WO2023001202A1

WO2023001202A1 - Compound guide wheel and locomotion device

Info

Publication number: WO2023001202A1
Application number: PCT/CN2022/106848
Authority: WO
Inventors: 陈海波; 朱峰; 黄森
Original assignee: 深兰机器人(上海)有限公司
Priority date: 2021-07-20
Filing date: 2022-07-20
Publication date: 2023-01-26
Also published as: CN113715554A

Abstract

A compound guide wheel (110) and a locomotion device (100). The compound guide wheel (110) comprises: a guide wheel (111); and an auxiliary wheel (113) provided on one side of the guide wheel (111), wherein the auxiliary wheel (113) and the guide wheel (111) are eccentrically arranged, so that the auxiliary wheel (113) protrudes from the guide wheel (111) in the advancing direction, and a height difference is formed between the tangent line of the auxiliary wheel (113) and a horizontal plane and the tangent line between the guide wheel (111) and the horizontal plane.

Description

Duplex guide wheels and running equipment

This application claims the priority of Chinese patent application 202110821175.9 with a filing date of July 20, 2021. This application cites the full text of the above-mentioned Chinese patent application.

technical field

The application relates to the technical field of road wheels, in particular to compound guide wheels and road equipment.

Background technique

In the related prior art, the service walking equipment has relatively high requirements on the passage of the ground, and needs a better level ground. When there is a ridge on the ground, the existing service walking equipment cannot pass through the ridge exceeding a certain height. For example, when the service walking equipment is applied in the hotel environment, sometimes it cannot enter and exit the bathroom and guest room normally. Among them, the guide wheels are used for the service walking equipment to walk on the ground and pass through the ridges on the walking surface. Usually, the diameter range of the guide wheels needs to meet certain space design requirements. Therefore, without increasing the diameter of the guide wheels, the existing guide wheels cannot pass through higher ridges, which limits the normal operation of the service walking equipment. use.

Contents of the invention

In view of this, the purpose of the first aspect of the present application is to provide a compound guide wheel, which solves the technical problem in the background art that it is difficult for the guide wheel to pass over obstacles when walking.

The first aspect of the present application provides a composite guide wheel, including: a universal wheel configured to contact with the running surface; an auxiliary wheel arranged on one side of the guide wheel, and the auxiliary wheel is eccentrically arranged with the guide wheel so that The auxiliary wheel protrudes from the guide wheel in the advancing direction, and makes there be a height difference between the tangent between the auxiliary wheel and the horizontal plane and the tangent between the guide wheel and the horizontal plane.

In the compound guide wheel provided by the first aspect of the present application, the guide wheel is in contact with the ground before passing the ridge, and the auxiliary wheel is suspended in the air. Since the height of the ridge is higher than the ground, during the process of passing the ridge, the auxiliary wheel first interacts with the ridge. Contact, under the action of friction, the auxiliary wheel climbs along the ridge, thus driving the guide wheel to climb up the ridge, when the auxiliary wheel climbs to the height of the height difference, the guide wheel contacts with the ridge, so that the guide wheel drives the auxiliary wheel to continue climbing The ridge is passed until the ridge is crossed, thereby passing through the ridge in two stages, and the compound guide wheels can climb over the ridge. Wherein, the height of the ridge that the auxiliary wheels can climb corresponds to the height difference formed between the tangent line between the guide wheel and the horizontal plane and the tangent line between the auxiliary wheel and the horizontal plane. Therefore, as long as a suitable height difference is designed, the compound guide wheel can cross a sill of a considerable height, and then the guide wheel crosses the sill again. The scope of the height of the ridge that the wheel can cross has just improved the application range of the composite guide wheel.

With reference to the first aspect, in a possible implementation manner, axial projections of the guide wheel and the auxiliary wheel partially overlap each other.

With reference to the first aspect, in a possible implementation manner, there is a first eccentricity and a second eccentricity between the auxiliary wheel and the guide wheel, and the first eccentricity makes the auxiliary wheel protrudes above the guide wheel, and the second eccentricity makes the height difference between the tangent between the auxiliary wheel and the horizontal plane and the tangent between the guide wheel and the horizontal plane.

With reference to the first aspect, in a possible implementation manner, the first eccentricity is a horizontal eccentricity; wherein, the horizontal tangent point of the auxiliary wheel is located on the outer diameter of the guide wheel, so as to obtain the first eccentricity. An eccentricity.

