooves 11, so that the rotating shaft 5 drives the wheel frame 1 to rotate.

As one example, the radius of the first obstacle detouring wheel is smaller than the radius of the second obstacle detouring wheel 3. The volume of the universal wheel is reduced.

As one example, the wheel frame 1 is cylindrical, the front end of the bottom of the wheel frame 1 is provided with a bevel 13, and part of the wheel bodies of the first obstacle surmounting wheel 2 and the second obstacle surmounting wheel 3 protrude from the bevel 13. The first obstacle surmounting wheel 2 and the second obstacle surmounting wheel 3 are assisted to surmount by the inclined plane 13, so that the obstacle surmounting capability of the universal wheel is improved. The circular wheel frame 1 is convenient for autorotation at the bottom of the walking equipment.

As one of the embodiments, the second obstacle detouring wheel 3 comprises two sub-wheels arranged side by side, and the first obstacle detouring wheel 2 and the travelling wheel 4 are located between the two sub-wheels in the wheel axis direction of the second obstacle detouring wheel 3. The volume of the universal wheel is reduced. The contact area between the second obstacle crossing wheel and the obstacle is increased through the two sub wheels, so that the obstacle crossing capability is improved.

As one example, the width of the travelling wheel 4 is larger than the width of the sub wheel of the universal wheel. The walking ability of the walking wheel 4 is improved and the volume of the universal wheel is reduced.

As shown in fig. 4, the universal wheel in fig. 4 is a sectional view, and a walking device comprises a machine body and the universal wheel, wherein the universal wheel comprises a wheel frame 1, a mounting member, a first obstacle surmounting wheel 2, a second obstacle surmounting wheel 3 and a walking wheel 4; the first obstacle crossing wheel 2, the second obstacle crossing wheel 3 and the travelling wheel 4 are arranged in a step on the wheel frame 1, and the mounting component is used for enabling the wheel frame 1 to be rotationally connected with the bottom of a machine body of the travelling equipment. The mounting member comprises a rotating shaft 5, a first bearing 6 and a second bearing 7, a wheel seat is arranged at the bottom of the machine body of the walking equipment, a clamping hole 15 is formed in the top 14 of the wheel seat, the top 14 of the wheel seat is I-shaped, the clamping hole is a middle vertical line, the wheel seat is used for mounting the wheel frame 1, and the clamping hole 15 is used for enabling part of the shaft body of the rotating shaft 5 to extend into the machine body of the walking equipment; the first bearing 6 is arranged inside the body of the walking equipment and above the top 14 of the wheel seat, and the second bearing is arranged outside the body of the walking equipment and below the top 14 of the wheel seat, so that the top 14 of the wheel seat is locked between the first bearing 6 and the second bearing 7; the first bearing 6 comprises an outer ring and an inner ring, the second bearing 7 comprises an outer ring and an inner ring, the outer rings of the first bearing 6 and the second bearing 7 are fixed with the machine body, and the inner rings of the first bearing 6 and the second bearing 7 are fixed with the rotating shaft 5. When the universal wheel is installed on the walking equipment, the wheel seat is recessed into the bottom of the walking equipment, the upper part of the top 14 of the wheel seat is arranged inside the walking equipment, and the lower part of the top 14 of the wheel seat is arranged outside the walking equipment, so that partial structures of the wheel frame 1, the first obstacle crossing wheel 2, the second obstacle crossing wheel 3 and the walking wheel 4 protrude out of the plane of the bottom of the walking equipment, a part of the upper end part of the rotating shaft 5 extends into the walking equipment through the clamping hole 15, at the moment, the first bearing 6 is positioned above the clamping hole 15 to prevent the rotating shaft 5 from falling off from the walking equipment, and the second bearing 7 is positioned outside the walking equipment and used for supporting the top 14 of the wheel seat and is tightly attached to the top 14 of the wheel seat. When the universal wheel is used for surmounting the obstacle, the first obstacle surmounting wheel 2, the second obstacle surmounting wheel 3 and the travelling wheel 4 which are arranged in a step manner are sequentially contacted with the raised obstacle to enable the travelling wheel 4 to move to the upper side of the obstacle, so that power required by the travelling equipment in surmounting the obstacle is reduced, and the obstacle surmounting capacity of the universal wheel is improved.

As one embodiment, when the walking device passes over the obstacle, the first obstacle crossing wheel 2 is firstly contacted with the obstacle, the first obstacle crossing wheel 2 moves onto the obstacle in a rolling manner under the action of pushing force, and the front end of the walking device is slightly lifted, so that the second obstacle crossing wheel 3 moves onto the obstacle more easily, then the second obstacle crossing wheel 3 contacts with the obstacle, the second obstacle crossing wheel 3 moves onto the obstacle in a rolling manner under the action of pushing force, and the front end of the walking device is greatly lifted, so that the walking wheel 4 easily moves onto the obstacle under the action of pushing force, and the obstacle crossing is realized.

