Ball wheel assembly, chassis and robot

Abstract

The application relates to the technical field of robots, and provides a ball wheel assembly, a chassis and a robot. According to the ball wheel assembly, the installation frame is internally formed with an installation space; the ball wheel is installed on the installation frame and partially extends out of the installation space; the friction roller group is combined with the ball wheel; and the driving element is connected to the installation frame and is power-coupled to the friction roller group to drive the friction roller group to roll. According to the ball wheel assembly, the friction roller group is combined with the ball wheel to provide sufficient friction for the ball wheel, to ensure stable rotation of the ball wheel, and to improve the motion stability of the ball wheel assembly. Meanwhile, the combined mode of the friction roller group and the ball wheel makes the arrangement of the driving element, the friction roller group and the ball wheel more compact, and greatly reduces the space occupation of the ball wheel assembly.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to ball wheel assemblies, chassis, and robots. Background Technology

[0002] Wheeled robots constitute a large portion of existing mobile robots. These robots primarily rely on traditional circular tires for movement. However, due to the design limitations of these tires, they can only rotate within a certain angular range on the ground, which restricts their mobility and application scope. Achieving 360° rotation on the ground would significantly improve the robot's flexibility. Ball wheels are now also being used in robots. While ball wheels offer excellent rotational performance, their drive mechanism remains a challenge. Drive mechanisms typically employ friction actuation, but existing friction actuation devices are complex and ineffective, further limiting the application of ball wheel components in robots. Therefore, improving the performance of friction actuation while maintaining the excellent rotational performance of ball wheels has become a crucial problem that needs to be solved in current robotics technology. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the related art. To this end, the present invention proposes a ball wheel assembly, thereby solving the defect of poor friction drive effect of existing ball wheel assemblies.

[0004] The present invention also proposes a chassis.

[0005] The present invention also proposes a robot.

[0006] According to a first aspect of the present invention, a ball wheel assembly includes:

[0007] The mounting bracket has an internal installation space.

[0008] A ball wheel is mounted on the mounting bracket, with a portion of the ball wheel extending out of the mounting space;

[0009] A friction roller assembly, wherein the friction roller assembly is mounted on the ball wheel;

[0010] A drive unit is connected to the mounting bracket, and the drive unit is power-coupled to the friction roller assembly to drive the friction roller assembly to roll.

[0011] According to an embodiment of the present invention, in the ball wheel assembly, the friction roller group contacts the ball wheel in a clamping manner, providing sufficient friction to the ball wheel and ensuring stable rotation of the ball wheel, thereby improving the motion stability of the ball wheel assembly. At the same time, the clamping manner of the friction roller group onto the ball wheel makes the arrangement of the drive component, the friction roller group, and the ball wheel more compact, greatly reducing the space occupied by the ball wheel assembly.

[0012] According to one embodiment of the present invention, the driving element includes:

[0013] The motor is fixedly connected to the mounting bracket;

[0014] The synchronous pulley includes a driving pulley and a driven pulley. The driving pulley is mounted on the output shaft of the motor, and there are multiple driven pulleys, each mounted on one of the friction rollers in the friction roller group.

[0015] The timing belt is powered by the timing pulley.

[0016] According to one embodiment of the present invention, the friction roller assembly includes a first friction roller and a second friction roller, the first friction roller and the second friction roller rotate in the same direction, and the first friction roller and the second friction roller are symmetrically arranged on both sides of the top of the ball wheel.

[0017] According to one embodiment of the present invention, the driving member is located above the first friction roller and the second friction roller, and the driving member is located between the first friction roller and the second friction roller.

[0018] According to one embodiment of the present invention, the mounting bracket includes:

[0019] A drive mechanism bracket, wherein the drive component and the friction roller assembly are fixedly connected to the drive mechanism bracket;

[0020] A ball wheel retainer for mounting the ball wheel;

[0021] A column connects the drive mechanism bracket and the ball wheel retainer to form the mounting space between the ball wheel retainer and the drive mechanism bracket.