With reference to the first aspect, in a possible implementation manner, the height difference is 1/2 to 1/8 of the radius of the guide wheel.

With reference to the first aspect, in a possible implementation manner, there are two auxiliary wheels, which are respectively arranged on opposite sides of the guide wheel, and the two auxiliary wheels are arranged coaxially.

With reference to the first aspect, in a possible implementation manner, the guide wheel is a universal wheel.

With reference to the first aspect, in a possible implementation manner, the said compound guide wheel further includes:

wheel shaft; wherein, the guide wheel has a wheel frame, and the wheel frame includes a top plate and a side plate, the side plate is connected to the top plate, and the side plate is bent outwards and encloses an accommodating space, so The guide wheel is partially placed in the accommodating space, the side plate has two opposite sides for connecting with the wheel shaft, and the auxiliary wheel is rotatably connected to an end of the wheel shaft away from the side plate.

With reference to the first aspect, in a possible implementation manner, the compound guide wheel further includes: a bearing rotatably connected to the wheel shaft; and/or the wheel shaft is welded, riveted, or threaded. Either way is fixedly connected with the wheel frame; wherein, the auxiliary wheel is fixedly sleeved on the outer peripheral surface of the bearing.

The walking equipment provided in the second aspect of the present application includes: a chassis; and the multiple guide wheels described in any implementation manner, where the multiple guide wheels are installed on the chassis.

The walking equipment provided in the second aspect of the present application has the technical effect of the compound guide wheels in any of the above implementations because it includes the compound guide wheels in any of the above implementations, and will not be repeated here.

Description of drawings

FIG. 1 is a schematic perspective view of the three-dimensional structure of the multiple guide wheels provided in some implementations of the present application.

FIG. 2 is a front structural schematic view of the multiple guide wheels provided by the implementation shown in FIG. 1 .

FIG. 3 is a schematic side view structural diagram of the compound guide wheel provided by the implementation shown in FIG. 1 .

FIG. 4 is a schematic top view structural diagram of the compound guide wheel provided by the implementation shown in FIG. 1 .

FIG. 5 is a schematic bottom view of the compound guide wheel provided by the implementation shown in FIG. 1 .

Fig. 6 is a schematic structural diagram of a walking device provided by some implementations of the present application.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some, not all, embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

Application overview

In order to solve the technical problem in the background art that the guide wheels cannot cross over the high ridge in the process of crossing the ridge, a guide wheel with a larger diameter can be used. However, since the installation of the guide wheels is limited by the size of the bottom space, the ability to improve the hurdle-crossing capability by adopting large-diameter guide wheels is limited.

Aiming at the above-mentioned technical problems, the basic idea of this application is to propose a guide wheel and a walking device. The guide wheel is divided into three layers: the first layer retains the radius size of the guide wheel in the prior art to meet the needs of walking equipment; the second layer improves the hurdle-crossing of the guide wheel without changing the radius of the guide wheel Height; the third layer increases the ridge height of the guide wheel in stages. Since the auxiliary wheel is added through the wheel shaft, it is realized by splitting the process of the guide wheel over the ridge into two stages. That is, the auxiliary wheel climbs up the ridge first, thereby driving the guide wheel to climb up the ridge, and after the guide wheel also climbs up the ridge, The guide wheel drives the auxiliary wheel to cross the ridge, thereby passing the ridge in two stages, which increases the height range of the ridge that the composite guide wheel can cross, and also improves the application range of the composite guide wheel.

It should be noted that the compound guide wheels provided in this application can be applied to walking equipment in any scene. Specifically, the design purpose of the mechanical structure is to complete specific work tasks, and the way to complete the work tasks is to complete specific mechanical actions or information transmission through the corresponding mechanical structure or some or all components in the mechanical structure.

After introducing the basic principles of the application, various non-limiting embodiments of the application will be described in detail below with reference to the accompanying drawings.

Exemplary Duplex Guide Wheels

FIG. 1 is a schematic perspective view of the three-dimensional structure of the multiple guide wheels provided in some implementations of the present application. As shown in FIG. 1 , the composite guide wheel 110 includes: a guide wheel 111 and an auxiliary wheel 113 .

