Universal wheel and self-moving equipment

Abstract

The utility model provides a universal wheel and self-moving equipment, and relates to the technical field of electric tools, a wheel shaft comprises a rotating shaft and a mounting shaft, a roller is rotatably connected to the rotating shaft, a box of a signal assembly is provided with a containing cavity and a through hole, the mounting shaft is located in the containing cavity and the through hole, and a signal element is arranged in the box. The spacer and the elastic check ring are arranged on the mounting shaft in a sleeving mode and located in the containing cavity, and the spacer is located between the elastic check ring and the through hole. The aperture of the through hole is larger than the outer diameter of the elastic check ring and smaller than the outer diameter of the spacer. According to the universal wheel provided by the invention, assembling personnel can be timely reminded that the distance piece is not mounted in the accommodating cavity, so that the occurrence of assembling reworking conditions is effectively reduced, and the assembling efficiency and the yield of the universal wheel and the self-moving equipment are improved.

Description

Technical Field

[0001] The present application relates to the technical field of electric tools, and in particular to a universal wheel and a self-propelled device. Background Art

[0002] In the related art, a self-moving device generally includes a device body and universal wheels installed at the bottom of the device body, and the universal wheels can assist the device body in moving.

[0003] The universal wheel has a feedback device, which can feedback the height of the universal wheel, so that the device body can obtain the working status of the universal wheel.

[0004] For example, the universal wheel assembly disclosed in the Chinese patent with authorization announcement number CN217863557U has a feedback device including a box body, a signal element, a gasket and a retaining ring. The box body has an installation cavity, and the rotating shaft passes through the installation cavity. The gasket and the retaining ring are both arranged in the installation cavity, and the gasket is arranged on one side of the retaining ring in the thickness direction. The signal element is fixed to the box body, and when the retaining ring moves in the vertical direction with the rotating shaft, it can drive the box body to move, and then drive the signal element to move with the rotating shaft.

[0005] However, in the above-mentioned related technologies, when assembling the feedback device and the universal wheel, the gasket is easily missed and difficult to detect, resulting in that it is often discovered only in the subsequent assembly process or during use, resulting in a low yield rate of the universal wheel. Utility Model Content

[0006] The embodiments of the present application provide a universal wheel and a self-moving device, which are used to solve the problem in the above-mentioned related technology that when assembling a feedback device with the universal wheel, a gasket is easily missed and difficult to detect, resulting in it often being discovered only in subsequent assembly steps or during use, resulting in a low yield rate of the universal wheel.

[0007] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0008] A first aspect of an embodiment of the present application provides a universal wheel, comprising: an axle, the axle comprising a rotating shaft and a mounting shaft extending in a vertical direction that are connected to each other; a roller, the roller being rotatably connected to the rotating shaft; and a signal component, the signal component comprising: a box, the box having a accommodating cavity and a through hole communicating with the accommodating cavity, at least a portion of the mounting shaft being located in the accommodating cavity and the through hole to penetrate the box; a signal element disposed in the box; and a spacer and an elastic retaining ring, both of which are sleeved on the mounting shaft and located in the accommodating cavity, the spacer being located between the elastic retaining ring and the through hole; wherein the through hole, the elastic retaining ring and the spacer are coaxially arranged along the mounting shaft, the aperture of the through hole is larger than the outer diameter of the elastic retaining ring, and the aperture of the through hole is smaller than the outer diameter of the spacer.

[0009] In this way, the embodiment of the present application provides a universal wheel, by arranging both the spacer and the elastic retaining ring in the accommodating cavity of the box, the spacer restricts the elastic retaining ring in the accommodating cavity, the spacer and the elastic retaining ring are sleeved on the mounting shaft, and the spacer is located between the elastic retaining ring and the through hole, so that the elastic retaining ring is connected to the box through the spacer. When the self-moving device moves on an uneven working surface, the roller will move in the vertical direction with the terrain to drive the rotating shaft to move in a direction perpendicular to the working surface, the mounting shaft moves axially with the roller, the mounting shaft drives the elastic retaining ring, and the elastic retaining ring further drives the gasket and the box to move axially along the mounting shaft, so that the signal element moves along the mounting shaft in a direction perpendicular to the working surface of the roller, so that the signal element can timely feedback the working status of the roller to the body of the self-moving device.

[0010] Furthermore, by making the aperture of the through hole larger than the outer diameter of the elastic ring and smaller than the outer diameter of the spacer, the spacer can be prevented from escaping from the through hole, and the elastic ring can be confined in the accommodating cavity of the box through the spacer, so that the elastic ring can be connected to the box through the spacer.

[0011] Furthermore, during the process of assembling the signal component and the mounting shaft, if the spacer is not installed in the accommodating cavity, the box may become loose on the mounting shaft due to the lack of connection between the spacer and the box and the outer diameter of the elastic retaining ring is smaller than the aperture of the through hole on the box, causing the elastic retaining ring to be exposed outside the box through the through hole. This can easily remind the assembler that the spacer is not installed in the accommodating cavity, facilitate timely detection of missing spacers, and avoid the discovery of missing spacers in subsequent processes, thereby effectively reducing the occurrence of assembly rework, thereby improving the assembly efficiency and yield rate of universal wheels and self-moving equipment.

[0012] A first aspect of an embodiment of the present application provides a universal wheel, comprising: an axle, the axle comprising a rotating shaft and a mounting shaft extending in a vertical direction that are connected to each other; a roller, the roller being rotatably connected to the rotating shaft; and a signal component, the signal component comprising: a box, the box having a receiving cavity and a through hole communicating with the receiving cavity, at least a portion of the mounting shaft being located in the receiving cavity and the through hole to penetrate the box; a signal element disposed in the box; and a spacer and an elastic retaining ring, both of which are sleeved on the mounting shaft and located in the receiving cavity, the spacer being located between the elastic retaining ring and the through hole; wherein the through hole, the elastic retaining ring and the spacer are coaxially disposed along the mounting shaft, the aperture of the through hole is larger than the outer diameter of the elastic retaining ring, and the aperture of the through hole is smaller than the outer diameter of the spacer, and in the axial direction of the mounting shaft, the ratio of the projected area of ​​the spacer on the inner wall to the area of ​​the surface of the spacer facing the inner wall is greater than or equal to 0.4.

[0013] In this way, the embodiment of the present application provides a universal wheel, by arranging both the spacer and the elastic retaining ring in the accommodating cavity of the box, the spacer restricts the elastic retaining ring in the accommodating cavity, the spacer and the elastic retaining ring are sleeved on the mounting shaft, and the spacer is located between the elastic retaining ring and the through hole, so that the elastic retaining ring is connected to the box through the spacer. When the self-moving device moves on an uneven working surface, the roller will move in the vertical direction with the terrain to drive the rotating shaft to move in a direction perpendicular to the working surface, the mounting shaft moves axially with the roller, the mounting shaft drives the elastic retaining ring, and the elastic retaining ring further drives the gasket and the box to move axially along the mounting shaft, so that the signal element moves along the mounting shaft in a direction perpendicular to the working surface of the roller, so that the signal element can timely feedback the working status of the roller to the body of the self-moving device.

[0014] Furthermore, by making the aperture of the through hole larger than the outer diameter of the elastic ring and smaller than the outer diameter of the spacer, the spacer can be prevented from escaping from the through hole, and the elastic ring can be confined in the accommodating cavity of the box through the spacer, so that the elastic ring can be connected to the box through the spacer.

[0015] Furthermore, during the process of assembling the signal component and the mounting shaft, if the spacer is not installed in the accommodating cavity, the box may become loose on the mounting shaft due to the lack of connection between the spacer and the box and the outer diameter of the elastic retaining ring is smaller than the aperture of the through hole on the box, causing the elastic retaining ring to be exposed outside the box through the through hole. This can easily remind the assembler that the spacer is not installed in the accommodating cavity, facilitate timely detection of missing spacers, and avoid the discovery of missing spacers in subsequent processes, thereby effectively reducing the occurrence of assembly rework, thereby improving the assembly efficiency and yield rate of universal wheels and self-moving equipment.

[0016] At the same time, when the ratio of the projection area of ​​the spacer on the inner wall to the area of ​​the surface of the spacer facing the inner wall is greater than or equal to 0.4, on the one hand, it can not only ensure that there is sufficient contact area between the spacer and the box to ensure the connection strength and connection stability between the spacer and the box, but also on the other hand, it can ensure the structural stability of the spacer during use to ensure the connection strength and connection stability between the spacer and the box and between the spacer and the elastic retaining ring.

[0017] When the ratio of the projection area of ​​the spacer on the inner wall to the area of ​​the surface of the spacer facing the inner wall is greater than or equal to 0.4, the probability of the spacer bending and deforming is 10%, and when the ratio of the projection area of ​​the spacer on the inner wall to the area of ​​the surface of the spacer facing the inner wall is less than 0.4, the probability of the spacer bending and deforming is more than 50%. For example, when the ratio of the projection area of ​​the spacer on the inner wall to the area of ​​the surface of the spacer facing the inner wall is 0.39, the probability of the spacer bending and deforming is 53%. When the ratio of the projection area of ​​the spacer on the inner wall to the area of ​​the surface of the spacer facing the inner wall is 0.35, the probability of the spacer bending and deforming is 57%. That is, when the ratio of the projection area of ​​the spacer 330 on the inner wall to the area of ​​the surface of the spacer facing the inner wall is slightly less than 0.4, the structural strength of the spacer during use will be greatly reduced.

[0018] A third aspect of an embodiment of the present application provides a universal wheel, comprising: an axle, the axle comprising a rotating shaft connected to each other and a mounting shaft extending in a vertical direction; a roller, the roller being rotatably connected to the rotating shaft; and a signal component, the signal component comprising: a box, the box having a receiving cavity and a through hole communicating with the receiving cavity, at least a portion of the mounting shaft being located in the receiving cavity and the through hole to penetrate the box; a signal element arranged in the box; and a spacer and an elastic retaining ring, both of which are sleeved on the mounting shaft and located in the receiving cavity, the spacer being located between the elastic retaining ring and the through hole; wherein the through hole, the elastic retaining ring and the spacer are coaxially arranged along the mounting shaft, the aperture of the through hole is larger than the outer diameter of the elastic retaining ring, and the aperture of the through hole is smaller than the outer diameter of the spacer; in a first direction, the aperture L1 of the through hole, the length S2 of the box and the shaft diameter S3 of the mounting shaft satisfy the following relationship: (L1-S3) / S2≤0.1; the first direction intersects with the axial direction of the mounting shaft.