[0022] According to one embodiment of the present invention, the ball wheel cage includes:

[0023] First frame;

[0024] The second frame is connected to the first frame. The first frame and the second frame form a ball bearing mounting groove, and the opening of the ball bearing mounting groove faces the mounting space.

[0025] The ball bearing extends partially out of the ball bearing mounting groove and contacts the ball wheel.

[0026] According to one embodiment of the present invention, each friction roller of the friction roller assembly is provided with an arcuate surface, the arcuate surface being adapted to match the outer surface of the ball wheel.

[0027] A chassis according to a second aspect of the present invention includes:

[0028] case;

[0029] In the aforementioned ball wheel assembly, the mounting bracket is fixedly connected to the housing, and the ball wheel portion extends out of the housing.

[0030] According to one embodiment of the present invention, the chassis includes multiple sets of ball wheel assemblies, wherein the friction roller group of at least one set of ball wheel assemblies is arranged in a different direction than the friction roller group of the other ball wheel assemblies.

[0031] According to one embodiment of the present invention, the chassis includes four sets of ball wheel assemblies, wherein the friction roller groups of two sets of ball wheel assemblies are arranged along a first direction, and the friction roller groups of the remaining two sets of ball wheel assemblies are arranged along a second direction, wherein the first direction and the second direction are arranged at an angle.

[0032] According to one embodiment of the present invention, the first direction and the second direction are at a 90-degree angle.

[0033] And / or,

[0034] The housing is square, and the ball wheel assembly is located at the four corners of the housing.

[0035] According to one embodiment of the present invention, the chassis includes two positioning shafts, and the mounting brackets of the ball wheel assemblies are each provided with positioning elements. The two sets of ball wheel assemblies arranged in the same direction of the friction roller group have their positioning elements respectively connected to both ends of one positioning shaft.

[0036] A robot according to a third aspect of the present invention includes the ball wheel assembly described above or the chassis described above.

[0037] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is one of the structural schematic diagrams of the ball wheel assembly provided in the embodiments of the present invention;

[0040] Figure 2 This is a second schematic diagram of the ball wheel assembly provided in an embodiment of the present invention;

[0041] Figure 3This is an exploded structural diagram of the ball wheel assembly provided in an embodiment of the present invention;

[0042] Figure 4 This is a cross-sectional view of the ball wheel assembly provided in an embodiment of the present invention;

[0043] Figure 5 yes Figure 4 A schematic diagram of the AA cross-sectional structure of the ball wheel assembly provided in the embodiment;

[0044] Figure 6 This is one of the structural schematic diagrams of the base provided in the embodiments of the present invention;

[0045] Figure 7 This is the second structural schematic diagram of the base provided in the embodiment of the present invention.

[0046] Figure label:

[0047] 10. Ball wheel assembly;

[0048] 20. Shell; 21. Upper shell; 22. Lower shell;

[0049] 100. Mounting bracket; 101. Mounting space; 110. Drive mechanism bracket; 120. Column; 130. Ball wheel retainer; 131. First frame; 132. Second frame; 133. Mounting lug; 134. Ball bearing mounting groove; 135. Positioning component;

[0050] 200. Ball wheel;

[0051] 300, Friction roller assembly; 310, First friction roller; 320, Second friction roller;

[0052] 400. Drive component; 410. Motor; 420. Synchronous pulley; 421. Drive pulley; 422. Driven pulley; 430. Synchronous belt; 440. Bearing;

[0053] 500, ball bearing. Detailed Implementation

[0054] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0055] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0056] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections, wherein a fixed connection can include an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0057] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0058] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0059] According to the ball wheel assembly 10 of the first aspect of the present invention, please refer to Figures 1 to 3The ball wheel assembly 10 includes a mounting frame 100, a ball wheel 200, a friction roller assembly 300, and a drive member 400. The mounting frame 100 has an internal mounting space 101; the ball wheel 200 is mounted on the mounting frame 100, with a portion of the ball wheel 200 extending out of the mounting space 101; the friction roller assembly 300 is fitted around the ball wheel 200; the drive member 400 is connected to the mounting frame 100 and is power-coupled to the friction roller assembly 300 to drive the friction roller assembly 300 to roll.