Specifically, the auxiliary wheel 113 is arranged on one side of the guide wheel 111, and the auxiliary wheel 113 is eccentrically arranged with the guide wheel 111, so that the auxiliary wheel 113 protrudes from the guide wheel 111 in the forward direction, and the tangent between the guide wheel 111 and the horizontal plane and There is a height difference H between the auxiliary wheel 113 and the tangent of the horizontal plane, and the auxiliary wheel 113 is suspended in the air, so that the auxiliary wheel 113 can contact the ridge first in the forward direction of the compound guide wheel 110 .

More specifically, the guide wheels 111 are configured to be in contact with the running surface. Before the compound guide wheel 110 crosses the ridge, because the auxiliary wheel 113 is in the air, the guide wheel 111 is in contact with the ground. Since the height of the ridge is higher than the ground, and the auxiliary wheel protrudes from the guide wheel 111 in the forward direction, therefore, in the process of crossing the ridge, In the process, the auxiliary wheel 113 first contacts with the ridge, and under the action of friction, the auxiliary wheel 113 climbs along the ridge, thereby driving the guide wheel 111 to climb up the ridge. When the auxiliary wheel 113 climbs to the height of the height difference H, the guide wheel 111 is in contact with the ridge, so that the guide wheel 111 drives the auxiliary wheel 113 to continue climbing the ridge until the ridge is crossed, so that the multiple guide wheels 110 can climb over the ridge through the two-stage way of crossing the ridge. Wherein, the height of the ridge that the auxiliary wheels 113 can climb is corresponding to the height difference formed between the tangent line between the guide wheel and the horizontal plane and the tangent line between the auxiliary wheel and the horizontal plane. Therefore, as long as the suitable height difference is designed, the compound guide wheel 111 can cross over a ridge of considerable height, and then the guide wheel 111 crosses the ridge again, and realizes by splitting the process of crossing the ridge of the guide wheel 111 into two stages, thereby improving the The range of the height of the ridge that the compound guide wheel 110 can cross also increases the application range of the compound guide wheel 110 .

FIG. 2 is a front structural schematic view of the multiple guide wheels provided by the implementation shown in FIG. 1 . As shown in Figure 2, the auxiliary wheel 113 overlaps with the axial projection of the guide wheel 111. It can be understood that the auxiliary wheel 113 is eccentrically arranged with the guide wheel 111, at least forming an eccentric distance in the forward direction. Protrude from the guide wheel 111 in the advancing direction, but the eccentric distance between the auxiliary wheel 113 and the guiding wheel 111 in the advancing direction is less than the sum of the radius of the auxiliary wheel 113 and the radius of the guiding wheel 111. At this time, the auxiliary wheel 113 first contacts with the ridge to climb the slope, and the guide wheel 111 contacts with the ridge to climb the slope, so that the compound guide wheel 110 can be guaranteed to cross the ridge in two stages.

In addition, since the compound guide wheel 110 has at least one auxiliary wheel 113, the compound guide wheel 110 can pass obstacles on one side.

Continuing to show in FIG. 2 , in a possible implementation, there is a first eccentricity A1 and a second eccentricity A2 between the auxiliary wheel 113 and the guide wheel 111 , it can be understood that the first eccentricity A1 is the auxiliary The eccentric distance formed between the wheel 113 and the guide wheel 111 in the forward direction. There are two eccentricities between the auxiliary wheel 113 and the guide wheel 111, that is, the first eccentricity A1 is the eccentricity in the horizontal direction, and the second eccentricity A2 is the eccentricity in the height difference direction, that is, the vertical eccentricity. The first eccentricity A1 makes the auxiliary wheel 113 protrude from the guide wheel 111 in the forward direction, and the second eccentricity A2 makes the auxiliary wheel 113 suspended. Therefore, the guide wheel 111 can not only meet the requirement of rotating within a certain diameter range, but also meet the height difference H, so that in the walking direction, the auxiliary wheel 113 can contact the ridge first.

Continuing to show in FIG. 2 , in a possible implementation, the first eccentricity A1 is a horizontal eccentricity, wherein the horizontal tangent at the bottom of the auxiliary wheel 113 is tangent to the outer diameter of the auxiliary wheel 113 at the determined height difference, forming The horizontal tangent point C, the horizontal tangent point C of the auxiliary wheel 113 is located on the outer diameter of the guide wheel 111, so as to obtain the first eccentricity A1, which is the optimal first eccentricity, so that the compound guide wheel 110 is in the process of crossing the ridge more stable.