[0019] In this way, the embodiment of the present application provides a universal wheel, by arranging both the spacer and the elastic retaining ring in the accommodating cavity of the box, the spacer restricts the elastic retaining ring in the accommodating cavity, the spacer and the elastic retaining ring are sleeved on the mounting shaft, and the spacer is located between the elastic retaining ring and the through hole, so that the elastic retaining ring is connected to the box through the spacer. When the self-moving device moves on an uneven working surface, the roller will move in the vertical direction with the terrain to drive the rotating shaft to move in a direction perpendicular to the working surface, the mounting shaft moves axially with the roller, the mounting shaft drives the elastic retaining ring, and the elastic retaining ring further drives the gasket and the box to move axially along the mounting shaft, so that the signal element moves along the mounting shaft in a direction perpendicular to the working surface of the roller, so that the signal element can timely feedback the working status of the roller to the body of the self-moving device.

[0020] Furthermore, by making the aperture of the through hole larger than the outer diameter of the elastic ring and smaller than the outer diameter of the spacer, the spacer can be prevented from escaping from the through hole, and the elastic ring can be confined in the accommodating cavity of the box through the spacer, so that the elastic ring can be connected to the box through the spacer.

[0021] Furthermore, during the process of assembling the signal component and the mounting shaft, if the spacer is not installed in the accommodating cavity, the box may become loose on the mounting shaft due to the lack of connection between the spacer and the box and the outer diameter of the elastic retaining ring is smaller than the aperture of the through hole on the box, causing the elastic retaining ring to be exposed outside the box through the through hole. This can easily remind the assembler that the spacer is not installed in the accommodating cavity, facilitate timely detection of missing spacers, and avoid the discovery of missing spacers in subsequent processes, thereby effectively reducing the occurrence of assembly rework, thereby improving the assembly efficiency and yield rate of universal wheels and self-moving equipment.

[0022] It should be noted that, in the related art, the length S2 of the box is usually designed to be 30 mm, and the outer diameter of the spacer is usually designed to be 10 mm.

[0023] In order to effectively avoid the waste of manpower and material resources such as adjusting the size of the box and the spacer, re-opening the mold or selecting the model, in this embodiment, let (L1-S3) / S2≤0.1, where L1-S3 represents the distance between the inner wall of the through hole and the mounting axis, S2 represents the length of the box, and then (L1-S3) / S2 represents the ratio range between the distance and the length of the box.

[0024] Specifically, without adjusting the size of the box and the spacer, by setting (L1-S3) / S2≤0.1, it is possible to ensure that the aperture of the through hole is small enough so that the elastic retaining ring 340 can be exposed outside the box through the through hole when the spacer is not installed, so that the contact area between the box and the spacer can be as large as possible, thereby ensuring the connection strength and stability between the spacer and the box as much as possible. Moreover, the size of the box and the spacer does not need to be increased due to the increase in the aperture of the through hole, and the original size can be maintained, so that the overall versatility of the signal component is higher, and the box and spacer of the original size can be used directly. In addition, it is also conducive to the overall trend of miniaturization and lightweight of the signal component.

[0025] If (L1-S3) / S2>0.1, the diameter of the through hole will be designed to be too large, so that the contact area between the box and the spacer will become smaller, thereby affecting the connection strength and stability between the spacer and the box. Then, the size of the box must be designed to be larger to compensate for this effect, which makes it difficult to meet the overall development trend of signal components towards miniaturization and lightweight.

[0026] Based on the above technical solution, the present application can also be improved as follows.

[0027] In a possible implementation, the length of the box is S2, the thickness of the signal element is S1, and S1 and S2 satisfy the following relationship:

[0028] 0.1≤S1 / S2≤0.22.

[0029] In this way, by making 0.1≤S1 / S2≤0.22, the signal element can have working performance that satisfies the sensing while the box can maintain its original size, making the overall versatility of the signal component higher to meet the overall development trend of the signal component towards miniaturization and lightweight.

[0030] In a possible implementation manner, the first direction is perpendicular to the axial direction of the installation axis.

[0031] In this way, by making the first direction perpendicular to the axial direction of the mounting shaft, the relationship between the aperture of the through hole, the thickness of the signal element, the length of the box and the axial diameter of the mounting shaft can be limited in the radial direction of the through hole, ensuring that the gap is large enough in the radial direction of the through hole to facilitate the elastic ring to escape from the through hole.

[0032] In a possible implementation, a ratio of an outer diameter of the elastic retaining ring to a hole diameter of the through hole is greater than or equal to 0.4 and less than 1.

[0033] In this way, by making the ratio of the outer diameter of the elastic retaining ring to the aperture of the through hole less than or equal to 1, it is possible to ensure that there is a certain gap between the elastic retaining ring and the through hole, and when the spacer is assembled in the accommodating cavity, the success rate of the elastic retaining ring escaping from the through hole can be increased, which helps to remind the assembler that the spacer is not assembled in the accommodating cavity.

[0034] In a possible implementation, the outer diameter of the elastic retaining ring is greater than or equal to 6 mm and less than or equal to 12 mm.

[0035] Thus, by making the outer diameter of the circlip less than or equal to 12 mm, it is possible to avoid the radial clearance between the circlip and the through hole being reduced due to the outer diameter of the circlip being too large, thereby avoiding the situation where the circlip is not conducive to escaping from the through hole due to the radial clearance being too small. By making the outer diameter of the circlip greater than or equal to 6 mm, it is possible to ensure that the spacer and the circlip have sufficient contact area in the circumferential direction of the mounting shaft, ensure the connection performance of the circlip, and ensure the connection stability of the circlip connected to the box through the spacer.

[0036] In a possible implementation, the diameter of the through hole is greater than or equal to 7 mm and less than or equal to 13 mm.

[0037] Thus, by making the diameter of the through hole greater than or equal to 7 mm, it is possible to ensure that the outer edge of the through hole and the elastic retaining ring have a sufficiently large radial spacing, and when no spacer is installed in the accommodating cavity, it is convenient for the elastic retaining ring to escape from the through hole. By making the diameter of the through hole less than or equal to 13 mm, it is possible to avoid the reduction of the contact area between the spacer and the box due to the excessively large diameter of the through hole, thereby reducing the connection stability of the box connected by the spacer.

[0038] In a possible implementation, the outer circumference of the installation shaft has a groove, and at least a portion of the elastic retaining ring is disposed in the groove to be clamped and fixed with the installation shaft.

[0039] In this way, by arranging a groove on the outer periphery of the mounting shaft and arranging at least part of the elastic retaining ring in the groove, the axial displacement of the elastic retaining ring on the mounting shaft can be limited by the side wall of the groove, thereby improving the connection stability between the elastic retaining ring and the mounting shaft.

[0040] In a possible implementation manner, the groove is arranged around the circumference of the installation shaft.

[0041] In this way, by arranging the groove along the circumference of the installation shaft, the elastic ring can be arranged in the groove along the circumference, thereby increasing the contact area between the elastic ring and the inner wall of the groove, and further improving the connection stability of the elastic ring and the installation shaft.

[0042] In a possible implementation, two spacers are provided; in the axial direction of the mounting shaft, the two spacers are respectively located on the upper side and the lower side of the circlip.

[0043] In this way, by setting two spacers and setting the two spacers on both sides of the elastic ring in the axial direction of the installation shaft, the elastic ring can be prevented from escaping from the two ends of the through hole on the box, and the elastic ring can be connected to the two spacers to connect the box to reciprocate along the circumferential direction of the installation shaft.

[0044] In a possible implementation, the inner wall of the box includes a first inner wall and a second inner wall respectively located on the upper side and the lower side of the elastic retaining ring, and the first inner wall and the second inner wall participate in forming the accommodating cavity; the upper surface of the spacer located on the upper side of the elastic retaining ring abuts against the first inner wall, and the lower surface of the spacer located on the lower side of the elastic retaining ring abuts against the second inner wall, so that the two spacers can clamp the elastic retaining ring.

[0045] In this way, by making the spacer located on the upper side of the elastic retaining ring abut against the first inner wall, and making the spacer located on the lower side of the elastic retaining ring abut against the second inner wall, the two spacers can be restricted from moving in the accommodating cavity in the axial direction of the installation shaft, so that the two spacers can clamp the elastic retaining ring in the axial direction of the installation shaft, avoiding collision between the elastic retaining ring and the spacer when the elastic retaining ring moves in the axial direction of the installation shaft, and avoiding collision between the spacer located on the upper side of the elastic retaining ring and the first inner wall, and avoiding collision between the spacer located on the lower side of the elastic retaining ring and the second inner wall, thereby reducing the probability of collision damage between the spacer and the elastic retaining ring, and reducing the probability of collision damage between the spacer and the first inner wall or the second inner wall of the accommodating cavity, thereby improving the durability and service life of the signal component.

[0046] In a possible implementation manner, the spacer is an annular gasket.

[0047] In this way, by setting the spacer as an annular gasket, the contact area between the spacer and the circlip can be increased, and the contact area between the spacer and the box can be increased, thereby improving the connection performance of the circlip to the box through the spacer. In addition, setting the spacer as an annular gasket can improve the force uniformity between the spacer and the circlip, improve the force uniformity on the spacer, and then improve the connection stability of the circlip to the box.

[0048] In a possible implementation, the inner diameters of the two spacers are both smaller than the outer diameter of the circlip, and the inner diameters of the two spacers are both larger than the inner diameter of the circlip.

[0049] Thus, by making the inner diameters of the two spacers smaller than the outer diameter of the circlip and the inner diameter of the spacer larger than the inner diameter of the circlip, the inner edge of the spacer can abut against the surface of the circlip, so that the circlip can connect the spacer.

[0050] In a possible implementation, in the axial direction of the mounting shaft, a projection area of ​​one of the spacers on the elastic retaining ring is greater than or equal to one half of the cross-sectional area of ​​the elastic retaining ring.

[0051] In this way, by making the projected area of ​​one of the spacers on the elastic retaining ring greater than or equal to one half of the cross-sectional area of ​​the elastic retaining ring, the contact area between the spacer and the elastic retaining ring can be increased, thereby improving the connection stability of the elastic retaining ring to the spacer, and further improving the connection stability of the elastic retaining ring to the box through the spacer.

[0052] In the axial direction of the installation shaft, the projection areas of the two spacers on the elastic retaining ring are both greater than or equal to half of the cross-sectional area of ​​the elastic retaining ring.

[0053] In this way, the projection areas of the two spacers through the welding wire on the elastic retaining ring are greater than or equal to half of the cross-sectional area of ​​the elastic retaining ring, which can improve the connection stability of the elastic retaining ring to the two spacers and further improve the connection stability of the elastic retaining ring to the box through the spacer.

[0054] In a possible implementation, in the axial direction of the installation shaft, a ratio of a projection area of ​​the spacer located on the upper side of the elastic retaining ring on the first inner wall of the accommodating cavity to an upper surface area of ​​the spacer is greater than or equal to 0.4;

[0055] And / or, in the axial direction of the installation shaft, a ratio of a projection area of ​​the spacer located at the lower side of the elastic retaining ring on the second inner wall of the accommodating cavity to a lower surface area of ​​the spacer is greater than or equal to 0.4.

