Universal wheel and mowing robot

Abstract

The utility model discloses a universal wheel and a mowing robot. The universal wheel comprises a center rotating disc, a plurality of extending edges, a plurality of connecting rods and a plurality of rotating wheel assemblies. The extending edges are distributed at equal intervals in the circumferential direction of the center rotary disc. The ends, away from the center rotating disc, of the adjacent extending edges are connected through a connecting rod. A rotating wheel assembly is rotationally connected to the connecting rod; the rotating wheel assembly is in a long drum shape, and the rotating center of the rotating wheel assembly is coaxial with the axis of the connecting rod. When the universal wheels rotate, the rotating wheel assemblies make direct contact with the ground surface. When the universal wheels run on the surface of a lawn, soil or grass clippings can be prevented from being clamped between the connecting rods and the rotating wheels; due to the fact that the extending edges are distributed at equal intervals in the circumferential direction of the center rotating disc and the adjacent extending edges are connected through the connecting rods, when any extending edge bears the gravity transmitted by the machine body, the gravity can be transmitted to the adjacent extending edge through the connecting rods, stress concentration of the extending edges is avoided, and the service life of the universal wheel is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of lawn mowing robot accessories, in particular to a universal wheel and a lawn mowing robot. Background Art

[0002] With the development of technology and the increasing demand for automation, lawn mowing robots have become an indispensable tool in modern garden maintenance. Lawn mowing robots are very popular in families with gardens. They can complete lawn mowing without supervision, greatly improving efficiency and reducing labor costs.

[0003] Existing lawn mower robots are usually equipped with various types of wheels to adapt to different terrains; among them, universal wheels are widely used due to their flexibility and easy control. Universal wheels allow lawn mower robots to move in multiple directions without changing the direction of the lawn mower robot body;

[0004] The universal wheel in the prior art, such as an omnidirectional wheel and wheeled travel equipment disclosed in Chinese patent CN217227188U, has a connecting piece directly connected to the center plate, and a small wheel is rotatably connected to the connecting piece; when this structure is applied to a lawn mowing robot, the small wheel is in direct contact with the soft soil on the lawn surface, and debris such as soil or grass clippings are easily stuck in the gap between the connecting piece and the two half wheels; and when the wheel touches the bottom, the weight of the machine body is borne by one connecting piece or an adjacent connecting piece and then transferred to the wheel. After long-term use, the connecting piece is prone to fatigue fracture, which reduces the service life of the omnidirectional wheel. Utility Model Content

[0005] In order to overcome the deficiencies of the prior art, the utility model provides a universal wheel and a lawn mowing robot.

[0006] The first technical solution adopted by the utility model to solve its technical problem is:

[0007] A universal wheel comprises a central turntable, a plurality of extended edges, a plurality of connecting rods and a plurality of rotating wheel assemblies;

[0008] The extended edges are equidistantly distributed along the circumference of the central turntable;

[0009] One end of the adjacent extension edges away from the central rotating disk is connected by the connecting rod;

[0010] The connecting rod is rotatably connected to the rotating wheel assembly;

[0011] The rotating wheel assembly is in the shape of a long drum, and the rotation center of the rotating wheel assembly is coaxial with the axis of the connecting rod;

[0012] When the universal wheel rotates, the rotating wheel assembly is in direct contact with the ground surface.

[0013] As for the universal wheel as described above, the central turntable, the extending edge and the connecting rod are integrally formed.

[0014] The universal wheel as described above, wherein the rotating wheel assembly comprises a supporting wheel and a tire sleeved outside the supporting wheel;

[0015] The outer surface of the tire is provided with a plurality of anti-skid protrusions.

[0016] As described above, the universal wheel is provided with convex rings along the two ends of the supporting wheel, and the two ends of the tire are sleeved on the outer periphery of the convex rings.

[0017] In the universal wheel as described above, the anti-skid protrusion is in the form of an elongated protrusion, and the long side of the elongated protrusion is perpendicular to the axial direction of the connecting rod, and the wide side of the elongated protrusion is parallel to the axial direction of the connecting rod.

[0018] As described above, the universal wheel, the outer surface of the support wheel is provided with a plurality of annular grooves, and the inner surface of the tire is provided with a plurality of annular limiting protrusions which can be embedded in the annular grooves.

[0019] As for the universal wheel as described above, the annular groove and the annular limiting protrusion are both distributed along the axial direction of the connecting rod.

[0020] As for the universal wheel as described above, in the length direction of the extending edge, the extending edge is narrow in the middle and wide at both ends.

[0021] The universal wheel as described above, wherein the central turntable comprises a polygonal outer frame;

[0022] Each of the extended edges is connected to a vertex of each of the polygonal outer frames.

[0023] The second technical solution adopted by the utility model to solve its technical problem is:

[0024] A lawn mowing robot comprises the universal wheel mentioned above.

