Gimbal wheel assembly, movable chassis and movable device

Abstract

The embodiment of the present application provides a universal wheel assembly, a movable chassis and a movable device, which comprises a support, a connecting part, the support is rotationally connected to the connecting part, so that the support can rotate 360 degrees in a horizontal plane, a first roller is eccentrically arranged on the support, at least one second roller is rotationally connected to the support, in the running direction of the first roller, the second roller is located in front of the first roller, and in the height direction, the lowest point of the second roller is higher than the lowest point of the first roller. In the technical scheme of the embodiment of the present application, the second roller with the lowest point higher than the first roller is arranged on one side of the first roller, so that the second roller can assist the first roller to cross obstacles, and the passability of the universal wheel assembly is effectively improved.

Description

Technical Field

[0001] This application relates to the field of electrical equipment, and more particularly to a caster wheel assembly, a movable chassis, and a movable device. Background Technology

[0002] Casters, also known as swivel casters, can not only roll forward but also rotate 360 ​​degrees horizontally. Installing these casters on various mobile devices can effectively improve their flexibility.

[0003] The passability of a swivel wheel (obstacle clearance height, obstacle clearance height at different angles, and straight-line passability, etc.) is generally determined by the diameter and power of the swivel wheel. Smaller diameter swivel wheels have insufficient passability, and increasing the power requires consideration of factors such as drive, steering, and software and hardware control. Summary of the Invention

[0004] In view of the above problems, this application is made to solve or at least partially solve the above problems by providing a caster wheel assembly, a movable chassis, and a movable device.

[0005] One embodiment of this application provides a caster wheel assembly, comprising:

[0006] support;

[0007] The bracket is rotatably connected to the connecting part so that the bracket can rotate 360 ​​degrees in the horizontal plane;

[0008] The first roller is eccentrically mounted on the bracket;

[0009] At least one second roller is rotatably connected to the bracket;

[0010] In the direction of travel of the first roller, the second roller is located in front of the first roller; in the height direction, the lowest point of the second roller is higher than the lowest point of the first roller.

[0011] In another embodiment of this application, a movable chassis is provided, including: the aforementioned caster wheel assembly and chassis body;

[0012] The caster wheel assembly is connected to the chassis body.

[0013] In another embodiment of this application, a mobile device is provided, including: the aforementioned mobile chassis and device body;

[0014] The main body of the equipment is mounted on the chassis.

[0015] In the technical solution of this application embodiment, by setting a second roller with its lowest point higher than the first roller on one side of the first roller, when the omnidirectional wheel assembly encounters an obstacle, the second roller first contacts the obstacle and climbs onto it. Under the action of the second roller, the first roller is lifted, thereby enabling the second roller to assist the first roller in crossing the obstacle, effectively improving the passability of the omnidirectional wheel assembly. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A simplified structural diagram of a caster wheel assembly provided in an embodiment of this application;

[0018] Figure 2 A three-dimensional structural diagram of a caster wheel assembly provided in an embodiment of this application;

[0019] Figure 3 A perspective structural diagram of another universal wheel assembly provided in an embodiment of this application;

[0020] Figure 4 A half-sectional view of a caster wheel assembly provided in an embodiment of this application;

[0021] Figure 5 Another half-sectional view of a caster wheel assembly provided in an embodiment of this application;

[0022] Figure 6 A half-sectional view of another universal wheel assembly provided in an embodiment of this application;

[0023] Figure 7 Another half-sectional view of another universal wheel assembly provided in an embodiment of this application;

[0024] Figure 8 An exploded view of a caster wheel assembly provided in an embodiment of this application;

[0025] Figure 9 An exploded view of another omnidirectional wheel assembly provided in an embodiment of this application;

[0026] Figure 10 A structural diagram of a caster wheel assembly provided in an embodiment of this application;

[0027] Figure 11 A partial cross-sectional view of a caster wheel assembly provided in an embodiment of this application;

[0028] Figure 12 A structural diagram of another universal wheel assembly provided in an embodiment of this application;

[0029] Figure 13 This is a schematic diagram of the structure of a bracket provided in an embodiment of this application;

[0030] Figure 14 A structural diagram of another universal wheel assembly provided in this application embodiment;

[0031] Figure 15 This is a cross-sectional view of a second roller provided in an embodiment of this application. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0033] The embodiments described in this application are merely some embodiments, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application. The term "comprising" as used throughout the specification and claims is an open-ended term and should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain error range. Furthermore, in the embodiments of this application, "multiple" refers to two or more. Without contradiction, those skilled in the art can combine and integrate different embodiments or examples described in this specification, as well as features of different embodiments or examples. The descriptions such as "first" and "second" used herein are used to distinguish different directions, structures, components, etc., and do not represent a sequential order. Furthermore, the embodiments described below are merely some embodiments, not all embodiments.