[0056] In this way, by making the ratio of the projection area of ​​the spacer on the first inner wall and the second inner wall of the accommodating cavity to the area of ​​the spacer greater than or equal to 0.4, it is possible to ensure that there is sufficient contact area between the spacer and the wall surface of the box, thereby ensuring the connection stability between the spacer and the box and improving the connection stability between the signal component and the mounting axis.

[0057] In a possible implementation manner, outer diameters of the two spacers are both larger than the aperture of the through hole.

[0058] In this way, by making the outer diameters of the two spacers larger than the outer diameter of the through hole, the spacers can be prevented from escaping from the through hole, and the connection of the spacers to the box can be limited, and the elastic retaining ring can be connected to the box through the spacers.

[0059] In a possible implementation, the inner diameter of the two spacers is greater than or equal to 5 mm and less than or equal to 12 mm.

[0060] In this way, by making the inner diameter of the spacer less than or equal to 12 mm, the problem of the spacer being unable to abut against the elastic retaining ring in the axial direction of the installation shaft due to its too large inner diameter can be avoided. By making the inner diameter of the spacer greater than or equal to 5 mm, the spacer can be easily mounted on the installation shaft.

[0061] In a possible implementation, the box includes a box body and a cover plate; the box body is provided with a first mounting groove, and the spacer and the elastic retaining ring are both located in the first mounting groove; there are two through holes, one of which is located at the bottom wall of the first mounting groove, and the other through hole is located in the cover plate, the two through holes are coaxially arranged along the mounting axis, and the two through holes are connected to the first mounting groove; the cover plate is covered on the notch of the first mounting groove to define the accommodating cavity together with the box body.

[0062] In this way, by using the box body and the cover plate to be detachably assembled into a box, the spacer and the elastic retaining ring can be easily installed in the accommodating cavity, and the signal component and the installation shaft can be easily assembled, thereby improving the assembly and maintenance efficiency of the universal wheel.

[0063] In a possible implementation, the cover plate is detachably connected to the box body via a connecting structure, and the cover plate and the box body can be separated from each other along the axial direction of the installation axis.

[0064] In this way, a detachable connection between the cover and the box body is achieved by using a connecting structure. When the spacer is missing, the cover is separated from the box body, and only one of them needs to be taken out from the mounting shaft to reinstall the spacer. In the related art, the box body and the cover are generally hingedly connected to achieve the opening and closing of the cover. In this way, the entire box must be taken out to reinstall the spacer, which improves the convenience of reinstalling the spacer, that is, improves the reinstallation efficiency and the overall assembly efficiency.

[0065] In a possible implementation, the connection structure is a buckle, the box body has a slot that matches the buckle, and the cover plate is connected to the box body through the cooperation between the buckle and the slot.

[0066] Thus, the through hole size of the present application is larger than that of the prior art, which will increase the size of the box, and the buckle can compensate for the effect of the through hole on the increase in the size of the box, improve the yield while maintaining the original size of the box, and realize the miniaturization of the signal component. By setting the buckle, the assembly efficiency of the signal component and the universal wheel can be improved, and the production efficiency of the production line can be increased by 60%.

[0067] In a possible implementation, a plurality of the buckles are provided, and the plurality of the buckles are distributed along the circumference of the cover plate, and the locking grooves are arranged corresponding to the number and positions of the buckles.

[0068] By providing a plurality of buckles, the cover plate and the box body can be connected via the plurality of buckles, thereby reducing the probability of the box body and the cover plate being separated due to a loose connection between the buckles and the slots when the number of buckles is too small, thereby improving the connection stability between the cover plate and the box.

[0069] In a possible implementation, the universal wheel further includes a protective cover, and the protective cover is arranged on the outer side of the signal component.

[0070] In this way, by providing a protective cover on the outside of the signal component so as to protect the signal component through the protective cover, the probability of the signal component being damaged by external collision can be reduced, the protection performance of the signal component is improved, and the durability and practicality of the universal wheel are improved.

[0071] In one possible implementation, the outer surface of the box includes a first surface, the inner surface of the protective cover includes a second surface, the first surface and the second surface are arranged opposite to each other in a first direction, the box has a first anti-foolproofing portion protruding from the first surface toward the second surface, and the protective cover has a second anti-foolproofing portion protruding from the second surface toward the first surface; the first anti-foolproofing portion and the second anti-foolproofing portion are configured to limit the box from being reversely installed in the protective cover in the axial direction of the through hole.

[0072] In this way, by setting the first anti-foolproofing part and the second anti-foolproofing part, when the box is installed upside down in the protective cover, the first anti-foolproofing part and the second anti-foolproofing part will cause interference and prevent the box from being installed in the protective cover. This can remind the operator that the assembly directions of the box and the protective cover are opposite, avoiding damage to the box or the protective cover due to forcibly installing the box into the protective cover when the assembly directions are opposite, and can improve the connection efficiency between the protective cover and the signal component.

[0073] In one possible implementation, the outer side of the box has a first abutment portion; the inner side of the protective cover has a second abutment portion, and the first abutment portion and the second abutment portion abut against each other in the radial direction of the through hole to limit the movement of the box relative to the protective cover in the radial direction of the through hole.

[0074] In this way, there is a gap between the box and the inner wall of the protective cover in the radial direction, which will cause the protective cover to deviate greatly in the radial direction of the through hole, and after the deviation, the protective cover will directly contact the box, which will easily squeeze the box and affect the service life of the box. However, through the abutment of the first abutting portion and the second abutting portion, the displacement of the box relative to the protective cover in the radial direction of the through hole can be limited, avoiding direct contact between the protective cover and the box, reducing the probability of the box being squeezed by the protective cover and damaged, and improving the safety and service life of the box.

[0075] In a possible implementation, the box further has a second installation groove, the second installation groove is spaced apart from the accommodating cavity, and the signal element is disposed in the second installation groove.

[0076] In this way, by arranging the signal element in the second mounting groove on the box, the probability of the signal element falling off the box can be reduced, and the connection stability between the signal element and the box can be improved. In addition, by arranging the second mounting groove and the accommodating cavity at intervals, the second mounting groove and the accommodating cavity can be prevented from being connected, and when the second mounting grooves are connected, the spacer in the accommodating cavity and the signal element in the second mounting groove can be prevented from contacting and affecting each other, thereby improving the practicality and working stability of the signal component.

[0077] In a possible implementation, the signal element is a magnetic member, and the magnetic member can sense a sensor on a main body of the self-moving device.

[0078] In this way, by setting the signal element as a magnetic part, it is possible to facilitate the sensor to sense the signal element, and the structure of the signal element can be simplified to reduce the manufacturing cost of the signal element, thereby reducing the manufacturing cost of the signal component and the universal wheel.

[0079] A fourth aspect of an embodiment of the present application provides a self-moving device, which includes a main body and a sensor arranged on the main body, and the universal wheel as described above, wherein the universal wheel is arranged on the main body, and the signal element is located within the sensing range of the sensor to sense the sensor.

[0080] In this way, by using the above-mentioned universal wheel and making the sensor on the main body sense the movement of the signal element in the height direction to obtain the working status of the universal wheel, the probability of missing the spacer of the signal component can be reduced, the assembly efficiency of the universal wheel can be improved, and the assembly efficiency of the self-moving device can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0082] Figure 1 A schematic diagram of the structure of a universal wheel provided in an embodiment of the present application;

[0083] Figure 2 A schematic diagram of the structure of another universal wheel provided in an embodiment of the present application;

[0084] Figure 3 An exploded diagram of a signal component provided in an embodiment of the present application;

[0085] Figure 4 A top view of a signal component provided in an embodiment of the present application;

[0086] Figure 5 A cross-sectional view of a signal component provided in an embodiment of the present application;

[0087] Figure 6 A cross-sectional view of a signal component provided in an embodiment of the present application;

[0088] Figure 7A schematic diagram of the structure of a signal component and a protective cover provided in an embodiment of the present application;

[0089] Figure 8 A relationship diagram between the ratio of spacers and the probability of deformation provided in an embodiment of the present application.

[0090] Description of reference numerals:

[0091] 10-Universal wheel; 20-Protective cover;

[0092] 21- second fool-proofing portion; 22- second abutting portion; 23- second surface;

[0093] 100-axle;

[0094] 110-rotating shaft; 120-installing shaft;

[0095] 121-groove;

[0096] 200-roller;

[0097] 300-Signal component;

[0098] 310-box; 320-signal element; 330-spacer; 340-elastic retaining ring;

[0099] 350-first surface;

[0100] 311 - accommodating cavity; 312 - through hole; 313 - box body; 314 - cover plate; 315 - card slot;

[0101] 316-first mounting slot; 317-second mounting slot; 318-first fool-proofing portion;

[0102] 319-first abutting portion;

[0103] 400-Connection structure. DETAILED DESCRIPTION

[0104] As described in the background technology, in the prior art, when assembling the feedback device and the universal wheel, the gasket is easily missing and difficult to detect, which affects the assembly efficiency of the self-moving device. The reason for this problem is that in the process of assembling the feedback device and the universal wheel, there is no component that can timely feedback whether the gasket is missing. Only in the subsequent process after the assembly is completed or when the user uses it can it be found that the gasket is missing. This is because the missing gasket causes the axial movement space of the elastic ring in the installation cavity to increase, resulting in the elastic ring being unable to accurately change the ups and downs of the universal wheel.

[0105] In response to the above technical problems, an embodiment of the present application provides a universal wheel, which is achieved by arranging both a spacer and an elastic retaining ring in the accommodating cavity of a box, wherein the spacer restricts the elastic retaining ring in the accommodating cavity, the spacer and the elastic retaining ring are sleeved on the mounting shaft, the spacer is arranged on one side in the thickness direction of the retaining ring, and the signal element is fixed to the box body. When the retaining ring moves in the vertical direction with the rotating shaft, it can drive the box body to move, thereby driving the signal element to move with the rotating shaft.

[0106] When the self-moving device moves on an uneven working surface, the roller will move in the vertical direction with the terrain to drive the rotating shaft to move in the direction perpendicular to the working surface, and the mounting shaft moves axially with the roller, and the mounting shaft drives the elastic retaining ring, and the elastic retaining ring further drives the gasket and the box to move axially along the mounting shaft, so that the signal element moves with the mounting shaft in the direction perpendicular to the working surface of the roller, so that the signal element can timely feedback the working status of the roller to the main body of the self-moving device.

[0107] The working state of the roller may include position information of the height of the roller.

[0108] It is understandable that the self-moving device can make adaptive adjustments according to the working status of the roller, for example, it can adjust the distance of the mowing disc from the ground, it can also perform obstacle avoidance, it can also perform obstacle crossing, it can also stop the mowing disc from working, which is not limited here.