[0025] The beneficial effects of the utility model are:

[0026] Adjacent extended edges are connected by connecting rods, and the long drum-shaped rotating wheel assembly is rotatably connected to the connecting rods; when the universal wheel travels on the lawn surface, mud or grass clippings can be prevented from getting stuck between the connecting rods and the rotating wheel; and because the extended edges are equidistantly distributed along the circumference of the central rotating disk, and the adjacent extended edges are connected by connecting rods, when any extended edge is subjected to the gravity transmitted by the fuselage, it can be transmitted to the adjacent extended edge through the connecting rod, thereby avoiding stress concentration on the extended edge, thereby extending the service life of the universal wheel;

[0027] The lawn mowing robot provided by the utility model has the universal wheel structure, so it also has the same beneficial effects as the universal wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0029] Figure 1 It is a front view of the universal wheel in the utility model;

[0030] Figure 2 It is a side view of the universal wheel in the utility model;

[0031] Figure 3 is along Figure 2 Sectional view of the AA plane;

[0032] Figure 4 It is an exploded view of the universal wheel in the utility model;

[0033] The corresponding parts are marked as follows:

[0034] 1-center turntable; 11-polygonal outer frame; 2-extended edge; 3-connecting rod; 4-rotating wheel assembly; 41-support wheel; 411-convex ring; 412-annular groove; 42-tire; 421-anti-slip protrusion; 422-annular limiting protrusion. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the concept, specific structure and technical effects of the utility model in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the utility model. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the fact that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the creation of the utility model can be combined interchangeably without conflicting with each other.

[0036] Reference Figures 1 to 4 , a universal wheel, comprising a central turntable 1, a plurality of extension edges 2, a plurality of connecting rods 3 and a plurality of rotating wheel assemblies 4;

[0037] The extension edges 2 are equidistantly distributed along the circumference of the central turntable 1;

[0038] The ends of the adjacent extension edges 2 away from the central turntable 1 are connected by the connecting rod 3; that is, the extension edges 2 or the connecting rods 3 are arranged at intervals along the circumference of the central turntable 1, so that a stable force-bearing frame can be formed, which helps to improve the structural strength of the universal wheel. When the universal wheel is connected to the axle of the lawn mower robot, it helps to evenly distribute the body load on the entire universal wheel, reducing the stress concentration of a single extension edge 2;

[0039] The connecting rod 3 is rotatably connected to the rotating wheel assembly 4;

[0040] The rotating wheel assembly 4 is in the shape of a long drum, and the rotation center of the rotating wheel assembly 4 is coaxial with the axis of the connecting rod 3; when the universal wheel is used, the axle is connected to the rotation center of the central turntable 1, and the universal wheel can not only rotate around the central turntable 1, but also around the axis of the rotating wheel assembly 4, and has a flexible structure and is suitable for various ground conditions and use environments;

[0041] When the universal wheel rotates, the rotating wheel assembly 4 is in direct contact with the ground surface. Since the connecting rod 3 is connected to the end of the extension edge 2 and the rotating wheel assembly 4 is in a long drum shape, the extension edge 2 always remains off the ground.

[0042] The adjacent extended edges 2 are connected by a connecting rod 3, and the long drum-shaped rotating wheel assembly 4 is rotatably connected to the connecting rod 3; when the universal wheel travels on the lawn surface, mud or grass clippings can be prevented from getting stuck between the connecting rod 3 and the rotating wheel assembly 4; and because the adjacent extended edges 2 are connected by the connecting rod 3, when any extended edge 2 is subjected to the gravity transmitted by the fuselage, it can be transmitted to the adjacent extended edge 2 through the connecting rod 3, thereby avoiding stress concentration on the extended edge 2, thereby extending the service life of the universal wheel.

[0043] Furthermore, the central turntable 1, the extension edge 2 and the connecting rod 3 are integrally formed; the advantage of integral forming is that there are no stress-concentrated welds or bolted connection points between the central turntable 1, the extension edge 2 and the connecting rod 3, thereby avoiding the occurrence of fractures at the connection points; and because there are no seams or connection points, when the central turntable 1 is subjected to the gravity transmitted by the fuselage, the stress inside the central turntable 1 can be more naturally transferred to the extension edge 2 and the connecting rod 3;

[0044] Furthermore, the rotating wheel assembly 4 includes a supporting wheel 41 and a tire 42 sleeved outside the supporting wheel 41, and the supporting wheel 41 provides protection for the tire 42 to enhance the strength of the rotating wheel assembly 4;

[0045] The outer surface of the tire 42 is provided with a plurality of anti-skid protrusions 421, which help to increase the friction between the rotating wheel assembly 4 and the ground, thereby improving the stability of the equipment connected thereto during driving.

[0046] Furthermore, convex rings 411 are provided along both ends of the support wheel 41, and both ends of the tire 42 are sleeved on the outer periphery of the convex rings 411. The convex rings 411 at both ends can limit the support wheel 41 along the length direction of the connecting rod 3, so as to prevent the tire 42 from moving left and right relative to the support wheel 41 during the movement of the universal wheel.