[0034] Figure 1 This is a simplified structural diagram of a caster wheel assembly provided in an embodiment of this application. Figure 2 This is a perspective structural diagram of a caster wheel assembly provided in an embodiment of this application. See also... Figure 1 and Figure 2In one embodiment of this application, a caster wheel assembly is provided. The caster wheel assembly includes a bracket 3, a connecting portion 4, a first roller 1, and at least one second roller 2. The bracket 3 has a connecting portion 4 for mounting to a mobile device, and the connecting portion 4 is connected to the chassis or frame of the mobile device. The bracket 3 is rotatably connected to the connecting portion 4, allowing the bracket 3 to rotate 360 ​​degrees in the horizontal plane. When the caster wheel assembly turns, the bracket 3 rotates relative to the connecting portion 4. The first roller 1 is eccentrically mounted on the bracket 3. The distance by which the center of the first roller 1 deviates from the axis of the bracket 3 (which can also be considered as the axis A of the connecting portion 4) is the eccentricity of the first roller 1.

[0035] At least one second roller 2 is rotatably connected to the bracket 3. In the direction of travel of the first roller 1, the second roller 2 is located in front of or to the front of the first roller 1. Typically, when the caster is moving, along the direction of travel of the caster assembly, the center of the first roller 1 is located behind the axis of the bracket 3, and the second roller 2 is located in front of the axis of the bracket 3. In the height direction, the lowest point of the second roller 2 is higher than the lowest point of the first roller 1. When encountering an obstacle, the second roller 2, whose lowest point is higher than the first roller 1, contacts the obstacle first and then crosses the obstacle before the first roller 1. At this time, the second roller 2 will play a major supporting role. Under the action of the second roller 2, the first roller 1 will be lifted off the ground. As the caster assembly continues to move forward, the first roller 1 can smoothly cross the obstacle after contacting it. Because the first roller 1 has been lifted a certain distance, the obstacle-crossing height of the first roller 1 will be increased.

[0036] When encountering multi-level obstacles of considerable height, the first roller 1 and the second roller 2 can be used to climb over different levels of obstacles, ultimately achieving obstacle crossing.

[0037] In the technical solution of this application embodiment, by setting a second roller 2 on one side of the first roller 1 with its lowest point higher than the first roller 1, when the caster assembly encounters an obstacle, the second roller 2 first contacts the obstacle and climbs onto it. Under the action of the second roller 2, the first roller 1 is lifted, thereby enabling the second roller 2 to assist the first roller 1 in crossing the obstacle, effectively improving the passability of the caster assembly.

[0038] Furthermore, the diameter of the second roller 2 can be the same as or different from that of the first roller 1. For example, the diameter of the second roller 2 is equal to the diameter of the first roller 1, or the diameter of the second roller 2 is smaller than the diameter of the first roller 1. In one specific embodiment, see [link to specific embodiment]. Figure 1The diameter of the second roller 2 is smaller than that of the first roller 1. Installing the smaller diameter second roller 2 on one side of the first roller 1 can effectively improve the obstacle-crossing ability of the omnidirectional wheel assembly while keeping the size of the omnidirectional wheel assembly within a reasonable range, thus facilitating the installation of the omnidirectional wheel assembly on a small mobile device.

[0039] Further, in one embodiment provided in this application, the ratio of the diameter of the first roller 1 to the diameter of the second roller 2 is 1 to 4. Optionally, in a specific embodiment, the ratio of the diameter of the first roller 1 to the diameter of the second roller 2 is 1.5 to 3.