It is obvious that the above-mentioned embodiments are only some embodiments of the present application, but not all embodiments, and that the technical solutions between the embodiments may be combined with each other. Furthermore, if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the embodiments, their indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the indicated devices or elements must have a specific orientation or be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. If the terms "first," "second," "third," etc. are used in an embodiment to facilitate distinguishing between related features, they are not to be construed as indicating or implying a relative importance, order, or number of technical features.

In addition, in the description of the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the application, which is defined solely by the appended claims and their equivalents as set forth herein above as a preferred embodiment of the application and not as a limitation of the application, but that various changes and variations will occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (10)

1. The universal wheel is characterized by comprising a wheel frame, a first obstacle crossing wheel, a second obstacle crossing wheel and travelling wheels, wherein the first obstacle crossing wheel, the second obstacle crossing wheel and the travelling wheels are arranged on the wheel frame;

in the vertical direction, the lowest point of the first obstacle crossing wheel is positioned above the lowest point of the second obstacle crossing wheel, and the lowest point of the second obstacle crossing wheel is positioned above the lowest point of the travelling wheel;

in the travelling direction, the forefront point of the first obstacle crossing wheel is positioned in front of the forefront point of the second obstacle crossing wheel, and the forefront point of the second obstacle crossing wheel is positioned in front of the forefront point of the travelling wheel.

2. The universal wheel according to claim 1, further comprising a mounting member comprising a rotational shaft, a first bearing and a second bearing, the mounting member being adapted to rotatably connect the wheel carrier with the bottom of the body of the walking device, the first bearing being arranged inside the body of the walking device, the second bearing being arranged outside the body of the walking device.

3. A universal wheel according to claim 2, wherein the rotational shaft comprises an integrally provided upper end, a circular stopper and a lower end, the circular stopper being located between the upper end and the lower end.

4. A universal wheel according to claim 3, wherein the first bearing and the second bearing are sleeved on the upper end of the rotating shaft, the mounting member further comprises a limiting piece, a limiting groove is formed in the upper end of the rotating shaft, and the limiting piece is fixed on the limiting groove through a fastening structure to lock the first bearing and the second bearing between the circular limiting block and the limiting groove.

5. A universal wheel according to claim 3, wherein the lower end of the rotating shaft is provided with a bar-shaped groove, the bottom of the lower end of the rotating shaft is provided with a screw hole, the wheel frame is provided with a mounting seat for mounting the lower end of the rotating shaft, the mounting seat is provided with a convex strip matched with the bar-shaped groove, and the lower end of the rotating shaft is fixedly connected with the wheel frame through a screw.

6. The universal wheel of claim 1, wherein the radius of the first obstacle detouring wheel is smaller than the radius of the second obstacle detouring wheel.

7. The universal wheel according to claim 1, wherein the wheel frame is cylindrical, a front end of a bottom of the wheel frame is provided with an inclined surface, and part of wheel bodies of the first obstacle surmounting wheel and the second obstacle surmounting wheel protrude from the inclined surface.

8. A castor according to claim 1, wherein the second obstacle detouring wheel comprises two sub-wheels arranged side by side, the first obstacle detouring wheel and the road wheel being located between the two sub-wheels in the direction of the axle of the second obstacle detouring wheel.

9. A castor according to claim 1, wherein the width of the road wheels is greater than the width of the sub wheels of the castor.

10. A walking device, characterized in that the walking device comprises a machine body and the universal wheel as claimed in any one of claims 1 to 9, the universal wheel comprises a wheel frame and a mounting member, the mounting member comprises a rotating shaft, a first bearing and a second bearing, the bottom of the machine body of the walking device is provided with a wheel seat, the top of the wheel seat is provided with a clamping hole, the wheel seat is used for mounting the wheel frame, and the clamping hole is used for enabling part of a shaft body of the rotating shaft to extend into the machine body of the walking device;

the first bearing is arranged in the body of the walking equipment and is positioned above the top of the wheel seat, and the second bearing is arranged outside the body of the walking equipment and is positioned below the top of the wheel seat, so that the top of the wheel seat is locked between the first bearing and the second bearing;

the first bearing comprises an outer ring and an inner ring, the second bearing comprises an outer ring and an inner ring, the outer ring of the first bearing and the outer ring of the second bearing are fixed with the machine body, and the inner ring of the first bearing and the inner ring of the second bearing are fixed with the rotating shaft.