Double-rotation universal wheel for transfer robot

Abstract

The utility model relates to a double-rotation universal wheel for a transfer robot, and belongs to the technical field of transfer equipment. In order to overcome the defects that a single-rotation universal wheel is inflexible in movement and the installation height of the double-rotation universal wheel cannot be met, the double-rotation universal wheel for the transfer robot is provided and comprises a wheel shaft, wheel sets are installed at the two ends of the wheel shaft, and two rotation units are installed above the middle of the wheel shaft; the double-rotation universal wheel can be applied in a low ground clearance space, rotation is more flexible than that of a single-rotation universal wheel, the total height of the universal wheel is reduced under the same wheel diameter and loading capacity, and the application scenarios of the double-rotation universal wheel can be greatly increased.

Description

Technical Field

[0001] The utility model relates to a double-swivel universal wheel, in particular to a double-swivel universal wheel used for a handling robot, belonging to the technical field of handling equipment. Background Art

[0002] Currently, most of the universal wheels on the market are ordinary universal wheels that can only achieve a single rotation function. Some universal wheels that can achieve a double rotation function have a too high installation height for the same wheel diameter due to structural design reasons, and cannot be used in scenarios that require a lower installation height.

[0003] Taking the common handling robots, AGVs and AMRs on the market as an example, with the continuous updating of technology, the market tends to lower the height of the cargo plane of handling robots, handling robots, AGVs and AMRs from the ground. However, the universal wheels with a lower installation plane are all single-turn universal wheels. However, single-turn universal wheels have only one rotating axis, which makes the rotation inflexible. As a result, the handling robots, handling robots, AGVs and AMRs will swing severely during starting and correcting when the universal wheels at the bottom are under force. Utility Model Content

[0004] The purpose of the utility model is to solve the shortcomings of the inflexible movement of a single swivel universal wheel and the inability of a double swivel universal wheel to meet the installation height, and to provide a double swivel universal wheel for a transport robot. The double swivel universal wheel can be used in a lower ground space, is more flexible than a single swivel universal wheel, and can greatly increase the application scenarios of the double swivel universal wheel by reducing the total height of the universal wheel under the same wheel diameter and load capacity.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A double-swivel universal wheel for a handling robot comprises a wheel axle, and its special features are: wheel sets are installed at both ends of the wheel axle, and two swivel units are installed above the middle of the wheel axle;

[0007] Preferably, the two rotating units are rotatably connected via a first rotating connecting plate and a second rotating connecting plate, and are respectively a first rotating unit and a second rotating unit;

[0008] Preferably, the first rotary unit comprises a first rotary bottom plate, a first rotary middle plate is rotatably mounted above the first rotary bottom plate, and a first rotary and second rotary connecting plate is rotatably mounted above the first rotary middle plate;

[0009] Preferably, the first rotary unit further comprises a first rotary lower rolling rotary body and a first rotary upper rolling rotary body, the upper surface of the first rotary bottom plate is provided with a circular groove, the upper surface and the lower surface of the first rotary middle plate are both provided with circular grooves, and the lower surface of the first rotary and second rotary connecting plate is provided with a circular groove; the bottom of the first rotary lower rolling rotary body is embedded in the circular groove on the upper surface of the first rotary bottom plate, and the top is embedded in the circular groove on the lower surface of the first rotary middle plate;

[0010] Preferably, the first rotary unit further comprises a first rotary pad located in the first rotary middle plate, the lower surface of the first rotary and second rotary connecting plate contacts the upper surface of the first rotary pad, and the upper surface of the first rotary bottom plate contacts the lower surface of the first rotary pad; the first rotary and second rotary connecting plate, the first rotary pad and the first rotary bottom plate are fixedly connected;

[0011] Preferably, one side of the first swivel middle plate close to the wheel axle extends out of the first swivel bottom plate and is fixedly mounted with a wheel axle connecting member, and the other end of the wheel axle connecting member is fixedly mounted on the wheel axle;

[0012] Preferably, the second rotary unit comprises a second rotary upper plate, a second rotary middle plate is rotatably mounted below the second rotary upper plate, and a first rotary and second rotary connecting plate is rotatably mounted above the second rotary middle plate;

[0013] Preferably, the second rotary unit further comprises a second rotary upper rolling rotary body and a second rotary lower rolling rotary body.