[0040] In another embodiment provided in this application, the caster wheel assembly includes a bracket 3, a first roller 1, and a second roller 2. The bracket 3 is used to mount the mobile device and can rotate relative to the mobile device. For example, the mobile device is provided with a rotatable mounting base, and the bracket 3 is connected to the mounting base. When the mobile device turns, the bracket 3 will rotate relative to the mobile device. The first roller 1 is rotatably connected to the bracket 3, and similarly, the second roller 2 is rotatably connected to the bracket 3. The diameter of the second roller 2 is smaller than the diameter of the first roller 1. The centers of the first roller 1 and the second roller 2 are respectively located on both sides of the axis A of the connecting part 4. When the axis A of the connecting part 4 is perpendicular to the ground, the second roller 2 is lifted off the ground when the first roller 1 is placed on the ground. When the caster wheel assembly crosses an obstacle, the second roller 2 contacts the obstacle first and climbs onto the obstacle. At this time, with the assistance of the second roller 2, the first roller 1 is lifted, and then the first roller 1 can smoothly climb onto the obstacle and finally pass through the obstacle.

[0041] Generally, the maneuverability of a single-wheeled caster assembly is primarily determined by the caster's rotation radius and driving force. A larger rotation radius results in better maneuverability. Similarly, increasing the driving force also improves maneuverability. However, increasing the rotation radius increases the size of the caster assembly, requiring more space and making it less suitable for miniaturized mobile devices. Furthermore, improving maneuverability by increasing the driving force requires addressing both the control of the drive components and the resulting structural complexity, leading to higher costs.

[0042] In one technical solution provided in this application, by adding a second roller 2, the second roller 2 assists the first roller 1 in climbing higher obstacles. This not only simplifies the structure but also eliminates the need for additional driving force and saves production costs.

[0043] In one embodiment provided in this application, see Figure 1Due to the movement characteristics of the caster wheel assembly, when it is installed on a mobile device, its direction of travel is not entirely the same as that of the mobile device. For example, when the mobile device is traveling in a straight line, the direction of travel of the caster wheel assembly is the same as that of the mobile device; however, when the mobile device is turning in place, in some cases, the direction of travel of the caster wheel assembly is different from that of the mobile device. Along the direction of travel X of the caster wheel assembly, the second roller 2 is located in front of the first roller 1, and the first roller 1 and the second roller 2 are spaced apart. Specifically, there is a gap between the hub of the first roller 1 and the hub of the second roller 2. Along the direction of travel X of the caster wheel assembly, when there is an obstacle in front of the caster wheel assembly, the second roller 2 first climbs over the obstacle, then the first roller 1 climbs over the obstacle, and finally passes through.

[0044] Normally, the maximum height a roller can easily climb over an obstacle is less than the roller's radius. Generally, rollers have good clearance for obstacles smaller than half the roller's radius. When the obstacle's height exceeds half the roller's radius, the roller requires more power to climb over it.

[0045] See Figure 1 Taking a square obstacle as an example, when the second roller 2 encounters the obstacle, the first contact point between the edge of the wheel hub and the obstacle is one side of the obstacle. At this point, the height of the obstacle can be considered as the distance from the first contact point perpendicular to the ground. Generally, for obstacles of other shapes, whether a roller can easily climb over the obstacle can also be roughly judged by whether the height of the first contact point is higher than the radius of the roller.

[0046] To enable the first roller 1 to easily climb higher obstacles with the assistance of the second roller 2. See also Figure 1 In one embodiment provided in this application, the height of the center of the second roller 2 is equal to or higher than the height of the center of the first roller 1 in the vertical direction. When the second roller 2 climbs over the obstacle, the first roller 1 will be lifted off the ground. Alternatively, it can be considered that, with the assistance of the second roller 2, the first roller 1 is lifted, thereby increasing the approach angle between the first roller 1 and the obstacle, which facilitates the first roller 1 climbing over higher obstacles. Furthermore, lifting the first roller 1 first before it crosses the obstacle allows the swivel wheel assembly to move more smoothly during obstacle crossing, and reduces the bumps experienced by the swivel wheel assembly.

[0047] To ensure that the first roller 1 can also successfully climb the obstacle after the second roller 2 has climbed it, the height of the center of the second roller 2 above the center of the first roller 1 is less than the radius of the second roller 2. In other words, the lowest point of the hub of the second roller 2 is located below the center of the first roller 1.