[0060] According to an embodiment of the present invention, in the ball wheel assembly 10, the friction roller group 300 contacts the ball wheel 200 in a clamping manner, providing sufficient friction to the ball wheel 200 and ensuring stable rotation of the ball wheel 200, thereby improving the motion stability of the ball wheel assembly 10. At the same time, the clamping manner of the friction roller group 300 onto the ball wheel 200 makes the arrangement of the drive member 400, the friction roller group 300, and the ball wheel 200 more compact, greatly reducing the space occupied by the ball wheel assembly 10.

[0061] It should be noted that the friction roller assembly 300 typically consists of multiple friction rollers, with a number greater than or equal to two. These rollers are evenly distributed around the ball wheel 200 to ensure sufficient friction to drive the movement of the ball wheel 200. "Embracing" refers to the fact that the sides of the friction rollers in the friction roller assembly 300 tightly wrap around or surround the ball wheel 200, driving the ball wheel 200 to roll through friction.

[0062] The friction roller can be of any shape of revolution, such as a cylindrical friction roller with a straight generatrix or a rotary friction roller with a curved generatrix; no specific limitations are imposed here. It is understood that cylindrical friction rollers have a simple geometry, are relatively easy to manufacture and process, and have lower costs. Furthermore, cylindrical friction rollers can be adapted to ball wheels 200 of different sizes and can be applied to ball wheel assemblies 10 with ball wheels 200 of different sizes.

[0063] In one embodiment, please refer to Figure 4 and Figure 5 Each friction roller in the friction roller assembly 300 has an arc-shaped surface, which is adapted to match the outer surface of the ball wheel 200. By setting the arc-shaped surface, the contact area between the friction roller and the ball wheel 200 can be increased, allowing for better adaptation to the shape of the ball wheel 200. This results in a smoother contact between the two, optimizes the energy transfer efficiency from the friction roller to the ball wheel 200, helps reduce energy loss, and improves the overall energy efficiency of the system.

[0064] It is understandable that the ball wheel 200 is mounted on the mounting bracket 100, and part of the ball wheel 200 extends out of the mounting space 101. The part of the ball wheel 200 extending out of the mounting space 101 can still make effective contact with the ground or other contact surfaces. The mounting bracket 100 can protect the ball wheel 200 located in the mounting space 101 and reduce the physical impact and wear on the ball wheel 200.

[0065] In one embodiment, please refer to Figure 4 The installation space 101 can be a symmetrical space with the vertical plane of the ball wheel 200 as the symmetrical plane. Some of the friction rollers in the friction roller group 300 are arranged on one side of the installation space 101, and another part of the friction rollers are arranged on the symmetrical side of the installation space 101 corresponding to the part of the friction rollers.

[0066] Understandably, because the friction roller assembly 300 is arranged in a symmetrical space, it can provide a balanced driving force, ensuring that the ball wheel 200 is subjected to balanced forces in all directions. At the same time, by arranging the friction roller assembly 300 at different positions in the mounting space 101, the available space can be utilized more efficiently. This arrangement ensures full contact between the friction roller assembly 300 and the ball wheel 200, while maximizing space utilization and helping to reduce the size and weight of the entire ball wheel assembly 10.

[0067] In one embodiment, one of the friction rollers of the friction roller assembly 300 is positioned in the vertical plane. It is understood that by positioning the friction roller in the vertical plane, a vertical supporting force can be provided to the ball wheel 200.

[0068] According to one embodiment of the present invention, the friction roller assembly 300 includes a plurality of friction rollers, wherein the rotation direction of at least one friction roller is set at an angle to the rotation direction of the other friction rollers. It is understood that by setting the rotation direction of at least one friction roller at an angle to the other friction rollers, driving force can be provided in multiple directions, so that the friction force acts not only in one direction but also pushes or pulls the ball wheel 200 in multiple directions, thereby achieving more flexible motion control and attitude adjustment, and thus enhancing the flexibility of the drive.