[0109] Furthermore, by making the aperture of the through hole larger than the outer diameter of the elastic retaining ring and the aperture of the through hole smaller than the outer diameter of the spacer, it is possible to prevent the spacer from escaping from the through hole, and the elastic retaining ring can be restricted in the accommodating cavity of the box by the spacer, so that the elastic retaining ring is kept relatively fixed to the box through the spacer.

[0110] Furthermore, in the process of assembling the signal component and the mounting shaft, when the spacer is not installed in the accommodating cavity, due to the lack of connection between the spacer and the box and the outer diameter of the elastic retaining ring is smaller than the aperture of the through hole on the box, the box will become loose on the mounting shaft, and the elastic retaining ring will pass through the through hole and be exposed outside the box, thereby promptly reminding the assembler that the spacer is not installed in the accommodating cavity, facilitating timely detection of missing spacers, avoiding the situation where the missing spacers are discovered only in subsequent processes or when the user is using the device, thereby effectively reducing the occurrence of assembly rework, and improving the assembly efficiency and yield rate of universal wheels and self-moving equipment.

[0111] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0112] refer to Figure 1 and Figure 2 An embodiment of the present application provides a universal wheel 10 , which may include an axle 100 , a roller 200 and a signal component 300 .

[0113] refer to Figure 2 and Figure 3 The axle 100 may include a rotating shaft 110 and a mounting shaft 120 extending in a vertical direction, the roller 200 is rotatably connected to the rotating shaft 110, and the roller 200 can roll relative to the rotating shaft 110. One end of the mounting shaft 120 is connected to the rotating shaft 110, and the signal component 300 can be disposed on the mounting shaft 120.

[0114] When the self-moving device moves on an uneven working surface (e.g., lawn surface, road surface, etc.), the roller 200 drives the wheel axle 100 to move in the vertical direction along with the terrain, thereby driving the signal component 300 connected to the mounting shaft 120 in the wheel axle 100 to move in the vertical direction. The signal component 300 can sense the sensor provided on the self-moving device to obtain the working status of the roller 200.

[0115] refer to Figure 3 and Figure 5 The signal assembly 300 may include a box 310 , a signal element 320 , a spacer 330 , and a circlip 340 .

[0116] The box 310 has a receiving cavity 311 and a through hole 312 communicating with the receiving cavity 311. At least part of the installation shaft 120 is located in the receiving cavity 311 and the through hole 312 to penetrate the box 310. The signal element 320 is disposed in the box 310, and the signal element 320 can be relatively fixedly disposed with the box body 313. The spacer 330 and the elastic retaining ring 340 are both sleeved on the installation shaft 120, and the spacer 330 and the elastic retaining ring 340 are both located in the receiving cavity 311, and the spacer 330 is located between the elastic retaining ring 340 and the through hole 312. The elastic retaining ring 340 is connected to the box 310 by connecting the spacer 330, and the signal element 320 is connected through the box 310.

[0117] In this way, by arranging both the spacer 330 and the elastic retaining ring 340 in the accommodating cavity 311 of the box 310, the spacer 330 restricts the elastic retaining ring 340 in the accommodating cavity 311, and the spacer 330 and the elastic retaining ring 340 are sleeved on the mounting shaft 120 so that the elastic retaining ring 340 is connected to the box 310 through the spacer 330.

[0118] When the self-moving device moves on an uneven working surface, the roller 200 will move in the vertical direction with the terrain to drive the rotating shaft 110 to move in the direction perpendicular to the working surface, and the mounting shaft 120 moves axially with the roller 200, and the mounting shaft 120 drives the elastic retaining ring 340, and the elastic retaining ring 340 further drives the gasket and the box 310 to move axially along the mounting shaft 120, so that the signal element 320 moves along the mounting shaft 120 in the direction perpendicular to the working surface of the roller 200, so that the signal element 320 can timely feedback the working status of the roller 200 to the main body of the self-moving device.

[0119] refer to Figure 2 and Figure 5 The through hole 312, the circlip 340 and the spacer 330 are coaxially arranged along the mounting shaft 120, so that the spacer 330 and the circlip 340 can be sleeved on the mounting shaft 120, and the mounting shaft 120 can pass through the box 310. The aperture of the through hole 312 (such as Figure 5 L1 in FIG. 3 is larger than the outer diameter of the elastic retaining ring 340 (as shown in FIG. Figure 5 312 is smaller than the outer diameter of the spacer 330 (as shown in FIG. Figure 5 (as shown in L3).

[0120] By making the aperture L1 of the through hole 312 larger than the outer diameter L2 of the elastic retaining ring 340, and the aperture L1 of the through hole 312 smaller than the outer diameter L3 of the spacer 330, it is possible to prevent the spacer 330 from escaping from the through hole 312, and the elastic retaining ring 340 can be restricted in the accommodating cavity 311 of the box 310 through the spacer 330, so that the elastic retaining ring 340 is connected to the box 310 through the spacer 330.

[0121] Furthermore, during the process of assembling the signal component 300 and the mounting shaft 120, if the spacer 330 is not installed in the accommodating cavity 311, due to the lack of connection between the spacer 330 and the box 310, and the outer diameter L2 of the elastic retaining ring 340 is smaller than the aperture L1 of the through hole 312 on the box 310, the box 310 will become loose on the mounting shaft 120, and the elastic retaining ring 340 will pass through the through hole 312 and be exposed outside the box 310, thereby conveniently reminding the assembler that the spacer 330 is not installed in the accommodating cavity 311, and facilitating timely detection of the missing installation of the spacer 330, thereby avoiding the situation that the missing installation of the spacer 330 is discovered only in subsequent processes or when the user is using it, thereby effectively reducing the occurrence of assembly rework, so as to improve the assembly efficiency and yield rate of the universal wheel 10 and the self-moving device.

[0122] refer to Figure 6 In another embodiment, the box 310 may have an inner wall, the through hole 312 is located on the inner wall, the spacer 330 is against the inner wall in the axial direction of the mounting shaft 120, and the ratio of the projected area of ​​the spacer 330 on the inner wall to the area of ​​the surface of the spacer 330 facing the inner wall is greater than or equal to 0.4.

[0123] It should be noted that the projection area of ​​the spacer 330 on the inner wall is equivalent to the contact area between the spacer 330 and the inner wall, and the area of ​​the surface of the spacer 330 facing the inner wall is equivalent to the entire area of ​​the surface of the spacer 330 facing the inner wall.

[0124] In simple terms, the contact area of ​​the spacer 330 against the inner wall occupies at least 40% of the entire surface area of ​​the spacer 330 facing the inner wall.

[0125] It is understandable that, due to the design of the through hole 312, in order to allow the elastic retaining ring 340 to escape from the through hole 312 when the spacer 330 is not installed, there must be a part on the spacer 330 that is neither in contact with the box 310 nor in contact with the elastic retaining ring 340. Then, when the spacer 330 moves following the elastic retaining ring 340, the part of the spacer 330 in contact with the elastic retaining ring 340 and the part of the spacer 330 in contact with the box 310 will have two opposite stresses, which can easily cause the spacer 330 to bend and deform, causing the spacer 330 to lose its connection strength and connection stability with the box 310 and the elastic retaining ring 340.

[0126] Reference Figure 8 , Figure 8It is a relationship diagram between the ratio of the projection area of ​​the spacer 330 on the inner wall to the area of ​​the surface of the spacer 330 facing the inner wall and the probability of the spacer 330 being bent and deformed. The applicant team has verified that when the ratio of the projection area of ​​the spacer 330 on the inner wall to the area of ​​the surface of the spacer 330 facing the inner wall is greater than or equal to 0.4, the probability of the spacer 330 being bent and deformed is 10%, and when the ratio of the projection area of ​​the spacer 330 on the inner wall to the area of ​​the surface of the spacer 330 facing the inner wall is less than 0.4, the probability of the spacer 330 being bent and deformed is more than 50%, for example For example, when the ratio of the projected area of ​​the spacer 330 on the inner wall to the area of ​​the surface of the spacer 330 facing the inner wall is 0.39, the probability of the spacer 330 bending and deforming is 53%. When the ratio of the projected area of ​​the spacer 330 on the inner wall to the area of ​​the surface of the spacer 330 facing the inner wall is 0.35, the probability of the spacer 330 bending and deforming is 57%. That is, when the ratio of the projected area of ​​the spacer 330 on the inner wall to the area of ​​the surface of the spacer 330 facing the inner wall is slightly less than 0.4, the structural strength of the spacer 330 during use will be greatly reduced.

[0127] Therefore, when the ratio of the projected area of ​​the spacer 330 on the inner wall to the area of ​​the surface of the spacer 330 facing the inner wall is greater than or equal to 0.4, on the one hand, it can not only ensure that there is sufficient contact area between the spacer 330 and the box 310 to ensure the connection strength and connection stability between the spacer 330 and the box 310, but also ensure the structural stability of the spacer 330 during use, so as to ensure the connection strength and connection stability between the spacer 330 and the box 310 and between the spacer 330 and the elastic retaining ring 340.

[0128] refer to Figure 6 In yet another embodiment, the thickness of the signal element 320 is as follows Figure 6 As shown in S1, the length of the box 310 is as follows: Figure 6 As shown in S2, the diameter of the mounting shaft 120 is as follows Figure 6 As shown in S3.

[0129] refer to Figure 5 and Figure 6 In some embodiments, in the first direction, the length of the box 310 is S2, the outer diameter of the spacer 330 is L3, the aperture of the through hole 312 is L1, and the axial diameter of the mounting shaft 120 is S3. When 28mm≤S2≤32mm, and 8mm≤L3≤12mm, S2, S3 and L1 satisfy the following relationship: (L1-S3) / S2≤0.1, and the first direction intersects with the axial direction of the mounting shaft 120.

[0130] Reference Figure 3and Figure 4 It should be noted that the box can be a quasi-symmetrical structure in its length direction, and the box can also be a quasi-symmetrical structure in the width direction. The box has a first symmetry axis in its length direction (such as Figure 4 The box has a second symmetry axis in its width direction (as shown by the reference line M). Figure 4 There is an intersection point O where the first symmetry axis intersects the second symmetry axis, and the first direction coincides with the first symmetry axis and passes through the intersection point O.

[0131] It should be noted that, in the related art, the length S2 of the box 310 is usually designed to be 30 mm, and the outer diameter of the spacer 330 is usually designed to be 10 mm.

[0132] In order to effectively avoid the dimensional adjustment of the box 310 and the spacer 330, the waste of manpower and material resources such as re-molding or re-selecting, in this embodiment, let (L1-S3) / S2≤0.1, where L1-S3 represents the distance between the inner wall of the through hole 312 and the mounting axis 120, S2 represents the length of the box 310, and then (L1-S3) / S2 represents the ratio range between the distance and the length of the box 310.