[0048] Furthermore, the maximum height that the omnidirectional wheel assembly can easily pass over obstacles is less than the height of the center of the second roller 2 above the ground. Based on the above description, the maximum height that the roller can climb over obstacles is less than the radius of the roller. When the height of the obstacle is higher than the height of the center of the second roller 2 above the ground, the second roller 2 will have difficulty climbing over the obstacle, and since the center of the second roller 2 is higher than the center of the first roller 1, the first roller 1 will have even more difficulty climbing over the obstacle.

[0049] See Figure 1 and Figure 2 In one specific embodiment, to ensure that the first roller 1 can smoothly climb onto the obstacle after the second roller 2 has climbed onto it, the diameter of the first roller 1 is greater than or equal to three times the height difference between the lowest point of the second roller 2 and the lowest point of the first roller 1. Additionally, the distance between the center of the first roller 1 and the foremost point of the second roller 2 is greater than or equal to three times the maximum height of the obstacle that can be traversed. The greater the distance between the center of the first roller 1 and the foremost point of the second roller 2, the smaller the angle F between the tangents of the hub edges of the first roller 1 and the hub edges of the second roller 2 and the flat ground. This makes it easier for the swivel wheel assembly to cross obstacles with a certain slope, and reduces the bumps experienced when crossing obstacles.

[0050] Of course, the distance between the center of the first roller 1 and the foremost point of the second roller 2 cannot be too large. If the distance is too large, the gap between the first roller 1 and the second roller 2 will also be larger, and smaller obstacles will easily get stuck in the gap when the caster assembly crosses obstacles. In one embodiment provided in this application, in the direction of travel of the first roller 1, the second roller 2 has a gap with the first roller 1, and the ratio of the diameter of the first roller 1 to the gap is 8 to 12. Alternatively, the ratio of the diameter of the second roller 2 to the gap is 3 to 6. In another embodiment provided in this application, the distance between the hub edge of the first roller 1 and the hub edge of the second roller 2 is less than the diameter of the second roller 2.

[0051] The eccentricity of a caster wheel directly determines its rotational performance and lifespan. With other structural dimensions remaining the same, a larger eccentricity results in better rotational performance. However, as the eccentricity increases, the torque generated by the load on the caster during use also increases linearly. Excessive torque will affect the lifespan of the caster. Conversely, a smaller eccentricity allows the caster to withstand loads more safely. See also... Figure 1 To ensure that the rotational performance and torque applied to the caster wheels are within a reasonable range, in one embodiment provided in this application, the distance *m* from the center of the first roller 1 to the axis of the connecting portion is less than the radius of the first roller 1. It can be understood that the distance *m* from the center of the first roller 1 to the axis of the connecting portion is the eccentricity of the first roller 1.

[0052] When the center of the second roller 2 is higher than the center of the first roller 1, and the height difference is a first value. In one embodiment provided in this application, the ratio of the diameter of the second roller 2 to the first value is 10 to 20, or in another embodiment, the ratio of the diameter of the first roller 1 to the first value is 25 to 40. By reasonably setting the ratio between the first value and the diameter of the first roller 1 or the second roller 2, the obstacle-crossing height of the omnidirectional wheel assembly can be increased, and the omnidirectional wheel assembly can move more smoothly and experience less bumps during obstacle crossing.

[0053] See Figure 1 In one embodiment provided in this application, the bracket 3 has an axis extending along the height direction. In the traveling direction of the first roller 1, the center of the first roller 1 and the center of the second roller 2 are located on opposite sides of the axis. The axis of the bracket 3 can be considered as the axis of the connecting portion 4. The distance by which the center of the first roller 1 deviates from the axis is greater than the distance by which the center of the second roller 2 deviates from the axis. Specifically, the approximate range of the ratio between the distance by which the center of the second roller 2 deviates from the axis and the distance by which the center of the first roller 1 deviates from the axis is 3 to 1. Optionally, in a specific embodiment, the ratio between the distance by which the center of the second roller 2 deviates from the axis and the distance by which the center of the first roller 1 deviates from the axis is 2.