[0014] The lower surface of the second rotating upper plate is provided with a circular groove, the upper surface and the lower surface of the middle part of the second rotating middle plate are both provided with circular grooves, and the upper surface of the first rotating and second rotating connecting plates is provided with a circular groove;

[0015] The bottom of the second rotating upper rolling rotating body is embedded in the circular groove on the upper surface of the second rotating middle plate, and the top is embedded in the circular groove on the lower surface of the second rotating upper plate;

[0016] The bottom of the second rotary lower rolling rotary body is embedded in the circular groove on the upper surface of the first rotary and second rotary connecting plate, and the top is embedded in the circular groove on the lower surface of the second rotary intermediate plate;

[0017] Preferably, the first rotary unit further comprises a second rotary pad 6 located in the second rotary middle plate, the upper surface of the first rotary and second rotary connecting plate 3 contacts the lower surface of the second rotary pad 6, and the lower surface of the second rotary upper plate 1 contacts the upper surface of the second rotary pad 6; the first rotary and second rotary connecting plate 3, the second rotary pad 6 and the second rotary upper plate 1 are fixedly connected;

[0018] Preferably, the area of ​​the second rotary middle plate is larger than that of the second rotary upper plate, and the second rotary middle plate is provided with a mounting hole connected to the bottom plate of a handling robot, AGV or AMR;

[0019] Preferably, the specific shapes of the second rotating upper rolling rotating body 8, the second rotating lower rolling rotating body 9, the first rotating upper rolling rotating body 10 and the first rotating lower rolling rotating body 11 are any one of spherical, cylindrical and conical;

[0020] Preferably, each of the wheel sets consists of at least one wheel.

[0021] The double-swivel universal wheel is composed of two swivel units, wherein the first swivel middle plate and the first swivel bottom plate of the first swivel unit are arranged in the middle of the two wheel sets, which effectively utilizes the space in the vertical and horizontal directions between the two wheel sets, thereby reducing the installation height of the double-swivel universal wheel; the two wheel sets can rotate around the central axis of the first swivel unit, and at the same time, the first swivel unit and the wheel set can also rotate together around the central axis of the second swivel unit, which greatly increases the freedom and flexibility of the rotation of the universal wheel.

[0022] The double-swivel universal wheel solves the problem that the universal wheel has a low installation height and a single-swivel universal wheel is not flexible to move, and there is severe swinging during starting and correcting.

[0023] The utility model greatly reduces the installation height of the double-swivel universal wheels under the same wheel diameter and load conditions through a novel structural design, thereby greatly increasing the application scenarios of the double-swivel universal wheels on handling robots, handling robots, AGVs and AMRs, and is also suitable for all scenarios and fields in the intelligent logistics industry that require universal wheels for auxiliary movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 : A schematic diagram of the structure of the utility model;

[0025] Figure 2 : Figure 1 A schematic diagram of the structure from another angle;

[0026] Figure 3 : Figure 1 The main view of

[0027] Figure 4 : Figure 3 AA section view;

[0028] Figure 5 : Figure 3 A top view of

[0029] Figure 6 : Figure 1Exploded view of the first rotary unit;

[0030] Figure 7 : Figure 6 Schematic diagram from another angle;

[0031] Figure 8 : Figure 1 Exploded view of the second rotary unit;

[0032] Fig. 9 : Figure 8 Schematic diagram from another angle.

[0033] In the figure: 1, second rotating upper plate, 2, second rotating middle plate, 3, first and second rotating connecting plates, 4, first rotating middle plate, 5, first rotating bottom plate, 6, second rotating pad, 7, first rotating pad, 8, second rotating upper rolling rotating body, 9, second rotating lower rolling rotating body, 10, first rotating upper rolling rotating body, 11, first rotating lower rolling rotating body, 12, first rotating and wheel axle connecting piece, 13, wheel axle, 14, wheel set A, 15, wheel set B. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments of the utility model. All other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] like Figure 1-9 A double-swivel universal wheel for a handling robot shown in the figure comprises a wheel axle 13, both ends of the wheel axle 13 are equipped with wheel sets, and two swivel units are installed above the middle of the wheel axle 13;

[0036] The two rotating units are rotatably connected through the first and second rotating connecting plates 3, and are respectively the first rotating unit and the second rotating unit;

[0037] The first rotary unit comprises a first rotary bottom plate 5, a first rotary middle plate 4 is rotatably mounted above the first rotary bottom plate 5, and a first rotary and second rotary connecting plate 3 is rotatably mounted above the first rotary middle plate 4;

[0038] The first rotary unit further comprises a first rotary lower rolling rotary body 11 and a first rotary upper rolling rotary body 10. The upper surface of the first rotary bottom plate 5 is provided with a circular groove, the upper surface and the lower surface of the first rotary middle plate 4 are both provided with circular grooves, and the lower surface of the first rotary and second rotary connecting plate 3 is provided with a circular groove; the bottom of the first rotary lower rolling rotary body 11 is embedded in the circular groove on the upper surface of the first rotary bottom plate 5, and the top is embedded in the circular groove on the lower surface of the first rotary middle plate 4;