[0069] It is understandable that the rotation speed and direction of the ball wheel assembly 10 can be adjusted by controlling the number and speed of the friction rollers in different rotation directions of the friction roller group 300, thereby improving the diversity of the driving effect of the ball wheel assembly 10.

[0070] According to one embodiment of the present invention, the mounting frame 100 includes a ball wheel retainer 130, a lifting platform and a lifting rod. The ball wheel retainer 130 is used to mount the ball wheel 200. The lifting platform is connected to the friction roller assembly 300. The lifting rod connects the ball wheel retainer 130 and the lifting platform. Through the lifting rod, the lifting platform can move closer to or further away from the ball wheel retainer 130.

[0071] It should be noted that the ball wheel assembly 10 can move in all directions, but when the movement direction of the ball wheel 200 is different from the movement direction of the friction roller in the friction roller assembly 300, the friction roller will provide unnecessary friction to the ball wheel 200, causing the ball wheel assembly 10 to move unevenly, and at the same time, wear will occur between the ball wheel 200 and the friction roller.

[0072] Understandably, by moving the lifting platform, the position of the friction roller assembly 300 relative to the ball wheel 200 can be easily adjusted, and the friction between the friction roller assembly 300 and the ball wheel 200 can be adjusted to ensure that the friction roller assembly 300 contacts the ball wheel 200 and provides driving force when needed, and can be separated from the ball wheel 200 when not needed, thereby reducing driving force loss and improving energy efficiency.

[0073] The drive unit 400 can drive the friction rollers of the friction roller group 300 to rotate via a conveyor belt. The drive unit 400 can also drive the movement of the friction rollers via gear meshing. The drive unit 400 can also drive the friction rollers via existing driving methods. This invention does not specifically limit these methods.

[0074] According to one embodiment of the present invention, please refer to Figures 1 to 3 The drive unit 400 includes a motor 410, a synchronous pulley 420, and a synchronous belt 430. The motor 410 is fixedly connected to the mounting bracket 100. The synchronous pulley 420 includes a driving pulley 421 and a driven pulley 422. The driving pulley 421 is mounted on the output shaft of the motor 410. There are multiple driven pulleys 422, which are respectively mounted on each friction roller in the friction roller group 300. The synchronous belt 430 is poweredly coupled to the synchronous pulley 420.

[0075] Understandably, the motor 410 acts as the drive source, transmitting driving force to the friction roller assembly 300 via the synchronous belt 430 and synchronous pulley 420. The synchronous movement of the friction roller assembly 300 is then achieved through the cooperation of the synchronous belt 430 and synchronous pulley 420. The driving pulley 421 drives the synchronous belt 430, which in turn drives the driven pulley 422, ensuring that each friction roller rotates at the same speed and direction, thus providing a consistent driving force.

[0076] Understandably, compared to traditional gear or chain drives, the transmission method using synchronous belt 430 and synchronous pulley 420 has a smaller size and weight, higher transmission efficiency, lower maintenance costs, and simplifies the design and manufacture of the transmission mechanism.

[0077] In one embodiment, the number of motors 410 of the driving member 400 is one. In other words, the ball wheel assembly 10 drives the friction roller set 300 through a single motor, so that the rotation of the friction rollers of the friction roller set 300 is realized through one motor 410. Specifically, the motor 410 can realize the synchronous movement of the friction rollers through the synchronous belt 430, gears, chains or other methods mentioned above, which will not be repeated herein.

[0078] It can be understood that using a single motor can utilize space more effectively, make the layout of the entire system more compact, reduce the complexity of the system, and reduce the risk of out-of-sync operation or failure that may be caused by multiple motors.