[0054] Furthermore, the distance from the center of the first roller 1 to the axis is a second value, and the ratio of the diameter of the first roller 1 to the second value is 3 to 5. This can be understood as the distance from the center of the first roller 1 to the axis being the aforementioned eccentricity of the first roller 1. By reasonably setting the eccentricity of the first roller 1, both the load-bearing capacity of the first roller 1 can be improved, and a longer service life can be ensured.

[0055] Properly setting the width of the second roller 2 can effectively control the size of the caster wheel assembly, thus facilitating the design of a miniaturized caster wheel assembly. See also Figures 2 to 6 In one embodiment provided in this application, the width of the second roller 2 is equal to or less than the width of the first roller 1. For example... Figure 3 and Figure 6 As shown, the width of the second roller 2, located between the brackets 3, is equal to the width of the first roller 1. For example... Figure 2 , Figure 4 and Figure 5 As shown, the width of the second roller 2 located on both sides of the first roller 1 is smaller than the width of the first roller 1.

[0056] In one embodiment provided in this application, one or more rollers may be provided on one side of the first roller 1. For example, at least one second roller 2 may be provided on the front side of the first roller 1. Alternatively, a second roller 2 may be provided on each of the front sides of the first roller 1. The front side of the first roller 1 can be understood as the front side along the forward direction of the first roller 1, and the front side of the first roller 1 can be understood as the radial center surface of the first roller 1 being flush with the radial center surface of the second roller 2. The radial center surface of the roller can be understood as the center surface in the diameter direction of the roller (e.g., Figure 9 (H-plane and G-plane in the middle).

[0057] In one specific embodiment, see Figure 3 and Figure 6 The radial center surface of the second roller 2 is flush with the radial center surface of the first roller 1. In another specific embodiment, see... Figure 2 , Figure 4 and Figure 5 The second roller 2 is located on the side of the first roller 1. Specifically, a second roller 2 is provided on each side of the first roller 1, the two second rollers 2 have the same diameter, and their axes are coaxial. In another specific embodiment, for example... Figure 14 As shown, second rollers 2 are provided in the middle and on both sides of the bracket 3, which can be understood as a combination of the two schemes mentioned above. The second roller 2 located in the middle of the bracket 3 and the two second rollers 2 located on both sides of the first roller 1 have the same diameter, and the three second rollers 2 are coaxially arranged. The widths of the different second rollers 2 can be the same or different.

[0058] The following section provides a detailed description of the case where the second roller 2 is located on both sides of the first roller 1. (See also...) Figure 2 , Figure 4 and Figure 5 The second roller 2 includes a first roller 21 and a second roller 22, or it can be considered that the two second rollers 2 are respectively arranged on both sides of the first roller 1. For ease of description, the following detailed description uses the first roller 21 and the second roller 22 to represent different second rollers 2. Specifically, the first roller 21 and the second roller 22 are symmetrically arranged on both sides of the first roller 1, coaxially arranged, and have the same diameter. When the second roller 2 encounters an obstacle, the first roller 21 and the second roller 22 can simultaneously contact the obstacle, effectively improving the ability of the second roller 2 to cross obstacles.

[0059] The support 3 includes various structures. In one embodiment provided in this application, when the support 3 consists of only one support plate, the first axle 8 of the first roller 1 and the second axle 9 of the second roller 2 are cantilevered and connected to the support plate. In another embodiment provided in this application, see... Figure 2 , Figure 3and Figure 13 The bracket 3 includes a fork-shaped frame, with a first roller 1 connected between two arms of the fork-shaped frame. Near the axle of the first roller 1, each arm has an extension arm extending towards the side of the first roller 1. The fork-shaped frame can also be U-shaped, with the bracket 3 including two symmetrically arranged arms. Each arm includes a first connecting arm 31 and a second connecting arm 32. The first roller 1 is located between the two first connecting arms 31, and the second roller 2 is connected to the second connecting arm 32. Specifically, the two first connecting arms 31 and the bracket cross arm 33 form a U-shaped structure, with the first roller 1 located within the U-shaped structure. One end of the second connecting arm 32 is connected to the first connecting arm 31, and the other end extends forward (in the direction of travel X). A connecting hole or connecting groove on the second connecting arm 32 is used to install the second roller 2. See also... Figure 2 In one specific embodiment, in order to make the structure of the caster wheel assembly more compact, the two second connecting arms 32 are first bent inward and then extended forward, thereby effectively reducing the volume of the caster wheel assembly.