[0133] Specifically, without adjusting the size of the box 310 and the spacer 330, by setting (L1-S3) / S2≤0.1, it is possible to ensure that the aperture of the through hole 312 is small enough so that the elastic retaining ring 340 can be exposed outside the box 310 through the through hole 312 when the spacer 330 is not installed, so that the contact area of ​​the box 310 with the spacer 330 can be as large as possible, thereby ensuring the connection strength and connection stability between the spacer 330 and the box 310 as much as possible. Moreover, the size of the box 310 and the spacer 330 does not need to be increased due to the increase in the aperture of the through hole 312, and the original size can be maintained, so that the overall versatility of the signal component 300 is high, and the box 310 and the spacer 330 of the original size can be directly used. In addition, it is also conducive to the overall trend of the signal component 300 towards miniaturization and lightweight.

[0134] If (L1-S3) / S2 is greater than 0.1, and the box 310 and the spacer 330 continue to remain unchanged, when the spacer 330 moves with the elastic retaining ring 340, the portion of the spacer 330 in contact with the elastic retaining ring 340 and the portion of the spacer 330 in contact with the box 310 will have two opposite stresses, which may easily cause the spacer 330 to bend and deform, causing the spacer 330 to lose its connection strength and connection stability with the box 310 and the elastic retaining ring 340. Therefore, when (L1-S3) / S2 is greater than 0.1, the size of the box 310 and the spacer 330 must be increased corresponding to the increase in the spacing to ensure that the aperture of the through hole 312 can be exposed outside the box 310 through the through hole 312 when the spacer 330 is not installed, and the contact area of ​​the box 310 with the spacer 330 can be large enough. This will result in poor versatility of the entire signal component 300 .

[0135] In some practicable embodiments, in the first direction, the thickness of the signal element 320 is S1, the length of the box 310 is S2, and S1 and S2 satisfy the following relationship:

[0136] 0.1≤S1 / S2≤0.22.

[0137] Reference Figure 3 and Figure 4 It should be noted that the box can be a quasi-symmetrical structure in its length direction, and the box can also be a quasi-symmetrical structure in the width direction. The box has a first symmetry axis in its length direction (such as Figure 4 The box has a second symmetry axis in its width direction (as shown by the reference line M). Figure 4 There is an intersection point O where the first symmetry axis intersects the second symmetry axis, and the first direction coincides with the first symmetry axis and passes through the intersection point O.

[0138] By making 0.1≤S1 / S2≤0.22, the signal element 320 can have the working performance that satisfies the sensing, while the box 310 can maintain its original size, so that the overall versatility of the signal component 300 is higher, thereby meeting the overall development trend of the signal component 300 towards miniaturization and lightweight.

[0139] Specifically, by making 0.1≤S1 / S2, the size of the signal element 320 can be designed to be large enough to meet its required sensing working performance. If S1 / S2<0.1, the size of the signal element 320 will be designed to be small, which may easily lead to the situation that it cannot be sensed, which greatly affects its normal work.

[0140] At the same time, by making S1 / S2≤0.22, the size of the signal element 320 can be designed not to be too large. If S1 / S2>0.22, the signal element 320 is designed to be too large and occupies a large space in the box 310, which is not conducive to the arrangement of other components, and the overall size of the box 310 needs to be redesigned, which is time-consuming and labor-intensive. If S1 / S2≤0.22, the box 310 can maintain its original size and ensure the working performance of the signal component 300, while also making the overall versatility of the signal component 300 higher, so as to meet the overall trend of the signal component 300 towards miniaturization and lightweight development.

[0141] In general, by making (L1-S3) / S2≤0.1 and 0.1≤S1 / S2≤0.22, it is possible to ensure that the diameter of the through hole 312 is small enough so that the elastic retaining ring 340 can be exposed outside the box 310 through the through hole 312 when the spacer 330 is not installed, and the contact area between the box 310 and the spacer 330 can be as large as possible, thereby ensuring the connection strength and The connection stability is improved, and the size of the box 310 does not need to be increased due to the increase in the aperture of the through hole 312, which is also conducive to the overall development trend of the signal component 300 towards miniaturization and lightweight; at the same time, the working performance of the signal component 300 can be ensured, and the sizes of the box 310 and the elastic retaining ring 340 can be maintained at the original sizes without the need for redesign, thereby making the overall versatility of the signal component 300 higher to meet the overall development trend of the signal component 300 towards miniaturization and lightweight.

[0142] That is to say, while ensuring that the gap is large enough to facilitate the elastic retaining ring 340 to escape from the through hole 312, and that the signal element 320 has sufficient placement space / sufficiently large size, the overall volume of the signal component 300 can be kept unchanged as much as possible. At the same time, it is also conducive to the overall trend of the signal component 300 towards miniaturization, and it is also ensured as much as possible that the box 310 is not easy to fall off the mounting shaft 120, so as to ensure the service life of the universal wheel 10 as much as possible.

[0143] In some embodiments, if the aperture L1 of the light-through hole is 10 mm and the shaft diameter S3 after installation is 8 mm, the difference between L1 and S3 is 2 mm, the thickness S1 of the signal element 320 may be 5 mm, and the length S2 of the box 310 may be 30 mm.

[0144] In some embodiments, the first direction may be perpendicular to the circumferential direction of the installation shaft 120. Thus, by making the first direction perpendicular to the axial direction of the installation shaft 120, the relationship between the aperture L1 of the through hole 312, the thickness S1 of the signal element 320, the length S2 of the box 310, and the axial diameter S3 of the installation shaft 120 can be defined in the radial direction of the through hole 312, and the clearance in the radial direction of the through hole 312 is ensured to be large enough to facilitate the circlip 340 to be able to escape from the through hole 312.

[0145] In some embodiments, the spacer 330 and the elastic retaining ring 340 can be made of the same material. In this way, the friction coefficient between the spacer 330 and the elastic retaining ring 340 can be as small as possible, thereby avoiding increased wear between the spacer 330 and the elastic retaining ring 340 due to different materials of the spacer 330 and the elastic retaining ring 340.

[0146] refer to Figure 5 In some embodiments, the ratio of the outer diameter L2 of the circlip 340 to the aperture L1 of the through hole 312 is greater than or equal to 0.4 and less than 1. For example, the ratio of the outer diameter L2 of the circlip 340 to the aperture L1 of the through hole 312 can be one of 0.5, 0.6 and 0.7, or any point value greater than or equal to 0.4 and less than 1.

[0147] In this way, by making the ratio of the outer diameter L2 of the elastic retaining ring 340 to the aperture L1 of the through hole 312 less than or equal to 1, it is possible to ensure that there is a certain gap between the elastic retaining ring 340 and the through hole 312, and when the spacer 330 is assembled in the accommodating cavity 311, the success rate of the elastic retaining ring 340 escaping from the through hole 312 can be increased, which helps to remind the assembler that the spacer 330 is not assembled in the accommodating cavity 311.

[0148] Furthermore, by making the ratio of the outer diameter L2 of the elastic retaining ring 340 to the aperture L1 of the through hole 312 greater than or equal to 0.4, it is possible to ensure sufficient connection strength and stability between the spacer 330 and the box 310, while also making it easy for the elastic retaining ring 340 to fall out of the through hole 312 when the spacer 330 is missing.

[0149] refer to Figure 5 In a possible implementation, the outer diameter L2 of the circlip 340 is greater than or equal to 6 mm and less than or equal to 12 mm. For example, the outer diameter L2 of the circlip 340 can be one of 7 mm, 8 mm and 10 mm, or any point value between greater than or equal to 6 mm and less than 12 mm.

[0150] In some embodiments, if the outer diameter L2 of the circlip 340 is 6 mm, the ratio of the outer diameter L2 of the circlip 340 to the aperture L1 of the through hole 312 is 0.5 mm, and the aperture L1 of the through hole 312 is 12 mm.

[0151] Thus, by making the outer diameter L2 of the circlip 340 less than or equal to 12 mm, it is possible to avoid the circlip 340 occupying a larger accommodation space due to its excessive outer diameter, which is not conducive to the arrangement of various components in the accommodation cavity 311 and makes the overall size of the signal component 300 larger.

[0152] By making the outer diameter L2 of the elastic retaining ring 340 greater than or equal to 6 mm, it is possible to ensure that there is sufficient contact area between the spacer 330 and the elastic retaining ring 340 and between the spacer 330 and the box 310 in the axial direction of the installation shaft 120, thereby ensuring sufficient connection performance and connection stability between the elastic retaining ring 340 and the spacer 330, and further ensuring sufficient connection strength and connection stability between the spacer 330 and the box 310.

[0153] refer to Figure 5 In some embodiments, the aperture L1 of the through hole 312 is greater than or equal to 7 mm and less than or equal to 13 mm. For example, the aperture L1 of the through hole 312 can be one of 8 mm, 9 mm, 11 mm and 12 mm, or any point value between greater than or equal to 7 mm and less than 13 mm.

[0154] For example, if the diameter L1 of the through hole 312 is 10 mm, and the ratio of the outer diameter L2 of the circlip 340 to the diameter L1 of the through hole 312 is 0.7, then the outer diameter L2 of the circlip 340 is 7 mm.

[0155] In this way, by making the aperture L1 of the through hole 312 greater than or equal to 7 mm, it can be ensured that the through hole 312 and the outer edge of the elastic retaining ring 340 have a sufficiently large radial spacing, and when the spacer 330 is not assembled in the accommodating cavity 311, it is convenient for the elastic retaining ring 340 to escape through the through hole 312 and be exposed outside the box.

[0156] By making the aperture L1 of the through hole 312 smaller than or equal to 13 mm, it is possible to avoid a reduction in the contact area between the spacer 330 and the box 310 due to the aperture L1 of the through hole 312 being too large, thereby reducing the connection strength and connection stability between the spacer 330 and the box 310.

[0157] refer to Figure 5In some embodiments, the outer periphery of the mounting shaft 120 has a groove 121, and at least a portion of the elastic retaining ring 340 is disposed in the groove 121 to be clamped and fixed with the mounting shaft 120. It can be understood that the portion of the elastic retaining ring 340 protruding outside the notch of the groove 121 can contact the spacer 330.

[0158] That is, a portion of the structure of the circlip 340 near its inner edge can be disposed in the groove 121. At least a portion of the structure of the circlip 340 can be disposed in the groove 121 in an embedded manner to improve the connection stability between the circlip 340 and the groove 121. The portion of the circlip 340 not in the groove 121 can be used to abut against the spacer 330, and the portion of the circlip 340 not disposed in the groove 121 can be connected to the spacer 330 and the box 310.

[0159] In this way, by setting a groove 121 on the outer periphery of the installation shaft 120 and setting at least a portion of the elastic retaining ring 340 in the groove 121, the axial displacement of the elastic retaining ring 340 on the installation shaft 120 can be limited by the groove wall of the groove 121, thereby improving the connection stability between the elastic retaining ring 340 and the installation shaft 120.

[0160] refer to Figure 5 In some embodiments, the groove 121 is arranged around the circumference of the installation shaft 120. It is understood that the groove 121 can be an annular groove, which is arranged along the circumference of the installation shaft 120, and the part of the elastic retaining ring 340 close to its inner edge can be embedded in the annular groove 121 in the circumference of the installation shaft 120.