[0079] According to an embodiment of the present invention, please refer to Figures 1 to 3 , the friction roller set 300 comprises a first friction roller 310 and a second friction roller 320. The first friction roller 310 and the second friction roller 320 rotate in the same direction, and the first friction roller 310 and the second friction roller 320 are symmetrically arranged on both sides of the top of the ball wheel 200. It can be understood that, due to the symmetrical arrangement of the first friction roller 310 and the second friction roller 320, they can provide driving force in a balanced manner, ensuring that the ball wheel 200 receives uniform and balanced friction force, thereby improving the stability of the entire ball wheel assembly 10. By symmetrically arranging the first friction roller 310 and the second friction roller 320 on both sides of the top of the installation space 101, the utilization rate of the installation space 101 can be optimized, making the contact between the ball wheel 200 and the friction rollers more compact.

[0080] According to an embodiment of the present invention, please refer to Figures 1 to 3 , the driving member 400 is located above the first friction roller 310 and the second friction roller 320, and the driving member 400 is located between the first friction roller 310 and the second friction roller 320. It can be understood that an acute triangular structure is formed among the driving member 400, the first friction roller 310 and the second friction roller 320, and the overall structure is in a "triple pile" configuration. On one hand, the driving member 400 can transmit power to the friction rollers more directly, which makes it easier to achieve uniform distribution of driving force, helps to ensure that the two friction rollers provide equal driving force, thereby maintaining the stable movement of the ball wheel 200, reduces the path and loss of power transmission, and improves driving efficiency and response speed. On the other hand, the overall appearance of the ball wheel assembly 10 is more aesthetically pleasing.

[0081] According to an embodiment of the present invention, please refer to Figures 1 to 3The mounting bracket 100 includes a drive mechanism bracket 110, a ball wheel retainer 130, and a column 120. The drive component 400 and the friction roller assembly 300 are fixedly connected to the drive mechanism bracket 110. The ball wheel retainer 130 is used to mount the ball wheel 200. The column 120 connects the drive mechanism bracket 110 and the ball wheel retainer 130 to form an installation space 101 between the ball wheel retainer 130 and the drive mechanism bracket 110.

[0082] Understandably, the combination of the drive mechanism bracket 110, the ball wheel retainer 130, and the column 120 forms a stable support structure. The drive mechanism bracket 110, the friction roller assembly 300, and the drive component 400 can be fixedly connected together. The ball wheel 200 can be installed onto the ball wheel retainer 130, and then the drive mechanism bracket 110 is installed onto the ball wheel retainer 130 via the column 120. The entire installation process is simple, with low installation difficulty and cost.

[0083] In one embodiment, please refer to Figures 1 to 3 Each friction roller in the friction roller assembly 300 is rotatably connected to the drive mechanism bracket 110 via a bearing 440. The inner ring of the bearing 440 is fixedly connected to the friction roller, and the outer ring of the bearing 440 is connected to the drive mechanism bracket 110. The bearing 440 can reduce the direct contact and friction between the friction roller and the drive mechanism bracket 110, reduce wear, and extend the service life of the friction roller.

[0084] According to one embodiment of the present invention, please refer to Figures 3 to 5 The ball wheel retainer 130 includes a first frame 131, a second frame 132, and a ball 500. The second frame 132 is connected to the first frame 131. The first frame 131 and the second frame 132 form a ball mounting groove 134. The opening of the ball mounting groove 134 faces the mounting space 101. The ball 500 extends out of the ball mounting groove 134 and contacts the ball wheel 200.

[0085] Understandably, the ball bearing 500 extends out of the ball bearing mounting groove 134 and contacts the ball wheel 200, providing smooth support as the ball wheel 200 rolls. The contact between the ball bearing 500 and the ball wheel 200 is a rolling contact, which has less frictional resistance compared to a sliding contact. The ball bearing 500 can roll in multiple directions, so the ball wheel cage 130 can accommodate the movement of the ball wheel 200 in different directions. This makes the movement of the ball wheel assembly 10 more flexible and adaptable to various complex motion trajectories.