[0060] Further, see Figure 5 , Figure 7 , Figure 8 and Figure 9 In one specific embodiment, two symmetrically arranged second connecting arms 32 are provided with connecting holes. The first roller 1 also includes a first wheel shaft 8, which passes through the connecting holes to connect the first roller 1 to the bracket 3. Wheel shaft end caps 7 are provided at both ends of the first wheel shaft 8. The wheel shaft end caps 7 not only limit the movement of the first wheel shaft 8 but also provide a certain degree of protection. To improve the service life of the first roller 1, the first wheel shaft 8 and the first roller 1 are connected by bearings 12. Specifically, two bearings 12 are symmetrically sleeved on the first wheel shaft 8, and a sleeve 15 is provided between the two bearings 12. The sleeve 15 can effectively prevent the bearings 12 from shifting. In addition to using the sleeve 15 to limit the movement of the bearings 12, a stepped shaft can also be used to limit the movement of the bearings 12, such as... Figure 11 As shown. To prevent dust and sewage from entering the bearing 12, an oil seal ring 14 is also provided on the outside of the bearing 12. In addition to using the oil seal ring 14 for protection, protection can also be achieved by directly filling with grease.

[0061] Furthermore, to facilitate the manufacturing of the first roller 1 and reduce its weight, the first roller 1 has a hollow structure and is a halved structure. To improve the waterproof performance of the first roller 1, a waterproof rubber ring 16 is provided at the joint of the first roller 1, or adhesive is applied.

[0062] The structure and implementation of the second roller 2 will be described in detail below through specific embodiments.

[0063] See Figure 2 , Figure 4 , Figure 8 and Figure 12 When the second roller 2 includes a first wheel 21 and a second wheel 22, and the first wheel 21 and the second wheel 22 are connected to different second connecting arms 32, the first wheel 21 and the second wheel 22 are each connected to the second connecting arm 32 via a second wheel axle 9. One of the second wheel axles 9 is cantilevered through a connecting hole on the second connecting arm 32. The second wheel axle 9 can be connected to the second connecting arm 32 by fasteners or directly welded to the second connecting arm 32. To improve the rolling performance of the second roller 2, a bearing 12 or a bushing 13 is provided between the second roller 2 and the second wheel axle 9. A retaining ring 10 and a snap ring 11 are provided at the cantilevered end of the second wheel axle 9 to limit the movement of the second roller 2.

[0064] The second roller 2 can be implemented in various specific ways. Specifically, in one embodiment, see [link to embodiment]. Figure 15 The second roller 2 includes a first roller 21 and a second roller 22. Taking the first roller 21 as an example, it includes a wheel body 212 and a wheel cover 211. The wheel body 212 and the wheel cover 211 are combined to form a complete first roller 21, which is located at one end of the cantilevered second roller axle 9. An O-ring is provided between the wheel body 212 and the wheel cover 211. A bearing 12 is provided on the wheel cover 211. A retaining ring 10 and a snap ring 11 are provided on one side of the bearing 12. The retaining ring 10 also abuts against the wheel cover 211, thereby preventing the wheel cover 211 from detaching from the second roller axle 9. A bearing bush 13 can be provided at the contact position between the second roller axle 9 and the wheel body 212, or it can be directly filled with lubricating grease. To further improve the waterproof performance of the second roller 2, an oil seal ring 14 is also provided on the wheel cover 211.

[0065] See Figure 6 and Figure 9 When the second roller 2 is positioned between the two second connecting arms 32, the second roller 2 has a hollow, symmetrically spliced ​​structure, and the second wheel axle 9 passes laterally through the two second connecting arms 32. A bearing bush 13 is provided between the second roller 2 and the second wheel axle 9. A retaining ring 10 and a snap ring 11 are provided on the outer side of the bearing bush 13, which not only restricts the lateral movement of the bearing bush 13 but also provides lateral positioning for the second roller 2. To make the connection between the second wheel axle 9 and the second connecting arm 32 more stable, wheel axle end caps 7 are provided at both ends of the second wheel axle 9.