[0161] In this way, by arranging the groove 121 along the circumference of the installation shaft 120, the elastic retaining ring 340 can be arranged in the groove 121 along the circumference, thereby increasing the contact area between the elastic retaining ring 340 and the inner wall of the groove 121, and further improving the connection stability between the elastic retaining ring 340 and the installation shaft 120.

[0162] Furthermore, since the connection strength of the groove wall of the groove 121 to the inner edge of the elastic retaining ring 340 is equivalent at various locations, there will be no local connection strength deficiency, so as to ensure the connection stability and connection strength of the elastic retaining ring 340 to the spacer 330 as much as possible.

[0163] refer to Figure 3 and Figure 5 In some embodiments, two spacers 330 are provided. In the axial direction of the mounting shaft 120 , the two spacers 330 are respectively located on the upper side and the lower side of the circlip 340 .

[0164] In some embodiments, the structures of the two spacers 330 may be the same, and the sizes of the two spacers 330 may be completely the same.

[0165] In this way, by setting two spacers 330 and setting the two spacers 330 on both sides of the elastic retaining ring 340 in the axial direction of the installation shaft 120, it is possible to prevent the elastic retaining ring 340 from escaping from the through hole 312 located on the upper side or the lower side of the box 310. At the same time, the elastic retaining ring 340 can be connected to the two spacers 330 and then connected to the box 310, so that the box 310 can move in the vertical direction together with the installation shaft 120.

[0166] refer to Figure 3 and Figure 5 In some embodiments, the box 310 has a first inner wall 3111 and a second inner wall 3112 located on the upper side and the lower side of the elastic retaining ring 340 respectively, and the first inner wall 3111 and the second inner wall 3112 participate in forming the accommodating cavity 311 .

[0167] It can be understood that the box 310 also has an inner wall, which is located between the first inner wall 3111 and the second inner wall 3112 to define the accommodating cavity 311 together with the first inner wall 3111 and the second inner wall 3112 .

[0168] The upper surface of the spacer 330 located on the upper side of the elastic ring 340 abuts against the first inner wall 3111 , and the lower surface of the spacer 330 located on the lower side of the elastic ring 340 abuts against the second inner wall 3112 , so that the two spacers 330 can clamp the elastic ring 340 .

[0169] It can be understood that when the upper surface of the spacer 330 located on the upper side of the elastic retaining ring 340 abuts against the first inner wall 3111, and the lower surface of the spacer 330 located on the lower side of the elastic retaining ring 340 abuts against the second inner wall 3112, the two spacers 330 can act as a clamping structure for clamping the elastic retaining ring 340, so that the elastic retaining ring 340, the spacer 330 and the inner wall of the accommodating cavity 311 can form a mutually tight state.

[0170] In this way, by making the spacer 330 located on the upper side of the elastic retaining ring 340 abut against the first inner wall 3111, and making the spacer 330 located on the lower side of the elastic retaining ring 340 abut against the second inner wall 3112, the movement of the two spacers 330 in the accommodating cavity 311 along the axial direction of the installation shaft 120 can be limited, so that the two spacers 330 can clamp the elastic retaining ring 340 in the axial direction of the installation shaft 120, thereby avoiding collision between the elastic retaining ring 340 and the spacer 330 when the elastic retaining ring 340 moves in the axial direction of the installation shaft 120.

[0171] Furthermore, by making the spacer 330 located on the upper side of the elastic retaining ring 340 abut against the first inner wall 3111, and making the spacer 330 located on the lower side of the elastic retaining ring 340 abut against the second inner wall 3112, it is possible to avoid the spacer 330 located on the upper side of the elastic retaining ring 340 from colliding with the first inner wall 3111, and to avoid the spacer 330 located on the lower side of the elastic retaining ring 340 from colliding with the second inner wall 3112, thereby reducing the probability of the spacer 330 and the elastic retaining ring 340 being damaged by collision, and reducing the probability of the spacer 330 and the first inner wall or the second inner wall 3112 of the accommodating cavity 311 being damaged by collision, so as to ensure the durability and service life of the signal component 300 as much as possible.

[0172] refer to Figure 3 and Figure 5 In some embodiments, the spacer 330 may be an annular gasket. Thus, by setting the spacer 330 as an annular gasket, the contact area between the spacer 330 and the circlip 340 can be increased, and the contact area between the spacer 330 and the box 310 can be increased, thereby improving the connection strength and connection stability of the circlip 340 connected to the box 310 through the spacer 330.

[0173] Furthermore, the annular gasket is highly versatile, easy to find substitutes for, easy to replace, and can reduce replacement and maintenance costs.

[0174] Furthermore, setting the spacer 330 as an annular gasket can improve the force uniformity between the spacer 330 and the elastic retaining ring 340, improve the force uniformity on the spacer 330, and further improve the connection stability and connection strength between the elastic retaining ring 340 and the box 310.

[0175] refer to Figure 3 and Figure 5 In some embodiments, if there are two spacers 330, and both spacers 330 are annular gaskets, the inner diameters of the two spacers 330 (eg Figure 5 The outer diameter L4 of the two spacers 330 is smaller than the outer diameter L2 of the circlip 340 , and the inner diameter L4 of the two spacers 330 is larger than the inner diameter of the circlip 340 .

[0176] In this way, by making the inner diameter L4 of the two spacers 330 smaller than the outer diameter L2 of the elastic retaining ring 340 and by making the inner diameter L4 of the spacer 330 larger than the inner diameter of the elastic retaining ring 340, the inner edge of the spacer 330 can be made to abut against the surface of the elastic retaining ring 340 to facilitate the connection between the elastic retaining ring 340 and the spacer 330.

[0177] refer to Figure 3 and Figure 5In some embodiments, in the axial direction of the mounting shaft 120 , a projected area of ​​one of the spacers 330 on the circlip 340 is greater than or equal to one half of the cross-sectional area of ​​the circlip 340 .

[0178] In this way, by making the projected area of ​​one of the spacers 330 on the elastic retaining ring 340 greater than or equal to one half of the cross-sectional area of ​​the elastic retaining ring 340, the contact area between the spacer 330 and the elastic retaining ring 340 can be increased, thereby improving the connection stability and connection strength between the elastic retaining ring 340 and the spacer 330, and further improving the connection stability and connection strength of the indirect connection between the elastic retaining ring 340 and the box 310 through the spacer 330.

[0179] Alternatively, in the axial direction of the mounting shaft 120 , if there are two spacers 330 , the projection areas of the two spacers 330 on the circlip 340 can be greater than or equal to half of the cross-sectional area of ​​the circlip 340 .

[0180] In this way, by setting the projection areas of the two spacers 330 on the elastic retaining ring 340 to be greater than or equal to half of the cross-sectional area of ​​the elastic retaining ring 340, the connection stability of the elastic retaining ring 340 to the two spacers 330 can be ensured as much as possible, so as to ensure the connection stability of the elastic retaining ring 340 to the box 310 through the spacer 330.

[0181] refer to Figure 3 and Figure 5 In some embodiments, in the axial direction of the mounting shaft 120, the ratio of the projected area of ​​the spacer 330 located on the upper side of the circlip 340 on the first inner wall 3111 of the accommodating cavity 311 to the upper surface area of ​​the spacer 330 can be greater than or equal to 0.4. The ratio of the projected area of ​​the spacer 330 located on the lower side of the circlip 340 on the second inner wall 3112 of the accommodating cavity 311 to the lower surface area of ​​the spacer 330 can also be greater than or equal to 0.4.

[0182] In this way, by making the ratio of the projection area of ​​the spacer 330 on the first inner wall 3111 and the second inner wall 3112 of the accommodating cavity 311 to the area of ​​the spacer 330 greater than or equal to 0.4, it is possible to ensure that there is sufficient contact area between the spacer 330 and the wall surface of the box 310, thereby ensuring the connection stability between the spacer 330 and the box 310 and improving the connection stability between the signal component 300 and the mounting axis 120.

[0183] refer to Figure 5 In some embodiments, if there are two spacers 330 , the outer diameters L3 of the two spacers 330 can be larger than the aperture L1 of the through hole 312 .

[0184] In this way, by making the outer diameter L3 of the two spacers 330 larger than the aperture L1 of the through hole 312, the spacer 330 can be prevented from escaping from the through hole 312, and the connection between the spacer 330 and the box 310 can be achieved, and then the elastic retaining ring 340 can be connected to the box 310 through the spacer 330.

[0185] refer to Figure 5 In some embodiments, the inner diameter L4 of the two spacers 330 is greater than or equal to 5 mm and less than or equal to 12 mm. For example, the inner diameter L4 of the two spacers 330 can be one of 5 mm, 6 mm and 8 mm, or any point value between greater than or equal to 5 mm and less than 12 mm.

[0186] In this way, by making the inner diameter L4 of the spacer 330 less than or equal to 12 mm, the problem of the spacer 330 being unable to abut against the elastic retaining ring 340 in the axial direction of the installation shaft 120 due to the inner diameter being too large can be avoided. By making the inner diameter of the spacer 330 greater than or equal to 5 mm, the spacer 330 can be easily mounted on the installation shaft 120.

[0187] refer to Figure 3 and Figure 5 In some embodiments, the box 310 may include a box body 313 and a cover plate 314. The box body 313 has a first mounting groove 316, and the spacer 330 and the elastic retaining ring 340 are both located in the first mounting groove 316. There are two through holes 312, one through hole 312 is located on the bottom wall of the first mounting groove 316, and the other through hole 312 is located on the cover plate 314. The two through holes 312 are coaxially arranged along the mounting axis 120, and the two through holes 312 are both connected to the first mounting groove 316. The cover plate 314 is covered on the notch of the first mounting groove 316 to define a receiving cavity 311 together with the box body 313.

[0188] In some embodiments, the two through holes 312 can be coaxially arranged, and the apertures of the two through holes 312 can also be the same, so as to facilitate the processing of the two through holes 312, thereby simplifying the processing procedures of the box 310 and the signal component 300.

[0189] In this way, by using the box body 313 and the cover plate 314 to be detachably assembled into the box 310, the spacer 330 and the elastic retaining ring 340 can be easily installed in the accommodating cavity 311, and the assembly of the signal component 300 and the mounting shaft 120 can be facilitated, thereby improving the assembly and maintenance efficiency of the universal wheel 10.

[0190] In the related art, the cover 314 and the box body 313 are generally connected by a hinge or other rotating connection method to achieve the opening and closing of the cover 314. In this way, when it is found that the spacer 330 is missing, the entire box 310 must be removed from the installation shaft 120 to reinstall the spacer 330, which is relatively cumbersome.

[0191] refer to Figure 3 and Figure 5 In some embodiments, the cover plate 314 is detachably connected to the box body 313 via the connection structure 400. The cover plate 314 and the box body 313 can be separated from each other along the axial direction of the installation shaft 120.