More specifically, taking a three-inch guide wheel as an example, that is, the radius of the guide wheel 111 is 75 mm, and the radius of the auxiliary wheel 113 is 80 mm. The height difference H is 6.5 mm to 13 mm, and optimally 9.5 mm to 10 mm, which improves the height at which the compound guide wheels 110 can cross the ridge. The first eccentricity A1 is 20 mm to 26 mm, preferably 23 mm, which is relatively small among similar 3-inch guide wheels, and such an eccentricity can better complete small-radius steering. Wherein, the guide wheel 111 may be a universal wheel.

Continuing to show in Figure 2, in a possible implementation, the height difference H is 1/2 to 1/8 of the radius of the guide wheel 111, it can be understood that the height difference H can be 1/2 of the radius of the guide wheel , 1/5 of the radius of the guide wheel, and 1/8 of the radius of the guide wheel.

Continuing to show in FIG. 1 , in a possible implementation manner, there are two auxiliary wheels 113, the two auxiliary wheels 113 are respectively arranged on opposite sides of the guide wheel 111, and the two auxiliary wheels 113 are arranged coaxially. Wherein, the auxiliary wheel 113 is rotatably connected to the wheel shaft 117, and the two auxiliary wheels 113 are respectively arranged on opposite sides of the guide wheel 111, so that the compound guide wheel 110 is more stable during walking and has a certain load-bearing capacity.

As shown in Figure 3, in a possible implementation manner, the compound guide wheel 100 also includes: a wheel shaft 117, wherein the guide wheel 111 has a wheel frame 115, and the wheel frame 115 includes a top plate 1151 and a side plate 1153, and the side plate 1153 is connected to the side plate 1153. The top plate 1151 is connected, and the side plates 1153 are bent outwards to enclose an accommodating space. The guide wheel 111 is partially placed in the accommodating space. It can be understood that the wheel body of the guiding wheel 111 is partially placed in the accommodating space . The side plate 1153 has two opposite sides for connecting the axle 117 , and the auxiliary wheel 113 is rotatably connected to the end of the axle 117 away from the side plate 1153 .

Specifically, the wheel shaft 117 is connected to the outer side of the wheel frame 115 . The wheel shaft 117 is fixedly connected with the wheel frame 115 . The wheel body of the guide wheel 111 is rotatably connected in the wheel frame 115, and the guide wheel 111 and the auxiliary wheel 113 are arranged eccentrically. It can be understood that the axis of the guide wheel 111 is not concentric with that of the auxiliary wheel 113. The guide wheels 111 can cross road surfaces of different heights during walking.

More specifically, as shown in FIG. 3 and FIG. 1 , the wheel frame 115 includes: a top plate 1151 and a side plate 1153, the side plate 1153 forms a U-shaped structure, and the side plate 1153 is connected with the top plate to form an accommodating space for installation The wheel body of guide wheel 111. Wherein, one end of a wheel shaft 117 is connected to one side of the side plate 1153 . One end of the other axle 117 is connected to the other side of the side plate 1153 . FIG. 4 is a schematic top view structural diagram of the compound guide wheel provided by the implementation shown in FIG. 1 . As shown in FIG. 4 , the side plate 1153 has a curved portion, so that the cross section of the side plate 1153 becomes a U shape with an outwardly protruding structure, and the protruding portion of the curved portion faces the auxiliary wheel 113, so that it is placed in the accommodating space. The wheel body of the guide wheel 111 will not interfere with the side plate 1153, and the structural strength of the side plate 1153 can be improved. The wheel body of the guiding wheel 111 is located in the accommodating space, and the auxiliary wheel 113 is located outside the accommodating space, so that mutual interference between the guiding wheel 111 and the auxiliary wheel 113 can be avoided. FIG. 5 is a schematic bottom view of the compound guide wheel provided by the implementation shown in FIG. 1 . As shown in FIG. 5 , the top plate 1151 is provided with threaded holes, which can be used to install the multiple guide wheels 100 through fasteners.