[0039] The first rotary unit further comprises a first rotary pad 7 located in the first rotary intermediate plate 4, the lower surface of the first rotary and second rotary connecting plate 3 contacts the upper surface of the first rotary pad 7, and the upper surface of the first rotary bottom plate 5 contacts the lower surface of the first rotary pad 7; the first rotary and second rotary connecting plate 3, the first rotary pad 7 and the first rotary bottom plate 5 are fixedly connected, and in this embodiment, bolts are used to fix the first rotary and second rotary connecting plate 3, the first rotary pad 7 and the first rotary bottom plate 5 together;

[0040] The first rotating middle plate 4 extends out of the first rotating bottom plate 5 on one side close to the wheel axle 13 and is fixedly mounted with a wheel axle connecting member 12, and the other end of the wheel axle connecting member 12 is fixedly mounted on the wheel axle 13. The first rotating middle plate 4 and the first rotating bottom plate 5 of the first rotating unit are arranged in the middle of the two wheel sets. The wheel axle connecting member 12 in this embodiment is "L" shaped;

[0041] The first rotating and second rotating connecting plates 3, the first rotating pad plate 7 and the first rotating base plate 5 are fixed by bolts to form a whole that can rotate relative to the first rotating middle plate 4. The rotating support is the first rotating upper rolling rotating body 10 and the first rotating lower rolling rotating body 11. The first rotating middle plate 4 is connected to the axle 13 through the axle connecting member 12. The axle 13 is connected to the wheel group A14 and the wheel group B15, thereby realizing that the entire universal wheel can rotate around the rotation center of the first rotating unit, that is, the center line of the first rotating base plate 5.

[0042] The second rotary unit comprises a second rotary upper plate 1, a second rotary middle plate 2 is rotatably mounted below the second rotary upper plate 1, and a first rotary and second rotary connecting plate 3 is rotatably mounted above the second rotary middle plate;

[0043] Wherein, the second rotary unit further comprises a second rotary upper rolling rotary body and a second rotary lower rolling rotary body 9,

[0044] The lower surface of the second rotating upper plate 1 is provided with a circular groove, the upper surface and the lower surface of the middle part of the second rotating middle plate 2 are both provided with a circular groove, and the upper surface of the first rotating and second rotating connecting plates is provided with a circular groove;

[0045] The bottom of the second rotating upper rolling rotating body 8 is embedded in the circular groove on the upper surface of the second rotating middle plate 2, and the top is embedded in the circular groove on the lower surface of the second rotating upper plate 1;

[0046] The bottom of the second rotary lower rolling rotary body 9 is embedded in the circular groove on the upper surface of the first rotary and second rotary connecting plate 3, and the top is embedded in the circular groove on the lower surface of the second rotary intermediate plate 2;

[0047] The first rotary unit further comprises a second rotary pad 6 located in the second rotary middle plate, the upper surface of the first rotary and second rotary connecting plate 3 contacts the lower surface of the second rotary pad 6, and the lower surface of the second rotary upper plate 1 contacts the upper surface of the second rotary pad 6; the first rotary and second rotary connecting plate 3, the second rotary pad 6 and the second rotary upper plate 1 are fixedly connected, and in this embodiment, bolts are used to fix the first rotary and second rotary connecting plate 3, the second rotary pad 6 and the second rotary upper plate 1 together;

[0048] Among them, the area of ​​the second rotating middle plate 2 is larger than that of the second rotating upper plate 1, and the second rotating middle plate 2 is provided with a mounting hole connected to the bottom plate of the transport robot, AGV or AMR; its upper surface is the mounting surface for connecting the double rotating universal wheel with the bottom plate of the transport robot, AGV and AMR. After the holes in the bottom plates of the transport robot, AGV and AMR are opened, the second rotating upper plate 1 can be embedded in the holes in the bottom plates of the transport robot, AGV and AMR. Therefore, the installation height of the entire double rotating universal wheel is lower than the total height of the entire double rotating universal wheel itself.

[0049] The specific shapes of the second rotating upper rolling rotating body 8, the second rotating lower rolling rotating body 9, the first rotating upper rolling rotating body 10 and the first rotating lower rolling rotating body 11 are any one of spherical, cylindrical and conical;

[0050] The first rotating and second rotating connecting plates 3, the second rotating pad plate 6 and the second rotating upper plate 1 are fixed by bolts to form a whole which can rotate relative to the second rotating middle plate 2. The rotating support is the second rotating upper rolling rotating body 8 and the second rotating lower rolling rotating body 9, which enables the first rotating unit and the entire universal wheel to rotate around the rotation center of the second rotating unit, that is, the center line of the second rotating middle plate 2, greatly increasing the freedom and flexibility of the rotation of the universal wheel.

[0051] Wherein, each wheel set consists of at least one wheel.