[0192] In this way, by using the connection structure 400 to achieve a detachable connection between the cover plate 314 and the box body 313 , the connection stability between the cover plate 314 and the box body 313 can be improved, and the connection between the box body 313 and the cover plate 314 is facilitated.

[0193] When it is found that the spacer 330 is missing, the cover 314 and the box body 313 can be separated, and only one of them needs to be taken out from the installation shaft 120 to reinstall the spacer 330. Compared with the related art, there is no need to take out the entire box 310 from the installation shaft 120 to complete the reinstallation of the spacer 330, which can make the reinstallation of the spacer 330 more convenient, thereby improving the assembly efficiency of the overall assembly of the universal wheel.

[0194] In some embodiments, the connection structure 400 can be disposed on the cover plate 314 , or the connection structure 400 can also be disposed on the box body 313 , or the connection structure 400 can be an independent structure.

[0195] The connection structure 400 may be a fastener, and when the cover plate 314 is covered on the box body 313, the cover plate 314 and the box body 313 can be connected and fastened by the fastener. The connection structure 400 may also be a screw, and matching threaded holes are provided on the cover plate 314 and the box body 313. When the cover plate 314 is covered on the box body 313, the screw is tightened in the threaded hole to achieve a fastened connection between the cover plate 314 and the box body 313.

[0196] The applicant team found that if the size of the through hole 312 is designed to be larger than that of the through hole in the related art, the contact area between the spacer 330 and the box 310 will be reduced accordingly, which will affect the connection strength and connection stability between the spacer 330 and the box 310. In order to solve this technical problem, the sizes of the spacer 330, the box 310 and other components must also be designed to be larger, and such a design will make the overall size of the signal component 300 larger, which cannot meet the trend of miniaturization and lightweight development of mobile devices.

[0197] refer to Figure 3 and Figure 5 In some embodiments, the connection structure 400 can be a buckle, which is in the shape of a sheet. The box body 313 has a slot 315 that cooperates with the buckle, and the cover plate 314 is connected to the box body 313 through the cooperation of the buckle and the slot 315.

[0198] In this way, by setting the connecting structure 400 as a buckle and cooperating with the buckle in the connection mode of the slot 315, the connecting structure 400 can be simplified, and the manufacturing cost of the connecting structure 400 can be reduced, thereby simplifying the manufacturing cost of the universal wheel 10 and improving the assembly efficiency of the signal component 300 and the universal wheel 10.

[0199] Moreover, the overall design of the buckle can be sheet-shaped, so the overall design of the buckle can also be smaller, and accordingly, the space it occupies can also be designed to be smaller, so the contact area between the spacer 330 and the box 310 can maintain the original size, and will not affect the connection strength and connection stability between the spacer 330 and the box 310. The overall size of the box 310 can also maintain the original size.

[0200] In other words, by saving the size or space of the connection structure between the box body 313 and the cover plate 314, the saved space can allow the spacer 330 to have a larger storage space or layout space, so that the size of the spacer 330 can be designed to be larger, or the contact area between the spacer 330 and the box 310 can be designed to be larger, so that the contact area between the spacer 330 and the box 310 can maintain the original contact area.

[0201] In this way, not only can the effect of the through hole 312 on the increase in the size of the box 310 be compensated, the connection strength and connection stability between the spacer 330 and the box 310 can be ensured, but also the yield of the universal wheel can be improved. At the same time, the box 310 can maintain its original size to meet the trend of miniaturization and lightweight development of self-mobile equipment.

[0202] Through the above improvements, the applicant team found that the yield rate of the production line could be increased by 60%.

[0203] Exemplarily, the connection structure 400 may be a plurality of buckles, which are arranged at intervals along the outer peripheral side of the cover plate 314. Accordingly, there are also a plurality of slots 315 on the box body 313, and the slots 315 and the buckles may be arranged one by one, and each buckle may be snapped into a slot 315. Through the coordinated connection of the plurality of buckles and the plurality of slots 315, the cover plate 314 and the box body 313 may be connected through the plurality of buckles, and the probability of the box body 313 and the cover plate 314 being separated due to the loose connection between the buckles and the slots 315 when the number of buckles is too small may be reduced, and the connection stability between the cover plate 314 and the box body 313 may be improved.

[0204] In some embodiments, the buckle can also be disposed on the box body 313 , and a corresponding slot 315 can be opened on the cover plate 314 . When the buckle is inserted into the slot 315 , the cover plate 314 is connected to the box body 313 .

[0205] Exemplarily, the connection structure 400 may be a plurality of buckles, which are arranged at intervals along the circumference of the box body 313. Accordingly, the cover plate 314 also has a plurality of slots 315, and the slots 315 and the buckles may be arranged one-to-one, and each buckle may be snapped into a slot 315. Through the coordinated connection of the plurality of buckles and the plurality of slots 315, the connection stability between the cover plate 314 and the box body 313 may be improved.

[0206] refer to Figure 3 and Figure 5 In some embodiments, the box 310 further has a second mounting groove 317 , the second mounting groove 317 is spaced apart from the accommodating cavity 311 , and the signal element 320 is disposed in the second mounting groove 317 .

[0207] It should be noted that “the second mounting groove 317 is separated from the accommodating cavity 311 ” means that the second mounting groove 317 and the accommodating cavity 311 are independent of each other or are not connected to each other, so as to minimize the possibility of mutual influence between the signal element 320 and the elastic retaining ring 340 .

[0208] In some embodiments, the second installation groove 317 can be opened on the peripheral side of the box body 313 , and the signal element 320 can be installed in the second installation groove 317 in an embedded manner.

[0209] In this way, by arranging the signal element 320 in the second installation groove 317 on the box 310 , the probability of the signal element 320 falling off from the box 310 can be reduced, and the installation stability of the signal element 320 in the box 310 can be improved.

[0210] Furthermore, by spacing the second mounting groove 317 and the accommodating cavity 311 apart, it is possible to avoid the second mounting groove 317 and the accommodating cavity 311 from being connected. Further, when the second mounting groove 317 and the mounting groove are connected, it is possible to avoid the spacer 330 in the accommodating cavity 311 and the signal element 320 in the second mounting groove 317 from contacting and influencing each other, thereby ensuring the practicality and working stability of the signal component 300 as much as possible.

[0211] refer to Figure 3 and Figure 5 In some embodiments, the signal element 320 is a magnetic member, and the magnetic member can sense the sensor on the main body of the self-moving device. The sensor disposed on the self-moving device can at least sense the change in the height of the magnetic member.

[0212] Exemplarily, the magnetic part can be a magnet, and the sensor can be a Hall sensor. When the magnet moves up and down with the box 310, the Hall sensor can judge the up and down movement of the mounting shaft 120 by sensing the change of the magnetic field of the magnet, and then sense the up and down movement of the universal wheel 10 connected to the rotating shaft 110 through the mounting shaft 120 connected to the rotating shaft.

[0213] Thus, by setting the signal element 320 as a magnetic part, the sensor can be easily sensed by the signal element 320 , and the structure of the signal element 320 can be simplified to reduce the manufacturing cost of the signal element 320 , thereby reducing the manufacturing cost of the signal component 300 and the universal wheel 10 .

[0214] refer to Figure 1 and Figure 7 In some embodiments, the universal wheel 10 may further include a protective cover 20, which is disposed on the outer peripheral side of the box 310. The protective cover 20 can be used to protect the box 310, thereby preventing the signal component 300 from directly colliding with external objects / internal components, effectively reducing the probability of damage to the signal component 300, and ensuring the safety and service life of the universal wheel 10 as much as possible.

[0215] refer to Figure 7 In some embodiments, the outer surface of the box 310 may include a first surface 350, the inner surface of the protective cover 20 includes a second surface 23, the first surface 350 and the second surface 23 are arranged opposite to each other in a first direction, the box 310 has a first foolproof portion 318 protruding from the first surface 350 toward the second surface 23, and the protective cover 20 has a second foolproof portion 21 protruding from the second surface 23 toward the first surface 350. The first foolproof portion 318 and the second foolproof portion 21 are configured to limit the box 310 from being reversely installed in the protective cover 20 in the axial direction of the through hole 312.

[0216] In this way, by providing the first anti-foolproofing portion 318 and the second anti-foolproofing portion 21, when the box 310 is installed upside down in the protective cover 20, the first anti-foolproofing portion 318 and the second anti-foolproofing portion 21 will cause interference and prevent the box 310 from being installed in the protective cover 20, thereby reminding the operator that the assembly direction of the box 310 and the protective cover 20 is wrong, avoiding damage to the box 310 or the protective cover 20 due to forcibly installing the box 310 into the protective cover 20 when the assembly direction is wrong, and improving the connection efficiency between the protective cover 20 and the signal component 300.

[0217] In some embodiments, there may be multiple first fool-proofing parts 318 and multiple second fool-proofing parts 21 , and the first fool-proofing parts 318 and the second fool-proofing parts 21 are arranged in a one-to-one correspondence.

[0218] refer to Figure 7 In some embodiments, the outer side of the box 310 has a first abutment portion 319. The first abutment portion 319 is located between the outer side wall of the box 310 and the inner side wall of the protective cover 20, and the first abutment portion 319 extends toward the inner side wall of the protective cover 20 along the radial direction of the through hole 312. The inner side of the protective cover 20 has a second abutment portion 22, and the first abutment portion 319 abuts against the second abutment portion 22 to limit the movement of the box 310 relative to the protective cover 20 in the radial direction of the through hole 312.

[0219] There is a gap between the box 310 and the inner wall of the protective cover 20 in the radial direction, which will cause the box 310 to have a large deviation in the radial direction of the through hole 312 .

[0220] By providing the first abutting portion 319 and the second abutting portion 22, the gap between the box 310 and the inner side wall of the protective cover 20 can be reduced, thereby preventing the box 310 from moving relative to the protective cover 20 in the radial direction of the through hole 312. The first abutting portion 319 and the second abutting portion 22 can form a buffer zone between the box 310 and the protective cover 20, preventing the protective cover 20 from directly contacting the box 310, reducing the probability of the box 310 and the protective cover 20 being damaged by collision, and improving the safety and service life of the box 310.

[0221] refer to Figure 7 In some embodiments, there may be a plurality of first abutting portions 319, for example, there may be two first abutting portions 319, and the two first abutting portions 319 are arranged opposite to each other in the radial direction of the through hole 312. There may also be a plurality of second abutting portions 22, and the number of the second abutting portions 22 is the same as the number of the first abutting portions 319, and the first abutting portions 319 and the second abutting portions 22 can be arranged one by one.

[0222] In this way, the movement of the box 310 in the radial direction of the through hole 312 can be further limited, and the installation stability of the protective cover 20 and the box 310 is further improved.