[0086] The combination of the first frame 131 and the second frame 132 forms a ball bearing mounting groove 134. Through the installation of the first frame 131 and the second frame 132, the ball bearing 500 can only roll within the ball bearing mounting groove 134. The opening of the ball bearing mounting groove 134 is smaller than the diameter of the ball bearing 500.

[0087] In one embodiment, the ball mounting groove 134 can also be a spherical structure that matches the shape of the ball 500. There are multiple ball mounting grooves 134, which are symmetrically arranged around the central axis of the ball wheel holder 130. The ball 500 and the ball mounting groove 134 correspond one-to-one.

[0088] Understandably, the ball mounting groove 134 with its spherical structure can better accommodate the rolling of the ball 500, and the ball 500 can be evenly distributed in the mounting groove, thereby ensuring that the pressure on each ball 500 is uniform. The multiple ball mounting grooves 134 are symmetrically arranged around the central axis, so that the ball wheel cage 130 can more evenly support the ball wheel 200.

[0089] In one embodiment, the ball mounting groove 134 can be an annular structure surrounding the ball wheel cage 130, allowing the ball 500 to move in a circular motion within the ball mounting groove 134. It is understood that the circular motion of the ball 500 within the mounting groove causes the contact point between the ball 500 and the ball wheel cage 130 to continuously change, thereby reducing friction and wear.

[0090] According to one embodiment of the present invention, please refer to Figures 1 to 3 The ball wheel retainer 130 includes at least two mounting lugs 133 located on the outside of the ball wheel 200, which are used to secure the ball wheel assembly 10 to the part to be installed.

[0091] Understandably, the mounting lug 133 serves as a fixing point for the ball wheel assembly 10, ensuring that it can be securely installed on the part to be installed. The mounting lug 133 can adapt to various installation scenarios. Whether it is installed on the chassis, body, or other structures of the robot, the mounting lug 133 can provide a reliable fixing method to ensure the stable operation of the ball wheel assembly 10.

[0092] According to a second aspect of the present invention, a chassis is provided. Please refer to... Figure 6 and Figure 7 The chassis includes a housing 20 and the aforementioned ball wheel assembly 10. The mounting bracket 100 is fixedly connected to the housing 20, and the ball wheel 200 extends out of the housing 20.

[0093] It should be noted that since the chassis includes the aforementioned ball wheel assembly 10, the chassis has all the technical effects of the aforementioned ball wheel assembly 10, which will not be repeated here.

[0094] According to one embodiment of the present invention, the chassis includes multiple sets of ball wheel assemblies 10, wherein the friction roller group 300 of at least one ball wheel assembly 10 is arranged in a different direction than the friction roller group 300 of the other ball wheel assemblies 10. It is understood that by providing at least one friction roller group 300 with a different direction from the other friction roller groups 300, omnidirectional drive of the chassis can be achieved. This design enables the chassis to generate driving force in any direction, improving the flexibility and efficiency of movement.

[0095] It should be noted that the number of ball wheel assemblies 10 can be multiple, such as 3, 4, 5, etc., which can be adjusted according to the actual situation.

[0096] In one embodiment, the housing 20 includes a lower housing 22 and an upper housing 21, with a mounting bracket 100 disposed between the lower housing 22 and the upper housing 21, and a ball wheel 200 partially extending out of the lower housing 22. It is understood that the base assembly can be completed by installing the mounting bracket 100 onto the lower housing 22 and then connecting it to the upper housing 21; the entire process is simple and convenient.

[0097] According to one embodiment of the present invention, the chassis includes four sets of ball wheel assemblies 10, wherein the friction roller groups 300 of two sets of ball wheel assemblies 10 are arranged along a first direction, and the friction roller groups 300 of the remaining two sets of ball wheel assemblies 10 are arranged along a second direction, wherein the first direction and the second direction are arranged at an angle.

[0098] Understandably, because the two directions are at an angle, the chassis can change its direction of movement more flexibly. This setup makes the chassis more agile when turning or changing its trajectory, thus improving handling.