[0052] The utility model realizes the application of double swivel universal wheels in a lower ground space through a novel structural design. The double swivel universal wheels are more flexible in rotation than single swivel universal wheels. Under the same wheel diameter and load capacity, the total height of the universal wheels can be reduced, which can greatly increase the application scenarios of the double swivel universal wheels, thereby solving the problem that the single swivel universal wheel is inflexible in movement and the double swivel universal wheels cannot meet the installation height requirement.

[0053] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A double-swivel universal wheel for a handling robot, comprising a wheel axle (13), characterized in that: Wheel sets are installed at both ends of the wheel axle (13), and two rotating units are installed above the middle of the wheel axle (13); The two rotating units are rotatably connected via a first rotating connecting plate and a second rotating connecting plate (3), and are respectively a first rotating unit and a second rotating unit; The first rotary unit comprises a first rotary base plate (5), a first rotary middle plate (4) is rotatably mounted above the first rotary base plate (5), and a first rotary and second rotary connecting plate (3) is rotatably mounted above the first rotary middle plate (4).

2. The double swivel universal wheel for a handling robot according to claim 1, characterized in that: The first rotary unit further comprises a first rotary lower rolling rotary body (11) and a first rotary upper rolling rotary body (10); the upper surface of the first rotary bottom plate (5) is provided with a circular groove; the upper and lower surfaces of the first rotary middle plate (4) are both provided with circular grooves; and the lower surface of the first rotary and second rotary connecting plates (3) is provided with a circular groove; the bottom of the first rotary lower rolling rotary body (11) is embedded in the circular groove on the upper surface of the first rotary bottom plate (5), and the top is embedded in the circular groove on the lower surface of the first rotary middle plate (4).

3. A double swivel universal wheel for a handling robot according to claim 1 or 2, characterized in that: The first rotary unit also includes a first rotary pad (7) located in the first rotary intermediate plate (4); the lower surface of the first rotary and second rotary connecting plate (3) contacts the upper surface of the first rotary pad (7); the upper surface of the first rotary bottom plate (5) contacts the lower surface of the first rotary pad (7); the first rotary and second rotary connecting plate (3), the first rotary pad (7) and the first rotary bottom plate (5) are fixedly connected.

4. The double swivel universal wheel for a handling robot according to claim 3, characterized in that: The first rotating middle plate (4) extends out of the first rotating bottom plate (5) on one side close to the wheel axle (13) and is fixedly mounted with a wheel axle connecting member (12); the other end of the wheel axle connecting member (12) is fixedly mounted on the wheel axle (13); the first rotating middle plate (4) and the first rotating bottom plate (5) of the first rotating unit are arranged in the middle of the two wheel groups.

5. The double swivel universal wheel for a handling robot according to claim 4, characterized in that: The second rotary unit comprises a second rotary upper plate (1), a second rotary middle plate (2) is rotatably mounted below the second rotary upper plate (1), and a first rotary and second rotary connecting plate (3) is rotatably mounted above the second rotary middle plate; The second rotary unit further comprises a second rotary upper rolling rotary body (8) and a second rotary lower rolling rotary body (9); the lower surface of the second rotary upper plate (1) is provided with a circular groove; the upper surface and the lower surface of the middle portion of the second rotary intermediate plate (2) are both provided with circular grooves; and the upper surface of the first rotary and second rotary connecting plates is provided with a circular groove; The bottom of the second rotating upper rolling rotating body (8) is embedded in the circular groove on the upper surface of the second rotating middle plate (2), and the top is embedded in the circular groove on the lower surface of the second rotating upper plate (1); The bottom of the second rotary lower rolling rotary body (9) is embedded in the circular groove on the upper surface of the first rotary and second rotary connecting plate (3), and the top is embedded in the circular groove on the lower surface of the second rotary intermediate plate (2); The first rotary unit also includes a second rotary pad (6) located in the second rotary middle plate, the upper surface of the first rotary and second rotary connecting plate (3) contacts the lower surface of the second rotary pad (6), and the lower surface of the second rotary upper plate (1) contacts the upper surface of the second rotary pad (6); the first rotary and second rotary connecting plate (3), the second rotary pad (6) and the second rotary upper plate (1) are fixedly connected.

6. The double swivel universal wheel for a handling robot according to claim 5, characterized in that: The area of ​​the second rotating middle plate (2) is larger than that of the second rotating upper plate (1), and the second rotating middle plate (2) is provided with a mounting hole for connecting to a handling robot, AGV or AMR base plate.

7. The double swivel universal wheel for a handling robot according to claim 6, characterized in that: The specific shapes of the second rotating upper rolling rotor (8), the second rotating lower rolling rotor (9), the first rotating upper rolling rotor (10) and the first rotating lower rolling rotor (11) are any one of spherical, cylindrical and conical.

8. The double swivel universal wheel for a handling robot according to claim 1 or 2, characterized in that: Each of the wheel sets consists of at least one wheel.

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