[0223] The embodiment of the present application also provides a self-moving device, which may include a main body and a sensor arranged on the main body, and a universal wheel 10 as described above, wherein the universal wheel 10 is arranged on the main body, and the signal element 320 is located within the sensing range of the sensor to sense the sensor.

[0224] In this way, by using the above-mentioned universal wheel 10 and making the sensor on the main body sense the movement of the signal element 320 in the height direction to obtain the working status of the universal wheel 10, the probability of missing the spacer 330 of the signal component 300 can be reduced, thereby improving the assembly efficiency of the universal wheel 10 and further improving the assembly efficiency of the self-moving device.

[0225] Exemplarily, the signal element 320 can be a magnet, and the sensor can be a Hall sensor. When the magnet moves up and down with the box 310, the Hall sensor can judge the up and down movement of the mounting shaft 120 by sensing the change in the magnetic field of the magnet, and then sense the up and down movement of the universal wheel 10 connected to the rotating shaft 110 through the mounting shaft 120 connected to the rotating shaft.

[0226] The present self-mobile device adopts all the embodiments of the universal wheel 10 described above, and the specific effects of the above signal component 300 are not described in detail.

[0227] The various embodiments or implementation methods in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0228] It should be noted that the phrases "in specific implementation", "in some embodiments", "in this embodiment", "exemplary", etc. mentioned in the specification indicate that the described embodiment may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing specific features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments that are explicitly or not explicitly described.

[0229] In general, terms should be understood, at least in part, by the context in which they are used. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, depending, at least in part, on the context. Similarly, terms such as "a," "an," or "the" may also be understood to convey singular usage or to convey plural usage, depending, at least in part, on the context.

[0230] It should be easily understood that “on,” “above,” and “over” in the present disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0231] In addition, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0232] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A universal wheel, characterized in that: include: A wheel axle, the wheel axle comprising a rotating shaft and a mounting shaft extending in a vertical direction and connected to each other; A roller, the roller being rotatably connected to the rotating shaft; as well as, A signal component, the signal component comprising: A box, the box having a receiving cavity and a through hole communicating with the receiving cavity, at least a portion of the installation shaft being located in the receiving cavity and the through hole so as to penetrate the box; A signal element is disposed on the box, the signal element is used to feedback the height of the roller; and A spacer and an elastic retaining ring are both sleeved on the installation shaft and located in the accommodating cavity, and the spacer is located between the elastic retaining ring and the through hole; The through hole, the elastic retaining ring and the spacer are coaxially arranged along the installation axis, the aperture of the through hole is larger than the outer diameter of the elastic retaining ring, and the aperture of the through hole is smaller than the outer diameter of the spacer.

2. A universal wheel, characterized in that: include: A wheel axle, the wheel axle comprising a rotating shaft and a mounting shaft extending in a vertical direction and connected to each other; A roller, the roller being rotatably connected to the rotating shaft; as well as, A signal component, the signal component comprising: A box, the box having a receiving cavity and a through hole communicating with the receiving cavity, at least a portion of the installation shaft being located in the receiving cavity and the through hole so as to penetrate the box; A signal element is disposed on the box, the signal element is used to feedback the height of the roller; and A spacer and an elastic retaining ring are both sleeved on the installation shaft and located in the accommodating cavity, the spacer is located between the elastic retaining ring and the through hole, the box has an inner wall, the through hole is located on the inner wall, and the spacer abuts against the inner wall; Wherein, the through hole, the elastic retaining ring and the spacer are coaxially arranged along the installation axis, the aperture of the through hole is larger than the outer diameter of the elastic retaining ring, and the aperture of the through hole is smaller than the outer diameter of the spacer; In the axial direction of the installation shaft, a ratio of a projection area of ​​the spacer on the inner wall to an area of ​​a surface of the spacer facing the inner wall is greater than or equal to 0.

4.

3. A universal wheel, characterized in that: include: A wheel axle, the wheel axle comprising a rotating shaft and a mounting shaft extending in a vertical direction and connected to each other; A roller, the roller being rotatably connected to the rotating shaft; as well as, A signal component, the signal component comprising: A box, the box having a receiving cavity and a through hole communicating with the receiving cavity, at least a portion of the installation shaft being located in the receiving cavity and the through hole so as to penetrate the box; A signal element is disposed on the box, the signal element is used to feedback the height of the roller; and A spacer and an elastic retaining ring are both sleeved on the installation shaft and located in the accommodating cavity, and the spacer is located between the elastic retaining ring and the through hole; Wherein, the through hole, the elastic retaining ring and the spacer are coaxially arranged along the installation axis, the aperture of the through hole is larger than the outer diameter of the elastic retaining ring, and the aperture of the through hole is smaller than the outer diameter of the spacer; The length of the box is S2, the outer diameter of the spacer is L3, the aperture of the through hole is L1, and the diameter of the mounting shaft is S3. When 28 mm ≤ S2 ≤ 32 mm, and 8 mm ≤ L3 ≤ 12 mm, in the first direction, S2, S3 and L1 satisfy the following relationship: (L1-S3) / S2≤0.

1.

4. The universal wheel according to any one of claims 1 to 3, characterized in that: The length of the box is S2, the thickness of the signal element is S1, and S1 and S2 satisfy the following relationship: 0.1≤S1 / S2≤0.

22.

5. The universal wheel according to claim 3, characterized in that: The first direction is perpendicular to the axial direction of the installation shaft.

6. The universal wheel according to any one of claims 1 to 3, characterized in that: The ratio of the outer diameter of the elastic retaining ring to the aperture of the through hole is greater than or equal to 0.4 and less than 1.

7. The universal wheel according to claim 6, characterized in that: The outer diameter of the elastic retaining ring is greater than or equal to 6 mm and less than or equal to 12 mm.

8. The universal wheel according to claim 7, characterized in that: The diameter of the through hole is greater than or equal to 7 mm and less than or equal to 13 mm.

9. The universal wheel according to any one of claims 1 to 3, characterized in that: The outer periphery of the installation shaft is provided with a groove, and at least a portion of the elastic retaining ring is arranged in the groove so as to be clamped and fixed with the installation shaft.

10. The universal wheel according to claim 9, characterized in that: The grooves are arranged around the circumference of the mounting shaft.

11. The universal wheel according to any one of claims 1 to 3, characterized in that: The spacers are provided with two; In the axial direction of the installation shaft, the two spacers are respectively located on the upper side and the lower side of the circlip.

12. The universal wheel according to claim 11, characterized in that: The inner wall of the box comprises a first inner wall and a second inner wall respectively located on the upper side and the lower side of the elastic retaining ring, and the first inner wall and the second inner wall participate in enclosing the accommodating cavity; The upper surface of the spacer located on the upper side of the elastic ring abuts against the first inner wall, and the lower surface of the spacer located on the lower side of the elastic ring abuts against the second inner wall, so that the two spacers can clamp the elastic ring.

13. The universal wheel according to claim 11, characterized in that: The spacer is an annular gasket.

14. The universal wheel according to claim 12, characterized in that: The inner diameters of the two spacers are both smaller than the outer diameter of the elastic retaining ring, and the inner diameters of the two spacers are both larger than the inner diameter of the elastic retaining ring.

15. The universal wheel according to claim 14, characterized in that: In the axial direction of the installation shaft, a projection area of ​​one of the spacers on the elastic retaining ring is greater than or equal to one half of the cross-sectional area of ​​the elastic retaining ring; And / or, in the axial direction of the installation shaft, the projection areas of the two spacers respectively on the elastic retaining ring are both greater than or equal to one half of the cross-sectional area of ​​the elastic retaining ring.

16. The universal wheel according to claim 14, characterized in that: In the axial direction of the installation shaft, the ratio of the projection area of ​​the spacer located on the upper side of the elastic retaining ring on the first inner wall of the accommodating cavity to the upper surface area of ​​the spacer is greater than or equal to 0.4; And / or, in the axial direction of the installation shaft, a ratio of a projection area of ​​the spacer located at the lower side of the elastic retaining ring on the second inner wall of the accommodating cavity to a lower surface area of ​​the spacer is greater than or equal to 0.

4.

17. The universal wheel according to claim 11, characterized in that: The outer diameters of the two spacers are both larger than the aperture of the through hole.

18. The universal wheel according to claim 11, characterized in that: The inner diameters of the two spacers are greater than or equal to 5 mm and less than or equal to 12 mm.

19. The universal wheel according to any one of claims 1 to 3, characterized in that: The box comprises a box body and a cover plate; The box body is provided with a first mounting groove, and the spacer and the elastic retaining ring are both located in the first mounting groove; There are two through holes, one of which is located on the bottom wall of the first mounting groove, and the other is located on the cover plate. The two through holes are coaxially arranged along the mounting axis, and both of the two through holes are connected to the first mounting groove; The cover plate is disposed on the notch of the first installation slot to define the accommodating cavity together with the box body.

20. The universal wheel according to claim 19, characterized in that: The cover plate is detachably connected to the box body via a connecting structure, and the cover plate and the box body can be separated from each other along the axial direction of the installation shaft.

21. The universal wheel according to claim 20, characterized in that: The connection structure is a buckle, the buckle is in sheet shape, the box body is provided with a slot matched with the buckle, and the cover plate is connected to the box body through the cooperation of the buckle and the slot.

22. The universal wheel according to claim 21, characterized in that: There are multiple buckles, which are distributed along the circumference of the cover plate, and the slots are arranged corresponding to the number and positions of the buckles.

23. The universal wheel according to any one of claims 1 to 3, characterized in that: The universal wheel also includes a protective cover, and the protective cover is arranged on the outer side of the signal component.

24. The universal wheel according to claim 23, characterized in that: The outer surface of the box includes a first surface, the inner surface of the protective cover includes a second surface, the first surface and the second surface are arranged opposite to each other in a first direction, the box has a first fool-proofing portion protruding from the first surface toward the second surface, and the protective cover has a second fool-proofing portion protruding from the second surface toward the first surface; The first fool-proofing portion and the second fool-proofing portion are configured to restrict the box from being reversely installed in the protective cover in the axial direction of the through hole.

25. The universal wheel according to claim 23, characterized in that: The outer side of the box has a first abutment portion, the inner side of the protective cover has a second abutment portion, the first abutment portion and the second abutment portion abut against each other in the radial direction of the through hole to limit the movement of the box relative to the protective cover in the radial direction of the through hole.

26. The universal wheel according to claim 19, characterized in that: The box also has a second installation groove, the second installation groove is spaced apart from the accommodating cavity, and the signal element is arranged in the second installation groove.

27. The universal wheel according to any one of claims 1 to 3, characterized in that: The signal element is a magnetic piece, and the magnetic piece can sense the sensor on the main body of the mobile device.

28. A self-propelled device, characterized in that: It comprises a main body and a sensor arranged on the main body, and a universal wheel as claimed in any one of claims 1 to 27, wherein the universal wheel is arranged on the main body, and the signal element is located within the sensing range of the sensor to sense the sensor.

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