[0099] The four sets of ball wheel assemblies 10 can control the speed and start / stop of the drive components 400 of different ball wheel assemblies 10, thereby enabling the chassis to move forward, backward, turn left, turn right, and rotate in place. The following describes the chassis's ability to move forward, backward, turn left, turn right, and rotate in place using a specific embodiment:

[0100] When the chassis needs to move linearly along a first direction, the friction roller groups 300 of two sets of ball wheel assemblies 10 can be controlled to rotate, while the friction rollers of the remaining two sets of ball wheel assemblies 10 remain stationary. When the chassis needs to move linearly along a second direction, the friction roller groups 300 of the other two sets of ball wheel assemblies 10 can be controlled to rotate, while the friction rollers of the remaining two sets of ball wheel assemblies 10 remain stationary. When the chassis needs to move linearly along a direction that forms an angle with the first and second directions, all four ball wheel assemblies 10 can be controlled to rotate, thus achieving in-place rotation of the chassis. By rotating the chassis, the angle between the first and target directions is adjusted, and then linear movement is achieved. When the chassis moving along the first direction needs to turn, the rotational speeds of the two sets of friction roller groups 300 set along the first direction are adjusted to different speeds, thereby achieving the turn.

[0101] Of course, the chassis of the present invention can also achieve forward, backward and rotation functions through other control methods, and the examples here are not intended to limit the present invention.

[0102] According to one embodiment of the present invention, the first direction and the second direction are at a 90-degree angle. The 90-degree angle setting allows the chassis to have full driving force in both longitudinal and transverse directions, thereby achieving maximum maneuverability and enabling the chassis to move and turn easily in any direction.

[0103] Understandably, the 90-degree setting makes the most efficient use of space, allowing each friction roller group 300 to be utilized to its maximum extent. At the same time, because the two directions are completely perpendicular, operators can more intuitively understand and control the chassis's movement trajectory.

[0104] According to one embodiment of the present invention, the housing 20 is square, and the ball wheel assemblies 10 are disposed at the four corners of the housing 20; in other words, each ball wheel assembly 10 is arranged at a 45-degree angle to the transverse and longitudinal axes of the center of the housing 20. It is understood that because the ball wheel assemblies 10 are located at the four corners of the housing 20, the chassis is more flexible and stable during steering operations. This configuration helps to reduce the turning radius and improve the handling of the chassis.

[0105] Of course, the shell 20 can also be other shapes, and no specific restrictions are made here.

[0106] According to one embodiment of the present invention, the system includes two positioning shafts. The mounting brackets 100 of the ball roller assembly 10 are each provided with positioning elements 135. The two sets of ball roller assemblies 10 of the friction roller group 300 are arranged in the same direction, and their positioning elements 135 are respectively connected to both ends of a positioning shaft. It is understood that by providing positioning shafts, higher positioning accuracy can be ensured when the friction roller group 300 is arranged in the same direction. The positioning elements 135 connecting the two ends of the positioning shafts can enhance the structural rigidity of the mounting bracket 100, making it more stable and durable.

[0107] The positioning element 135 can be a positioning protrusion or a positioning hole, and the positioning elements 135 arranged in the same direction are coaxial.

[0108] A robot according to a third aspect of the present invention includes the ball wheel assembly 10 described above or the chassis described above.

[0109] It should be noted that since the robot includes the aforementioned ball wheel assembly 10 or the aforementioned chassis, the robot has all the technical effects of the aforementioned ball wheel assembly 10 or the aforementioned chassis, which will not be elaborated here.

[0110] In one embodiment, the robot includes a body with a chassis disposed at the bottom of the body. This chassis placement at the bottom of the body gives the robot good maneuverability, enabling it to move flexibly in various terrains and environments, including straight-line travel, turning, and obstacle avoidance, thus adapting to different needs.

[0111] Finally, it should be noted that the above embodiments are only for illustrating the present invention and not for limiting the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention and should be covered within the scope of the claims of the present invention.