[0066] Additionally, see Figure 14 When the second roller 2 includes multiple hubs, it can be achieved by combining the technical solutions of the two embodiments described above.

[0067] See Figures 10 to 13In one embodiment provided in this application, the bracket 3 is provided with at least one extendable arm. For example, the bracket 3 has multiple extendable arms at different positions, and the first extendable arm 5 extends from the bracket 3 toward the wheel surface of the first roller 1 to prevent debris from adhering to the wheel surface. Specifically, the first extendable arm 5 extends from the bracket cross arm 33 of the bracket 3 toward the wheel surface of the first roller 1. The first extendable arm 5 can not only prevent debris from rotating with the first roller 1, but also remove debris wrapped around the first roller 1.

[0068] Furthermore, the second and third extension arms are respectively mounted on different second connecting arms 32 and extend from the bracket 3 to the sides of the first roller 1 to clean the adhering substances on the sides, or to prevent adhering substances from sticking to the side of the roller and to prevent entanglement from getting tangled on the axle. When too much adhering substance is tangled on the axle of the first roller 1, the second extension arm 6 and the third cleaning member can pry it off or scrape it off.

[0069] Furthermore, in conjunction with see Figure 7 In one embodiment provided in this application, the second extendable arm 6 and the third extendable arm may also be disposed on the axle end cover 7. Specifically, one end of the axle end cover 7 extends through the bracket 3 toward the side of the first roller 1 to form an annular cap, which is fitted onto the annular protrusion 101 on the side of the first roller 1. The annular cap can not only effectively prevent the attached material from getting tangled on the annular protrusion 101 on the first roller 1, but also prevent the attached material from getting tangled on the first axle 8.

[0070] Furthermore, to prevent the attachments from getting tangled on the second roller 2, a similar solution to that used for the first roller 1 can be adopted, namely, a cleaning element is provided on the axle end cover 7, which extends to the side of the second roller 2.

[0071] See Figure 1 and Figure 2 In one embodiment provided in this application, the connecting part 4 includes a rotating shaft 42 and a fixing member 41. One end of the rotating shaft 42 is connected to the bracket 3, and the other end is connected to the fixing member 41. The fixing member 41 is used to install the universal wheel assembly. Specifically, one end of the rotating shaft 42 is connected to the bracket cross arm 33, and the fixing member 41 is located at the other end of the rotating shaft 42. The rotating shaft 42 and the bracket cross arm 33 are rotatably connected, and the bracket cross arm 33 can rotate 360 ​​degrees around the rotating shaft 42. When the universal wheel assembly turns, the entire bracket 3, the first roller 1, and the second roller 2 will rotate with the rotating shaft 42. The rotating shaft 42 and the bracket cross arm 33 can be connected by fasteners. The fixing member 41 can be connected to a connection point on a mobile device.

[0072] In one embodiment of this application, a movable chassis is also provided, which includes the aforementioned caster wheel assembly and chassis body. The connecting portion 4 on the caster wheel assembly is fitted and connected to the chassis body to achieve the installation of the caster wheel assembly. The number of caster wheel assemblies on the chassis body is not specifically limited and can be set differently according to actual conditions.

[0073] In another embodiment of this application, a mobile device is also provided, which includes the aforementioned mobile chassis and device body, with the device body mounted on the chassis. A drive assembly is provided on the device body, which, while driving the mobile device forward, transmits driving force to the omnidirectional wheel assembly. Under the action of the driving force, the omnidirectional wheel assembly enables movement and obstacle crossing.

[0074] Mobile devices include, but are not limited to, lawnmowers, cleaning robots, and lawn maintenance robots. For example, a mobile device could be an autonomous lawnmower with multiple omnidirectional wheels mounted on its chassis, significantly improving its maneuverability. The excellent obstacle-crossing ability of the omnidirectional wheels effectively prevents the lawnmower from losing positioning accuracy or missing areas of the lawn when obstructed by obstacles, thus adapting to lawns with more complex ground conditions and meeting user needs.

[0075] To facilitate understanding of the technical solution of this application, specific application scenarios are given below to describe the technical solution of this application in detail.