[0047] Reference Figure 4 Specifically, the anti-skid protrusion 421 is a long strip protrusion, and the long side of the long strip protrusion is perpendicular to the axial direction of the connecting rod 3, and the wide side of the long strip protrusion is parallel to the axial direction of the connecting rod 3. The long strip protrusion 421 can increase the surface area in contact with the ground, provide greater friction when the rotating wheel assembly 4 rolls, and reduce the occurrence of sliding.

[0048] Specifically, the outer surface of the support wheel 41 is provided with a plurality of annular grooves 412, and the inner surface of the tire 42 is provided with a plurality of annular limiting protrusions 422 that can be embedded in the annular grooves 412. The annular limiting protrusions 422 are embedded in the annular grooves 412 to prevent the tire 42 from sliding or shifting on the support wheel 41, thereby improving the stability of the overall structure. More specifically, the annular grooves 412 and the annular limiting protrusions 422 are both distributed along the axial direction of the connecting rod 3.

[0049] Reference Figure 3 Furthermore, in the length direction of the extended edge 2, the extended edge 2 is narrow in the middle and wide at both ends; the two ends of the extended edge 2 refer to one end where the extended edge 2 is connected to the center turntable 1 and one end where the extended edge 2 is connected to the connecting rod 3, respectively. The design of wide ends of the extended edge 2 helps to increase the structural strength of its ends, so that the force can be more evenly distributed to transfer the load through the connecting rod 3.

[0050] Furthermore, the central turntable 1 comprises a polygonal outer frame 11;

[0051] Each of the extension edges 2 is connected to the vertices of each of the polygonal outer frames 11. At this time, the side of the polygonal outer frame 11 is parallel to the connecting rod 3, and a part of the rotating wheel assembly 4 rotates in an open space surrounded by the adjacent extension edges 2, the side of the polygonal outer frame 11 and the connecting rod 3, so that the rotating state of the rotating wheel assembly 4 is easy to observe.

[0052] A lawn mowing robot, comprising the universal wheel, can prevent dirt or grass clippings from getting stuck between the connecting rod 3 and the rotating wheel 4 when the robot is moving on the lawn surface;

[0053] Specifically, the universal wheel is a passive wheel of the lawn mowing robot, and the axle of the lawn mowing robot is connected to the rotation center of the universal wheel.

[0054] The above is a specific description of the preferred implementation of the utility model, but the invention of the utility model is not limited to the described embodiments. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the utility model. These equivalent deformations or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A universal wheel, characterized in that: It comprises a central rotating disk (1), a plurality of extending edges (2), a plurality of connecting rods (3) and a plurality of rotating wheel assemblies (4); The extended edges (2) are equidistantly distributed along the circumference of the central rotating disk (1); The ends of the adjacent extension edges (2) that are away from the central rotating disk (1) are connected via the connecting rod (3); The connecting rod (3) is rotatably connected to the rotating wheel assembly (4); The rotating wheel assembly (4) is in the shape of a long drum, and the rotation center of the rotating wheel assembly (4) is coaxial with the axis of the connecting rod (3).

2. The universal wheel according to claim 1, characterized in that: The central rotating disk (1), the extending edge (2) and the connecting rod (3) are integrally formed.

3. The universal wheel according to claim 1, characterized in that: The rotating wheel assembly (4) comprises a supporting wheel (41) and a tire (42) sleeved outside the supporting wheel (41); The outer surface of the tire (42) is provided with a plurality of anti-skid protrusions (421).

4. The universal wheel according to claim 3, characterized in that: Convex rings (411) are provided along the two ends of the support wheel (41), and the two ends of the tire (42) are sleeved on the outer periphery of the convex ring (411).

5. The universal wheel according to claim 3, characterized in that: The anti-slip protrusion (421) is in the form of an elongated protrusion, and the long side of the elongated protrusion is perpendicular to the axial direction of the connecting rod (3), and the wide side of the elongated protrusion is parallel to the axial direction of the connecting rod (3).

6. The universal wheel according to claim 3, characterized in that: The outer surface of the support wheel (41) is provided with a plurality of annular grooves (412), and the inner surface of the tire (42) is provided with a plurality of annular limiting protrusions (422) that can be embedded in the annular grooves (412).

7. The universal wheel according to claim 6, characterized in that: The annular groove (412) and the annular limiting protrusion (422) are both distributed along the axial direction of the connecting rod (3).

8. The universal wheel according to claim 1, characterized in that: In the length direction of the extended edge (2), the extended edge (2) is narrow in the middle and wide at both ends.

9. The universal wheel according to claim 1, characterized in that: The central turntable (1) comprises a polygonal outer frame (11); Each of the extended edges (2) is connected to a vertex of each of the polygonal outer frames (11).

10. A lawn mowing robot, characterized in that: It comprises the universal wheel as described in any one of claims 1-9.

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