Claims

1. A ball wheel assembly (10), characterized in that, include: The mounting bracket (100) has an internal mounting space (101). A ball wheel (200) is mounted on the mounting bracket (100), and a portion of the ball wheel (200) extends out of the mounting space (101). Friction roller assembly (300), the friction roller assembly (300) is attached to the ball wheel (200); A drive unit (400) is connected to the mounting bracket (100), and the drive unit (400) is dynamically coupled to the friction roller assembly (300) to drive the friction roller assembly (300) to roll. The drive unit (400) includes: The motor (410) is fixedly connected to the mounting bracket (100); Synchronous pulley (420) includes a driving pulley (421) and a driven pulley (422). The driving pulley (421) is mounted on the output shaft of the motor (410). There are multiple driven pulleys (422) and they are respectively mounted on each friction roller in the friction roller group (300). The timing belt (430) is poweredly coupled to the timing pulley (420).

2. The ball wheel assembly (10) according to claim 1, characterized in that, The friction roller assembly (300) includes a first friction roller (310) and a second friction roller (320). The first friction roller (310) and the second friction roller (320) rotate in the same direction. The first friction roller (310) and the second friction roller (320) are symmetrically arranged on both sides of the top of the ball wheel (200).

3. The ball wheel assembly (10) according to claim 2, characterized in that, The drive unit (400) is located above the first friction roller (310) and the second friction roller (320), and the drive unit (400) is located between the first friction roller (310) and the second friction roller (320).

4. The ball wheel assembly (10) according to claim 1, characterized in that, The mounting bracket (100) includes: A drive mechanism bracket (110) is provided, wherein the drive component (400) and the friction roller assembly (300) are fixedly connected to the drive mechanism bracket (110). A ball wheel retainer (130) is used to mount the ball wheel (200). A column (120) connects the drive mechanism bracket (110) and the ball wheel holder (130) to form the mounting space (101) between the ball wheel holder (130) and the drive mechanism bracket (110).

5. The ball wheel assembly (10) according to claim 4, characterized in that, The ball wheel cage (130) includes: First frame (131); The second frame (132) is connected to the first frame (131). The first frame (131) and the second frame (132) form a ball bearing mounting groove (134), and the opening of the ball bearing mounting groove (134) faces the mounting space (101). The ball (500) extends partially out of the ball mounting groove (134) and contacts the ball wheel (200).

6. The ball wheel assembly (10) according to any one of claims 1 to 5, characterized in that, Each friction roller of the friction roller assembly (300) is provided with an arcuate surface adapted to match the outer surface of the ball wheel (200).

7. A chassis, characterized in that, include: Casing (20); The ball wheel assembly (10) according to any one of claims 1 to 6, wherein the mounting bracket (100) is fixedly connected to the housing (20), and the ball wheel (200) extends partially out of the housing (20).

8. The chassis according to claim 7, characterized in that, The chassis includes multiple sets of ball wheel assemblies (10), and the friction roller group (300) of at least one set of ball wheel assemblies (10) is arranged in a different direction than the friction roller group (300) of the other ball wheel assemblies (10).

9. The chassis according to claim 8, characterized in that, The chassis includes four sets of ball wheel assemblies (10), wherein the friction roller groups (300) of two sets of ball wheel assemblies (10) are arranged along a first direction, and the friction roller groups (300) of the remaining two sets of ball wheel assemblies (10) are arranged along a second direction, wherein the first direction and the second direction are arranged at an angle.

10. The chassis according to claim 9, characterized in that, The first direction and the second direction are at a 90-degree angle. And / or, The housing (20) is square, and the ball wheel assembly (10) is located at the four corners of the housing (20).

11. The chassis according to claim 9, characterized in that, The chassis includes two positioning shafts, and the mounting brackets (100) of the ball wheel assembly (10) are all provided with positioning elements (135). The two sets of ball wheel assemblies (10) of the friction roller group (300) are arranged in the same direction, and their positioning elements (135) are respectively connected to the two ends of one positioning shaft.

12. A robot, characterized in that, It includes the ball wheel assembly (10) as described in any one of claims 1 to 6 or the chassis as described in any one of claims 7 to 11.

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