[0076] Application Scenario 1

[0077] An autonomous mobile lawnmower can mow lawns on lawns requiring maintenance, following a pre-planned path. Since lawn surfaces are not always uniformly flat, the lawnmower's obstacle-crossing capability directly impacts mowing efficiency. By incorporating multiple omnidirectional wheel assemblies on the mower's chassis, when encountering obstacles, the second roller on the omnidirectional wheel assembly can climb over the obstacle first, assisting the first roller in traversing it, thus effectively improving the obstacle-crossing ability of the first roller. This significantly enhances the lawnmower's obstacle-crossing capability, allowing it to adapt to lawn mowing on complex terrain and meeting the needs of more users.

[0078] Application Scenario 2

[0079] A lawnmower is available for fertilizing and maintaining lawns over large areas. During operation, the lawnmower autonomously plans its movement path based on the size of the lawn and then maintains the lawn along that path. Typically, lawns are not uniformly flat. Obstacles such as irrigation pipes and field ridges are likely to appear on the lawn. If the lawnmower cannot overcome these obstacles, it cannot complete the maintenance of the entire area. By installing casters on the chassis of the lawnmower, not only is its movement more flexible, but its obstacle-crossing ability is also effectively improved. For example, when the lawnmower encounters a steep field ridge, the second roller can first climb onto the ridge. With the action of the second roller, the first roller is lifted, and then the first roller climbs onto the ridge. Compared to the first roller climbing directly onto the ridge, the first roller, being lifted, climbs the ridge more easily.

[0080] In summary, by placing a second roller on one side of the first roller with a lower point higher than the first roller, when the caster wheel assembly encounters an obstacle, the second roller contacts the obstacle first and climbs over it. Under the action of the second roller, the first roller is lifted, allowing the second roller to assist the first roller in crossing obstacles, effectively improving the caster wheel assembly's passability. Furthermore, the extendable arm on the bracket can effectively scrape off any attachments or weeds entangled on the caster wheel assembly, effectively preventing the wheel hub from getting stuck.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A universal wheel assembly, characterized in that, include: support; The support has an axis extending along the height direction; The bracket is rotatably connected to the connecting part so that the bracket can rotate 360 ​​degrees in the horizontal plane; The first roller is eccentrically mounted on the bracket; At least one second roller is rotatably connected to the bracket; In the direction of travel of the first roller, the second roller is located in front of the first roller; in the height direction, the lowest point of the second roller is higher than the lowest point of the first roller. The ratio of the diameter of the first roller to the diameter of the second roller is 1.5 to 3; The center of the second roller is higher than the center of the first roller, and the height difference is a first value; The ratio of the diameter of the second roller to the first value is 10~20; or The ratio of the diameter of the first roller to the first value is 25 to 40; The distance from the center of the first roller to the axis is a second value; The ratio of the diameter of the first roller to the second value is 3 to 5; The diameter of the first roller is greater than or equal to three times the height difference between the lowest point of the second roller and the lowest point of the first roller.

2. The universal wheel assembly according to claim 1, characterized in that, The diameter of the second roller is smaller than the diameter of the first roller.

3. The universal wheel assembly according to claim 1, characterized in that, In the direction of travel of the first roller, the center of the first roller and the center of the second roller are located on both sides of the axis.

4. The caster wheel assembly according to any one of claims 1 to 3, characterized in that, In the direction of travel of the first roller, the second roller has a gap with the first roller; The ratio of the diameter of the first roller to the gap is 8~12; or The ratio of the diameter of the second roller to the gap is 3 to 6.

5. The caster wheel assembly according to any one of claims 1 to 3, characterized in that, The width of the second roller is equal to or less than the width of the first roller.

6. The caster wheel assembly according to any one of claims 1 to 3, characterized in that, At least one second roller is provided on the front side of the first roller; and / or A second roller is provided on each of the front two sides of the first roller.

7. The caster wheel assembly according to any one of claims 1 to 3, characterized in that, The support includes a fork-shaped frame; The first roller is connected between the two arms of the fork frame; The support arm has an extension arm that extends toward the side of the first roller near the axle of the first roller.

8. A movable chassis, characterized in that, include: The chassis body and the caster wheel assembly as described in any one of claims 1 to 7; The caster wheel assembly is connected to the chassis body.

9. A mobile device, characterized in that, include: The movable chassis and equipment body as described in claim 8; The main body of the device is mounted on the movable chassis.

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