2 and 5, in a possible implementation, the compound guide wheel 100 also includes a bearing 119, the bearing 119 is rotatably connected to the wheel shaft 117, and/or the wheel shaft 117 adopts welding, riveting, thread lock Either way is fixedly connected to the wheel frame 115, wherein the auxiliary wheel 113 is fixedly sleeved on the outer peripheral surface of the bearing 119, so that the auxiliary wheel 113 can rotate synchronously with the bearing 119, and the auxiliary wheel 113 is installed through the bearing 119, It can reduce the friction between the auxiliary wheel 113 and the axle 117 to generate resistance.

Exemplary walking equipment

Fig. 6 is a schematic perspective view of the three-dimensional structure of the walking equipment provided by some implementations of the present application. As shown in FIG. 6 , the walking equipment 100 includes: a chassis 120 and multiple guide wheels 110 in any implementation manner, and the multiple guide wheels 110 are installed on the chassis 120 . Wherein, the walking device 100 may be a robot, for example, a service robot. The walking equipment 100 is suitable for passing through relatively high obstacles at extremely low speeds. Since the walking equipment 100 uses the compound guide wheels 110 in any of the above-mentioned implementation manners as universal wheels, the walking equipment 100 can rotate on ground with high drop. In addition, since the walking equipment 100 includes the compound guide wheels 110 in any of the above implementation manners, it has the technical effect of the compound guide wheels 110 in any of the above, and will not be repeated here. By increasing the auxiliary wheel 113 under the premise that the diameter of the original guide wheel 111 is constant, the sill height of the walking equipment can be increased by passing the auxiliary wheel 113 first and then the guide wheel 111.

The above are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the application shall be included within the scope of protection of the application. .

Claims

A compound guide wheel, characterized in that the compound guide wheel comprises:

a guide wheel configured to contact the running surface;

The auxiliary wheel is arranged on one side of the guide wheel, and the auxiliary wheel is eccentrically arranged with the guide wheel, so that the auxiliary wheel protrudes from the guide wheel in the forward direction, and makes the auxiliary wheel and the horizontal plane There is a height difference between the tangent of the guide wheel and the tangent of the guide wheel to the horizontal plane.
The composite guide wheel according to claim 1, characterized in that the axial projections of the guide wheel and the auxiliary wheel partially overlap each other.
The compound guide wheel according to claim 1 or 2, characterized in that there are a first eccentricity and a second eccentricity between the auxiliary wheel and the guide wheel, and the first eccentricity makes the auxiliary wheel Protruding from the guide wheel in the forward direction, the second eccentricity makes there be the height difference between the tangent between the auxiliary wheel and the horizontal plane and the tangent between the guide wheel and the horizontal plane.
The composite guide wheel according to claim 3, wherein the first eccentricity is a horizontal eccentricity; wherein, the horizontal tangent point of the auxiliary wheel is located on the outer diameter of the guide wheel, so as to obtain the first eccentricity.
The compound guide wheel according to any one of claims 1 to 4, wherein the height difference is 1/2 to 1/8 of the radius of the guide wheel.
According to the composite guide wheel according to any one of claims 1 to 5, it is characterized in that there are two auxiliary wheels, and the two auxiliary wheels are respectively arranged on opposite sides of the guide wheel, and the two auxiliary wheels The auxiliary wheels are arranged coaxially.
The compound guide wheel according to any one of claims 1 to 6, characterized in that the guide wheel is a universal wheel.
The composite guide wheel according to any one of claims 1 to 7, wherein the composite guide wheel further comprises:

axle;

Wherein, the guide wheel has a wheel frame, and the wheel frame includes a top plate and a side plate, the side plate is connected with the top plate, and the side plate is bent outwards to enclose an accommodating space, and the guide wheel The wheels are partially placed in the accommodating space, the side plate has two opposite sides for connecting with the wheel axle, and the auxiliary wheel is rotatably connected to an end of the wheel axle away from the side plate.
The composite guide wheel according to claim 8, wherein the composite guide wheel further comprises:

The bearing is rotatably connected to the wheel shaft; and/or the wheel shaft is fixedly connected to the wheel frame by any one of welding, riveting and thread locking;

Wherein, the auxiliary wheel is fixedly sleeved on the outer peripheral surface of the bearing.
A kind of walking equipment, is characterized in that, described walking equipment comprises:

chassis;

The compound guide wheel according to any one of claims 1 to 9, the compound guide wheel is installed

on the chassis.